JPH0771792B2 - Small all-terrain traveling robot - Google Patents

Description

Detailed Description of the Invention

[0001]

FIELD OF THE INVENTION The present invention relates generally to vehicles that are remotely controlled by cable or wireless, and more particularly,
The present invention relates to a robot that can be moved in an environment where there is insufficient space for operating a relatively large device and which is dangerous or harmful to humans or is bad.

[0002]

BACKGROUND OF THE INVENTION As described in U.S. Pat. No. 4,932,831, there are many environments where local conditions are dangerous to humans. One such environment is found in places where radiation can be at high levels. It has
Nuclear power plant, radioisotope processing facility (radioisotope
Proeessing facilities) etc. are included in and around. For example, it is often necessary to inspect equipment in these environments and repair it if necessary. A typical example of such an application is the Susquehanna plant of Pennsylva Power Lighting Company.
nia Power and Light Company) waste sludge face separator tank, where it is necessary to periodically clear the clogging of the flow eductor nozzle inside the tank. At present, this work is performed by an operator entering the tank from above and inserting the water jet into the eductor nozzle, but only one eductor nozzle can be operated at one time.

Other extremely dangerous environments in which humans are involved are those related to military or paramilitary behavior and to various security behaviors, including those in the event of a fire or explosion. . Paramilitary actions, of course, include actions performed by various levels of police authorities. In addition to the above-mentioned inherently dangerous environment, in the labor market environment in Japan these days, the shortage of young labor force is regarded as a problem, and one of the causes is the so-called 3K (tight, messy). There is a problem, and there is concern about the absolute lack of manpower in such a working environment. Under these circumstances, robots are required to substitute for these 3K problems. In addition to the above-mentioned examples, examples thereof include shelling work in seawater piping of a power plant, and thickness measurement work of a bottom plate of an oil tank.

All-terrain traveling robots have been developed for use in these dangerous environments. ANDROS
This robot, named, is fully described in the aforementioned patent, and what is said there is incorporated herein by reference. Basically, this Andros robot is a pair of endless belts (trac
k), that is, it has a body that is driven by endless trajectories, one on each side, operated and driven separately. Furthermore, in order to allow the robot to move on uneven ground, an auxiliary endless track that can be raised and lowered is provided in the front part and the rear part. This robot is for lighting, observation,
In addition, any desired working device for accomplishing a given task can be mounted. Such working devices are usually mounted at the end of one arm unit which can move in most directions, which arm unit is provided with a swivel shoulder unit, an elbow unit and a wrist unit. Has been. Power is supplied through cables and tethers or by onboard battery packs. Control of work is transmitted via this cable or by wireless transmission.

While suitable for solving many of the problems of remote operation in hazardous environments, this robot has at least two drawbacks. That is, this robot is too large to be used in some tanks and passages, and it does not work well in liquids because the bearings do not have a sufficiently impermeable seal for liquids. . Regarding size, it is desirable for some applications to be able to be inserted into a tank or the like through a limited opening. In addition, downsizing has been desired in order to simplify transportation of the robot to the next work place. Liquid can be prevented from entering the bearings, etc. by using a proper seal, but since each component part of the large ANDROS is extremely large, a specially designed seal is required, which is expensive. become. However, this large AN
The components of DROS are not designed so that only their dimensions can be reduced in order to use them as described above.

[0006]

Therefore, one of the aspects of the present invention is to be solved.
One purpose is to provide a remote-controlled all-terrain robot that is compact enough to be easily transported but has a variety of work capabilities.

Another object of the present invention is to provide a sufficiently small, all-terrain robotic remote-controlled robot that can be inserted through a relatively narrow opening for inspection and maintenance work on tanks and the like. That is.

Still another object of the present invention is that it is possible to work even in an environment in which the components are immersed in a corrosive or non-corrosive liquid, without the bearing of the main rotating part being significantly damaged. , To provide a robot capable of traveling on all terrain.

Furthermore, a simplified arm unit for an all-terrain robot, that is, an arm unit to which many working devices are detachably attached so that various tasks can be performed by the robot. Providing is also an object of the invention. These and other objects of the invention will be apparent from the improved robot drawing and the following complete description, including the description thereof.

[0010]

A traveling device for a small all-terrain traveling robot according to the present invention has a front end and a rear end, and is provided with a pair of rotatable sprocket wheels on both sides, respectively.
At least one of the sprocket wheels is driven on each of the sides, and a pair of main sprocket wheels on each side are engaged with a flexible main track for supporting and moving the traveling device on a traveling surface. A main chassis and a sprocket wheel rotatably supported at its free end, and a sprocket wheel having a second sprocket wheel portion located closer to the front end of the pair of sprocket wheels. A free-standing sprocket wheel and a second sprocket wheel portion each having a flexible first Of the two sprocket wheels are engaged such that the rotation of one of the arms is transmitted to the other. A first articulated auxiliary chassis, in which the arms are interconnected by a torsion member laterally interconnecting the midpoints, and rotatably supporting a sprocket wheel at its free end, and 1
A cantilever rotatably mounted on each side of the rear end for rotatably supporting a sprocket wheel having a second sprocket wheel portion located closer to the rear end of the pair of sprocket wheels. A free second end sprocket wheel and a second sprocket wheel portion are engaged with a flexible second auxiliary track, and pivoting of said one arm An articulated second auxiliary chassis in which the arms are interconnected by a torsion member that laterally interconnects the midpoints of the two sprocket wheels, such that the arms are interconnected so that they are transmitted to the other arm. Mounted in the main chassis and rotating one sprocket wheel of the pair of sprocket wheels on one side of the main chassis to rotate the main chassis Drive motor means and gear means for rotating one of the main endless tracks on the side of the wheel and for rotating the first and second auxiliary endless tracks through the second sprocket wheel portion of the one sprocket wheel. A first main chassis drive means including a bearing and a seal means for protecting the bearing during operation; and a diagonally mounted within the main chassis from the first main chassis drive means, 1 on the other side of the main chassis
Rotating one sprocket wheel of the pair of sprocket wheels to rotate the main endless track on the other side of the main chassis, and through the second sprocket wheel portion of the other sprocket wheel, the first and second sprocket wheels. A second main having drive motor means and gear means for rotating the auxiliary endless track on the other side of the auxiliary chassis and including bearings and sealing means for protecting the bearings during operation. Chassis drive means and motor means mounted within the main chassis and associated with one of the arms of the first auxiliary chassis for rotating the first auxiliary chassis with respect to the main chassis. A first auxiliary chassis drive means including a bearing and a seal means for protecting the bearing during operation of the robot; Mounted diagonally from the first auxiliary chassis drive means within the chassis and combined with one of the arms of the second auxiliary chassis to rotate the second auxiliary chassis with respect to the main chassis. Second auxiliary chassis drive means having a motor means and a gear means which are provided and which includes a bearing and a seal means for protecting the bearing during operation of the robot, and a remote operation of each of the aforementioned components. For this purpose, the main chassis comprises drive means for the main chassis and operation control circuit means connected to the drive means for the first and second auxiliary chassis.

Further, the small all-terrain traveling robot of the present invention using this traveling device is, in the traveling device having the above-mentioned structure, pivotably mounted on the main chassis and has at least one horizontal position with respect to the main chassis. A shoulder joint that rotates around the axis of, an elbow joint that rotates around one horizontal axis with respect to the main chassis, the shoulder joint, and an elbow joint that pivotally supports one end of the front arm portion. An upper arm portion, the front arm portion being provided with auxiliary means for detachably mounting a device for performing a selected operation of the robot in a hazardous environment, Arm unit for moving the shoulder joint and the elbow joint for performing selected movements of the shoulder joint and the elbow joint. A drive means mounted in the side arm portion, an observing means including an illuminating means and a television camera means, which is coupled to the main chassis with its front end facing, and an observing means of each of the above-mentioned components. For remote operation, in the main chassis, the arm unit, its driving means, and operation control circuit means connected to the observing means are provided.

[0012]

As described above, the remote controlled small all-terrain traveling robot of the present invention has a pair of sprocket wheels on both sides of the main chassis having a hermetic structure, and the main infinity supported on the sprocket wheels. The trajectory is the means of moving the robot. In addition, a pair of auxiliary chassis is provided in front of and behind the main chassis, and this auxiliary chassis also has a pair of sprocket wheels that support the auxiliary endless track, and the robot runs on the running surface together with the main endless track. Drive to. The main and auxiliary endless tracks are driven by driving devices separately provided so as to be independently driven for each side portion of the main chassis.

Each of the auxiliary chassis is attached to the front and rear of the main chassis so as to be rotatable in the vertical direction with respect to the main chassis, and the drive devices thereof are separately provided for the front and the rear. Each chassis can be lifted or lowered at any angle relative to the main chassis. Therefore, by changing the angle of the auxiliary chassis, the robot can freely move on the terrain including various obstacles having various shapes in association with the driving of the main chassis. Furthermore, by raising the front and rear auxiliary chassis to the upper limit, the space occupied by the robot can be minimized, so that the robot can be easily transported and can be inserted through a narrow opening.

The robot is structurally miniaturized as a whole, and as described above, the drive devices for the main chassis and the auxiliary chassis can be operated independently of each other, and the main structure has a closed structure. Since the drive shaft is arranged in the chassis, the torque required for each drive shaft can be reduced, so that the size of the drive shaft can be reduced. Therefore, an appropriate sealing means can be used for the drive shaft, and the robot can be operated even when immersed in the liquid.

Mounted on the top of the main chassis is a simplified arm unit having a shoulder joint and an elbow joint which are driven by the same and interchangeable drive system. The front arm portion of the arm unit is adapted to hold any of a wide variety of work devices such as scissors, luminaires and the like. If desired, the shoulder joint can be rotated so that the arm can be moved to the side of the robot. Power is supplied via a battery pack or cable and control signals are transmitted from remote stations by any suitable method, either wirelessly or by cable.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A remotely operated all-terrain traveling robot according to the present invention is shown in FIG. 1 (side elevation view) and FIG. 2 (top view), generally with reference numeral 10, with typical attachments. It is shown. The robot has a main chassis 12 forming a front end 14 and a rear end 16. A pair of sprocket wheels 1 on the left side of the robot in the front-back direction
8 and 20 are rotatably mounted, and corresponding sprocket wheels 18 'and 20' are provided on the right side. These sprocket wheels are double wheels. That is, the sprocket wheel can accommodate two belt-shaped tracks. This purpose will be described later. The system for rotating these sprocket wheels is designated by the reference numeral 21 and is described below in FIG.

The sprocket wheels 18, 20 support a first main endless track 22, which is a belt-shaped endless track having both an inner antiskid 24 and an outer antiskid 26. Typically this is a Kelvar belt with urethane anti-skid molded on its inside and outside. The idle wheel 28 maintains the tension of the main endless track 22 and the skid 3
0 keeps the outer anti-skid 26 in contact with the support running surface 32. Similar structure on the right side of the robot,
That is, there is a main track 22 'and an idle wheel 28'.

The main chassis 12 also carries on its front end an articulated auxiliary chassis 34, which extends 90 ° above and below horizontal about the axis 45 of the sprocket wheels 18, 18 '. It can be rotated to a position within the range. This auxiliary chassis has a pair of arms 36, 36 ', with sprocket wheels 38, 38' at each free end thereof.
I support you. These arms have mutual coupling members 114, which are torsion tubes, and will be described with reference to FIG. Auxiliary tracks 40, 40 'are supported by the sprocket wheels 38, 38' and their corresponding second parts of the sprocket wheels 18, 18 '(see FIG. 3). Idler wheels 42, 42 'are provided to maintain tension on the auxiliary tracks 40, 40', and skids 44 (on each side) are provided on the auxiliary tracks 40, 4 '.
It is provided to keep 0'in contact with the running surface it contacts. Auxiliary chassis 34 in front of it
By means of drive means, indicated generally by the reference numeral 48, the axis 45 of the sprocket wheels 18, 18 '.
Is rotated in the direction indicated by the double-headed arrow 46. This driving means will be described with reference to FIG.

A similar articulated auxiliary chassis 50 is supported at the rear end 16 of the main chassis 12. This auxiliary chassis also has a pair of arms 52, 52 'which are connected to each other by a torsion tube (see the description of FIG. 3), each supporting a sprocket wheel 54, 54' at its free end. There is. On each side, as shown in FIG. 4, further auxiliary tracks 56, 56 'rest on the sprocket wheels 20 and 54 (and 20' and 54 ') and are tensioned by idler wheels 58, 58'. Is kept at. And the front auxiliary chassis 34
There is a skid 60 similar to the skid 44 in. This auxiliary chassis 50, which can be pivoted up and down around the axis 61 of the sprocket wheels 20, 20 ', has a double-headed arrow 6
It is moved in the direction indicated by 2. The auxiliary chassis is thereby positioned either above or below the main chassis, or anywhere in between.

Power is generally supplied to the robot via cable 64. Normally, the power source is 100V / 120V, so a converter (not shown) is mounted in the main chassis 12. Instead, the main chassis 1
A battery pack (not shown) mounted on the vehicle may be provided in the vehicle 2. The control signal to the robot may also be sent by this cable, but this signal may be transmitted wirelessly. In this regard, this robot is similar to that disclosed in the aforementioned patents. In order to minimize the size of the robot, it is desirable to have the robot hold a separate cable reel (see FIG. 7) when extra length of cable is required. An arm unit 68 that is remotely operated is attached to the top cover 66 of the main chassis 12.

This arm unit has a double-headed arrow 72.
It has a shoulder unit 70 which allows movement in the direction indicated by (total 230 °). Further, there is the elbow unit 74 so that the front arm portion 76 is moved in the direction indicated by the double-headed arrow 78 (210 ° in total). Figure 8
Shows examples of this arm in various positions. These movements are achieved by drive means. These will be described with reference to FIG. The details of the arm unit are shown in FIG. The forearm portion 76 has a top surface 80 on which any desired working device can be attached. This working device will be different for different purposes of use of the invention.
A variety of useful working equipment will be known to those skilled in the art.

In the embodiment shown in FIGS. 1 and 2, there is a television camera 82 for viewing the area just in front of the end of the front arm portion 76. This camera requires an illumination means 84 to obtain the appropriate brightness. In addition, this embodiment has a water jet 86, which is also directed by the forearm portion 76. In one embodiment, at least a portion of these components attached to the forearm are replaced with scissors for gripping an object. The electrical system of these attached devices is connected to the electrical wiring of the robot by using a plug-in module or the like. Furthermore, for physical protection, parts of the permanent wiring are housed in various body and arm units wherever possible.

The major difference between the robot according to the invention and the robot of the above cited patent is the drive part for steering the auxiliary chassis and the drive part for the basic drive of the robot on a given plane of travel. In structure. As shown in FIG. 3, there is shown a cross-sectional view of the drive means 48 for lifting and lowering the front auxiliary chassis 34. Although this is for the front auxiliary chassis, a unit of identical construction is located for the pivoting movement of the rear auxiliary chassis on the opposite side of the robot, i.e. near the rear. As can be seen from this figure, the sprocket wheel 38 supporting the front end of the auxiliary track 40 is rotatably mounted on a shaft 88 at the free end of the arm 36.

Arm 36 (and therefore auxiliary chassis 34
The actual movement of the (also) is accomplished by motor means 90 suitably mounted in the main chassis 12 and drive means including a reversing transmission 92 and a gear train unit 94. The gear train unit 94 uses a plurality of planetary gear units as indicated by reference numeral 96 so that a desired output speed and torque can be obtained at the output shaft 98. Typically, the torque obtained with this drive means is about 4000 inch-pounds, which is adequate and sufficient to lift the robot. The output shaft is rotatably supported in a suitable bearing means 100, which is provided with sealing means 102 for preventing liquid from entering the bearing. This construction makes the size of the required sealing means quite small. This output shaft may be provided with a spline, and this output shaft is
Generally, it is drivingly coupled to a drum composed of an output plate 104 and a cylinder 106 which are removably mounted using a plurality of fasteners, generally designated by reference numeral 108.

The drum is then connected to the arm 36 by any suitable means (not shown, but typically a threaded fixture) so that when the output shaft 98 rotates, the drum will rotate to the main chassis. Since there is a bearing unit 112 between the extension part 110 and the extension part 110,
Rotate around 0. With this structure, the front auxiliary chassis 34 is lifted or pushed down with respect to the main chassis 12. This movement is directly transmitted to the arm 36, but it is also transmitted to the second arm 36 ′ of the front auxiliary chassis 34 via the torsion tube 114. The torsion tube is mounted at a location 116 midway between the free end of arm 36 and the end about axis 45. Thus, when the arm 36 is moved up or down, the second arm 36 'is moved with it.

This mechanism is shown as being on the left side of the robot, but can be located on the right side if the main drive system 21 (described below) is moved to the right side of the robot. . This pivoting movement of the front auxiliary chassis results in the auxiliary tracks 40, 4 of the front auxiliary chassis.
It is independent of 0'and any movements of the main track 22,22 '. The movements of these endless tracks are separate because the sprocket wheels 18, 18 'are supported by the cylinder 106 and bearing 118, as shown, and are rotatable about axis 45. is there.

In FIG. 3, the skid 44 has a support means 12
It is shown to be attached to the arm 36 using 0. Details of the main chassis drive means 21, which is the main drive means of the robot, are shown in the partial sectional view of FIG. The main chassis drive means includes a motor means 122 suitably mounted in the main chassis 12, a direction changing transmission 124, and a gear unit 128 coupled to its output shaft 126. The gear unit is formed of one or more planetary gear components 130, the number and gear ratio of which are selected to provide the desired rotational speed and torque at the output shaft 132. Speeds of 0 to 16 inches / second (40 cm / sec),
A torque of 270 inch-pounds (310 kg-cm) is obtained. An output hub 134 is attached to this output shaft by a suitable means, and this hub is used for the sprocket wheel 2.
No. 0 is detachably attached by a fixture 136.

These fixtures are used for the sprocket wheel 2
It is also possible to release the engagement between 0 and the output hub 134, so that the robot can be moved (for example, pulled) even when something trouble occurs in the drive mechanism 21 or the like. The output hub 134 is supported in suitable bearing means 138, which seal means 140 may prevent the bearing means from being damaged by some environmental influence (eg when the robot is submerged in liquid). You can see that it is prevented. In this construction, the rear auxiliary chassis can be swiveled around the axis 61, which has bearing means 142 interposed between the drum 144 of the auxiliary chassis and the cylindrical projection 146 of the main chassis 12. It depends on what you are doing. This pivoting movement is controlled by the second drive means having the same structure as shown in FIG. 3 and located on the opposite side (right side) of the robot.

As will be appreciated by those skilled in the art from the above, the two drive mechanisms 48 for manipulating the two auxiliary chassis are in one diagonal position in the main chassis,
The main chassis drive means 21 is located at the other diagonal position in the main chassis 12. With such an arrangement, one main drive means will rotate the endless track (eg 22, 40 and 56) on one side of the robot, while the other main drive means will be on that side, the second.
Rotate the endless orbit on the side of. Similarly, one of the operation drive mechanisms (front or rear) of the auxiliary chassis operates the auxiliary chassis on one side as described above, and the other second operation drive mechanism on the opposite side of the robot 10 operates on the other side. Operate the second auxiliary chassis. Therefore, there is one main drive means and one auxiliary chassis drive means at each end of the main chassis.

As noted above, another improvement made to reduce the size and weight of the robot is in the redesign of the articulated arm unit 68. A side view of this arm is shown in Figure 5.
(The orientation is opposite to that of FIGS. 1 and 2). Shoulder unit 70 is suitable for bracket 1
It is attached to the top cover 66 of the main chassis by 48. In the illustrated embodiment, this shoulder unit cannot rotate about a vertical axis. However, if suitable rotating means (not shown)
If incorporated in 8, such movement is achieved. The upper arm portion 150 is lifted (or pushed down) in the direction indicated by the double-headed arrow 72 by the motorized drive means 152 mounted therein.
Similarly, a motorized drive means 154 of the same construction in the upper arm section is attached to the front arm section 76 (which is attached to the elbow unit 74 by a bracket 156).
Is moved in the direction indicated by the double-headed arrow 78.

Details of the two motorized drive means 152 and 154 are shown in FIG. As previously mentioned, various types of equipment may be attached to the top surface 80 of the forearm portion 76 using prior art removable coupling means (not shown). If desired, electrical connections to any component of arm unit 68 can be provided on the path through each component of the arm. Alternatively, such power supply may be provided by a cable from the main chassis 12 through an opening (see FIG. 6) in the shaft of the shoulder unit 70 and elbow unit 74. A cross-sectional view of the drive means 154 of the elbow unit is shown in FIG.

The movement of the elbow unit is performed by the motor 158. That is, the motor 158 may include a redirecting transmission 160 and one or more reference numbers 16
Gear means 164 having a planetary gear unit shown at 6
The output shaft 162 is driven via. The gear ratio and number of planetary gear units are selected to provide the desired speed and torque at the output shaft. Typically, with this drive, the speed is varied between 0 and 3 rpm and the limit torque is 30.
It is 00 inches-pound (3456 kg-cm). The output shaft 162 is secured to the output flange 168 to which the bracket 156 is attached by any suitable means (eg, a pin). With this structure, a desired rotational movement of the front arm portion 76 with respect to the upper arm portion 150 is realized. In this figure, an opening 170 is shown for wiring to the motor 158 via the elbow pivot 172. The motorized drive means 152 for the shoulder unit 70 is of the same construction (and interchangeable with each other) as for the elbow 74 and will not be described here.

When the robot according to the invention is used,
There are supplemental devices that typically accompany the robot. They are shown in FIG. One such supplemental device is a shipping housing or storage box 174 for storing and transporting the robot 10 to and from a work site. This is especially necessary if the use contaminates the robot. Typically robot 10
Fits exactly in this containment box when the front and rear auxiliary chassis sections are in the vertical position with maximum lift. Another complementary device is a portable cable reel 1 for carrying a cable 64 of sufficient length to allow the robot to move to any location within the work site.
76. Another major piece of supplemental equipment is, of course, the console 178, which is the control panel with the components necessary for the operator to operate the robot and monitor its activity. This console, for example,
It includes a TV camera and some other monitoring unit to check the movement of the robot.

FIG. 8 shows a typical use of the present invention, that is, a face separator tank 1 for purifying reactor water.
A procedure for removing clogging of the flow ejector nozzle inside 80 is shown. The floor 182 of this particular tank is sloped as shown and the flow ejector nozzles are located at the level indicated by reference numeral 184. For this application, the robot 10 according to the present invention comprises a swivel hoist 1
By using 88, it is lowered from above through a manhole 186 (typically 24 inches (61 cm) in diameter). A pulley 190 is used to hold the power supply cable 64 and the hose to the water jet 86 while the robot is lowered onto the floor of the tank. On the floor of the tank, the arm is steered as needed to direct the water jet to the nozzle. In order to obtain various required postures, the parts of the auxiliary chassis are steered to the respective postures shown. Overall illumination is provided by the auxiliary light source 192, and an overall television camera 194 separate from the television camera mounted on the robot can be used to monitor the work.

As one of applications of the present invention, it is desirable to provide an independent observation means in addition to the device originally attached to the arm unit. FIG. 9 shows the observation means 196 mounted on the top cover 66 of the main chassis 12. This observing means generally comprises a television camera 198 and an illuminating means 200, the components of which are pans of the type described in US Pat. No. 4,728,839.
The tilt unit) 204 is used to mount the pedestal 202. Then, the operation of the television camera and the lighting means is remotely controlled by a signal of the operation control circuit means in the main chassis of the traveling device via the turning and tilting device.

It will be understood from the above description that a remote-controlled robot having a wide range of applications and having a small size has been developed. The resulting robot has a width of about 1
The height is 7 inches (43 cm) and is about 14 inches (36 cm) when the arms are folded. The total length is about 27 inches (68 cm) when the auxiliary chassis is fully lifted or pushed down, and about 49 when the auxiliary chassis is horizontal.
It is an inch (124 cm). The total weight of the robot is about 20
It's 0 pounds (90 kg). Due to the improved design of the main drive means and the drive means for the pivoting movement of the auxiliary chassis, each component is sealed more economically than those according to the prior art, and as a result ,
The robot according to the invention can be operated even when submerged in liquid. Therefore, the robot is extremely useful in many applications where relatively large and complex devices are not used. Although specific structures have been shown for each component of the robot, these structures are merely exemplary embodiments, and are not limited thereto. Accordingly, what is limiting the invention is the appended claims and their corresponding detailed description.

[0037]

EFFECTS OF THE INVENTION A pair of front and rear sprocket wheels for supporting a main endless track are provided on both side surfaces of a main chassis having a working device at its upper part, and an auxiliary chassis for supporting an auxiliary endless track is provided in this sprocket wheel. Rotatably mounted around the shaft of the main and auxiliary endless tracks, and drive means for rotating the auxiliary chassis are separately arranged in the main chassis to make the overall size sufficiently small. The small all-terrain traveling robot of the present invention has the following effects by sealing the drive shafts by the shaft sealing means. (1) It can be operated by remote control in various environments that are dangerous to humans, such as an environment where radiation is present, a high temperature environment, and an environment related to military or paramilitary activities. (2) By providing a main endless track attached to the main chassis and an auxiliary endless track attached to the auxiliary chassis so as to be rotatable up and down with respect to the main chassis, in front of and behind the main chassis, it is not flat and there is no obstacle. It can move on any terrain of any shape. (3) To separately provide drive means for moving the main and auxiliary endless tracks on one side of the main chassis and drive means for moving the other endless track, and to rotate the front and rear auxiliary chassis. The drive means are separately provided and these drive means are compactly arranged in the main chassis, and the structure is simplified, so that the overall size can be reduced. (4) By rotating the front and rear auxiliary chassis upwards to the limit, the space occupied by the robot can be reduced and the robot can be easily transported, which makes it easier to use the robot. It can be used in a space, for example in a narrow space, such as being able to be used inside a tank through an opening, and in a hazardous environment. (5) To separately provide drive means for moving the main and auxiliary endless tracks on one side of the main chassis and drive means for moving the other endless track, and to rotate the front and rear auxiliary chassis. Since the diameter of the drive shaft can be reduced by separately providing the drive means separately, it is possible to economically provide an appropriate seal for preventing external liquid from entering the main chassis through the bearing. Therefore, the bearing and other components can be used without being damaged even under the environment of being immersed in a liquid containing water. (6) Built-in interchangeable drive unit and cable,
It has a simplified structure, provides an arm unit that is improved in terms of size, weight reduction, and maintenance, and can be equipped with a work device that is small and enables various other work including illumination and observation. .

[Brief description of drawings]

FIG. 1 is a side elevational view of an embodiment of a small, all-terrain vehicle remotely operated robot developed to achieve the objects of the invention.

FIG. 2 is a top view of the embodiment of the robot shown in FIG.

3 is a partial cross-sectional view taken along line 3-3 of FIG. 1, of a drive system for pivotally moving the auxiliary chassis of the robot of FIGS.

4 is a partial sectional view of the drive system for driving the endless trajectory of the robot of FIGS. 1 and 2 taken along line 4-4 of FIG.

5 is a side elevational view of the arm unit of the robot shown in FIGS. 1 and 2. FIG.

6 is a partial cross-sectional view of the drive system for the shoulder and elbow units of the arm unit of FIG. 5, taken along line 6-6 of FIG.

FIG. 7 shows a transportation housing, an auxiliary cable reel, in the entire system combined with the robot of FIGS.
FIG. 3 is a schematic diagram showing a console for operating the robot.

FIG. 8 shows that when the robot according to the invention is used in a tank or the like in which the robot is inserted through a restricted opening, the auxiliary chassis of the robot is placed in different positions.

9 is a side elevational view of the observation means mounted on the main chassis of the robot of FIG.

[Explanation of symbols]

 10 robot 12 main chassis 14 front end 16 rear end 18, 18 ', 20, 20' sprocket wheel 21 main chassis drive means 22, 22 'main endless track 32 running surface 34, 50 auxiliary chassis 36, 52 arm 38, 38' , 54, 54 'Sprocket wheel 48 Auxiliary chassis drive means 40, 40', 56, 56 'Auxiliary endless track 64 Circuit means (cable) 68 Arm unit 70 Shoulder unit (shoulder joint) 74 Elbow unit (elbow joint) 76 Front arm Part 82 Television camera 84 Illumination means 86 Water jet 90,122 Motor means 94,128 Gear unit 98,132 Output shaft 100,138 Bearing means 106,108 Cylinder 102,140 Sealing means 112 Bearing unit 14 torsion member (torsion tube) 116 interim point 150 upper arm 152 and 154 drive means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kenneth El. Walker USA 37716 Clinton, TN Suzanne Drive 108 (72) Inventor Kenneth A.E. Fernstrom 37830 USA Oak Ridge Brandes 138 (72) Inventor Earl. Glen Upton U.S.A. 37830 Oak Ridge Briar Road 101 (56) References JP 61-54378 (JP, A) JP 63-237882 (JP, A) JP 64-51280 (JP, A)

Claims (9)

[Claims] 1. A traveling device for a small all-terrain traveling robot which is operated by remote control including driving in liquid in a potentially dangerous environment, comprising a front end (14) and a rear end (16). Have one on each side
Pair of rotatable sprocket wheels (18, 20; 1
8 ', 20') for driving at least one of said sprocket wheels on each of said sides for supporting and moving said traveling device on a traveling surface to said pair of sprocket wheels on each side The main chassis (1) with the flexible main tracks (22, 22 ') engaged.
2) and a sprocket wheel (38, 38 ′) rotatably supported at its free end, and a second sprocket located closer to the front end (14) of the pair of sprocket wheels. Sprocket wheel with wheels (1
8, 18 ') rotatably supported and having cantilevered arms (36, 36') rotatably mounted on each side of the front end (14), said free end sprocket A wheel (38, 38 ') and a second sprocket wheel portion of the sprocket wheel (18, 18') have a flexible first aid for further supporting and moving the traveling device on a traveling surface. The endless tracks (40, 40 ') are engaged and the two sprocket wheels (38) are arranged so that rotation of the one arm (36) is transmitted to the other arm (36'). , 18; 38 ',
18 ') said arms (36, 36') by means of a torsion member (114) laterally connecting the midpoints thereof.
A first articulated auxiliary chassis (34) interconnected with each other and a sprocket wheel (54, 54 ') rotatably supported at its free end, and of the pair of sprocket wheels. Rotatably supporting a sprocket wheel (20, 20 ') having a second sprocket wheel portion located closer to the rear end (16) of the rear end (1
6) has a cantilevered arm (52, 52 ') rotatably attached to each side, and has the free end sprocket wheel (54, 54') and the sprocket wheel (20, 20 '). ) With a second sprocket wheel portion of (4) engaged with a flexible second auxiliary track (56, 56 ') for further supporting and moving the traveling device on a traveling surface, and , The one arm (5
The two sprocket wheels (54, 20; 5) so that the rotation of 2 ') is transmitted to the other arm (52).
Articulated second auxiliary chassis (5) in which the arms (52, 52 ') are interconnected by a torsion member laterally interconnecting the midpoints of 4', 20 ').
0) and one side of the main chassis by rotating one of the sprocket wheels (20) of the pair of sprocket wheels mounted in the main chassis (12) on one side of the main chassis. Main endless orbit (22)
Rotate the sprocket wheel (20)
A drive motor means (122) and a gear means (128) for rotating said first and second auxiliary tracks (40, 56) via the second sprocket wheel portion of said bearing (138). ), And a first main chassis drive means (21) including a sealing means (140) for protecting the bearing during operation, and a first main chassis drive means (21) in the main chassis (12). 21) diagonally mounted to rotate the other sprocket wheel (18 ') of the pair of sprocket wheels on the other side of the main chassis to rotate the main endless track (22') on the other side of the main chassis. Rotate the other sprocket wheel (18 ')
Drive motor means for rotating the auxiliary side tracks (40 ', 56') on the other side of the first and second auxiliary chassis (34, 50) via the second sprocket wheel portion of A second main chassis drive means including a bearing and a seal means for protecting the bearing during operation; and a first auxiliary mounted in the main chassis (12). Motor means (90) associated with one of the arms (36, 36 ') of the first auxiliary chassis (34) for rotating the chassis (34) with respect to the main chassis (12). ) And gear means (94), including bearings and sealing means (102) for protecting the bearings during robot operation, and the main chassis (48). 12) in the first supplement Attached diagonally from the chassis drive means (48), the second
Motor and gear means associated with one of the arms (52, 52 ') of the second auxiliary chassis (50) for rotating the auxiliary chassis (50) of the second auxiliary chassis (50) with respect to the main chassis. A second auxiliary chassis drive means having a bearing and a seal means for protecting the bearing during operation of the robot; and a main chassis for remote control of each component. A traveling device for a small all-terrain traveling robot, comprising: driving means for the main chassis; and operation control circuit means connected to the driving means for the first and second auxiliary chassis. 2. The traveling apparatus for a small all-terrain traveling robot according to claim 1, wherein the operation control circuit means includes means for receiving a remotely transmitted signal for remote operation of each part of the traveling apparatus. 3. Means for receiving a remotely transmitted signal,
The traveling device for a small all-terrain traveling robot according to claim 2, which is a cable means for transmitting power and an operation signal to the traveling device. 4. The traveling for small all-terrain traveling robot according to claim 1, wherein the operation control circuit means includes a battery pack means and a means for receiving a wirelessly transmitted signal as an operation signal to the traveling device. apparatus. 5. The gear means of the first and second main chassis drive means and the gear means of the first and second auxiliary chassis drive means rotate the output shaft at a selected rotation speed and torque. The traveling device for a small all-terrain traveling robot according to claim 1, wherein the output shaft is attached to the bearing together with a sealing means surrounding the output shaft. 6. A small all-terrain traveling robot, including a submerged operation, to be operated remotely in a potentially dangerous environment, the robot having a front end (14) and a rear end (16). One pair of rotatable sprocket wheels (18, 20;
18 ', 20'), at least one of said sprocket wheels being driven on each of said sides, said pair of sprocket wheels on each side supporting said robot (10) on a running surface. A main chassis (12) engaged with a flexible main track (22, 22 ') for movement, rotatably supporting a sprocket wheel (38, 38') at its free end, and , Rotatably supporting a sprocket wheel (18, 18 ') located closer to the front end (14) of the pair of sprocket wheels and having a second sprocket wheel portion, the front end (1
4) has a cantilevered arm (36, 36 ') rotatably mounted on each side, and the free end sprocket wheel (38, 38') and the sprocket wheel (18, 18 '). ) In the second sprocket wheel part of the flexible first auxiliary track (40, 4) for further supporting and moving the robot (10) on the running surface.
0 ') are engaged, and the two sprocket wheels (38, 1) are so arranged that the rotation of said one arm (36) is transmitted to the other arm (36').
8; 38 ', 18') by means of a torsion member (114) laterally connecting the midpoints of the arms (3, 38 ', 18').
6, 36 ') are interconnected with each other, and an articulated first auxiliary chassis (34) rotatably supporting a sprocket wheel (54, 54') at its free end, and said one pair A sprocket wheel (20, 20 '), which is located closer to the rear end (16) of the sprocket wheels and has a second sprocket wheel portion, rotatably supporting the rear end (1
6) has a cantilevered arm (52, 52 ') rotatably attached to each side, and has the free end sprocket wheel (54, 54') and the sprocket wheel (20, 20 '). ) In the second sprocket wheel part of the flexible second auxiliary track (56, 5) for further supporting and moving the robot (10) on the running surface.
6 ') are engaged and the two sprocket wheels (54, 2) are arranged so that the rotation of said one arm (52') is transmitted to the other arm (52).
0; 54 ', 20') by means of a torsion member laterally connecting the midpoints of the arms (52, 5 ').
A second articulated auxiliary chassis (50), 2 ') of which are connected to each other, and mounted in the main chassis (12) of the pair of sprocket wheels on one side of the main chassis. Rotate one sprocket wheel (20) to one main track (22) on one side of the main chassis
Rotate the sprocket wheel (20)
A drive motor means (122) and a selected rotational speed and torque for rotating the first and second auxiliary tracks (40, 56) via the second sprocket wheel portion of A first main chassis drive means (21) having a gear means (128) for causing a bearing (138) and a sealing means (140) for protecting the bearing during operation; 12) is mounted diagonally from the first main chassis drive means (21) and rotates one sprocket wheel (18 ') of the pair of sprocket wheels on the other side of the main chassis to rotate the main chassis. Rotate the main track (22 ') on the other side of the other side of the other sprocket wheel (18')
Drive motor means for rotating the auxiliary side tracks (40 ', 56') on the other side of the first and second auxiliary chassis (34, 50) via the second sprocket wheel portion of And a second main chassis drive means having gear means for generating a selected rotation speed and torque on the output shaft, the bearing, and a seal means for protecting the bearing during operation, and the main chassis. Mounted in (12) for rotating the first auxiliary chassis (34) relative to the main chassis (12), the arms (36, 36 ') of the first auxiliary chassis (34). ) Combined with a motor means (90) and a gear means (94) for producing a selected rotational speed and torque on the output shaft, a bearing,
First auxiliary chassis drive means (4) including sealing means (102) for protecting said bearings during robot operation.
8) and diagonally mounted within the main chassis (12) from the first auxiliary chassis drive means (48),
Means and output shaft associated with one of the arms (52, 52 ') of the second auxiliary chassis (50) for rotating the auxiliary chassis (50) of the second auxiliary chassis (50) with respect to the main chassis. Second auxiliary chassis drive means having gear means for generating a rotation speed and torque selected for, and including bearings and sealing means for protecting the bearings during operation of the robot; and on the main chassis. A shoulder joint (70) pivotably mounted to the main chassis and rotatable about at least one horizontal axis with respect to the main chassis; and an elbow joint (70) rotatable about one horizontal axis relative to the main chassis. 74) and the shoulder joint (7)
0) connecting the elbow joint (74) to the upper arm part (150) and the elbow joint (74).
A front arm portion (76) attached at one end thereof to the front arm portion (76) for removing a device for performing a selected operation of the robot in a dangerous environment. Auxiliary means for possible mounting are provided,
An operating arm unit (68) and drive means mounted in the upper arm portion (150) for effecting individual selected movements of the shoulder joint (70) and elbow joint (74); Observing means including lighting means and television camera means, which are coupled to the main chassis facing the front end thereof, and in the main chassis for remote control of each component of the robot. A small all-terrain traveling robot comprising drive means for the main chassis, first and second auxiliary chassis, arm units, and operation control circuit means connected to the observation means. 7. The small all-terrain traveling robot of claim 6, wherein the operation control circuit means includes means for receiving remotely transmitted signals for remote operation of parts of the robot. 8. A means for receiving a remotely transmitted signal comprises:
The small all-terrain traveling robot according to claim 7, which is a cable means connected to a main chassis for transmitting power and operation signals to the robot. 9. The small all-terrain traveling robot according to claim 6, wherein the operation control circuit means includes a battery pack means and a means for receiving a wirelessly transmitted signal as an operation signal to the robot.