ROBOTIC PLATFORM

• US 20120261204A1
• Filed: 03/19/2012
• Published: 10/18/2012
• Est. Priority Date: 03/27/1998
• Status: Abandoned Application

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Corporation
• Inventors: WON, Chikyung
• Application Number:
  US13/423,538
• Publication Number:
  US 20120261204A1
• Time in Patent Office: Days
• US Class Current: 180/167
• CPC Class Codes: B25J 11/0025 handling explosives, bombs or hazardous objects
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B62D 55/065 Multi-track vehicles, i.e. more than two tracks soil-shifting machines E02F; mining machines E21C
• CPC Class Codes: B62D 55/0655 Articulated endless track vehicles steering specially adapted for trailers B62D13/00; articulated buses B62D47/025; tractor-trailer combinations or road trains comprising a uni-axle unit and a uni-axle trailer B62D53/02
• CPC Class Codes: B62D 55/075 Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfacesmagnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00
• CPC Class Codes: B62D 55/12 Arrangement, location, or adaptation of driving sprockets
• CPC Class Codes: B62D 55/14 Arrangement, location, or adaptation of rollers
• CPC Class Codes: B62D 55/244 Moulded in one piece, with either smooth surfaces or surfaces having projections, e.g. incorporating reinforcing elements
• CPC Class Codes: Y10S 180/901 Devices for traversing vertical surfaces
• CPC Class Codes: Y10S 280/901 Adaptation of nonspecialized vehicles to semitrailer tractors

Abstract

An articulated tracked vehicle that has a main frame includes a pair of parallel main tracks. Each main track includes a flexible continuous belt coupled to a corresponding side of the main frame. A forward section includes an elongated arm pivotally coupled to the main frame near the forward end of the main frame. The arm has a length sufficiently long to allow the forward section to extend below a main section in at least some degrees of rotation of the arm, and a length shorter than the length of the main section. The center of mass of the main section is located forward of the rearmost point reached by the end of the arm in its pivoting about a transverse axis. The main section is contained within the volume defined by the main tracks and is symmetrical about a horizontal plane, thereby allowing inverted operation of the robot.

Claims

1. A remotely operated robot comprising:

a main frame including a front and a back, the main frame defining a length extending from the front to the back;

arms extending beyond the length of the main frame;

a plurality of compliant tracks, the plurality of compliant tracks together extending from front to back of the main frame and surrounding the main frame and the arms, the plurality of compliant tracks providing a first layer of impact protection to the main frame, each track including a compliant belt made of a flexible material, and a plurality of elastomer cleats longitudinally spaced along an outer surface of the compliant belt; and

a plurality of compliant pulleys arranged within the tracks adjacent the front and the back of the main frame, intervening between the sets of compliant tracks and the main frame to provide a second layer of impact protection to the main frame, each compliant pulley formed of a compliant polymer.

2. The remotely operated robot of claim 1, further comprising an onboard control system disposed within the payload volume, including a computer processor and memory.

3. The remotely operated robot of claim 1, wherein a span of the vehicle is defined by the length of the main frame and the arms and each of the arms is rotatable 360 degrees relative to the main frame.

4. The remotely operated robot of claim 3, wherein the span of the vehicle is variable and extends to at least 26 inches.

5. The remotely operated robot of claim 3, wherein the center of gravity of the vehicle is within the circle of rotation of each front track.

6. The remotely operated robot of claim 1, further comprising a plurality of track supports, wherein each track support supports a respective compliant track.

7. The remotely operated robot of claim 6, wherein each track support defines a plurality of slots such that a plurality of angled ribs extend between a top portion and a bottom portion of the track support.

8. The remotely operated robot of claim 6, wherein at least some of the plurality of track supports are wedge-shaped and define a plurality of slots such that a plurality of angled ribs extend between a top portion and a bottom portion of the track support.

9. The remotely operated robot of claim 1, wherein each compliant pulley of the plurality of compliant pulleys has a series of radial or angled spokes around a central hub.

10. The remotely operated robot of claim 1, wherein each compliant pulley of the plurality of compliant pulleys is a polyurethane material.

11. A remotely operated robot comprising:

a main frame including a payload volume, a front, and a back, the main frame defining a length extending from the front to the back;

articulated arms, each articulated arm having a proximal end positioned at an outer side of the main frame and a distal end extendable beyond a length of the main frame, each arm rotatable about the proximal end thereof without interfering with the main frame;

a plurality of compliant tracks, the plurality of compliant tracks together extending from front to back of the main frame and surrounding the main frame and the arms, the plurality of compliant tracks providing a first layer of impact protection to the payload volume of the main frame, each track including a compliant belt made of a flexible material, and a plurality of elastomer cleats longitudinally spaced along an outer surface of the compliant belt;

a plurality of compliant pulleys within the plurality of compliant tracks, the compliant pulleys being positioned at the front of the main frame, at the back of the main frame, and at the distal end of the arms, the compliant pulleys disposed between the sets of compliant tracks and the main frame to provide a second layer of impact protection to the payload volume of the main frame, each compliant pulley formed from a compliant polymer, wherein a center of gravity of the robot is maintained within the rotational sweep of the articulated arms.

12. The remotely operated robot of claim 11, further comprising an onboard control system disposed within the payload volume, including a computer processor and memory.

13. The remotely operated robot of claim 11, wherein a span of the vehicle is defined by the length of the main frame and the arms and each of the arms is rotatable 360 degrees relative to the main frame.

14. The remotely operated robot of claim 13, wherein the span of the vehicle is variable and extends to at least 26 inches.

15. The remotely operated robot of claim 11, wherein each arm is shorter than the length of the main frame.