Throwable robotic mechanism comprising pals equipped with impact damping elements

Abstract

The invention relates in particular to robotic mechanisms that can be used by throwing for surveillance and exploration purposes. The robotic mechanism mentioned, in particular, is equipped with impact damper (6) that reduces or prevents the pals (3) of the robotic mechanism from being damaged during and after throwing, especially after throwing.

Description

[0001] DESCRIPTION

[0002] THROWABLE ROBOTIC MECHANISM COMPRISING PALS EQUIPPED WITH IMPACT DAMPING ELEMENTS

[0003] Technical Field

[0004] The invention relates in particular to robotic mechanisms that can be used by throwing for the purpose of surveillance and exploration . The aforementioned robotic mechanism is equipped with impact damping features that decrease or prevent damage to the mechanism ' s pals during and after throwing, particularly after throwing .

[0005] Prior Art

[0006] Throwable robots are the mechanisms that can be particularly useful for military surveillance and exploration operations .

[0007] A signi ficant portion of the mentioned mechanisms is portable and manually throwable . Thus , the user will be able to carry the robotic mechanism and, i f necessary, manually throw the robot to the assigned location .

[0008] A similar throwable robotic mechanism is described in the patent application TR 2018 / 06678 .

[0009] In the event of an operation such as to a building or a cave , for instance , the user can throw the robot to the desired location within the environment manually . The robot can be moved and operated in the thrown environment by using the operational members existed in its structure . For instance , the robot ' s camera can capture image of the surroundings . Also , by the remote-control unit within the robot , the robot can be moved through the environment , and photographs captured from various environments can be transmitted to the user .

[0010] In particular, it is useful that this type of robotic mechanism may understand the position and situation of enemy forces during military operations without incurring losses or inj uries .

[0011] It is important for such military mechanisms to be portable and throwable by soldiers in order to be utili zed .

[0012] For example , when the units operating in a city require receiving information from 2nd or 3rd floor it is necessary for the use of the robotic mechanism to be heavy enough to be thrown up to the 2nd or 3rd floor .

[0013] Also , military personnel require transport the mentioned mechanism during the operation . It would be important for this type of mechanism to be light weighted for being carried by personnel .

[0014] In terms of transportation and throwing, the proportions of the robotic mechanism can reveal disadvantage . A mechanism that has large dimensions may be di f ficult to be carried by military personnel . Also , while the robotic mechanism is being thrown, both the dimensions of the robot would make di f ficult to throw it away, and may prevent the mechanisms with large dimensions passing through the elements , such as the windows of the buildings . Therefore , the weight and dimensions of the robotic mechanism are the most essential variables for the personal usage of such mechanisms for military reasons .

[0015] One of the most signi ficant technical issues with this sort of throwable robotic mechanism is that the robotic mechanism is damaged by the impact that occurs after throwing . Especially, in case of throwing the robotic mechanism to the upper floors or long distances , high forces may af fect upon parts of the mechanism due to the collision . These forces may cause breakage of parts of the robotic mechanism and disable a part or entire robot .

[0016] In order to reduce damage to the robotic mechanism during or after throwing, it is possible to use thicker, stronger, and heavier components in areas where damage is anticipated However, since this type of solution will be provided by the use and development of more expensive high-tech materials , it may lead to an increase in the total cost of the robotic mechanism .

[0017] Again, the employment of such thick, strong, and heavy components will essentially force the robotic mechanism to become heavier and larger, hence , posing a signi ficant technical challenge in terms of usability .

[0018] For the abovementioned reasons , enhancements that increase the weight and dimensions of the robotic mechanism may constitute a considerable barrier to its use , particularly for military / police obj ectives , or even it may not be used at all . It is aimed that after thrown these type of robotic mechanisms land on particularly wheels and similar mechanisms which are mobility features . Thus , the robotic mechanism can move in the thrown environment after fell .

[0019] For this reason, the robotic mechanism hits the ground on first its wheels , and the mechanisms that connected to the wheels are most damaged parts due to the force of impact .

[0020] In this case , after the throwing, the shock on the pal as a result of the forces occurred after the collision is trans ferred directly to the drive system and interconnection parts of the shaft . As these components are actually constitutes the most heavy and si zed components of the robotic mechanism, in order to be more resistant , being manufactured of thicker or more resistant materials may cause serious increase at the total weight and dimensions of the robotic mechanism .

[0021] The Problems Aimed to be Solved by the Invention

[0022] The purpose of the invention is to enable the production of robotic mechanisms that may be launched by throwing, particularly for surveillance and exploration purposes , and in particular, a robotic mechanism equipped with an impact damping element to lessen or avoid damage after being thrown .

[0023] In order to reduce the damage to the robotic mechanism during throwing, the advantage is provided both in terms of the weight and dimensions of the throwable robotic mechanism by using an impact damper instead of using more resistant and large parts .

[0024] Limiting the dimensions and weight of mechanism would provide an important advantage when considering the aim of mechanism subj ect to the invention is to be used and carried by the people at the operation area especially for use of police / military .

[0025] As the aforementioned robotic mechanism will be used by throwing, shock forces charged on the hitting to ground wheels of the robotic mechanism will able to be damped by the force damping elements associated to the wheels .

[0026] In this manner, the wheel and connected mechanisms thereto , which are susceptible to being damaged due to the impact ' s severity, are prevented from being damaged .

[0027] Shock-based forces , mostly occurred by impact , are directly trans ferred to the drive system and interconnection parts of the shaft . The force damping element associated with these parts will reduce the forces acting on these parts .

[0028] Description of the Figures

[0029] Figure 1 . Perspective view of the throwable robotic mechanism ( Prior Art ) , Figure 2 . Exploded view of the throwable robotic mechanism ( Prior Art ) , Figure 3 . Exploded view of the throwable robotic mechanism with impact damping, Figure 4 . Side view of the pal , Figure 5. Perspective view of a throwable robotic mechanism with a torque limiter as an impact damping element,

[0030] Description of the References in the Figures

[0031] 1. Body

[0032] 2. Mobility Element

[0033] 3. Pal

[0034] 4. Holding element

[0035] 5. Shaft

[0036] 6. Impact damper

[0037] 7. Pal-body fitting

[0038] 8. Reductor

[0039] 9. Engine housing

[0040] 10. Engine

[0041] 11. Mobility element connection

[0042] 12. Shaft bedding

[0043] 13. Torque limiter

[0044] Detailed Description of the Invention

[0045] The invention relates specifically to a robotic mechanism that can be used for surveillance and exploration by throwing .

[0046] The most basic embodiment of the subject invention comprises; at least one pal (3) for each lateral section formed connected to the body (1) on at least two sides of the body (1) , at least one mobility element (2) operated in connection with the mentioned pal (3) , at least one shaft (5) associated with the body (1) and connected to the pals (3) , a holding element (4) that allows the robotic mechanism to be thrown manually (Figure 2) . The figures show one of the preferred embodiments of the robotic mechanism. Within the scope of this embodiment, the mobility element (2) is formed in wheel form.

[0047] When considering that the robotic mechanism subject to the invention is used in robots that are operated by throwing, the mobility element (2) receives the initial blow when the robot is thrown. Since the mobility means is connected to the pals (3) with elements such as the reductor (8) , the force is transferred from the mobility element (2) to the pals (3) , and from the pals (3) to the functional parts such as the shaft (5) and the shaft bedding (12) .

[0048] Transferring the force to functional parts such as shaft (5) and shaft bedding (12) may cause damage to these parts after throwing. Damage to these parts may cause the robotic mechanism unusable after throwing.

[0049] In order to dampen the forces generated on the mobility element (2) , the pal-body fitting (7) was connected with the impact damper (6) elements.

[0050] According to the preferred embodiment of the invention, on the section where the pal-body fitting (7) is provided, the impact damper (6) is made of elastomer or elastomer comprising materials forming at least one part of the pal (3) or peripherally coated at least one part of the pal (3)

[0051] In the section where the pal-body fitting (7) is provided, this elastomer structure would isolate the shock of the impact in this area and prevent the direct transfer of collision-based forces to functional parts such as shaft (5) and shaft bedding (12) .

[0052] According to one of the different embodiments of the invention, the impact damper (6) , can be formed in the form of torque limiter (13) .

[0053] According to Figure 5, the pal body fitting (7) is associated the torque limiter (13) . In this case, the forces transferred to the pal (3) rotate the torque limiter (13) through the shaft (5) . In this way, the extra forces can be prevented from reaching the shaft (5) and shaft bedding ( 12 ) .

[0054] Within this embodiment of the invention, in addition to use of torque limiter (13) , also at least one section of the pals (3) can be peripherally coated by elastomer or can be made of elastomer comprising materials.

[0055] According to Figure 4, which shows the preferred embodiment of the invention, the pal-body fitting (7) is coated with elastomer. This elastomer coating constitutes the impact damper ( 6 ) .

[0056] According to Figure 4, every wheel is powered by an engine (10) . The engine (10) is located in the engine housing (9) . The movement generated by the engine (10) can be transferred to the wheels by the mobility element connection (11) .

[0057] Within this embodiment, the elastomer coating extends to the engine housing (9) and surrounds a part of the engine housing ( 9 ) . According to a different embodiment of the invention, the system can also be operated by completely coating the entire pal (3) with elastomer.

[0058] According to Figure 4, the pal-body fitting (7) is formed in a rigid form. In this rigid form, for example, the structure can be made of metal.

[0059] According to different embodiments of the invention, the impact damper (6) formed by elastomer coating can be made of rubber, silicone, and TPU or formed of mixtures containing at least one of these compositions.

[0060] According to a different embodiment of the invention, the impact damper (6) formed by the elastomer coating can be equipped with a spring connected with the elastomer coating The spring structure can be embedded into the elastomer coating .

[0061] According to one of the embodiments of the invention, the mentioned spring is in the form of a metal coil spring.

[0062] Also, in a different embodiment, the impact damper (6) formed by elastomer coating can be equipped with pressure plate (s) associated with the elastomer coating.

[0063] The combined use of mechanical spring and impact dampening pressure friction plates together can also be possible within the different embodiments of the invention.

Claims

CLAIMS A robotic mechanism particularly for the purpose of surveillance and exploration that can be used by throwing, equipped with at least one pal (3) connected to the body (1) on at least two sides of the body (1) , at least one mobility element (2) operated in connection with the mentioned pal (3) , at least one shaft (5) associated with the body (1) and connected to the pals (3) , a holding element (4) that allows the robotic mechanism to be handled and thrown manually, characterized in that; it comprises impact damper (6) associated with pal body fitting (7) for absorption of forces exerted on the mobility element (2) upon impact after the robotic mechanism is thrown and prevention of transfer of forces to the functional parts such as shaft (5) and the shaft bedding (12) . The robotic mechanism particularly for the purpose of surveillance and exploration that can be used by throwing according to claim 1, characterized in that; it comprises mobility element (2) in wheel form. The robotic mechanism particularly for the purpose of surveillance and exploration that can be used by throwing according to claim 1, characterized in that; on the section where the pal-body fitting (7) is provided, it comprises the impact damper (6) made of elastomer or elastomer comprising materials forming at least one part of the pal (3) or peripherally coated at least one part of the pal (3) . The robotic mechanism particularly for the purpose of surveillance and exploration that can be used by throwing according to claim 1, characterized in that;it comprises the impact damper (6) m the form of torque limiter (13) . The robotic mechanism particularly for the purpose of surveillance and exploration that can be used by throwing according to one of the above claims, characterized in that; it comprises pals (3) both associated with torque limiter (13) and at least one part is peripherally coated with elastomer or made of materials comprising elastomer. The robotic mechanism particularly for the purpose of surveillance and exploration that can be used by throwing according to one of the above claims, characterized in that; it comprises impact damper (6) in the form of elastomer coating extends to the engine housing (9) and surrounds a part of engine housing (9) . The robotic mechanism particularly for the purpose of surveillance and exploration that can be used by throwing according to one of the above claims, characterized in that; it comprises impact damper (6) formed by entirely coated pal (3) with elastomer materials . The robotic mechanism particularly for the purpose of surveillance and exploration that can be used by throwing according to one of the above claims, characterized in that; it comprises impact damper (6) formed in the form of elastomer coating made of rubber, silicone, and TPU or formed from mixtures containing at least one of these compositions. The robotic mechanism particularly for the purpose of surveillance and exploration that can be used by throwing according to one of the above claims, characterized in that; it comprises impact damper (6) formed in the form of elastomer coating equipped withspring and / or pressure plate / plates associated with elastomer coating . The robotic mechanism particularly for the purpose of surveillance and exploration that can be used by throwing according to claim 9 , characteri zed in that ; it comprises spring which is in the form of metal coil spring that can be embedded to the elastomer coating .

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