Small all terrain mobile robot

• US 5,022,812 A
• Filed: 06/11/1990
• Issued: 06/11/1991
• Est. Priority Date: 09/26/1988
• Status: Expired due to Term

• Current Assignee: Northrop Grumman Systems Corporation (Northrop Grumman Corporation)
• Original Assignee: Remotec, Inc. (Northrop Grumman Corporation)
• Inventors: White, John R., Walker, Kenneth L., Upton, R. Glen, Farnstrom, Kenneth A., Harvey, Howard W., Coughlan, Joel B.
• Primary Examiner(s): Spar, Robert J.
• Assistant Examiner(s): Underwood, Donald W.
• Application Number:
  US07/536,142
• Time in Patent Office: 365 Days
• Field of Search: 414/729, 414/732, 901/1, 180/8.1, 180/8.1, 180/9.32, 180/9.62, 180/2.1, 180/6.5, 280/5.22, 280/5.28
• US Class Current: 414/729
• CPC Class Codes: B25J 13/065 comprising joy-sticks
• CPC Class Codes: B25J 15/0266 actuated by articulated links
• CPC Class Codes: B25J 15/04 with provision for the remote detachment or exchange of the head or parts thereof
• CPC Class Codes: B25J 17/0241 One-dimensional joints
• CPC Class Codes: B25J 19/0029 arranged within the different robot elements
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 19/063 working only upon contact with an outside object
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B25J 9/046 Revolute coordinate type
• CPC Class Codes: B62D 55/06 with tracks without ground wheels
• 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

Abstract

A remotely controlled vehicle for traversing various terrains to accomplish missions in a hostile environment. This vehicle is sufficiently small so as to permit introduction into the environment through a manway, and is designed so that it can be operated while submersed. It has a main chassis with rotatable tracks on either side thereof that supports the vehicle. Auxiliary chassis in a forward and rearward direction also carry tracks on either side, with theses auxiliary chassis being pivotable to raised or lowered positions to accomplish movement over uneven terrain or for storage of the vehicle. All of the tracks on one side of the vehicle (main chassis track and tracks on forward and rearward auxiliary chassis) are rotated by a single drive mechanism within the main chassis, with the rotation of the tracks on the second side being rotated by another internal main drive mechanism. The pivotal movement of each of the auxiliary chassis is controlled by a separate drive mechanism. The main chassis carries a deployable arm including a shoulder, an upper arm portion, an elbow, a forearm portion and drives for the shoulder and elbow units. The forearm portion is designed to releasably carry various "tools" for carrying out operations with the vehicle. The drive mechanism have planetary gear units to provide desired speed and torque, and output shafts of each are provided with seals to prevent damage to bearings and other portions when submerged operation is carried out.

Claims

1. An all terrain vehicle adapted for remote control operation in potentially hostile environments, including operation when submerged, which comprises:

a main chassis having a forward end and a rearward end, said main chassis equipped with a pair of rotatable sprocket wheels on each side thereon, at least one of said sprocket wheels on each side being driven, said pair of sprocket wheels on each side having a flexible, main track engaged therewith, said main tracks supporting and moving said vehicle on said terrain;

a first articulated auxiliary chassis pivotally mounted on said forward end of said main chassis, said first auxiliary chassis having a cantilevered arm on each side with a rotatable sprocket wheel at a distal end of each, and with a second sprocket wheel coupled with one of said sprocket wheels of said main chassis closest to said forward end, said distal end sprocket wheel and said sprocket wheel coupled with said drive sprocket wheel of said main chassis having a flexible first auxiliary track engaged therewith for further supporting and moving of said vehicle across said terrain, said cantilevered arms being joined by a cross-connecting torsion member attached to each of said arms at a point intermediate said sprocket wheels on each side whereby pivotal motion of one arm is transmitted to the second arm;

a second articulated auxiliary chassis pivotally mounted on said rearward end of said main chassis, said second auxiliary chassis having a cantilevered arm on each side with a rotatable sprocket wheel at a distal end of each, and with a second sprocket wheel coupled with one of said sprocket wheels of said main chassis closest to said rearward end, said distal end sprocket wheel and said sprocket wheel coupled with said drive sprocket wheel of said main chassis having a flexible second auxiliary track engaged therewith for further supporting and moving of said vehicle across said terrain, said cantilevered arms being joined by a cross-connecting torsion member attached to each of said arms at a point intermediate said sprocket wheels on each side whereby pivotal motion of one arm is transmitted to the second arm;

a first main chassis drive means mounted within said main chassis that has a drive motor means and gear means for rotating one of said sprocket wheels on one side of said main chassis and said coupled sprocket wheel of said first auxiliary chassis to cause rotation of one of said main tracks and rotation of said auxiliary tracks of said first and second auxiliary chassis on said one side, said first main chassis drive means including bearings and a seal to protect said bearings during operation;

a second main chassis drive means mounted within said main chassis diagonally from said first main chassis drive means, said second main chassis drive means having a drive motor means and gear means for rotating one of said sprocket wheels on a second side of said main chassis and said coupled sprocket wheel of said second auxiliary chassis to cause rotation of a second of said main tracks and rotation of said auxiliary tracks of said first and second auxiliary chassis on said second side, said second main chassis drive means including bearings and a seal to protect said bearings during operation;

a first auxiliary chassis drive means mounted within said main chassis having a motor means and gear means coupled to one of said arms of said first auxiliary chassis to produce pivotal movement of said first auxiliary chassis with respect to said main chassis, said first auxiliary chassis drive means including bearings and a seal to protect said bearings during operation of said vehicle;

a second auxiliary chassis drive means mounted within said main chassis diagonally opposite said first auxiliary chassis drive means, said second auxiliary chassis drive means having a motor means and gear means coupled to one arm of said second auxiliary chassis for pivotally moving said second auxiliary chassis with respect to said main chassis, said second auxiliary chassis drive means including bearings and a seal to protect said bearings during operation of said vehicle;

a manipulatable arm unit pivotally mounted on said main chassis, said arm unit having a shoulder joint providing for rotation about at least a horizontal axis relative to said main chassis, an elbow joint providing for rotation about a horizontal axis relative to said main chassis, an upper arm portion joining said shoulder joint with said elbow joint and a forearm portion attached at one end to said elbow joint, said forearm portion provided with adaptive means for releasable attachment of apparatus to carry out selected actions by said vehicle in said environment;

drive means mounted within said upper arm portion for producing individual selected movements of said shoulder and elbow joints; and

circuit means within said main chassis and connected to said drive means of said main chassis, to said first and second auxiliary chassis, to said arm unit for remote operation of components of said vehicle.

2. The vehicle of claim 1 wherein said circuit means includes means for receiving remotely transmitted signals for said remote operation of components of said vehicle.

3. The vehicle of claim 2 wherein said means for receiving remotely transmitted signals is a cable means for conveying power and operating instructions to said vehicle.

4. The vehicle of claim 1 wherein said circuit means includes a battery pack means, and means for receiving wireless transmitted signals as operating instructions to said vehicle.

5. The vehicle of claim 1 wherein said gear means of said first and second drive means and said gear means of said first and second auxiliary drive means produces rotation of an output shaft with selected rotational speed and torque, said output shaft mounted in said bearing means with said seal means surrounding said output shaft.

6. An all terrain vehicle adapted for remote control operation in potentially hostile environments, including operation when submerged, which comprises:

a main chassis having a forward end and a rearward end, said main chassis equipped with a pair of rotatable sprocket wheels on each side thereon, at least one of said sprocket wheels on each side being driven, said pair of sprocket wheels on each side having a flexible main track engaged therewith, said main track supporting and moving said vehicle on said terrain;

a first articulated auxiliary chassis pivotally mounted on said forward end of said main chassis, said first auxiliary chassis having a cantilevered arm on each side with a rotatable sprocket wheel at a distal end of each, and with a second sprocket wheel coupled with one of said sprocket wheels of said main chassis closest to said forward end, said distal end sprocket wheel and said sprocket wheel coupled with said drive sprocket wheel of said main chassis having a flexible first auxiliary track engaged therewith for further supporting and moving of said vehicle across said terrain, said cantilevered arms being joined by a cross-connecting torsion member attached to each of said arms at a point intermediate said sprocket wheels on each side whereby pivotal motion of one arm is transmitted to the second arm;

a second articulated auxiliary chassis pivotally mounted on said rearward end of said main chassis, said second auxiliary chassis having a cantilevered arm on each side with a rotatable sprocket wheel at a distal end of each, and with a second sprocket wheel coupled with one of said sprocket wheels of said main chassis closest to said rearward end, said distal end sprocket wheel and said sprocket wheel coupled with said drive sprocket wheel of said main chassis having a flexible second auxiliary track engaged therewith for further supporting and moving of said vehicle across said terrain, said cantilevered arms being joined by a cross-connecting torsion member attached to each of said arms at a point intermediate said sprocket wheels on each side whereby pivotal motion of one arm is transmitted to the second arm;

a first main chassis drive means mounted within said main chassis that has a drive motor means and gear means for rotating one of said sprocket wheels on one side of said main chassis and said coupled sprocket wheel of said first auxiliary chassis to cause rotation of one of said main track and rotation of said auxiliary tracks of said first and second auxiliary chassis on said one side, said gear means of said first main chassis drive means producing a selected rotational speed and torque to an output shaft, bearings to rotatably support said output shaft and a seal to protect said bearings during operation;

a second main chassis drive means mounted within said main chassis diagonally from said first main chassis drive means, said second main chassis drive means having a drive motor means and gear means for rotating one of said sprocket wheels on a second side of said main chassis and said coupled sprocket wheel of said second auxiliary chassis to cause rotation of a second of said main tracks and rotation of said auxiliary tracks of said first and second auxiliary chassis on said second side, said gear means of said second main chassis drive means producing a selected rotational speed and torque to an output shaft, bearings to rotatably support said output shaft and a seal to protect said bearings during operation;

a first auxiliary chassis drive means mounted within said main chassis having a motor means and gear means coupled to one of said arms of said first auxiliary chassis to produce pivotal movement of said first auxiliary chassis with respect to said main chassis, said gear means of first auxiliary chassis drive means producing a selected rotational speed and torque to an output shaft, bearings to rotatably support said shaft and a seal to protect said bearings during operation of said vehicle;

a second auxiliary chassis drive means mounted within said main chassis diagonally opposite said first auxiliary chassis drive means, said second auxiliary chassis drive means having a motor means and gear means coupled to one arm of said second auxiliary chassis for pivotally moving said second auxiliary chassis with respect to said main chassis, said gear means of said second auxiliary chassis drive means providing a selected rotational speed and torque to an output shaft, bearings to rotatably support said shaft and a seal to protect said bearings during operation of said vehicle;

a manipulatable arm unit pivotally mounted on said main chassis, said arm unit having a shoulder joint providing for rotation about at least a horizontal axis relative to said main chassis, an elbow joint providing for rotation about a horizontal axis relative to said main chassis, an upper arm portion joining said shoulder joint to said elbow joint and a forearm portion attached at one end to said elbow joint, said forearm portion provided with adaptive means for releasable attachment of apparatus to carry out selected actions by said vehicle in said environment;

drive means mounted within said upper arm portion for producing individual selected movements of said shoulder and elbow joints;

viewing means connected to said main chassis oriented toward said forward end, said viewing means including illumination means and TV camera means; and

circuit means within said main chassis and connected to said drive means of said main chassis, to said first and second auxiliary chassis, to said arm unit and to said viewing means for remote operation of components of said vehicle.

7. The vehicle of claim 6 wherein said circuit means includes means for receiving remotely transmitted signals for said remote operation of components of said vehicle.

8. The vehicle of claim 7 wherein said means for receiving remotely transmitted signals is a cable means connected to said main chassis for conveying power and operating instructions to said vehicle.

9. The vehicle of claim 6 wherein said circuit means includes a battery pack means, and means for receiving wireless transmitted signals as operating instructions to said vehicle.