Lifting apparatus for remote controlled robotic device
First Claim
Patent Images
1. A robotic vehicle comprising:
- a main chassis having two sides, a front end, and a differential drive system for maneuvering the robotic vehicle over a surface;
a forward section comprising;
at least one stair climbing arm having a proximal end and a distal end, the proximal end of the stair climbing arm being pivotally coupled to the main chassis near the front end of the main chassis about a transverse axis defined generally perpendicular to the sides of the main chassis, the stair climbing arm having a length less than a length of the sides of the main chassis, wherein the stair climbing arm articulates between positions to lift the front end of the vehicle to assist the robotic vehicle in climbing stairs and positions to traverse the front end of the vehicle over obstacles while moving about in a variety of environments;
a lifting apparatus comprising;
at least two pivoting members pivotably coupled to the main chassis; and
at least one linkage arm pivotably connected to at least one of the pivoting members and to the at least one stair climbing arm; and
an arm drive system disposed on the main chassis and coupled to the at least one stair climbing arm, the arm drive system pivoting the lifting apparatus relative to the main chassis by pivoting the stair climbing arm relative to the main chassis and the pivotally connected at least one linkage arm.
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Abstract
A retrofittable lifting apparatus for use on an articulated robotically controlled device is disclosed. The lifting apparatus includes a structure for mating the apparatus to the robotic device and a mechanism for the remotely controlled lifting of an ordnance or other object. Actuation of the lifting mechanism may be provided by existing sources of motion on the robotic device, or by additional sources of motion attached to the robotic device.
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Citations
30 Claims
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1. A robotic vehicle comprising:
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a main chassis having two sides, a front end, and a differential drive system for maneuvering the robotic vehicle over a surface; a forward section comprising; at least one stair climbing arm having a proximal end and a distal end, the proximal end of the stair climbing arm being pivotally coupled to the main chassis near the front end of the main chassis about a transverse axis defined generally perpendicular to the sides of the main chassis, the stair climbing arm having a length less than a length of the sides of the main chassis, wherein the stair climbing arm articulates between positions to lift the front end of the vehicle to assist the robotic vehicle in climbing stairs and positions to traverse the front end of the vehicle over obstacles while moving about in a variety of environments; a lifting apparatus comprising; at least two pivoting members pivotably coupled to the main chassis; and at least one linkage arm pivotably connected to at least one of the pivoting members and to the at least one stair climbing arm; and an arm drive system disposed on the main chassis and coupled to the at least one stair climbing arm, the arm drive system pivoting the lifting apparatus relative to the main chassis by pivoting the stair climbing arm relative to the main chassis and the pivotally connected at least one linkage arm. - View Dependent Claims (2, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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3. A method for lifting an object using a robotic vehicle having a main chassis and at least one stair climbing arm adapted to pivot about a transverse axis generally perpendicular to a side of the main chassis, wherein the stair climbing arm articulates between positions to lift the front end of the vehicle to assist the robotic vehicle in climbing stairs and positions to traverse the front end of the vehicle over obstacles while moving about in a variety of environments, the method comprising:
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providing a lifting apparatus for the robotic vehicle, the lifting apparatus comprising; at least one pivoting member pivotably coupled to the main chassis; at least one lifting tine disposed on the at least one pivoting member; and at least one linkage arm pivotably connecting the pivoting member to the at least one stair climbing arm; pivoting the stair climbing arm about the transverse axis in a first direction to pivot the pivoting member such that a distal portion of the at least one lifting tine extends below a lower portion of the object; moving the robotic vehicle toward the object so as to position the at least one lifting tine beneath the object; and pivoting the stair climbing arm about the transverse axis in an opposite direction to the first direction to pivot the pivoting member, connected by the at least one linkage arm, such that the at least one lifting tine lifts the object. - View Dependent Claims (4, 5, 19, 20, 21, 22, 23)
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24. A robotic vehicle comprising:
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a main chassis having left and right sides, a front end, and a differential drive system for maneuvering the robotic vehicle over a surface; a forward section comprising at least one stair climbing arm having a proximal end and a distal end, the proximal end of the stair climbing arm being pivotally coupled to the main chassis near the front end of the main chassis about a transverse axis defined generally perpendicular to the sides of the main chassis; and a lifting apparatus comprising; a left pivoting member pivotably coupled to the left side of the main chassis and a right pivoting member pivotably coupled to the right side of the main chassis; and a support arm connecting the left and right pivoting members by extending in a direction from one side of the main chassis to the other side of the main chassis, wherein the support arm includes a plurality of mounting holes and a plurality of attachments attached to the support arm by the mounting holes. - View Dependent Claims (25, 26, 27, 28)
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29. A robotic vehicle comprising:
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a main chassis having two sides, a front end, and a differential drive system for maneuvering the robotic vehicle over a surface; a forward section comprising at least one stair climbing arm having a proximal end and a distal end, the proximal end of the stair climbing arm being pivotally coupled to the main chassis near the front end of the main chassis about a transverse axis defined generally perpendicular to the sides of the main chassis; and a lifting apparatus comprising; at least two pivoting members pivotably coupled to the main chassis; and a support arm connecting the two pivoting members, wherein the support arm includes a plurality of mounting holes and a plurality of attachments attached to the support arm by the mounting holes; wherein the attachments are lifting tines.
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30. A robotic vehicle comprising:
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a main chassis having two sides, a front end, and a differential drive system for maneuvering the robotic vehicle over a surface; a forward section comprising at least one stair climbing arm having a proximal end and a distal end, the proximal end of the stair climbing arm being pivotally coupled to the main chassis near the front end of the main chassis about a transverse axis defined generally perpendicular to the sides of the main chassis; and a lifting apparatus comprising; at least two pivoting members pivotably coupled to the main chassis; and a support arm connecting the two pivoting members, wherein the support arm includes a plurality of mounting holes and a plurality of attachments attached to the support arm by the mounting holes; wherein the attachments are releasably attached to the support arm by pin connectors that connect to the mounting holes.
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Specification