Lifting apparatus for remote controlled robotic device

• US 8,528,673 B2
• Filed: 08/15/2011
• Issued: 09/10/2013
• Est. Priority Date: 10/22/2004
• Status: Expired due to Fees

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Corporation
• Inventors: More, Grinnell, Sawyer, Tyson
• Primary Examiner(s): Rodriguez, Saul
• Assistant Examiner(s): TIGHE, BRENDAN P
• Application Number:
  US13/209,737
• Publication Number:
  US 20110299966A1
• Time in Patent Office: 757 Days
• Field of Search: 414/680, 414/729, 414/724, 180/9.32, 901/1
• US Class Current: 180/9.32
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• 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: B66F 9/065 non-masted mobile jacks of the garage type mounted on wheels or rollers B66F5/00

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.

Claims

1. A robotic vehicle comprising:

a main chassis having two sides and a front end;

a forward section comprising at least one elongated arm having a proximal end and a distal end, the proximal end of the elongated 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, wherein the elongated arm articulates between positions to lift the front end of the vehicle to assist the robotic vehicle to traverse the front end of the vehicle over obstacles; and

a lifting apparatus comprising;

at least two pivoting members pivotably coupled to the main chassis, wherein the at least two pivoting members comprise at least one lifting tine; and

at least one linkage arm pivotably connected to at least one of the pivoting members and to the at least one elongated arm.

2. The robotic vehicle of claim 1, further comprising an arm drive system disposed on the main chassis and coupled to the at least one elongated arm, the arm drive system pivoting the lifting apparatus relative to the main chassis by pivoting the elongated arm relative to the main chassis.

3. The robotic vehicle of claim 1, further comprising a manipulator arm pivotably coupled to the main chassis and having a plurality of connected sections.

4. The robotic vehicle of claim 3, wherein the manipulator arm comprises a camera mounted thereon.

5. The robotic vehicle of claim 3, wherein the manipulator arm comprises an appendage connected thereto.

6. The robotic vehicle of claim 5, wherein the appendage comprises at least one of a hook, a knife, a gripping mechanism, a probe, and a sensor.

7. The robotic vehicle of claim 3, wherein the manipulator arm is adapted to extend beyond a distal end of the main chassis.

8. The robotic vehicle of claim 1, wherein the main chassis comprises a pair of parallel main tracks, each including a flexible continuous belt, coupled to a corresponding side of the main frame.

9. A robotic vehicle comprising:

a main chassis having two sides and a front end;

a forward section comprising at least one elongated arm having a proximal end and a distal end, the proximal end of the elongated 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, wherein the elongated arm articulates between positions to lift the front end of the vehicle to assist the robotic vehicle to traverse the front end of the vehicle over obstacles; and

a lifting apparatus comprising;

at least two pivoting members pivotably coupled to the main chassis and a digging attachment pivotably coupled to the at least two pivoting members and adapted to pivot in response to a pivoted articulation of the at least one elongated arm; and

at least one linkage arm pivotably connected to at least one of the pivoting members and to the at least one elongated arm.

10. The robotic vehicle of claim 9, wherein the elongated arm tapers from the proximal end to the distal end, the vehicle further comprising a forward track trained about the elongated arm.

11. The robotic vehicle of claim 9, wherein the elongated arm has a length sufficiently long to allow the distal end to extend below the main chassis in one or more degrees of rotation of the elongated arm.

12. The robotic vehicle of claim 9, wherein each pivoting member has a pivoting member length configured relative to a length between the transverse axis and a point where the linkage arm is pivotably connected to the elongated arm so that, when the elongated arm provides motion to the pivoting members, a torque produced by the pivoting members is greater than a torque produced by the elongated arm.

13. The robotic vehicle of claim 12, wherein the ratio between the torque produced by the pivoting members and the torque produced by the elongated arm is 2.25:

1.

14. The robotic vehicle of claim 12, wherein the ratio between the torque produced by the pivoting members and the torque produced by the elongated arm is great greater than 2.5:

1.

15. The robotic vehicle of claim 12, wherein the pivoting member length is 9 inches and the length between the transverse axis and the point where the linkage arm is pivotably connected to the elongated arm is 4 inches.