DRIVING FLIPPER WITH ROBOTIC ARM

• US 20130270017A1
• Filed: 04/17/2013
• Published: 10/17/2013
• Est. Priority Date: 04/17/2012
• Status: Active Grant

• Current Assignee: Robo-Team Ltd.
• Original Assignee: Robo-Team Ltd.
• Inventors: WOLF, Yosi, Levy, Elad, Borowitz, Itamar, Cantor, Daniel, Asher, Yehonatan, Rotbart, Mor, Vaynberg, Mark
• Granted Patent: US 9,248,875 B2
• Time in Patent Office: Days
• US Class Current: 180/9.32
• CPC Class Codes: B25J 19/023 including video camera means
• 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 55/075 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 57/024 specially adapted for moving on inclined or vertical surfaces endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02
• CPC Class Codes: B62D 65/02 Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10T 29/49826 Assembling or joining

Abstract

A driving flipper with a robotic arm and a method for protecting the robotic arm. A robotic platform having a main frame and at least one obstacle climbing flipper with a robotic arm. The robotic arm has a folded mode substantially parallel to the longitudinal axis of the obstacle climbing flipper. The robotic arm has an operational mode protruding away from the longitudinal axis in an angle of at least 45 degrees.

Claims

1. A robotic platform comprising:

a main frame;

at least one obstacle climbing flipper mounted on said main frame having a moving mechanism and having robotic arm mounted on said at least one obstacle climbing flipper having a proximal end and a distal end; and

an end effector mounted on said distal end;

wherein said robotic arm has a folded mode and an operational mode, when said robotic arm being substantially parallel to a longitudinal axis of said obstacle climbing flipper when in said folded mode and protrudes away from said longitudinal axis in an angle of at least 45 degrees from said longitudinal axis when in said operational mode.

2. The robotic platform of claim 1, wherein said robotic arm in said folded mode is encircled by said moving mechanism.

3. The robotic platform of claim 1, wherein said moving mechanism is a continuous track which encircles said robotic arm in said folded mode.

4. The robotic platform of claim 3, wherein said continuous track encircles exactly two driving wheels.

5. The robotic platform of claim 1, wherein said obstacle climbing flipper is laterally mounted in parallel to said main frame when said robotic arm is in said folded mode.

6. The robotic platform of claim 1, wherein said robotic arm is connected to said obstacle climbing flipper by a plurality of joints to allow multiple degrees of freedom for manipulations by said robotic arm.

7. The robotic platform of claim 1, wherein said robotic arm is rotatable about a point of attachment to said obstacle climbing flipper.

8. The robotic platform of claim 1, wherein said obstacle climbing flipper has a plurality of foramens and said robotic arm occupies at least part of said plurality of foramen when said robotic arm is in said folded mode.

9. The robotic platform of claim 1, wherein said robotic arm protrudes laterally with respect to said obstacle climbing flipper.

10. The robotic platform of claim 1, wherein main frame has a top side and said top side is essentially flat thereby creating a surface for loading objects.

11. The robotic platform of claim 1, further comprising an image sensor wherein said main frame has a top side which is essentially flat and said image sensor is mounted on said top side.

12. The robotic platform of claim 1, further comprising a front robotic arm for controlling a center of gravity of said robotic platform wherein said main frame has a front side and said front robotic arm robotic arm is mounted on said front side.

13. The robotic platform of claim 1, wherein at right and a left obstacle climbing flippers are mounted on said robotic platform and a right robotic arm is connected to right obstacle climbing flipper and a left robotic arm is connected to left obstacle climbing flippers and a right end effector is connected to said right robotic arm and a left end effector is connected to said left robotic arm and said right robotic arm replaces said left end effector and said left robotic arm replaces said right end effector.

14. The robotic platform of claim 1, further comprising an image sensor, wherein at right and a left obstacle climbing flippers are mounted on said robotic platform and a right robotic arm is connected to right obstacle climbing flipper and a left robotic arm is connected to left obstacle climbing flippers, and said image sensor is mounted said robotic platform between said right robotic arm and said left robotic arm, covering a substantial part of said right robotic arm and said left robotic arm'"'"'s operational space.

15. The robotic platform of claim 1, further comprising an image sensor, wherein said image sensor is mounted at a joint around which said obstacle climbing flipper is tilted.

16. A robotic platform comprising a front robotic arm for controlling said robotic platform'"'"'s center of gravity wherein said front robotic arm moves essentially away from and towards said robotic platform.

17. The robotic platform of claim 16, further comprising at least one obstacle climbing flipper.

18. A method of protecting robotic arms and their end effectors while driving a robotic platform by folding said robotic arms and end effectors into obstacle climbing flippers.

19. A process for manufacturing of a robotic platform, comprising:

assembling a robotic arm on an obstacle climbing flipper; and

connecting said obstacle climbing flipper to a robotic platform;

wherein said robotic arm has a folded mode and an operational mode, when said robotic arm being substantially parallel to a longitudinal axis of said obstacle climbing flipper when in said folded mode and protrudes away from said longitudinal axis in an angle of at least 45 degrees from said longitudinal axis when in said operational mode.