WO2005035204A1 - Self-propelled robot for the handling of explosive devices - Google Patents

Self-propelled robot for the handling of explosive devices Download PDF

Info

Publication number
WO2005035204A1
WO2005035204A1 PCT/ES2004/000393 ES2004000393W WO2005035204A1 WO 2005035204 A1 WO2005035204 A1 WO 2005035204A1 ES 2004000393 W ES2004000393 W ES 2004000393W WO 2005035204 A1 WO2005035204 A1 WO 2005035204A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheels
self
robot
propelled
explosive devices
Prior art date
Application number
PCT/ES2004/000393
Other languages
Spanish (es)
French (fr)
Inventor
César SALLÉN ROSELLÓ
Alfredo SALLÉN ROSELLÓ
Roberto Torres Pueo
Original Assignee
Proyectos Y Tecnología Sallen, S.L.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Proyectos Y Tecnología Sallen, S.L. filed Critical Proyectos Y Tecnología Sallen, S.L.
Publication of WO2005035204A1 publication Critical patent/WO2005035204A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/002—Manipulators for defensive or military tasks
    • B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels

Definitions

  • the following invention refers to a self-propelled robot for manipulation of explosive devices, being of the type of robots remotely operated by means of a control console, useful for the manipulation of explosive devices and for the realization of special and dangerous operations, so that the robot comprises means of translation defined by a pair of independent motors that transmit movement, respectively, each of them, to the wheels of one side of the chassis, a articulated arm consisting of four sections, movable according to its vertical plane and a clamp at its end, whose arm is mounted on a tower equipped with a rotating movement, with respect to a horizontal plane, of approximately 15 ° on each side of its axis longitudinal.
  • the self-propelled robot incorporates a series of vision cameras and proximity sensors.
  • the articulated arm has great mobility, since it can cover an angle of 30 ° and is made up of four sections driven by respective cylinders and the clamp has specific means of rotation in order to provide it with great maneuverability.
  • SCOPE a self-propelled remote control robot is described by a control console, which can be applied to carry out different dangerous operations, being of special application for the manipulation of explosive devices.
  • BACKGROUND OF THE INVENTION Conventionally, when you have to manipulate explosive devices or perform risky operations, even more so, when human lives are at risk, robots that are remotely operated by means of a control console are used.
  • This report describes a self-propelled robot for manipulation of explosive devices, being of the type of self-propelled robots managed remotely by means of a control console, useful for handling explosive devices and for carrying out special and dangerous operations, so that the self-propelled robot comprises a pair of independent motors, transmitting the movement, each of them, to a lateral tread and an articulated arm defined by four sections and an extreme clamp equipped with a specific rotating movement, the articulated arm being mounted in a tower equipped with rotating movement with respect to a horizontal plane.
  • the robot is endowed with great maneuverability, since, the articulated arm, in addition to its displacement according to a vertical plane, can cover a surface relative to, approximately, 30 ° with respect to a horizontal plane.
  • each side of the self-propelled robot is defined by five wheels, two of them having a smaller diameter than the other three wheels and the two of smaller diameter being arranged between the other wheels.
  • the central wheel relative to one of the largest diameter, has its axis of rotation slightly lower than that of the two extreme wheels of similar diameter, so that it will always be in contact with the ground in correspondence with the previous or later.
  • Each of the independent motors transmits movement to the central wheel of its corresponding undercarriage, being transmitted from it to the extreme wheels, of equal diameter, and of these to the one of smaller contiguous diameter.
  • the described undercarriage allows the robot to have great mobility, as well as a perfect grip on all terrain and the possibility of overcoming slopes of even more than 30 °.
  • Figure 1 It shows a side elevation view of the self-propelled robot object of the invention, the articulated arm being able to observe in its folded position.
  • Figure 2. Shows a side elevation view of the self-propelled robot object of the invention, the articulated arm being able to be observed in its extended position.
  • Figure 3. It shows a side elevation view of the self-propelled robot object of the invention, being able to observe the articulated arm in different extended working positions with the clamp at its end.
  • Figure 4. Shows a plan view of the movement transmission mechanism defined by a pair of independent engines that transmit movement to the wheels on both sides.
  • Figure 5. It shows a plan view of the clamp in its closed and open position, having a specific rotating movement.
  • Figure 6. It shows a plan view relative to the angular path, according to a horizontal plane, from which the articulated arm mounting tower is provided. DESCRIPTION OF A PREFERRED EMBODIMENT.
  • the self-propelled robot 1 comprises a pair of independent motors 2 transmitting the movement, each of them, to a rolling side train 5 and an articulated arm 4 defined by four sections and an end caliper 9 equipped with specific rotating movement, the articulated arm 4 being mounted on a tower 3 provided with rotating movement , regarding a horizontal plane.
  • the undercarriage 3 on each side of the robot 1 is defined by five wheels, two of said wheels 7 having a smaller diameter than the other three wheels 6 and the two wheels 7 of smaller diameter being arranged between the other wheels 7.
  • the motors 2 are independent through them, from the control console the movement of the robot is controlled, allowing its advance, its backward movement and its rotation in both directions by reversing their direction of rotation.
  • the central wheel relative to one of the wheels 6 of greater diameter, has its axis 8 of rotation slightly lower than the axis of rotation of the two extreme wheels 6 of similar diameter, so that this is always the case. in contact with the ground the central wheel and one of the extreme wheels 6.
  • the transmission of the movement from each of the independent motors 2 is done to the central wheel 6 of its corresponding undercarriage 5, being transmitted from it to the extreme wheels 6, of equal diameter, and of these to the smaller wheel 7 diameter adjacent to it.
  • the self-propelled robot 1 to have adequate grip on all terrain, and can overcome slopes of up to 30 °.
  • the self-propelled robot 1 incorporates a hydraulic group, except for the rotational movements of the caliper 9, for whose specific turns it incorporates an electric motor, so that the articulated movements of the four conforming sections of the Articulated arm 4, presents corresponding drive cylinders, which are independently operated.
  • the articulated arm 4 is mounted on a tower 5 equipped with rotating movement, with respect to a horizontal plane, it has great maneuverability.
  • the self-propelled robot 1 incorporates the corresponding control electronics appearing on a screen of the control console all the incidents, and, in addition, for the proper operation of the same incorporates: four cameras, a chamber 15 being located in a hydraulic arm with a horizontal rotation of 360 ° allowing to have an overview of the environment; a second camera on the front of the robot; a third chamber 17 in the arm and a fourth chamber in the clamp.
  • the self-propelled robot 1 incorporates four ultrasonic distance meters, a sensor 18 being located at the rear, a second sensor 19 at the front, a third sensor 20 in proximity to the lower part of the clamp and a fourth sensor 21 on the front of the clamp.
  • the self-propelled robot 1 can incorporate a shotgun 23 and an intermittent laser pointer 22 for greater accuracy.
  • the clamp 9 may have different characteristics according to the work to be performed, and thus, the clamps can cut, drag, lift and even destroy objects.
  • the self-propelled robot 1 also has three groups of spotlights, each consisting of two halogen lamps, being located on the front and rear of the robot and on the arm.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a self-propelled robot (1) which is used to handle explosive devices and to perform special, dangerous operations and which is remote controlled by means of a control console. The inventive robot comprises a pair of independent motors which each transmit a movement to a lateral running gear (5) and an articulated arm (4) which is defined by four sections and an end clamp (9) which can rotate in a specific manner. The aforementioned arm (4) is articulated to a column (3) which can rotate in relation to a vertical axis. In one embodiment of the invention, the above-mentioned running gear (5) is defined by five wheels, whereby the intermediate wheels (7) are provided with a smaller diameter and the central wheel rotates around an axis located below the axis of rotation of the end wheels.

Description

ROBOT AUTOPROPULSADO PARA MANIPULACIÓN DE ARTEFACTOS EXPLOSIVOS- OBJETO DE LA INVENCIÓN. La siguiente invención, según se expresa en el enunciado de la presente memoria descriptiva, se refiere a un robot autopropulsado para manipulación de artefactos explosivos, siendo del tipo de robots manejados a distancia por medio de una consola de mandos, de utilidad para la manipulación de artefactos explosivos y para la realización de operaciones especiales y peligrosas, de forma que el robot comprende unos medios de traslación definidos por una pareja de motores independientes que transmiten movimiento, respectivamente, cada uno de ellos, a las ruedas de un lateral del chasis, un brazo articulado conformado por cuatro tramos, desplazable según su plano vertical y una pinza en su extremo, cuyo brazo esta montado en una torre dotada de un movimiento giratorio, respecto de un plano horizontal, de, aproximadamente, 15° a cada lado de su eje longitudinal. Asimismo, el robot autopropulsado incorpora una serie de cámaras de visión y unos sensores de proximidad. Así, el brazo articulado presentan una gran movilidad, dado que el mismo puede abarcar un ángulo de 30° y esta conformado por cuatro tramos accionados por respectivos cilindros y la pinza dispone de unos medios específicos de giro con objeto de dotarla de una gran maniobrabilidad. CAMPO DE APLICACIÓN. En la presente memoria se describe un robot autopropulsado de manejo a distancia por una consola de mandos, de aplicación para la realización de diferentes operaciones peligrosas, siendo de especial aplicación para la manipulación de artefactos explosivos. ANTECEDENTES DE LA INVENCIÓN. Convencionalmente, cuando hay que manipular artefactos explosivos o realizar operaciones de riesgo, más aún, cuando están en riesgo vidas humanas, se utilizan robots que son manejados a distancia por medio de una consola de control. De esta forma, entre los robots existentes para la manipulación de artefactos explosivos, podemos citar aquel que comprende un brazo articulado, según un único tramo, y sin posibilidad de girar según un plano horizontal, es decir, únicamente, tiene movimiento según un plano vertical y limitado por su único tramo articulado. Asimismo, este tipo de robots disponen de una serie de elementos de control, como son cámara de visión y sensores de proximidad. DESCRIPCIÓN DE LA INVENCIÓN. En la presente memoria se describe un robot autopropulsado para manipulación de artefactos explosivos, siendo del tipo de robots autopropulsados manejados a distancia por medio de una consola de mandos, de utilidad para la manipulación de artefactos explosivos y para la realización de operaciones especiales y peligrosas, de forma que el robot autopropulsado comprende una pareja de motores independientes transmitiendo el movimiento, cada uno de ellos, a un tren lateral de rodadura y un brazo articulado definido por cuatro tramos y una pinza extrema dotada de movimiento giratorio específico, estando montado el brazo articulado en una torre dotada de movimiento giratorio respecto de un plano horizontal. De esta forma, el robot esta dotado de una gran maniobrabilidad, ya que, el brazo articulado, además de su desplazamiento según un plano vertical, puede abarcar una superficie relativa a, aproximadamente, 30° respecto de un plano horizontal El tren de rodadura de cada lateral del robot autopropulsado esta definido por cinco ruedas, presentando dos de ellas un diámetro menor al de las otras tres ruedas y estando dispuestas las dos de menor diámetro entre las otras ruedas. Por otra parte, la rueda central, relativa a una de las de mayor diámetro, tiene su eje de giro ligeramente más bajo que el de las dos ruedas extremas de diámetro semejante, de manera que la misma siempre estará en contacto con el suelo en correspondencia con la anterior o posterior. Cada uno de los motores independientes transmite movimiento a la rueda central de su correspondiente tren de rodadura, siendo transmitido de esta a las ruedas extremas, de igual diámetro, y de estas a la de menor diámetro contigua. Mediante el tren de rodadura descrito se permite que el robot presente una gran movilidad, así como un perfecto agarre en todos los terrenos y la posibilidad de superar pendientes de, incluso, más de 30°. Para complementar la descripción que seguidamente se va a realizar, y con objeto de ayudar a una mejor comprensión de las características de la invención, se acompaña a la presente memoria descriptiva, de un juego de planos, en cuyas figuras de forma ilustrativa y no limitativa, se representan los detalles más característicos de la invención. BREVE DESCRIPCIÓN DE LOS DISEÑOS. Figura 1. Muestra una vista en alzado lateral del robot autopropulsado objeto de la invención, pudiendo observar el brazo articulado en su posición de plegado. Figura 2. Muestra una vista en alzado lateral del robot autopropulsado objeto de la invención, pudiendo observar el brazo articulado en su posición extendida. Figura 3. Muestra una vista en alzado lateral del robot autopropulsado objeto de la invención, pudiendo observar el brazo articulado en diferentes posiciones extendidas de trabajo con la pinza en su extremo. Figura 4. Muestra una vista en planta del mecanismo de transmisión del movimiento definido por una pareja de motores independientes que transmiten movimiento a las ruedas de ambos laterales. Figura 5. Muestra una vista en planta de la pinza en su posición de cierre y apertura, teniendo la misma un específico movimiento giratorio. Figura 6. Muestra una vista en planta relativa al recorrido angular, según un plano horizontal, del que esta provisto la torre de montaje del brazo articulado. DESCRIPCIÓN DE UNA REALIZACIÓN PREFERENTE. A la vista de las comentadas figuras y de acuerdo con la numeración adoptada podemos observar como el robot 1 autopropulsado comprende una pareja de motores 2 independientes transmitiendo el movimiento, cada uno de ellos, a un tren 5 lateral de rodadura y un brazo 4 articulado definido por cuatro tramos y una pinza 9 extrema dotada de movimiento giratorio específico, estando montado el brazo 4 articulado en una torre 3 dotada de movimiento giratorio, respecto de un plano horizontal. El tren 3 de rodadura de cada lateral del robot 1 esta definido por cinco ruedas, presentando dos de dichas ruedas 7 un diámetro menor al de las otras tres ruedas 6 y estando dispuestas las dos ruedas 7 de menor diámetro entre las otras ruedas 7. Dado que los motores 2 son independientes a través de los mismos, desde la consola de control se controla el desplazamiento del robot, permitiendo su avance, su retroceso y su giro en ambos sentidos al invertir el sentido de giro de los mismos. Por otra parte, la rueda central, relativa a una de las ruedas 6 de mayor diámetro, tiene su eje 8 de giro ligeramente más bajo que el eje de giro de las dos ruedas 6 extremas de diámetro semejante, de forma que así siempre se encuentra en contacto con el suelo la rueda central y una de las ruedas 6 extremas. La transmisión del movimiento desde cada uno de los motores 2 independientes se realiza a la rueda 6 central de su correspondiente tren 5 de rodadura, siendo transmitido de esta a las ruedas 6 extremas, de igual diámetro, y de estas a la rueda 7 de menor diámetro contigua a ella. Para ello la transmisión desde el correspondiente motor 2 al eje 8 de la rueda 6 central, del respectivo tren 5 de rodadura, se materializa por una cadena 12 y desde este eje 8 de la rueda 6 central se transmite movimiento a los ejes de las ruedas 6 extremas por medio de correspondientes cadenas 10 y 11, y, finalmente, desde los ejes de las ruedas 6 extremas se transmite movimiento a los ejes de las ruedas 7 de menor diámetro contiguas a ellas por medio de respectivas cadenasSELF-PROPROVED ROBOT FOR HANDLING EXPLOSIVE ARTS - OBJECT OF THE INVENTION. The following invention, as expressed in the statement of the present specification, refers to a self-propelled robot for manipulation of explosive devices, being of the type of robots remotely operated by means of a control console, useful for the manipulation of explosive devices and for the realization of special and dangerous operations, so that the robot comprises means of translation defined by a pair of independent motors that transmit movement, respectively, each of them, to the wheels of one side of the chassis, a articulated arm consisting of four sections, movable according to its vertical plane and a clamp at its end, whose arm is mounted on a tower equipped with a rotating movement, with respect to a horizontal plane, of approximately 15 ° on each side of its axis longitudinal. Likewise, the self-propelled robot incorporates a series of vision cameras and proximity sensors. Thus, the articulated arm has great mobility, since it can cover an angle of 30 ° and is made up of four sections driven by respective cylinders and the clamp has specific means of rotation in order to provide it with great maneuverability. SCOPE. In this report, a self-propelled remote control robot is described by a control console, which can be applied to carry out different dangerous operations, being of special application for the manipulation of explosive devices. BACKGROUND OF THE INVENTION Conventionally, when you have to manipulate explosive devices or perform risky operations, even more so, when human lives are at risk, robots that are remotely operated by means of a control console are used. In this way, among the existing robots for the manipulation of explosive devices, we can mention the one that it comprises an articulated arm, according to a single section, and without the possibility of turning according to a horizontal plane, that is, only, it has movement according to a vertical plane and limited by its only articulated section. Also, these types of robots have a series of control elements, such as vision camera and proximity sensors. DESCRIPTION OF THE INVENTION This report describes a self-propelled robot for manipulation of explosive devices, being of the type of self-propelled robots managed remotely by means of a control console, useful for handling explosive devices and for carrying out special and dangerous operations, so that the self-propelled robot comprises a pair of independent motors, transmitting the movement, each of them, to a lateral tread and an articulated arm defined by four sections and an extreme clamp equipped with a specific rotating movement, the articulated arm being mounted in a tower equipped with rotating movement with respect to a horizontal plane. In this way, the robot is endowed with great maneuverability, since, the articulated arm, in addition to its displacement according to a vertical plane, can cover a surface relative to, approximately, 30 ° with respect to a horizontal plane. each side of the self-propelled robot is defined by five wheels, two of them having a smaller diameter than the other three wheels and the two of smaller diameter being arranged between the other wheels. On the other hand, the central wheel, relative to one of the largest diameter, has its axis of rotation slightly lower than that of the two extreme wheels of similar diameter, so that it will always be in contact with the ground in correspondence with the previous or later. Each of the independent motors transmits movement to the central wheel of its corresponding undercarriage, being transmitted from it to the extreme wheels, of equal diameter, and of these to the one of smaller contiguous diameter. The described undercarriage allows the robot to have great mobility, as well as a perfect grip on all terrain and the possibility of overcoming slopes of even more than 30 °. To complement the description that is going to be carried out below, and in order to help a better understanding of the characteristics of the invention, this descriptive report is accompanied by a set of drawings, whose figures are illustrative and not limiting , the most characteristic details of the invention are represented. BRIEF DESCRIPTION OF THE DESIGNS. Figure 1. It shows a side elevation view of the self-propelled robot object of the invention, the articulated arm being able to observe in its folded position. Figure 2. Shows a side elevation view of the self-propelled robot object of the invention, the articulated arm being able to be observed in its extended position. Figure 3. It shows a side elevation view of the self-propelled robot object of the invention, being able to observe the articulated arm in different extended working positions with the clamp at its end. Figure 4. Shows a plan view of the movement transmission mechanism defined by a pair of independent engines that transmit movement to the wheels on both sides. Figure 5. It shows a plan view of the clamp in its closed and open position, having a specific rotating movement. Figure 6. It shows a plan view relative to the angular path, according to a horizontal plane, from which the articulated arm mounting tower is provided. DESCRIPTION OF A PREFERRED EMBODIMENT. In view of the aforementioned figures and according to the numbering adopted we can see how the self-propelled robot 1 comprises a pair of independent motors 2 transmitting the movement, each of them, to a rolling side train 5 and an articulated arm 4 defined by four sections and an end caliper 9 equipped with specific rotating movement, the articulated arm 4 being mounted on a tower 3 provided with rotating movement , regarding a horizontal plane. The undercarriage 3 on each side of the robot 1 is defined by five wheels, two of said wheels 7 having a smaller diameter than the other three wheels 6 and the two wheels 7 of smaller diameter being arranged between the other wheels 7. Given that the motors 2 are independent through them, from the control console the movement of the robot is controlled, allowing its advance, its backward movement and its rotation in both directions by reversing their direction of rotation. On the other hand, the central wheel, relative to one of the wheels 6 of greater diameter, has its axis 8 of rotation slightly lower than the axis of rotation of the two extreme wheels 6 of similar diameter, so that this is always the case. in contact with the ground the central wheel and one of the extreme wheels 6. The transmission of the movement from each of the independent motors 2 is done to the central wheel 6 of its corresponding undercarriage 5, being transmitted from it to the extreme wheels 6, of equal diameter, and of these to the smaller wheel 7 diameter adjacent to it. For this, the transmission from the corresponding motor 2 to the axis 8 of the central wheel 6, of the respective undercarriage 5, is materialized by a chain 12 and from this axis 8 of the central wheel 6 movement is transmitted to the axles of the wheels 6 ends by means of corresponding chains 10 and 11, and finally, from the axles of the wheels 6, movement is transmitted to the axles of the wheels 7 of smaller diameter adjacent to them by means of respective chains
13 y 14. La materialización del mecanismo de transmión del movimiento y del tren 5 de rodadura de la forma descrita permite que el robot 1 autopropulsado disponga del adecuado agarre en todos los terrenos, y pueda superar pendientes de hasta 30°. Para permitir los idóneos movimientos del brazo 4 articulado el robot 1 autopropulsado incorpora un grupo hidráulico, excepto para los movimientos de giro de la pinza 9, para cuyos específicos giros incorpora un motor eléctrico, de forma que los movimientos articulados de los cuatro tramos conformantes del brazo 4 articulado, presenta correspondientes cilindros de accionamiento, los cuales son de actuación independiente. Además, dado que el brazo 4 articulado esta montado en una torre 5 dotada de movimiento giratorio, respecto de un plano horizontal, el mismo tiene una gran maniobrabilidad. Lógicamente, el robot 1 autopropulsado incorpora la correspondiente electrónica de control apareciendo en una pantalla de la consola de mandos todas las incidencias, y, además, para el adecuado funcionamiento del mismo incorpora: cuatro cámaras, estando ubicada una cámara 15 en un brazo hidráulico con un giro horizontal de 360° permitiendo tener una visión general del entorno; una segunda cámara en la parte frontal de robot; una tercera cámara 17 en el brazo y una cuarta cámara en la pinza. Asimismo, el robot 1 autopropulsado incorpora cuatro medidores de distancia por ultrasonidos, estando situado un sensor 18 en la parte posterior, un segundo sensor 19 en la parte anterior, un tercer sensor 20 en proximidad a la parte inferior de la pinza y un cuarto sensor 21 en la parte frontal de la pinza. Igualmente, el robot 1 autopropulsado puede incorporar una escopeta 23 y un puntero láser 22 intermitente para mayor precisión. La pinza 9 podrá presentar diferentes características de acuerdo al trabajo a realizar, y, así, las pinzas pueden cortar, arrastrar, levantar e incluso destruir objetos. El robot 1 autopropulsado cuenta también con tres grupos de focos, constituido cada uno de ellos por dos lámparas halógenas, estando situados en la parte anterior y posterior del robot y en el brazo. 13 and 14. The materialization of the movement transmission mechanism and the undercarriage 5 in the manner described allows the self-propelled robot 1 to have adequate grip on all terrain, and can overcome slopes of up to 30 °. To allow the ideal movements of the articulated arm 4, the self-propelled robot 1 incorporates a hydraulic group, except for the rotational movements of the caliper 9, for whose specific turns it incorporates an electric motor, so that the articulated movements of the four conforming sections of the Articulated arm 4, presents corresponding drive cylinders, which are independently operated. In addition, since the articulated arm 4 is mounted on a tower 5 equipped with rotating movement, with respect to a horizontal plane, it has great maneuverability. Logically, the self-propelled robot 1 incorporates the corresponding control electronics appearing on a screen of the control console all the incidents, and, in addition, for the proper operation of the same incorporates: four cameras, a chamber 15 being located in a hydraulic arm with a horizontal rotation of 360 ° allowing to have an overview of the environment; a second camera on the front of the robot; a third chamber 17 in the arm and a fourth chamber in the clamp. Likewise, the self-propelled robot 1 incorporates four ultrasonic distance meters, a sensor 18 being located at the rear, a second sensor 19 at the front, a third sensor 20 in proximity to the lower part of the clamp and a fourth sensor 21 on the front of the clamp. Similarly, the self-propelled robot 1 can incorporate a shotgun 23 and an intermittent laser pointer 22 for greater accuracy. The clamp 9 may have different characteristics according to the work to be performed, and thus, the clamps can cut, drag, lift and even destroy objects. The self-propelled robot 1 also has three groups of spotlights, each consisting of two halogen lamps, being located on the front and rear of the robot and on the arm.

Claims

R E I V I N D I C A C I O N E S. 1a.- ROBOT AUTOPROPULSADO PARA MANIPULACIÓN DE ARTEFACTOS EXPLOSIVOS, siendo del tipo de robots autopropulsados manejados a distancia por medio de una consola de mandos, de utilidad para la manipulación de artefactos explosivos y para la realización de operaciones especiales y peligrosas, caracterizado porque el robot (1) autopropulsado comprende una pareja de motores (2) independientes transmitiendo el movimiento, cada uno de ellos, a un tren (5) de rodadura lateral y un brazo (4) articulado definido por cuatro tramos y una pinza (9) extrema dotada de movimiento giratorio específico, estando montado el brazo (4) articulado en una torre (3) dotada de movimiento giratorio, respecto de un plano horizontal. 2a.- ROBOT AUTOPROPULSADO PARA MANIPULACIÓN DE ARTEFACTOS EXPLOSIVOS, según reivindicación 1a, caracterizado porque el tren (5) de rodadura de cada lateral del robot (1) autopropulsado esta definido por cinco ruedas, presentando dos de dichas ruedas (7) un diámetro menor al de las otras tres ruedas (6) y estando dispuestas las dos ruedas (7) de menor diámetro intercaladas entre las otras ruedas (6) de mayor diámetro. 3a.- ROBOT AUTOPROPULSADO PARA MANIPULACIÓN DES. REIVINDICACIONE 1 .- SELF PROPELLED ROBOT FOR HANDLING explosive devices, being of the type of selfpropelled robots remotely managed via a control console, useful for handling explosives and for making special and dangerous operations, characterized in that the self-propelled robot (1) comprises a pair of independent motors (2) transmitting the movement, each of them, to a lateral tread train (5) and an articulated arm (4) defined by four sections and a clamp ( 9) extreme endowed with specific rotating movement, the arm (4) articulated in a tower (3) endowed with rotating movement, with respect to a horizontal plane. 2 .- ROBOT SELF PROPELLED FOR HANDLING OF EXPLOSIVE DEVICES, according to claim 1, wherein the train (5) rolling on each side of the robot (1) self - propelled is defined by five wheels, with two of said wheels (7) smaller diameter than the other three wheels (6) and the two wheels (7) of smaller diameter being interposed between the other wheels (6) of greater diameter. 3 .- HANDLING ROBOT FOR SELF - PROPELLED
ARTEFACTOS EXPLOSIVOS, según reivindicaciones 1a y 2a, caracterizado porque la rueda (6) central, relativa a una de las de mayor diámetro, tiene su eje (8) de giro ligeramente más bajo que el eje de giro de las dos ruedas (6) extremas de diámetro semejante. 4a.- ROBOT AUTOPROPULSADO PARA MANIPULACIÓN DEEXPLOSIVE DEVICES, according to claims 1 and 2, characterized in that the wheel (6) center on one of the larger diameter, has its axis (8) of slightly lower rotation than the axis of rotation of the two wheels ( 6) extremes of similar diameter. 4 .- MANIPULATION ROBOT FOR SELF - PROPELLED
ARTEFACTOS EXPLOSIVOS, según reivindicación 1a, caracterizado porque cada uno de los motores (2) independientes transmite movimiento a la rueda (6) central de su correspondiente tren (5) de rodadura lateral, siendo transmitido de esta a las ruedas (6) extremas, de igual diámetro, y de estas a la contigua rueda (7) de menor diámetro. EXPLOSIVE DEVICES, according to claim 1, wherein each of the motors (2) independent transmits movement to the wheel (6) center of the corresponding rail (5) of lateral tread, being transmitted from this to the wheels (6) Extreme , of equal diameter, and of these to the adjacent wheel (7) of smaller diameter.
PCT/ES2004/000393 2003-10-14 2004-09-07 Self-propelled robot for the handling of explosive devices WO2005035204A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES200302384A ES2229938A1 (en) 2003-10-14 2003-10-14 Self-propelled robot for the handling of explosive devices
ESP200302384 2003-10-14

Publications (1)

Publication Number Publication Date
WO2005035204A1 true WO2005035204A1 (en) 2005-04-21

Family

ID=34400676

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2004/000393 WO2005035204A1 (en) 2003-10-14 2004-09-07 Self-propelled robot for the handling of explosive devices

Country Status (2)

Country Link
ES (1) ES2229938A1 (en)
WO (1) WO2005035204A1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012038570A1 (en) * 2010-09-20 2012-03-29 Proyectos Y Tecnología Sallen, S.L. Remote-controlled robot for special operations
CN105082180A (en) * 2015-08-04 2015-11-25 杭州华能大坝安全工程技术有限公司 Tunnel detection robot and detection method
CN105710857A (en) * 2016-04-15 2016-06-29 北京电子科技职业学院 Intelligent explosion removing robot
EP3100832A1 (en) * 2015-06-03 2016-12-07 Proytecsa Security, S.L. System adapted to a robot for handling bulky objects
CN110653807A (en) * 2019-09-19 2020-01-07 浙江工业大学 High-precision explosive-handling robot device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4730684A (en) * 1986-07-22 1988-03-15 Borge Pedersen Vehicle
GB2290759A (en) * 1994-06-29 1996-01-10 Hay Royds Mining Limited Coal carrying vehicle
US6113343A (en) * 1996-12-16 2000-09-05 Goldenberg; Andrew Explosives disposal robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4730684A (en) * 1986-07-22 1988-03-15 Borge Pedersen Vehicle
GB2290759A (en) * 1994-06-29 1996-01-10 Hay Royds Mining Limited Coal carrying vehicle
US6113343A (en) * 1996-12-16 2000-09-05 Goldenberg; Andrew Explosives disposal robot

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012038570A1 (en) * 2010-09-20 2012-03-29 Proyectos Y Tecnología Sallen, S.L. Remote-controlled robot for special operations
EP2620260A1 (en) * 2010-09-20 2013-07-31 Proytecsa Security. S.L. Remote-controlled robot for special operations
EP2620260A4 (en) * 2010-09-20 2014-04-30 Proytecsa Security S L Remote-controlled robot for special operations
EP3100832A1 (en) * 2015-06-03 2016-12-07 Proytecsa Security, S.L. System adapted to a robot for handling bulky objects
CN105082180A (en) * 2015-08-04 2015-11-25 杭州华能大坝安全工程技术有限公司 Tunnel detection robot and detection method
CN105710857A (en) * 2016-04-15 2016-06-29 北京电子科技职业学院 Intelligent explosion removing robot
CN105710857B (en) * 2016-04-15 2017-09-01 北京电子科技职业学院 A kind of intelligent explosive-removal robot
CN110653807A (en) * 2019-09-19 2020-01-07 浙江工业大学 High-precision explosive-handling robot device
CN110653807B (en) * 2019-09-19 2024-05-28 浙江工业大学 High-precision explosive-handling robot device

Also Published As

Publication number Publication date
ES2229938A1 (en) 2005-04-16

Similar Documents

Publication Publication Date Title
WO2005097432A1 (en) Self-propelled robot for the handling of explosive charges
WO2015075283A1 (en) Remotely controlled robotic vehicle
WO2012038570A1 (en) Remote-controlled robot for special operations
KR20010052261A (en) Earth-based vehicle
ES2101559T3 (en) LARGE SIZE HANDLER, ESPECIALLY FOR AUTOMOTIVE CONCRETE PUMPS, AS WELL AS HANDLING PROCEDURE.
ES2527436B2 (en) Robotic telescopic articulated arm
ES2291900T3 (en) STEERING DEVICE FOR STEERING WHEELS.
KR101233971B1 (en) Steering Apparatus of Tractor
WO2005035204A1 (en) Self-propelled robot for the handling of explosive devices
JP6843040B2 (en) Work platform
JP6899799B2 (en) Work platform
JP2020001443A (en) Work vehicle
ES2338552T3 (en) ARTICULATED TRACTOR WITH FRONT STEERING WHEELS.
US20130186703A1 (en) Tractor
KR101287894B1 (en) Steering Apparatus of Tractor
RU2612450C1 (en) Revolving chassis
ES2583066T3 (en) A tractor that has isodiametric wheels with a simplified structure and maintenance
US11041285B2 (en) Machine with a boom assembly
US20150274492A1 (en) Work vehicle
ES1232391U (en) Remote control and/or autonomous machine for application of phytosanitary and traction of agricultural implements (Machine-translation by Google Translate, not legally binding)
CN117644909A (en) Wheeled robot
SU858598A1 (en) Self-propelled furrow-plough unit
US1254763A (en) Universal driving-joint for tractors, &c.
US10179494B2 (en) Device for connecting a wheel to a vehicle
US929711A (en) Lamp for road-vehicles.

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

DPEN Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed from 20040101)
121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase