Abstract:
A remote controlled robot for handling hazardous material, such as explosive devices, includes a support frame, an articulating arm having a proximal end coupled with the support frame and a distal end remote therefrom, and a gripper connected with the distal end of the articulating arm, the gripper having gripper fingers that oppose one another. The robot includes a transporting assembly, such as wheels or a track, coupled with the support frame for selectively moving the robot to a desired location. The robot includes a tool basket disposed adjacent the proximal end of the articulating arm. The tool basket includes a plurality of tool receiving slots adapted to receive tools, with different tools stored in each of the slots. By carrying a plurality of tools in a basket, the robot may stay downrange when changing tools, rather than requiring the robot to return up range for changing tools.

Description:
BACKGROUND OF THE INVENTION 
       [0001]    1. Field of the Invention 
         [0002]    The present invention generally relates to remotely controlled robots, and more specifically relates to remotely controlled robots used to detect, disable, and dispose of explosive devices, as well as vehicle entry, structure entry, surveillance, and barricaded subjects. 
         [0003]    2. Description of the Related Art 
         [0004]    Remote controlled robots are used by the military and public safety organizations to detect, defuse and dispose of hazardous materials such as explosive devices, and when addressing various hazardous incidents. Typically, these remote controlled robots include wheels or tracks that carry the robot to the site of a hazardous condition. Many of these remote controlled robots include an articulating arm with a gripper located at the distal end of the arm. The gripper includes opposing gripper fingers that move toward one another for closing the gripper and away from one another for opening the gripper. 
         [0005]    Remotec, Inc. of Clinton, Tenn. sells a tool kit for remote controlled robots. The tool kit includes tools having different functions that are attached to rails extending along outer surfaces of gripper fingers. Because the tools are attached to the outside of the gripper fingers, the tools are not centered upon the gripper, which makes it more difficult to complete a hazardous material operation. In addition, the Remotec tools are attached to the gripper fingers using tightening knobs that secure the tools to the outer rails. As a result, the tooling attached to the gripper may not be changed when the robot is located downrange. Rather, the robot must be brought back up range in order to change the tools attached to the gripper, which wastes valuable time and resources. 
         [0006]    Thus, there remains a need for remote controlled robot systems whereby the tools attached to the gripper may be changed as the robot remains downrange. Such a remote controlled robot system will be more efficient, and will be able to complete detection, defusing and disposal operations in a more efficient manner, saving time, lives, property and resources. 
       SUMMARY OF THE INVENTION 
       [0007]    In one embodiment, a remote controlled robot for handling hazardous material includes a support frame, an articulating arm having a proximal end coupled with the support frame and a distal end remote therefrom, and a gripper connected with the distal end of the articulating arm, the gripper having gripper fingers that oppose one another. The proximal end of the articulating arm is preferably connected with the support frame, and the articulating arm has arm sections interconnected by articulating joints that enable the arm sections to pivot relative to one another. The robot preferably includes a plurality of tools disposed adjacent the articulating arm, whereby the articulating arm is moveable for grasping the tools with the gripper. The robot desirably includes a transporting assembly coupled with the support frame for moving the robot over a surface. 
         [0008]    In one embodiment, the robot includes a tool basket having a plurality of tool receiving slots, whereby each tool receiving slot is adapted to receive one of the tools. In one embodiment, the tool basket has a gripping structure such as a ring or flange that is secured to the basket and that may be grasped by the gripper for carrying the tool basket downrange. When the robot arrives downrange, the gripper can place the tool basket on the ground in close proximity to the robot so that the tools are accessible. The gripper is preferably moveable into alignment with each of the tool receiving slots so that the gripper may selectively secure and remove any one of the tools from the tool receiving slots. After the mission is completed, the gripper may pick up the tool basket by the gripping structure and return the tool basket to an up range location. In one embodiment, the tool basket may be permanently secured to the remote controlled robot such as by being secured to the support frame, which may be located adjacent the proximal end of the articulating arm. 
         [0009]    The plurality of tools may include cutting tools, hook tools, illuminating tools, deflator tools, spiked tools, window breaker tools, and any other well known tool used to grasp, diffuse, and disable hazardous materials such as explosive devices. 
         [0010]    In one embodiment, at least one of the tools includes a gripper block securable between the opposing gripper fingers, whereby the gripper block includes a leading end having a tool attachment opening, a trailing end, side walls extending between the leading and trailing ends, an upper securing flange extending laterally beyond the side walls, and a lower securing flange extending laterally beyond the side walls. The gripper fingers are preferably moveable toward one another for engaging the side walls of the gripper block so that the upper securing flange overlies top surfaces of the gripper fingers and the lower securing flange overlies bottom surfaces of the gripper flanges. In one embodiment, each of the tools is insertable into one of the tool attachment openings. In one embodiment, at least one of the tools is integrally attached to the gripper block and the working end of the tool projects from the leading end of the gripper block. 
         [0011]    In one embodiment, each side wall of the gripper block has first and second sections that are angled relative to one another for defining an apex section of the side wall having a convexly curved surface, and the angled first and second sections of each side wall generally conform to an inner surface of one of the gripper fingers. 
         [0012]    In one embodiment, a remote controlled robot for handling hazardous material includes a support frame, an articulating arm having a proximal end coupled with the support frame and a distal end remote therefrom, a gripper connected with the distal end of the articulating arm, the gripper having gripper fingers that oppose one another, a transporting assembly (e.g. wheels or tracks) coupled with the support frame for selectively moving the robot, and a tool basket coupled with the robot and disposed adjacent the proximal end of the articulating arm, the tool basket having a plurality of tool receiving slots adapted to receive tools. 
         [0013]    The gripper is preferably moveable between a closed position for grasping the tools and an open position for releasing the tools. The articulating arm is desirably moveable for selecting and grasping a tool from one of the tool receiving slots. 
         [0014]    In one embodiment, at least one of the tools includes a gripper block storable in one of the tool receiving slots, the gripper block having a leading end with a working end of each pool projecting from the leading end, a trailing end, side walls extending between the leading and trailing ends, an upper securing flange extending laterally beyond the side walls, and a lower securing flange extending laterally beyond the side walls. The gripper fingers are preferably moveable toward one another for engaging the side walls of the gripper block so that the upper securing flange engages top surfaces of the gripper fingers and the lower securing flange engages bottom surfaces of the gripper fingers. In one embodiment, each side wall of the gripper block has first and second sections that are angled relative to one another for defining an apex section of the side wall having a convexly curved surface, and the first and second angled sections generally conform to an inner surface of one of the gripper fingers. 
         [0015]    In one embodiment, a remotely controlled robot for handling hazardous material includes a support frame, an articulating arm having a proximal end coupled with the support frame and a distal end remote therefrom, a gripper connected with the distal end of the articulating arm, the gripper having opposing gripper fingers moveable between an open position and a closed position, and a container holding a plurality of tools, whereby the container is disposed adjacent the articulating arm, and the articulating arm is moveable for aligning the gripper with one of the tools and grasping one of the tools using the grippers. The tools in the container may be any of the well-known tools used for handling hazardous materials (e.g. explosive devices) including cutting tools, hook tools, illuminating tools, deflator tools, spiked tools, and window breaker tools. 
         [0016]    In one embodiment, the remote controlled robot is controlled wirelessly. In another embodiment, the remote controlled robot may be controlled through a tether such as a fiber optic cable or a power cable. In one embodiment, the robot may include a spool for storing the tether whereby the tether is unwound from the spool as the robot moves downrange and the spool is rewound as the robot returns up range. 
         [0017]    Although the present invention is not limited by any particular theory of operation, it is well known to those skilled in the art that remote controlled robots may have an on-board battery supply having a limited operational life that requires frequent recharging. Thus, the present invention addresses this power issue by bringing a plurality of tools downrange in the tool basket. As a result, the robot does not have to return up range to change tools, which makes the robot more versatile and saves battery power so that the robot will be less likely to run out of battery power. 
         [0018]    These and other preferred embodiments of the present invention will be described in more detail below. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWING 
         [0019]      FIG. 1  shows a perspective view of a remote controlled explosive ordinance disposal robot having a gripper. 
           [0020]      FIG. 2  shows a perspective view of gripper fingers of the gripper shown in  FIG. 1 . 
           [0021]      FIG. 3  shows a top plan view of the gripper shown in  FIG. 1 . 
           [0022]      FIG. 4  shows a tool kit having various tools attachable to the gripper shown in  FIG. 3 . 
           [0023]      FIG. 5A  shows a perspective view of an illuminator tool attachable to the gripper shown in  FIG. 3 . 
           [0024]      FIG. 5B  shows the illuminator tool of  FIG. 5A  attached to one of the gripper fingers of the gripper shown in  FIG. 3 . 
           [0025]      FIG. 6  shows a perspective view of a window breaker tool attachable to the gripper of  FIG. 3 . 
           [0026]      FIG. 7  shows the remote controlled robot of  FIG. 1  with tools attached to the gripper. 
           [0027]      FIG. 8  shows a perspective view of a gripper block securable by a gripper of a remote controlled robot. 
           [0028]      FIG. 9  shows a perspective view of tools securable to the gripper block of  FIG. 8 . 
           [0029]      FIG. 10  shows the gripper block of  FIG. 8  being held by the gripper of a remote controlled robot and a tool projecting from a leading end of the gripper block. 
           [0030]      FIG. 11A  shows a front elevational view of a gripper block, in accordance with one embodiment of the present invention. 
           [0031]      FIG. 11B  shows a top plan view of the gripper block shown in  FIG. 11A . 
           [0032]      FIG. 11C  shows a side elevational view of the gripper block shown in  FIGS. 11A and 11B . 
           [0033]      FIG. 12  shows the gripper block of  FIGS. 11A-11C  held between opposing gripper fingers of a gripper and a tool secured to a front end of the gripper block, in accordance with one embodiment of the present invention. 
           [0034]      FIGS. 13-15  show various tools that may be secured to a front end of the gripper block shown in  FIGS. 11A-111C . 
           [0035]      FIG. 16  shows a side view of a remote controlled robot including a tool basket for holding a plurality of tools, in accordance with one embodiment of the present invention. 
           [0036]      FIG. 17A  shows a top plan view of the tool basket shown in  FIG. 16 . 
           [0037]      FIG. 17B  shows a top plan view of the tool basket shown in  FIG. 17A  with a plurality of tools stored in some of the tool receiving slots of the tool basket. 
           [0038]      FIG. 17C  shows another top plan view of the tool basket having a plurality of tools shown in  FIGS. 17A  and B. 
           [0039]      FIG. 18A  shows the remote controlled robot of  FIG. 16  positioned up range from an explosive device. 
           [0040]      FIG. 18B  shows the remote controlled robot of  FIG. 18A  after moving downrange toward the explosive device. 
           [0041]      FIG. 18C  shows the remote controlled robot of  FIG. 18B  with a different tool secured by the gripper. 
       
    
    
     DETAILED DESCRIPTION 
       [0042]      FIG. 1  shows a remote controlled robot  30  that is used for detecting, defusing, and disposing of explosive devices. The remote controlled robot  30  includes a platform  32  that supports equipment  34  and a plurality of wheels  36  for maneuvering the robot  30 . A leading end of the platform  32  has an articulating arm  38  mounted thereon. The articulating arm  38  includes articulating joints  40  that enable the arm  38  to move in different directions for engaging objects. A distal end  42  of the articulating arm  38  includes a gripper  44  having a first gripper finger  46 A and second gripper finger  46 B that oppose one another. The gripper fingers  46 A,  46 B open and close toward one another for releasing and grasping objects. 
         [0043]      FIG. 2  shows a pair of gripper fingers  46  before being assembled to the distal end of an articulating arm of a remote controlled robot. The gripper fingers  46  has proximal ends  48  that are secured to the distal end of the articulating arm of the remote controlled robot ( FIG. 1 ). Each gripper finger  46  includes a distal end  50  and an attachment rail  52  extending along an outer surface thereof for attaching tools to the gripper finger. The attachment rail  52  preferably extends to the distal end  50  of the gripper finger. 
         [0044]      FIG. 3  shows a gripper  44  including the first gripper finger  46 A and the second gripper finger  46 B. The first gripper finger  46 A has a proximal end  48 A and a distal end  50 A. The first gripper finger  46 A has an outer surface  52 A that extends between the proximal and distal ends  48 ,  50 . A tool attachment rail  54 A is secured to the outer surface  52 A and extends to the distal end  50 A of the first gripper finger  46 A. The first gripper finger  46 A includes an inner surface  56  that extends between the proximal end  48 A and the distal end  50 A of the first gripper finger. The inner surface  56  preferably has an angled surface defining a peak  58  therein. The second gripper finger  46 B has s similar structure. The inner surfaces  56  of the gripper fingers may include a compliant layer such as a rubberized layer of material to improve gripping. 
         [0045]      FIG. 4  shows a tool kit  60  including various tools adapted to be attached to the attachment rails  54  on the outer surfaces of the gripper fingers  FIG. 3 ). The tool kit  60  includes a cutter  62  having a shaft  64  and a connector body  66  secured to the shaft  64 . The connector body  66  includes an attachment flange  68  adapted to engage one of the attachment rails  54  ( FIG. 3 ) for connecting the cutter tool  62  to the outside of one of the gripper fingers. The tool kit  60  also includes a hook tool  70 , an illuminator tool  72 , a window breaker tool  74 , a deflator tool  76  and first and second probe tools  78 A,  78 B. All of the tools shown in  FIG. 4  are securable to the gripper fingers shown and described above in  FIGS. 2 and 3  by coupling the respective attachment flanges  68  with one of the attachment rails provided on the outer surface of each gripper finger. 
         [0046]      FIG. 5A  shows the illuminator tool  72  including connector body  66  having an attachment flange  68  projecting from a lower end thereof. The attachment flange  68  includes an outer surface  80  and an inner surface  82  having an elongated groove  84  formed therein. The elongated groove  84  is adapted to engage the attachment rails found on one of the gripper fingers for securing the illuminator tool  72  to one of the gripper fingers. The attachment flange  68  also includes a pair of openings  86 A,  86 B extending from the outer surface  80  to the inner surface  82 . The illuminator tool  72  also includes a fastener  88  including a threaded shaft  90  and a tightening knob  92 . When the illuminator tool  72  is positioned at a desired location along the length of the attachment rail, the fastener  82  may be tightened for securing the illuminator tool  72  in place at a preferred location along the length of the attachment rail. 
         [0047]      FIG. 5B  shows the illuminator tool  72  after being secured to the attachment rail  54  of the gripper finger  46 . The fastener  88  (not shown) is tightened for reliably securing the illuminator tool  72  to the distal end  50  of the gripper finger  46 . The illuminator tool  72  may be removed from its attachment to the attachment rail  54  by loosening the fastener  88  ( FIG. 5A ) and sliding the tool  72  of the distal end of the rail  54 . 
         [0048]      FIG. 6  shows the window breaker tool  74  having connector body  66  and the attachment flange  68  projecting from a lower end of the connector body. The window breaker tool  74  includes a tapered rod  94  projecting from a leading end of the connector body  66 . The leading end of the tapered rod  94  has a point  96  that is adapted to be abutted against objects such as explosive devices. 
         [0049]      FIG. 7  shows a perspective view of a remote controlled robot  30  having a first probe tool  78 A secured to a first gripper finger  46 A and a second probe tool  78 B secured to a second gripper finger  46 B. The remote controlled robot  30  is advanced downrange toward a suspicious object  98  (e.g. a back pack), so that the probe tools  78 A,  78 B may engage the suspicious object. 
         [0050]    As shown in  FIG. 7 , the probe tools  78 A,  78 B are secured to the attachment rails located on the outside of the gripper fingers  46 A,  46 B. As a result, the probe tools  78 A,  78 B are not centered between the gripper fingers  46 A,  46 B, which may increase the difficulty of maneuvering the tools to efficiently inspect, handle and/or disable the suspicious object  98 . This offset of the tools  78 A- 78 B from the center of the gripper makes it more difficult for an operator to properly align the tools with the suspicious object and to efficiently handle emergency situations. This deficiency is particularly exacerbated for other tools such as the illuminator tool shown in  FIGS. 5A-5B  and the window breaking tool shown in  FIG. 4 . Thus, there is a need to provide an improved remote controlled robot whereby the tools may be centered directly between the gripper fingers for better alignment and better observation of suspicious objects. 
         [0051]      FIG. 8  shows a perspective view of a gripper block  100  used to hold various tools between gripper fingers. The gripper block  100  includes a leading end  102  and a trailing end  104 . The gripper block  100  also includes sides  106  that extend between the leading and trailing ends thereof. The leading end  102  of the gripper block  100  includes a tool attachment opening  108  that is accessible at the leading end  102  of the gripper block and that extends from the leading end  102  toward the trailing end  104 . 
         [0052]      FIG. 9  shows various tools that may be inserted into the tool opening  108  of the gripper block  100 . For example, a cutter tool  62  has a shaft  64  with a proximal end  65  insertable into the tool attachment opening  108 . After the cutter tool  162  is secured to the gripper block  100 , the gripper block  100  is secured between opposing gripper fingers for positioning the cutter tool  62  at the distal end of an articulating arm of a remote controlled robot. 
         [0053]      FIG. 10  shows the gripper block  100  held between a pair of gripper fingers  46 A,  46 B. A probe  170  is inserted into the tool attachment opening  108  of the gripper block  100 . The probe  170  projects from the leading end  102  of the gripper block  100 . As shown in  FIG. 10 , positioning the gripper block  100  between the gripper fingers  46 A,  46 B enables the probe  170  to be centered between the gripper fingers. Centering the probe  170  facilitates handling of the probe tool  170  and efficient use during emergency situations. 
         [0054]    Referring to  FIGS. 11A and 11B , in one embodiment, a gripper block  200  includes a leading end  202  and a trailing end  204 . The gripper block  200  includes a pair of side walls  212 A,  212 B that extend between the leading and trailing ends thereof. The pair of side walls  212 A,  212 B define a central portion of the gripper block having a diamond shaped profile ( FIG. 11B ). Each of the side walls  212 A,  2128 B defines an apex  214  having a curved surface  216  defining a radius. The angled surface defined by the apexes  214  is generally adapted to conform to the shape of the inner surfaces of the gripper fingers. The curved surface  216  at the apex  214  is adapted to self-center the gripper block  200  between the opposing angled inner surfaces of the gripper fingers. 
         [0055]    The gripper block  200  includes a tool attachment opening  208  that extend from the leading end  202  toward the trailing end  204  of the gripper block. The tool attachment opening  208  is adapted to receive a shaft of a tool used for handling and defusing explosive devices. 
         [0056]    Referring to  FIGS. 11A and 11B , the gripper block  200  includes an upper securing flange  220  having an inner surface  222  that projects outwardly and beyond the side walls  212 A,  212 B. The inner surface  222  of the upper flange  220  is adapted to engage the upper surfaces of respective first and second gripper fingers for snuggly securing the gripper block  200  to the upper surfaces of the gripper fingers. 
         [0057]    Referring to  FIG. 11B , the gripper block  200  includes a bottom securing flange  224  having an inner surface  226  that extends outwardly and beyond the side walls  212 A,  212 B. The bottom inner surface  226  is adapted to engage the bottom surfaces of the respective gripper fingers to snuggly secure the gripper block  200  to the lower surfaces of the gripper fingers. 
         [0058]      FIG. 11C  shows a side view of the gripper block shown in  FIGS. 11A and 11B . The gripper block  200  includes the leading end  202  and the trailing end  204 . The leading end  202  includes the tool attachment opening  208  adapted to receive the shafts of various tools. The gripper block  200  includes a side wall  212  having a central apex  214  with a curved surface  216  for seating the gripper block  200  against the angled inner surface of a gripper finger. The gripper block includes upper securing flange  220  having an upper inner surface  222  adapted to engage top surfaces of the gripper fingers and a lower securing flange  224  having a lower inner surface  226  adapted to engage the lower surface of the gripper fingers. 
         [0059]      FIG. 12  shows the gripper block  200  of  FIGS. 11-11C  secured between a pair of gripper fingers  246 A,  246 B. The curved apexes  216  of the side walls of the gripper block  200  preferably self-center against the angled inner surfaces of the respective first and second gripper fingers  246 A,  246 B. In  FIG. 12 , the drawing has been simplified so that the securing flanges  220 ,  224  of  FIG. 11C  are not shown. Thus, the engagement between the inner surfaces of the gripper fingers and the side walls of the gripper block are clearly shown. As the gripper block  200  is held between the gripper fingers  246 A,  246 B, the tool  274  projects from the leading end  202  of the gripper blocks. In one embodiment, various tools may be inserted into and removed from the tool attachment opening  208 . In other embodiments, different tools may be integrally connected with the leading end  202  of different gripper blocks  200 . Thus, in one embodiment, a system may include a plurality of gripper blocks with each gripper block having a distinct tool integrally formed therewith and extending from a leading end thereof. Alternatively, the various tools may be inserted into and removed from the gripper blocks as needed. In one embodiment, the gripper blocks may have different sizes, whereby the size of the gripper block used may be associated with the particular tasks being performed. 
         [0060]    Referring to  FIGS. 13-15 , in one embodiment, a tool system for a remote controlled robot includes a plurality of gripper blocks  300 A- 300 C. Each gripper block has a shape and configuration generally similar to that shown and described above in  FIGS. 11A-11C . In  FIG. 13 , a first gripper block  300 A has a window breaking tool  374  projecting from a leading end thereof. The window breaking tool  374  may be integrally formed with the first gripper block  300 A, or may be insertable into and removable from a tool attachment opening provided at the leading end  302  of the first gripper block  300 A. 
         [0061]    Referring to  FIG. 14 , a second gripper block  300 B has a cutting tool  362  projecting from a leading end  302  thereof. The cutting tool  362  may be integrally formed with the second gripper block  300 B. In one embodiment, the cutting tool  362  may be insertable into and removable from a tool attachment opening at the leading end  302  of the second gripper block  300 B. 
         [0062]      FIG. 15C  shows a third gripper block  300 C including an illuminating tool  372  secured to and projecting from a leading end  302  thereof. The illuminating tool  372  may be integrally formed with the third gripper block  300 C. In one embodiment, the illuminating tool  372  may be insertable into and removable from a tool attachment opening provided at the leading  302  of the third gripper block  300 C. 
         [0063]    Although  FIGS. 13-15  show gripper blocks having the same size and configuration, it is contemplated that one embodiment of the present invention may include gripper blocks having different sizes and/or configurations. The particular size of the gripper block utilized may be related to the particular function being performed when using the remote controlled robot. For example, if increased leverage is required when using the remote controlled robot, a gripper block having a larger size and/or dimension may be utilized to provide the additional leverage. 
         [0064]    Referring to  FIG. 16 , in one embodiment, a remote controlled robot  330  includes a platform  332  that supports equipment  334  atop the platform  332 . The remote controlled robot  330  includes wheels or tracks  336  for moving the robot  330  to desired locations. The remote controlled robot  300  includes an articulating arm  338  having articulating joints  340  that enable the articulating arm  338  to be configured and moved as needed for engaging objects. The distal end  342  of the articulating arm  338  includes a gripper  344  having a first gripper finger  346 A and a second gripper finger  346 B. The remote controlled robot  300  also includes a tool basket  400  adapted to hold a plurality of tools for use during operations. The tool basket is preferably positioned on the robot so that the tools stored therein may be grasped by the gripper of the articulating arm. 
         [0065]    Referring to  FIG. 17A , in one embodiment, the tool basket  400  secured to the remote controlled robot includes a plurality of tool receiving slots  402 A- 402 F. In one embodiment, various tools are placed in each of the tool receiving slots  402 A- 402 F before the remote controlled robot is sent downrange. As a result, a plurality of different tools is accessible by the gripper of the remote controlled robot as the robot remains downrange. Thus, the remote controlled robot does not have to return up range for changing tools as is required by conventional remote controlled robots. In one embodiment, the tool basket  400  includes a gripping structure  404  such as a ring or flange that may be grasped by the gripper. In one embodiment, the tool basket is not permanently attached to the robot and the tool basket is carried downrange by the gripper securing the gripping structure  404  and carrying the basket downrange. When the robot reaches a desired downrange location, the gripper may set the tool basket on a surface is close proximity to the robot and release the gripping feature  404  of the basket. The gripper and the articulating arm are then free to select one or more tools carried by the tool basket. When the mission is complete, the gripper may re-secure the tool basket using the gripping feature  404  and carry the tool basket back up range. 
         [0066]    Referring to  FIG. 17B , in one embodiment, the tool basket  400  is preloaded with a plurality of tools that perform different functions. As noted above, the tool basket is secured to the remote controlled robot so that the tools stored therein are accessible by the gripper provided at the distal end of the articulating arm. In  FIG. 17B , the window breaking tool has been attached to the gripper. When downrange, the window breaking tool may be stored in the first tool receiving slot  402 A. To improve the versatility of the remote controlled robot, a cutter tool  462  is preloaded in the second tool slot  402 B, a hook  370  is preloaded in the third tool receiving slot  402 C, an illuminator tool  372  is preloaded in the fourth tool receiving slot  402 D, a deflator tool  376  is stored in the fifth tool receiving slot  402 E, and a probe tool  378  is stored in the sixth tool receiving slot  402 F. 
         [0067]    Referring to  FIG. 17C , if it is desirable to change one of the tools attached to the gripper when the robot is located downrange, the tool held between the gripper fingers such as the window breaker tool  474  is placed in the first tool slot  402 A of the tool basket  400 . A second tool such as the cutter tool  462  ( FIG. 17B ) may be grasped between the gripper fingers of the gripper and removed from the second tool slot  402 B. 
         [0068]    Referring to  FIG. 18 , in one embodiment, a remote controlled robot  430  is located up range “UR” from an explosive device “ED” found downrange “DR”. Before the robot is sent downrange DR a window breaking tool  474  is secured between the gripper fingers of the gripper  444 . 
         [0069]    Referring to  FIG. 18B , after the window breaker tool  474  is secured between the gripper fingers, the remote controlled robot  430  is moved downrange DR so that it is adjacent the explosive device ED. During operation, an operator may determine that the window breaking tool  472  will not perform a desired function for disabling the explosive device ED. As a result, the operator will be required to change the tool held between the gripper  444 . Referring to  FIG. 18C , in one embodiment, the the operator preferably articulates the articulating arm  438  using a remotely-located controller to place the window breaker tool  474  in the tool basket and replace it with a hook tool  470 . As the tool basket is either located in close proximity to the robot or secured to the remote controlled robot  430 , the exchange of the tool may take place when the robot  430  is downrange DR. Thus, the remote controlled robot  430  does not have to return up range UR to change the tool, which saves battery power and minimizes the time required for performing an operation thereby reducing the danger level of the emergency situation. 
         [0070]    Referring to  FIG. 18C , in one embodiment, the remote controlled robot  430  includes a control system  480  having one or more microprocessors that are in communication with the articulating arm  438  and the gripper  444 . The control system may have one or more tool loading and tool exchange routines programmed therein, whereby the control system automatically loads the tools onto the gripper. In one embodiment, an operator may select tool # 1  and the control system will automatically take over operation of the articulating arm and the gripper for loading tool # 1  onto the gripper. The operator may then choose to use another tool such as tool # 4  and the control system will automatically return tool # 1  to the correct slot in the tool basket and pick up tool # 4  using the articulating arm and the gripper. Although the present invention is not limited by any particular theory of operation, it is believed that having a control system for automatically loading and exchanging tools when downrange will save time, will insure that the tools are properly loaded on the gripper, and will allow operators to concentrate on other tasks as the tools are being loaded/changed. 
         [0071]    The headings used herein are for organizational purposes only and are not meant to limit the scope of the description or the claims. As used throughout this application, the word “may” is used in a permissive sense (i.e., meaning having the potential to), rather than the mandatory sense (i.e., meaning must). Similarly, the words “include”, “including”, and “includes” mean including but not limited to. To facilitate understanding, like reference numerals have been used, where possible, to designate like elements common to the figures. 
         [0072]    While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof.