초록 ▼

A robot especially adapted for use in hazardous environments, and particularly adapted for explosives disposal, includes a wheeled platform carrying a winder mechanism which ensures that the remote control cable will not be fouled by the robot or its attachments. Coaxial with the winder mechanism is

A robot especially adapted for use in hazardous environments, and particularly adapted for explosives disposal, includes a wheeled platform carrying a winder mechanism which ensures that the remote control cable will not be fouled by the robot or its attachments. Coaxial with the winder mechanism is a turret mechanism that can rotate indefinitely and which carries thereon a manipulator arm section which, includes a first arm pivotable through about 110.degree. and which carries thereon a second arm which is pivotable through about 120.degree. and carries a bulkhead to which any of a plurality of end effectors can be connected by way of a quick connect and disconnect mechanism. The end effectors include a set of links having different lengths, one or two extension links, a wrist and gripper mechanism, an aiming and disruptor mechanism, and a relocatable surveillance camera. The robot is capable of controlled movement to or from a hazardous site; manoeuvring the wrist and gripper mechanism or the aiming and disruptor mechanism, by means of the manipulator arm, into close proximity with, to either move or destroy, a target. Rugged, zero-backlash joints blend precision and power for the end effectors to perform delicate, or not so delicate, operations. The wrist and gripper mechanism in combination with any or all of the extension links allows dextrous operations to be performed easily, even for an untrained operator. The robot is compact, highly manoeuvrable, relatively inexpensive, and meets the requirements of law enforcement, military and environmental agencies having a need for such a device.

대표청구항 ▼

[ What is claimed is:] [1.] A robot especially adapted to handle hazardous material comprising:a) a wheeled base section carrying self-contained power means for the robot, said base section having a planar upper surface;b) a winding and payout mechanism rotatably mounted to said base section, said w

[ What is claimed is:] [1.] A robot especially adapted to handle hazardous material comprising:a) a wheeled base section carrying self-contained power means for the robot, said base section having a planar upper surface;b) a winding and payout mechanism rotatably mounted to said base section, said winding and payout mechanism containing a length of control cable, being freely rotatable through more than 360.degree. and including spool means rotatably and bearingly mounted to a first annular tube extending vertically of said base section, drive means for imparting rotating movement to said spool means, and arm means extending generally tangentially of said spool means for holding said control cable at a distance from said base section and carrying guide means for guiding said control cable to and from said spool means,c) a turret mechanism coaxial with said winding and payout mechanism and including a rotatable portion above said winding and payout mechanism;d) manipulator arm means mounted to said rotatable portion of said turret mechanism, said arm means including a base portion, a first arm pivotable at a proximal end thereof to said base portion, and a second arm pivotable between a proximal end thereof and a distal end thereof to said first arm adjacent a distal end thereof;e) actuating means for moving said first arm relative to said base portion and for moving said second arm relative to said first arm;f) quick connect and disconnect means at the distal end of said second arm and adapted to accept one or more of a plurality of attachments especially adapted to perform a variety of functions;g) said plurality of attachments including a plurality of link sections of different lengths, telescopic extension link means, a wrist and gripper mechanism, and an aiming and disruptor mechanism;h) said wrist and gripper mechanism being movable in yaw, pitch and roll, and including at least a pair of openable and closable gripper jaws, said wrist and gripper mechanism also being selectively connectable to a distal end of any one of said link sections and to a distal end of said telescopic link;i) control means connected to said control cable for selectively controlling the movement of said base section, said rotatable turret portion, said manipulator arm means, and said attachments; andj) a surveillance camera mechanism including yaw, pitch, zoom and focus capabilities, said camera mechanism being selectively connectable to said manipulator arm means, to any one of said link sections, to said telescopic link or to said aiming and disruptor mechanism.