• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Robot for manipulation of suspicious devices, being of the robots type equipped with a mobile means of traction, of special application, given its small dimensions, to access small spaces, such as the interior of buses, trains and airplanes, being able to inspect, manipulate and deactivate explosive devices, incorporating in the upper surface of the tanqueta body a base of rotation with a load sensor and having four mobile traction means, flippers, two on each side of the tanqueta body, driven by respective motors with corresponding encoders, controlling the position, speed and torque, independently, and with a traction belt for each moving medium, driven by a pair of motors for two to two transmission, and, inertial sensors, as well as tilt sensors that together with independent control of the flippers, they keep the tanqueta body in a horizontal position or in an in position clinada, depending on the needs. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2546053A1
    申请号:ES201530861
    申请日:2015-06-18
    公开日:2015-09-17
    发明作者:César Sallen Rosello；Roberto Torres Pueo
    申请人:Proytecsa Security SL；
    IPC主号:
    专利说明:

    DESCRIPTION
    Robot for handling suspicious devices.
    OBJECT OF THE INVENTION
    The following invention, as expressed in the statement of the present specification, refers to a robot for manipulation of suspicious devices, the robots being provided with four mobile means of traction (flippers) with corresponding belts, having as an essential objective, Given its small size, being able to access small spaces, such as the interior of buses, trains and airplanes, being able to inspect, manipulate and, where appropriate, deactivate explosive devices.
    Thus, the dimensions of the robot are determined by the reduced measures of the spaces through which it must move and maneuver, and, equally, must be able to access them, so it must be able to climb / descend stairs .
    In addition, a second object of the invention is that the robot always maintains the body in a horizontal position, eliminating the oscillations caused by an irregular terrain, for which it has inclination sensors integrated in the body and a control of the independent flippers.
    Likewise, a third object of the invention is that the robot is able to move its center of gravity, by tilting the body by means of the flippers, towards the opposite working side of the arm, improving the lateral load capacity.
    A fourth objective of the robot is to be able to “stand up” to access places of greater height, such as luggage carrier packages and the like, to inspect, manipulate and collect suspicious objects.
    SCOPE.
    This report describes a robot for handling explosive suspicious devices, which is of special application, given its small size, to carry out work in small spaces, such as inside buses, trains and airplanes.
    BACKGROUND OF THE INVENTION
    As is known, when explosive devices must be manipulated or risk operations carried out, moreover, when human lives are at risk, robots that are remotely operated by means of a control console are used.
    On the other hand, according to the application and use of the robot, its characteristics are adapted to them and its size and design characteristics can vary, and, thus, when it comes to being used in perimeter surveillance in critical and central infrastructures Petrochemical and nuclear, as well as in large industries, it is about providing the robot with an extraordinary scope and scope, allowing access and manipulation of artifacts detected on the other side of the perimeter to be monitored, as well as a certain agility in its movement.
    In other cases, the objective is different, and thus, in document ES 2 241 490 a “self-propelled robot for handling explosive charges” is described, which has a width-adjustable track running gear that facilitates its movement through terrain agressive and incorporates an articulated arm with a first section in the form of a fork that facilitates the folding of the free end equipped with a clamp between said first section in the form of a fork and whose robot incorporates a shovel, adjustable in width, of drag.
    Likewise, we can consider the patent document P20431720 in which a “remote controlled robotic vehicle” is described, which comprises two sets of wheels, one on each side, with three wheels each, each wheelset driven by corresponding motors ; two sets of caterpillar, one on each side on the inside of the wheelsets, at a level slightly higher than the wheelsets; a first articulated arm of hydraulic action mounted, through means of double articulation, on a rotating turret 360º by the central axis and a second articulated arm of electrical and rotary actuation with respect to a vertical axis of assembly, being remotely controlled, so that by using both arms it is possible to hold an object with one arm and with the other arm to examine it.
    Finally, we can consider the document ES 2 229 938 in which a “self-propelled robot for manipulation of explosive devices” is described, which comprises a pair of independent motors transmitting the movement to respective lateral undercarriages and an articulated arm defined by four sections and an extreme clamp equipped with a specific rotating movement, the articulated arm being mounted on a tower equipped with a rotating movement, with respect to a horizontal plane, whose robot with its powerful pliers allows access to the boot, the hood or the interior of a deforming vehicle the metal or through the glass quickly and efficiently and whose hydraulic arm can lift weights of up to 250 kg, enough to move a medium-sized vehicle or remove a high-weight device from inside a vehicle.
    DESCRIPTION OF THE INVENTION
    This report describes a robot for manipulation of suspicious devices, which, given the different types of robots considered, has as an important characteristic the dimensions of it that make it optimal for use in means of transport, such as buses, trains and airplanes, in order to be able to access its interior and carry out the appropriate operations of handling suspicious objects, by being able to maneuver through the narrow aisles of the same.
    Thus, the robot object of the invention is of the type of robots provided with mobile traction means with corresponding belts, so that the robot comprises:
    • on the upper surface of the tank body, a turning base with a load sensor;
    • four mobile traction means, flippers, two on each side of the tank body, driven by respective first engines with corresponding encoders, controlling position, speed and torque, independently;
    • a drive belt for each mobile drive means, driven by a pair of second motors, one on each side, for two-to-two transmission to the flippers;
    • inertial sensors integrated in the tank body, and;
    • tilt sensors that, together with the independent control of the flippers, keep the tank body horizontally or in an inclined position, depending on the needs,
    so that, given the reduced dimensions of the robot, as well as its displacement through irregular terrain and the possibility of climbing / descending stairs, access different means of transport such as buses, trains and airplanes, moving and maneuvering through the aisles of the same they make a robot of great relevance by allowing them to inspect said means of transport in which it is increasingly important to have a safety control of them.
    The turning base, arranged on the upper surface of the tank body, mounts an arm or tool and by means of the load sensor, the operations carried out are controlled to work safely.
    On the other hand, the motors of independent drive of each one of the flippers, allow to have the control of the position, speed and pair of each one of them and, in addition, by means of them it is allowed to carry out the diverse maneuvers, independent of each fliper, like going up / down stairs.
    Also, the transmission to the flippers belts is carried out by a pair of engines, one on each side, which transmit the movement two to two to the flipers.
    In addition, the robot is able to stand on the rear flippers, allowing it to access elevated places such as the luggage carriers of the means of transport in which it works.
    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 perspective view of the robot object of the invention in an embodiment in which it lacks an arm and the rotation base of the arm mounting turret is observed
    or tool and provided with a load sensor.
    Figure 2. Shows a side elevation view of the robot of the previous figure.
    Figure 3. Shows a plan view of the robot of Figure 1.
    Figure 4. Shows a perspective view of the robot object of the invention positioned on an irregular surface with the tank body held horizontally by means of the inclination sensors of which it is provided.
    Figure 5. It shows a side elevation view of the robot of the previous figure, where it is observed how the flippers have varied their position allowing the tank body to remain in a horizontal position.
    Figure 6. It shows a front elevation view of the robot of the previous figure, where the flippers have varied their position and the tank body remains in a horizontal position.
    Figure 7. It shows a perspective view of the robot object of the invention having tilted towards one side in order to move its center of gravity to lift a greater weight by means of the arm with respect to its opposite side to the inclination.
    Figure 8. It shows a front elevation view of the robot of the previous figure, being able to observe how it has tilted to the side by displacing its center of gravity.
    DESCRIPTION OF A PREFERRED EMBODIMENT.
    In view of the aforementioned figures and in accordance with the numbering adopted we can observe how the robot for manipulation of suspicious devices, is of special application to access small spaces, such as the interior of buses, trains and airplanes, being able to inspect, manipulate and, where appropriate, deactivate explosive devices, places where robots conventionally used to deactivate explosives are not accessible and every day it is more important to be able to keep an eye on them.
    Thus, the robot 1 has on the upper surface of the tank body 2 a turning base 3 with a load sensor 4 and a mobile traction means 5 (flippers) with corresponding belts 6, arranged two on each side of the tank body 2, driven by respective motors with corresponding encoders, controlling the position, speed and torque, independently of each of them.
    In addition, the said mobile traction means 5 incorporating corresponding traction belts are driven by a pair of engines for two-to-two transmission, this pair of engines being independent of the motors that act independently on the flippers 5 and They control their position, speed and torque.
    Likewise, the robot 1 incorporates inertial sensors 7 integrated in the tank body 2, as well as inclination sensors 8 which, together with the independent control of the flippers 5, keep the tank body 2 horizontally or in an inclined position, depending on the needs.
    In this way, by means of the load sensor 4 associated with the pivoting base 3 for mounting an articulated arm or tool, the reactions produced and working safely will be known, as well as avoiding breakdowns or breakages.
    The four flippers 5, provided with respective belts 6, are driven by respective motors with their corresponding encoder, allowing precise control of the position, speed and torque, independently for each of them, thus knowing the reaction in each support of the robot
    Whereas for the transmission of the movement to the flippers 5 of the robot 1 in its displacement they are driven by a pair of motors, one for each pair of lateral flippers 5.
    On the other hand, by means of the inclination sensors 8, integrated in the tank body 2 itself, and together with the precision in the independent control of the flippers 5 by means of the respective motor and encoder, they allow to keep the tank body 2 in position horizontal eliminating oscillations caused by irregular terrain.
    Likewise, the robot 1 is able to move its center of gravity, as seen in Figure 8 of the designs, in a controlled manner, by tilting the tank body 2 by means of the flippers 5, towards the opposite side of the work of the articulated arm, improving the lateral load lifting capacity.
    Robot 1, approximately, has measures 420 mm wide, 800 mm long and 600 mm high with the articulated arm collected, so that, given its small size, as well as its ease to move through irregular terrain and possibility of going up / down stairs, you can access different means of transport such as buses, trains and airplanes, moving and maneuvering through the aisles, which provides a
    5 important advantage to be able to inspect said means of transport if necessary.
    Likewise, robot 1 is able to stand “on its feet” on its pair of rear flippers, in order to be able to access, through its articulated arm, high points such as
    10 be the luggage carriers of buses, trains or planes.
    Likewise, the robot 1 has a high thrust and drag capacity that can be evaluated at 75 Kg as well as lifting loads by means of the articulated arm mounted on the pivot base 3 of the upper surface of the tank body 2 and which can evaluate in 35 Kg
    15 with the arm at its maximum extension and 75 Kg with its arm folded.
    权利要求:
    Claims (1)
    [1]
    1ª.-ROBOT FOR HANDLING OF SUSTAINABLE ARTS, being of the type robots equipped with mobile traction means with corresponding straps and which are controlled by a remote control console, characterized in that the robot (1) comprises:
    • on the upper surface of the tank body (2), a turning base (3) with a load sensor (4);
    • four mobile traction means (5), flippers, two on each side of the tank body (2), driven by respective engines with corresponding encoders, controlling the position, speed and torque, independently of each of them;
    • a traction belt (6) for each mobile traction means (5), driven by a pair of engines, one on each side, for transmission two to two, in its displacement, and;
    • inertial sensors (7) integrated in the tank body (2);
    • tilt sensors (8) which, together with the independent control of the flippers (5), keep the tank body (2) in a horizontal position or in an inclined position, depending on the needs,
    so that, given the small dimensions of the robot (1), as well as its displacement through irregular terrain and the possibility of climbing / descending stairs, access different means of transport such as buses, trains and airplanes, moving and maneuvering through the aisles.
    2nd.- ROBOT FOR HANDLING OF SUSPECTFUL ARTS, according to the 1st claim, characterized in that the turning base (3), arranged on the upper surface of the tank body (2), mounts an arm or tool and by means of the load sensor (4) all operations carried out are controlled.
    3rd.-ROBOT FOR HANDLING OF SUSPECTFUL ARTS, according to the 1st claim, characterized in that by means of the pair of motors, one on each side, for the two-to-two transmission to the flippers 5, the robot is moved (1).
    4th.-ROBOT FOR HANDLING OF SUSTAINABLE ARTIFACTS, according to the 1st claim, characterized in that by means of the drive motors they are integral with two to two for the transmission to the belts of the flippers (5).
    5th.- ROBOT FOR HANDLING OF SUSPECTFUL ARTS, according to the 1st claim, characterized in that the robot (1) is able to stand on the rear flippers (5).
    7
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    同族专利:
    公开号 | 公开日
    ES2546053B1|2016-06-23|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    FR2190087A5|1972-06-24|1974-01-25|Kernforschung Gmbh Ges Fuer|
    EP0197020A1|1985-03-09|1986-10-08|ACEC, Société Anonyme|Remotely-controlled vehicle for inspection and intervention in hostile environments|
    EP0206930A1|1985-06-21|1986-12-30|Commissariat A L'energie Atomique|Variable geometry tracked vehicle|
    US5248008A|1989-08-31|1993-09-28|Framatome|Self-traveling robotic vehicle with inclinable propulsion units|
    EP0636533A1|1992-04-21|1995-02-01|Kabushiki Kaisha Komatsu Seisakusho|Traction controller for crawler vehicles|
    WO2012005779A1|2010-01-29|2012-01-12|Irobot Corporation|Robotic vehicle|EP3808510A1|2019-10-16|2021-04-21|Everis Aeroespacial y Defensa, S.L.U.|Tele-commanded robot|
    法律状态:
    2016-06-23| FG2A| Definitive protection|Ref document number: 2546053 Country of ref document: ES Kind code of ref document: B1 Effective date: 20160623 |
    2019-11-04| PC2A| Transfer of patent|Owner name: EVERIS AEROESPACIAL Y DEFENSA, S.L.U. Effective date: 20191028 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201530861A|ES2546053B1|2015-06-18|2015-06-18|Robot for handling suspicious devices|ES201530861A| ES2546053B1|2015-06-18|2015-06-18|Robot for handling suspicious devices|
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