INVENTION TITLE Independently Driven Six-Wheeled Modular Mobile Robot Platform with Dual Joint Passive Balancing Mechanism (SARDURI)

Abstract

SUMMARY The invention relates to an independently driven, six-wheeled modular mobile robot platform with a dual-joint passive leveling mechanism, possessing high mobility and climbing capabilities in rough terrain, specifically developed for use in unmanned ground vehicles (UGVs). The invention consists of a curved chassis (3) on which the loads are mounted, independently driven wheels (10) and swing arms (6) connecting these components. To maintain the stability of the main body (1) on rough terrain, a front joint (4) and a rear joint (5) are located between the chassis (3) and the swing arms (6) that perform passive rotation in the horizontal swing axis. Angular shocks are dampened and controlled return is ensured by means of helical springs (7) positioned directly between these joint structures and the swing arm (6). Thanks to its modular structure, the platform offers quick maintenance and serviceability and contributes to improving movement stability and traction performance by increasing wheel-ground contact in rough terrain conditions.

Description

1 TARIFF Modular Mobile Vehicle with Independent Drive and Aluminum Wheels, Equipped with Dual Articulated Passive Balancing Mechanism Robot Platform (SARDURI) TECHNICAL FIELD This invention is used in mobile robotic systems, unmanned ground vehicles (UGVs), terrain robots, reconnaissance robots, and security applications. It relates to the technical fields of robots, search and rescue systems, and modular transport platforms. The invention specifically refers to a two-jointed system with six wheels, each driven independently, and supported by helical springs. Thanks to its walking mechanism and modular body design, it provides body stability on uneven terrain. It relates to a mobile robot platform. STATE OF TECHNOLOGY 10 Common mobile robot platforms mostly feature rigid chassis structures or single-axis swing systems. It is used in these systems. In these systems, as the slope of the land increases, the trunk bends significantly, Some wheels lose contact with the ground, reducing traction. Rocker-Bogie Although the walking mechanisms provide damping in the vertical direction, the hull is susceptible to torsional and lateral tilting. It is unable to maintain its balance. 15 Although independent suspension systems are used in some applications, the spring-damper assembly Linear damping is achieved because it is directly connected vertically between the chassis and the wheel. This situation causes the normal force exerted by the wheel on the ground to vary. Furthermore, in existing systems, the walking mechanism may not be completely intact during maintenance procedures. Disassembly is required, and modularity is secondary. 20 For these reasons, a body that provides high mobility and offers the advantage of torque / angular damping is needed. There is a need for a new mobile robot platform that passively maintains its stability and has a modular structure. It is heard. THE PURPOSE OF THE INVENTION The purpose of this invention is; 25 • Passively maintains the main trunk balance in rough terrain conditions. • Thanks to its independent drive wheels, it provides continuous and lossless traction. • Enhanced climbing and obstacle-crossing capabilities with its dual-joint walking system, • Absorbs angular shocks with the help of helical springs that act directly on the joint, • Increasing ground clearance by reducing stress concentrations with its curved chassis geometry, 30 • Thanks to its modular design, it allows for easy maintenance of different workloads and subcomponents, or enabling change, To develop a mobile robot platform. ANNOUNCEMENT OF THE INVENTION The components and structural relationships that make up the invention are as follows: 35 • Main Body (1): Protects electronic equipment, battery and overhead loads from external factors It is the main superstructure that ensures its protection and transportation. 2 • Electronic Box (2): Control cards, communication modules and motor driver circuits It is a modular compartment that houses a drivetrain and can be completely isolated from the chassis and drivetrain. • Chassis (3): It is the load-bearing frame with a curved tube geometry. The curved structure; walking It creates a load-bearing geometry suitable for the movement of the mechanism, and stress concentrations. It contributes to reducing the snow cover and helps to increase the height of the platform from the ground. 5 • Front Joint (4) and Rear Joint (5): Connecting the chassis (3) to the swing arms (6) a coupling that provides the walking mechanism with freedom of rotation along the horizontal oscillation axis These are the elements. The joint structure is passive within a certain angular range depending on the terrain conditions. The rotational movement reduces the impacts transmitted to the body. Preferably the operating range. It is designed so that 0°≤θ≤35°. 10 • Swing Arm (6): Connected to the chassis via joints and having an axis distance of 160 mm. It is a movable arm. • Helical Spring (7): Between the front joint (4) or rear joint (5) and the swing arm (6) The spring is positioned so that it compresses or relaxes during the angular movement of the joint, making it elastic. The energy stores, absorb the shocks generated, and return the joint to its initial position in a controlled manner. It allows it to return. The spring is preferably positioned to operate in a preloaded state. • Motor Brake (8): Located at the ends of the swing arms (6) and carrying the drive system. It is a connecting element. • DC Motor (12V) (9): It is on a 12V DC Planetary Gearbox and the wheels (10) are separated from each other. It enables independent propulsion. 20 • Wheel (10): With a diameter of Ø75 mm, it is the part that provides the robot with contact with the ground and its movement. It is a walking element. • Antenna (11): For transmitting remote control, telemetry or wireless communication signals. For this purpose, it is located on the main body (1). • Battery Compartment (12): Allows for quick and modular attachment and detachment of the power source to the platform. It is a home that provides. While the robot platform moves over rough terrain, the front joint (4) and rear joint (5) move over rough terrain Depending on the slope, angular movement occurs independently of each other. During this movement... Helical springs (7) absorb the shocks caused by elastic deformation and the main body (1) is more It helps to keep it in a stable position. Thus, the contact of the wheels (10) with the ground is increased while 30 The trunk tilt is passively reduced. This passive balancing mechanism eliminates the need for any additional active measures. the walking mechanism adapts to terrain conditions without requiring a balancing actuator It contributes. BRIEF DESCRIPTION OF THE FIGURES 35 • Figure 1: Perspective view of the mobile robot platform. • Figure 2: Front view of the mobile robot platform. • Figure 3: Right-side view of the mobile robot platform. • Figure 4: Top view of the mobile robot platform. 3 • Figure 5: Left side view of the mobile robot platform. • Figure 6: Bottom view of the mobile robot platform. • Figure 7: Exploded perspective view of the mobile robot platform. REFERENCE NUMBERS IN THE FIGURES • 1: Main Body 5 • 2: Electronic Box • 3: Chassis (Main Frame) • 4: Front Joint • 5: Rear Joint • 6: Swing Arm 10 • 7: Helical Spring • 8: Motor Brake • 9: DC Motor (12V) • 10: Wheel • 11: Antenna 15 • 12: Battery Compartment INDUSTRIAL APPLICABILITY The invention has applications in the defense industry, security applications, unmanned ground vehicles (UGVs), search and rescue robots, Agricultural robots, industrial transport systems, and logistics platforms can be mass-produced. It is available for use. Integrated dual-joint passive leveling with curved chassis geometry 20 Its mechanism can be manufactured mechanically from standard components and welded connections. It consists of.

Claims

4 REQUESTS 1. The invention is a mobile robot platform capable of moving in rough terrain conditions; its feature is: a curved chassis on which the payloads are mounted (3), The wheels that enable the robot to make contact with the ground (10), o The swing arms (6) that connect the chassis (3) and the wheels (10), 5 To passively balance the slope of the main body (1) and chassis (3) on rough terrain. so that, located between the chassis (3) and the swing arms (6) and the body of the robot platform horizontal oscillation that performs passive angular movement to increase stability a front joint (4) and a rear joint (5) with degrees of freedom of rotation on its axis It has a walking mechanism that includes two articulated joints. 10 2. A mobile robot platform conforming to Claim 1, its feature being; front joint (4) and rear joint (5) by storing elastic energy during angular movement, it absorbs shocks and the joint between the relevant joint and the swing arm (6) that enables it to return to its starting position. It contains at least one helical arc (7) positioned.

3. A mobile robot platform conforming to claim 1 or 2, whose feature is; a walking mechanism of 15 Creating a load-bearing geometry suitable for movement, contributing to the reduction of stress concentrations. a curved pipe that provides and contributes to increasing the height of the platform from the ground It includes a chassis (3) with the form.

4. It is a mobile robot platform that conforms to Claim 1, and its feature is that the wheels (10) are separated from each other. 20 via motor brackets (8) to the swing arms, enabling independent drive. (6) includes mounted DC Motor (12V) (9).

5. A mobile robot platform conforming to claim 4, the feature of which is that each wheel (10) has its own It is driven separately by an independent DC motor (9).

6. A mobile robot platform that conforms to claim 4 or 5, and its feature is that the DC Motor (9) It is a planetary geared rope. 25 7. It is a mobile robot platform that complies with Claim 1, and its features are; chassis (3) and walking mechanism. fully isolated control boards, communication modules and driver circuits It contains a modular electronic box (2) containing.

8. A mobile robot platform that complies with Claim 1, and whose feature is; the energy requirement of the robot platform. a modular 30 integrated into the main body (1) that can be quickly disassembled and reassembled. It contains a battery compartment (12).

9. It is a mobile robot platform that complies with Request 1, and its features include wireless data transmission and telemetry. It contains at least one antenna (11) located on the main body (1) to transmit its signals.

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