Robot movement mechanism

Abstract

The invention relates to a movement mechanism (1) to be used in robots (R) that charge electric and hybrid vehicles. Accordingly, its novelty lies in that in order to improve the mobility of the robot (R), it comprises at least one adjustment mechanism (60), at least one rotating element (30) rotatable about the X axis (x) and connected to the adjustment mechanism (60), at least one fixed body (20) positioned on the rotating element (30), at least one movable body (10) positioned on the rotating element (30) and movable in the direction of the X axis (x), and at least two arms (40) rotatable about the Y axis (y), positioned between the fixed body (20) and the movable body (10), and connected to each other at one of their ends.

Description

[0001] ROBOT MOVEMENT MECHANISM

[0002] FIELD OF THE INVENTION

[0003] The invention relates to a movement mechanism to be used in robots that charge electric and hybrid vehicles.

[0004] BACKGROUND OF THE INVENTION

[0005] Robots that charge electric vehicles are advanced systems that operate automatically and aim to charge the batteries of vehicles. These robots, thanks to their autonomous mobility capability, are able to move independently in parking areas and proceed towards the vehicle to be charged. Equipped with safety and sensor technologies, these robots detect environmental changes and provide a safe charging process.

[0006] The movement mechanisms of robots that charge electric and hybrid vehicles generally consist of omni-directional or standard wheels, which provide multi-directional movement in order to support autonomous mobility. Thus, the robots can effectively move in parking areas or parking lots, enabling movement from one point to another. These movement mechanisms may be omni-directional wheels, track systems, or standard wheels.

[0007] The movement mechanisms used in the current state of the art cause certain problems that restrict the mobility of the robot carriers. In particular, on surfaces where obstacles are encountered in industrial and urban areas, robot carriers may get stuck on these obstacles and have difficulty reaching the desired destination. This is due to the fact that the movement mechanisms cannot provide sufficient grip and flexibility on rough, inclined, or uneven surfaces, which negatively affects the robot’s stability and movement efficiency. Furthermore, the current movement mechanisms limit the maneuverability of robot carriers and prevent them from achieving the desired performance in narrow areas or complex ground structures. This situation causes interruptions in the robot's task execution process and reduces operational efficiency.

[0008] As a result, all the abovementioned problems have made it necessary to make an improvement in the relevant technical field. SUMMARY OF THE INVENTION

[0009] The present invention relates to a movement mechanism intended to eliminate the above- mentioned disadvantages and to introduce new advantages to the relevant technical field.

[0010] One object of the invention is to provide a movement mechanism that enables robots charging electric vehicles to move smoothly and uninterruptedly from one point to another.

[0011] Another object of the invention is to provide a movement mechanism that allows effective movement over different terrains and the overcoming of obstacles of varying sizes.

[0012] Another object of the invention is to provide a movement mechanism that occupies a small amount of space.

[0013] Another object of the invention is to provide a movement mechanism that enables the robot to access various vehicle types and different charging points by adapting to them.

[0014] Another object of the invention is to provide a movement mechanism capable of functioning as a wheel with a variable diameter that can be retracted and expanded.

[0015] In order to fulfill all the objectives mentioned above and those to be revealed in the following detailed description, the present invention relates to a movement mechanism to be used in robots that charge hybrid and electric vehicles. Accordingly, its novelty lies in that in order to improve the mobility of the robot, it comprises at least one adjustment mechanism at least one rotating element rotatable about the X axis and connected to the adjustment mechanism, at least one fixed body positioned on the rotating element, at least one movable body positioned on the rotating element and movable in the direction of the X axis, and at least two arms rotatable about the Y axis, positioned between the fixed body and the movable body, and connected to each other at one of their ends. Thus, the mobility and flexibility of robots that charge electric vehicles have been significantly improved for varying terrains.

[0016] In a possible embodiment of the invention, the movement mechanism comprises at least one drive element providing the movement, at least one motion transmitter rotatable about the Y axis and connected to the drive element, and at least one track connected to the motion transmitter and allowing movement of the motion transmitter along the X axis. In a possible embodiment of the invention, the motion transmitter is a pinion gear and the track is a rack gear.

[0017] In a possible embodiment of the invention, the drive element is an electric motor.

[0018] In a possible embodiment of the invention, the rotating element is a shaft.

[0019] In a possible embodiment of the invention, the adjustment mechanism is positioned inside the robot. Thus, the movement mechanism is protected from external conditions and its service life is extended.

[0020] In a possible embodiment of the invention, the movement mechanism comprises at least one connecting member connecting the arms to each other, and the connecting member is a pin. Thus, the arms can rotate about the Y axis from the point where they are connected by the connecting member.

[0021] In a possible embodiment of the invention, the movement mechanism comprises at least one joint connecting the arms to the fixed body and / or to the movable body.

[0022] In a possible embodiment of the invention, the fixed body and the movable body are in the form of a ring. Thus, they can be positioned to surround the rotating element.

[0023] In a possible embodiment of the invention, the number of arms is four. Thus, it can adapt to different terrain conditions.

[0024] BRIEF DESCRIPTION OF THE FIGURES

[0025] Figure 1 shows a representative transparent isometric view of the fully closed state of the movement mechanism according to the invention on the robot.

[0026] Figure 2 shows a representative transparent isometric view of the fully open state of the movement mechanism according to the invention on the robot.

[0027] Figure 3 shows a representative isometric view of the fully closed state of the movement mechanism according to the invention. Figure 4 shows a representative zoomed-in isometric view of the fully closed state of the movement mechanism according to the invention.

[0028] Figure 5 shows a representative zoomed-in isometric view of the fully open state of the movement mechanism according to the invention.

[0029] Figure 6 shows an isometric view of the fully closed state of an alternative embodiment of the movement mechanism according to the invention.

[0030] Figure 7 shows an isometric view of a partially open state of an alternative embodiment of the movement mechanism according to the invention.

[0031] Figure 8 shows an isometric view of the fully open state of an alternative embodiment of the movement mechanism according to the invention.

[0032] DETAILED DESCRIPTION OF THE INVENTION

[0033] In this detailed description, the movement mechanism (1) subject to the invention is explained with examples that are solely intended to enhance understanding of the subject and have no limiting effect.

[0034] Figure 1 shows a representative transparent isometric view of the fully closed state (I) of the movement mechanism (1) according to the invention on the robot (R). The movement mechanism (1 ) enables the movement of robots (R), particularly those used to charge electric vehicles. That is, the movement mechanism (1 ) essentially functions as a wheel.

[0035] The movement mechanism (1 ) comprises at least one rotating element (30). One end of the rotating element (30) is positioned inside the robot (R), while the other end is positioned outside the robot (R). The rotating element (30) essentially functions as a shaft. Therefore, the rotating element (30) can rotate around the X axis (x).

[0036] At one end of the rotating element (30), at least one movable body (10) is provided. The movable body (10) is located at the end of the rotating element (30) that remains outside the robot (R). The movable body (10) is in the form of a ring surrounding the rotating element (30), i.e., the shaft. The movable body (10) moves along the X axis (x) on the rotating element (30). Additionally, it can rotate around the X axis (x) together with the rotating element (30). In the preferred embodiment, the movable body (10) is positioned at the outermost point of the rotating element (30) on the side that remains outside the robot (R).

[0037] At least one fixed body (20) is provided on the rotating element (30). The fixed body (20) is positioned between the movable body (10) and the robot (R). To clarify, the fixed body (20) is also located outside the robot (R), but positioned closer to the robot (R) than the movable body (10) in the direction of the X axis (x), and surrounds the rotating element (30). The fixed body (20) is also ring-shaped. The fixed body (20) does not move along the X axis (x) on the rotating element (30), but it can rotate around the X axis (x) together with the rotating element (30).

[0038] The movement mechanism (1 ) comprises at least one arm (40) with one end connected to the movable body (10) and the other end connected to the fixed body (20). The arm (40) is connected to both the movable body (10) and the fixed body (20) via at least one joint (50) each. The arm (40) is in the form of a rectangular profile, though it is not limited to only a rectangular profile. The joint (50) allows the arm to rotate around the Y axis (y). That is, the arm (40) can rotate around the Y axis (y) at the point where it is connected to the bodies via the joint (50). In the preferred embodiment of the invention, the number of arms (40) is two. Thus, one of the arms is connected at one end to the fixed body (20), while the other arm (40) is connected at one end to the movable body (10). The other ends of the arms (40) are connected to each other.

[0039] At least one connecting member (41) is provided to connect the arms (40) to each other. The connecting member (41) also enables the arms (40) to rotate relative to each other around the Y axis (y). The connecting member (41) is preferably a pin. In this way, both ends of the arm (40) can rotate around the Y axis (y). With this rotational freedom of the arm (40), the movement mechanism (1) can transform from the fully closed state (I) as shown in Figure 1 to the fully open state (II) as shown in Figure 2. Additionally, it is also evident that the movement mechanism (1 ) can remain in a state between the fully open state (II) and the fully closed state (I) (as can be seen in the alternative embodiment in Figure 7.).

[0040] To enable the arm (40) to rotate around the Y axis (y), in other words, to enable the movement mechanism (1 ) to open, the movement mechanism (1) comprises at least one adjustment mechanism (60). It should be noted here that the movement mechanism (1) is capable of performing its function of allowing the robot (R) to move from one point to another even in the fully closed state (I). The need to switch to the fully open state (II) may vary depending on the obstacles the robot (R) needs to overcome. The adjustment mechanism (60) is positioned inside the robot body (R). However, in alternative embodiments, it may also be located outside the robot (R).

[0041] The adjustment mechanism (60) comprises at least one motion transmitter (62) connected to the rotating element (30). The motion transmitter (62) is provided at the end of the rotating element (30) that remains inside the robot (R). The motion transmitter (62) can rotate around the Y axis (y). It can also move in the direction of the X axis (x) together with the rotating element (30). The motion transmitter (62) essentially functions as a pinion gear.

[0042] To enable the motion transmitter (62) to move along the X axis (x), at least one track (63) is provided. The track (63) is also positioned inside the robot (R). The track (63) essentially functions as a rack gear extending in the direction of the X axis (x). Therefore, the motion transmitter (62), i.e., the pinion gear, can move forward and backward along the track (63), i.e., the rack, in the direction of the X axis (x).

[0043] To enable this movement of the motion transmitter (62), at least one drive element (61) is provided. The drive element (61) rotates the motion transmitter (62) around the Y axis (y), thereby allowing it to move forward and backward along the track (63) in the direction of the X axis (x). The drive element (61) is an electric motor.

[0044] In an alternative embodiment of the invention, the number of arms (40) may be more than two. According to the alternative embodiment shown in Figures 6, 7, and 8, the number of arms (40) is four. This means that the movement mechanism (1 ) can be easily optimized depending on the conditions of the working environment. That is, the number of arms (40) can simply be increased to enhance the movement capability of the robot (R) as desired.

[0045] In light of all the above, the invention operates as follows: The movement mechanism (1 ) is designed to ensure that the robot (R), which charges electric vehicles, can move smoothly from one point to another under varying terrain conditions. The robot can move even in the fully closed state (I) of the movement mechanism (1), thus providing standard operation when there are no obstacles. However, when there is an obstacle in front of the robot (R) or when it needs to reach different vehicle types, the movement mechanism (1 ) is activated, enabling the robot (R) to adopt a flexible structure. This is achieved through the adjustment mechanism (60). When the drive element (61) drives the motion transmitter (62), the rotating element (30), which is connected to the motion transmitter (62), moves along the track (63) in the direction of the X axis (x), thereby causing the movable body (10) to also move in the direction of the X axis (x), i.e., towards the robot (R). With this movement, the arms (40), which are located between the movable body (10) and the fixed body (20), rotate around the Y axis (y) and open. To clarify further, when the adjustment mechanism (60) is activated, the distance between the movable body (10) and the fixed body (20) shortens, and this shortening allows the arms (40) to rotate around the Y axis (y). Consequently, the diameter of the wheel, i.e., the movement mechanism (1), increases.

[0046] Therefore, by changing the wheel diameter and maintaining it at the desired diameter, the movement mechanism (1 ) significantly increases the movement capability and flexibility of the robot (R), allowing robots (R) that charge electric vehicles to overcome various obstacles and access different types of vehicles. The movement mechanism (1 ) enables the robot (R) to move even in the fully closed state (I), while also expanding when necessary to provide the robot (R) with a wider range of movement. Furthermore, thanks to the adjustment mechanism (60), it can be optimized according to different environmental conditions and obstacles. This flexibility increases the functionality and efficiency of the robot (R), allowing it to operate effectively in various usage scenarios. In addition, when the wheel becomes smaller, that is, when the movement mechanism (1) returns to the fully closed state (I), it occupies less space and is optimized for speed and energy efficiency on flatter surfaces.

[0047] The protection scope of the invention is specified in the appended claims and cannot be limited to the description made for illustrative purposes in this detailed description. Likewise, it is clear that a person skilled in the art can present similar embodiments in the light of the above descriptions without departing from the main theme of the invention.

[0048] REFERENCE NUMBERS THAT GIVEN IN THE FIGURE

[0049] 1 Movement Mechanism

[0050] 10 Movable Body

[0051] 20 Fixed Body

[0052] 30 Rotating Element

[0053] 40 Arm

[0054] 41 Connecting Member

[0055] 50 Joint

[0056] 60 Adjustment Mechanism

[0057] 61 Drive Element

[0058] 62 Motion Transmitter

[0059] 63 T rack

[0060] (R) Robot

[0061] (x) X Axis

[0062] (y) Y Axis

[0063] (I) Fully Closed State

[0064] (II) Fully Open State

Claims

CLAIMS1 . A movement mechanism (1 ) to be used in robots (R) that charge electric and hybrid vehicles, characterized in that in order to improve the mobility of the robot (R), it comprises at least one adjustment mechanism (60), at least one rotating element (30) rotatable about the X axis (x) and connected to the adjustment mechanism (60), at least one fixed body (20) positioned on the rotating element (30), at least one movable body (10) positioned on the rotating element (30) and movable in the direction of the X axis (x), and at least two arms (40) rotatable about the Y axis (y), positioned between the fixed body (20) and the movable body (10), and connected to each other at one of their ends.

2. The movement mechanism (1 ) according to Claim 1 , characterized in that the adjustment mechanism (60) comprises at least one drive element (61 ) providing the movement, at least one motion transmitter (62) rotatable about the Y axis (y) and connected to the drive element (61), and at least one track (63) connected to the motion transmitter (62) and allowing movement of the motion transmitter (62) along the X axis (x).

3. The movement mechanism (1 ) according to Claim 2, characterized in that the motion transmitter (62) is a pinion gear and the track (63) is a rack gear.

4. The movement mechanism (1 ) according to Claim 2, characterized in that the drive element (61 ) is an electric motor.

5. The movement mechanism (1 ) according to Claim 1 , characterized in that the rotating element (30) is a shaft.

6. The movement mechanism (1 ) according to Claim 1 , characterized in that the adjustment mechanism (60) is positioned inside the robot (R).

7. The movement mechanism (1 ) according to Claim 1 , characterized in that it comprises at least one connecting member (41) connecting the arms (40) to each other.

8. The movement mechanism (1 ) according to Claim 7, characterized in that the connecting member (41) is essentially a pin.

9. The movement mechanism (1 ) according to Claim 1 , characterized in that it comprises at least one joint (50) connecting the arms (40) to the fixed body (20) and / or to the movable body (10).

10. The movement mechanism (1) according to Claim 1 , characterized in that the fixed body (20) is in the form of a ring.

11. The movement mechanism (1) according to Claim 1 , characterized in that the movable body (10) is in the form of a ring.

12. The movement mechanism (1) according to Claim 1 , characterized in that the number of arms (40) is four or more.

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