Patent Publication Number: US-2007107917-A1

Title: Multifunctional robot tool

Description:
RELATED APPLICATIONS  
      This application claims the benefit of and priority to U.S. Provisional Patent Application Ser. No. 60/736,612 filed Nov. 14, 2005 entitled Robot Technology. 
    
    
     FIELD OF THE INVENTION  
      This subject invention relates to a multifunctional tool, and in one example such a tool for a remote control robot.  
     BACKGROUND OF THE INVENTION  
      On the battlefield or otherwise, small, maneuverable, lightweight, remote control robots can be used to minimize human exposure to potentially lethal environments and situations. In one example, remotely controlled robots, such as the Foster-Miller Talon™ robot, have been widely used to detect and disable explosive devices and ordnances in the field including roadside bombs in Iraq. One advantage of using a remotely controlled robot is that it eliminates the need for personnel to approach the explosive device. The individuals controlling the robot may remain at a relatively safe distance, usually a few hundred meters from the explosive device.  
      Disabling the explosive most often requires that the robot perform multiple operations, including digging to expose the device, gripping to move the device or to remove any covering over the device, and/or cutting to sever control wires and disable the device.  
      Robots employed to detect and disable explosive devices typically have an arm with an end effecter or tool which is capable of accomplishing only one of these operations. Thus, the operator is required to bring the robot back to his location to change the end effecter to one which is capable of the next operation. In one example, if the explosive is buried or covered, the robot would first have to utilize a digging end effector or tool to uncover the device. Then, the operator would have to bring the robot back to equip it with a gripper to grasp and move the device. If the operator then wished to sever wires, the operator would be required to retrieve the robot again to replace the gripper with a cutter. Typically multiple end effectors which must be changed are heavy and complex. Thus, a robot which requires the operator to bring the robot back to change tools reduces the overall efficiency of the operation. Additionally, the time required for the robot to travel back and forth extends the time that the explosive device presents a hazard. Also, when operations are carried out in a hostile environment, the amount of time the operator and other personnel are exposed to potential attack is increased.  
      With the widespread use of the improvised explosive devices (IEDs) or roadside bombs and other similar devices by terrorists in places like Iraq and Afghanistan, the need to improve both the efficiency and capabilities of these robots has intensified.  
     SUMMARY OF THE INVENTION  
      It is therefore an object of this invention to provide an improved tool for a robot such as a remote control robot.  
      It is a further object of this invention to provide such a tool which is multifunctional.  
      It is a further object of this invention to provide such a tool which reduces or eliminates the necessity to retrieve a robot in order to change tools.  
      It is a further object of this invention to provide a multifunctional tool as an alternative to and improvement over tools having a single function.  
      The subject invention results from the realization that improvement over single function tools can be achieved by a tool having multiple capabilities, and which does not require components to be changed in order to shift from one function to another. The invention results from the further realization that, in one example, such a multifunctional tool can be used with a remote control robot to increase the efficiency of the robot, and thus decrease the amount of time that individuals near the robot&#39;s working area are exposed to danger.  
      The subject invention, however, in other embodiments, need not achieve all these objectives and the claims hereof should not be limited to structures or methods capable of achieving these objectives.  
      The subject invention features a multifunctional robot tool including a pair of driven fingers configured as a gripper. A blade depends from each finger and the blades are configured as a digging spade when closed together by the fingers. A knife is associated with at least one blade for cutting wire. In one example, the multifunctional robot tool further includes an enclosed gear box including upwardly extending drive shafts each received in a rearward clamp in each finger. Each blade may include a rearwardly extending frame member removably securable to a side of a finger. The knife typically includes a concave cutter extending outwardly from a first blade and a socket extending inwardly from a second blade for receiving the cutter. The cutter may be fixed to a C-channel member secured over an inside edge of the first blade. In one example, the inside edge of the first blade includes a cut-out for receiving the c-channel member, and the socket includes a first plate secured over a cut-out in the second blade, and a second plate is secured behind the cut-out in the second blade. The second plate may include a concave cutter. Each finger may include concave portion and a distal gripping plate. In one embodiment the rearwardly extending frame members each may include a beveled portion forming an edge of a blade, and the rearwardly extending frame members each may include a beveled portion forming part of the digging spade.  
      The subject invention also features a multifunctional robot tool including a pair of driven fingers configured as a gripper and a blade depending from each finger. The blades are configured as a digging spade when closed together by the fingers, and each blade includes a rearwardly extending frame member removably securable to a side of a finger. A knife is associated with at least one blade for cutting wire, and an enclosed gear box includes an upwardly extending drive shaft received in a rearward clamp in each finger.  
      The subject invention further features a multifunctional robot tool including a pair of driven fingers configured as a gripper, and a blade depending from each finger, the blades configured as a digging spade when closed together by the fingers.  
      The subject invention also features a robot comprising a track driven body, an articulable main arm, and a pair of driven fingers configured as a gripper on the articulable main arm. A blade depends from each finger, and the blades are configured as a digging spade when closed together by the pair of driven fingers.  
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
      Other objects, features and advantages will occur to those skilled in the art from the following description of a preferred embodiment and the accompanying drawings, in which:  
       FIG. 1  is a schematic representation of one example of a remotely controlled robot which may include the multifunctional robot tool of the present invention;  
       FIG. 2  is a schematic three-dimensional view of one embodiment of a multifunctional robot tool in accordance with the present invention;  
       FIG. 3  is a more detailed schematic view of one example of the knife and digging blades of the multifunctional robot tool of  FIG. 2 ;  
       FIGS. 4 and 5  are exploded schematic views of the multifunctional robot tool components shown in  FIG. 3 ; and  
       FIGS. 6-8  are schematic side views of the multifunctional robot tool components shown in  FIGS. 4 and 5 . 
    
    
     DISCLOSURE OF THE PREFERRED EMBODIMENT  
      Aside from the preferred embodiment or embodiments disclosed below, this invention is capable of other embodiments and of being practiced or being carried out in various ways. Thus, it is to be understood that the invention is not limited in its application to the details of construction and the arrangements of components set forth in the following description or illustrated in the drawings. If only one embodiment is described herein, the claims hereof are not to be limited to that embodiment. Moreover, the claims hereof are not to be read restrictively unless there is clear and convincing evidence manifesting a certain exclusion, restriction, or disclaimer.  
      As discussed in the Background section above, robots have been widely used in place of human action when harmful and/or hazardous environmental conditions are present. Remote control robots, such as the Foster-Miller Talon™ robot, have been utilized when conditions necessitate operating the robot from afar, for example, to retrieve information or perform tasks which require the robot to enter into a dangerous area or situation.  
      One example of a remote control robot is shown in  FIG. 1 . Remote control robot or robotic vehicle  10  often includes tracks  12   a  and  12   b  for mobility. Articulating arm  14  of vehicle  10  typically includes end effecter or single purpose tool  16  at distal end  18  of arm  14 . As shown, single purpose tool  16  is a gripper. Motor  17  actuates the gripping function via gear box  40 . Camera  20  sends visual signals of tool  16 , as well as the explosive device or object on which tool  16  is working, to the operator of robot  10 . In this way, robot  10 , arm  14  and tool  16  can be maneuvered by the operator as appropriate.  
      It was discovered that a conventional end effecter or single purpose tool  16  is less than ideal in the field. When more than one operation by robot  10  is required to uncover and disarm an IED, for example, tool  16  often must be changed. In order to change the tool, the operator must retrieve robot  10  between these operations. The time period from a robot&#39;s initial contact with the IED until the moment when the IED is finally disarmed is critical, however, because during that time the IED remains a threat to anyone in the area. In a battlefield scenario, changing the tools may be difficult, and the operator and others may themselves be subject to attack. In sum, the shorter the length of time it takes to disable the explosive, the better for the robot operator, military personnel and civilians.  
      The inventors hereof observed that if the tool changing steps could be eliminated, the explosive could be disarmed faster and more efficiently. To achieve that end, the inventors devised the multifunctional tool shown in  FIGS. 2-8 .  
      One example of a multifunctional robot tool in accordance with the present invention is shown in  FIG. 2 . Multifunctional robot tool  30  includes a pair of driven fingers  32   a  and  32   b  configured as a gripper  31 , with blades  34   a  and  34   b  depending from fingers  32   a  and  32   b , respectively. Blades  34  are configured as digging spade  36  when closed together by arms  32 . Knife  38  is associated with at least one blade  34   a , typically for cutting wire.  
      Thus, multiple tools with different capabilities are combined in a single mechanism. Notably, this multifunctional robot tool requires only one motor—typically included in remote control robots—to actuate the multiple functions. The motor which actuates fingers  32   a  and  32   b  of gripper  31  also actuates knife  38  for wire cutting. Blades  34   a  and  34   b  depend from the fingers in a manner that positions them as a unified digging spade  36  when gripper  31  is closed and moves fingers  32   a  and  32   b  such that they do not obstruct the ability of gripper  31  to reach and hold objects.  
      Multifunctional robot tool  30  of the present invention provides the capabilities needed to disable an IED, for example, include gripping, digging and cutting, and does so without having to retrieve the robot and/or change tools. The pair of driven fingers  32   a  and  32   b  provide gripping ability, such as when it is necessary to grip and carry the explosive or other object. When blades  34   a  and  34   b  are closed together by fingers  32   a  and  32   b , the blades form digging spade  36 . Thus, if the explosive or IED is buried, multifunctional robot tool  30  provides digging capability. Knife  38  provides the ability for multifunctional robot tool  30  to cut wires of the explosive device, for example. In summary, a buried IED with detonation wiring may be dug up, gripped and carried to a safer area, where the wiring may be severed to safely disarm the device. The multifunctional robot tool of the present invention may be utilized for any combination of gripping, digging up and cutting of any type of device, depending on the particular application or scenario. Thus, versatility and efficiency are increased and the time needed to disable the device is decreased, resulting in a safer operation.  
      In one embodiment, multifunctional tool  30  includes enclosed gear box  40 , which itself includes upwardly extending drive shafts  42   a  and  42   b  received in rearward clamps  44   a  and  44   b  in each finger  32   a  and  32   b , respectively. Gear box  40  protects the gears therein from harsh environmental conditions. Each blade  34  includes rearwardly extending frame member  46  which is removably securable to side  48  of finger  32 , for instance, by fasteners  49  such as screws. In one example, each finger  32  includes concave portion  33 , and each finger  32  may include a distal gripping plate  35 . Preferably, lockable rotary joint  37  connects multifunctional tool  30  with arm  14  which connects to the main portion of the robot, as shown for instance in  FIG. 1 . Lockable rotary joint  37  allows multifunctional robot tool  30  to be oriented at an optimal angle relative to arm  14  and to be securely locked in place.  
      In one example, knife  38 ,  FIG. 3  includes concave cutter  50  extending outwardly from blade  34   a  and socket  52  extendingly inwardly from blade  34   b  for receiving cutter  50 . Cutter  50 ,  FIG. 4  is fixed to a C-channel member  54  secured over inside edge  56  of blade  34   a . Inside edge  56  of blade  34   a  includes cut-out  58  for receiving C-channel member  54 . Socket  52 ,  FIG. 5  includes plate  60  secured over cut-out  62  in blade  34   b.  Socket  52  also includes plate  64  secured behind cut-out  62  in blade  34   b.  Preferably, plate  64  includes concave cutter  66 . In this way, knife  38  is designed into the digging spade in a manner that protects cutter  50  when the gripper is held in the closed position and the multifunctional tool is used for digging. This design also allows a wire to be held and cut when the gripper fingers are actuated (opened and then closed). Socket  52 , C-channel member  54 , cut-outs  58  and  62 , and plates  60  and  64  ensure proper alignment of cutter  50  and concave cutter  66  as these two pieces are brought together by closing the fingers of the gripper. Also, when knife blade  50 ,  FIG. 3  is received in channel  52 , blades  34   a  and  34   b  are locked together for digging operations.  
      Further, as shown in  FIGS. 6-8 , one embodiment of multifunctional robot tool of this invention includes blades  34   a  and  34   b  each having beveled portion  70  forming an edge of each blade  34   a  and  34   b , thus forming outer edges of digging spade  36 ,  FIG. 2 .  
      Thus, the subject invention provides a multifunctional robot tool which reduces or eliminates the necessity to retrieve the robot in order to change the tool configurations and which clearly provides an improvement over tools having a single function.  
      The multifunctional robot tool of the subject invention has been discussed generally in connection with anti-terrorist activities, battlefield scenarios, and remote control robots. The subject invention, however, is not necessarily so limited. The multifunctional robot tool of this invention may be used in any environment or under any conditions which may prove harmful or fatal to humans, such as toxic or radioactive areas for example. Furthermore, the multifunctional robot tool of the present invention may be used with any type of robot or mechanical apparatus, whether controlled remotely or not, including a robot as described herein or otherwise.  
      Although specific features of the invention are shown in some drawings and not in others, this is for convenience only as each feature may be combined with any or all of the other features in accordance with the invention. The words “including”, “comprising”, “having”, and “with” as used herein are to be interpreted broadly and comprehensively and are not limited to any physical interconnection. Moreover, any embodiments disclosed in the subject application are not to be taken as the only possible embodiments. Other embodiments will occur to those skilled in the art and are within the following claims.  
      In addition, any amendment presented during the prosecution of the patent application for this patent is not a disclaimer of any claim element presented in the application as filed: those skilled in the art cannot reasonably be expected to draft a claim that would literally encompass all possible equivalents, many equivalents will be unforeseeable at the time of the amendment and are beyond a fair interpretation of what is to be surrendered (if anything), the rationale underlying the amendment may bear no more than a tangential relation to many equivalents, and/or there are many other reasons the applicant can not be expected to describe certain insubstantial substitutes for any claim element amended.