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  • Easy to use
  • Cost efficient
  • Ecological
A simple training tool for parachute schools.
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CATEGORIE

ART-Robot for bomb squads

DESCRIZIONE


Overall measurements


Folded without pincer Folded with pincer Folded with pincer


Mode A Mode B
Total length: 1,710 mm 1,930 mm 2,010 mm
Total height: 1,350 mm 1,530 mm 1,430 mm

Total width:                670 mm
Total weight (estimated): 410 kg
Support for four arms of 3 mm thick
ST52 steel (used for vehicle armour).
Arm lengths ranging between:
  • 1,120 mm
  • 685 mm
  • 760 mm
  • 560 mm
Box measurements
  • Length: 1,600 mm
  • Width: 470 mm
  • Height: 450 mm
  • Floor clearance: 100 mm
Arm measurements
Four folded arms in rectangular form, measuring 1,100 x 765 mm, parked in the interior area.
  • Arms extended (total length): 2,855 mm
  • Extension from base point: 1,643 mm
  • Minimum height: Work at floor level
  • Maximum height: 4,293 mm from floor
  • Speeds: 10 speeds in each
  • Lifting power at 2,100 mm: 120 kg
  • Lifting power at 1,000 mm: 200 kg
  • Maximum dragging power: 748 kg
Description
The ART-Robot B.I. model explosives disposal robot comprises two basic parts:
  • The robot itself.
  • A control console. The control console is used to operate the robot and has a TFT screen to display the images from the robot’s cameras, showing the real positions of its arms at all times.
Various screens can be used to see the images from different locations so that the operators in different positions can share robot control.

Both parts are self-contained. Communication between the two is by encrypted wireless transmission at 2.4 GHz with a bandwidth of 11 Mbps. If there are problems with the wireless transmission, they can be connected together by cable.

The ART-robot has:
  • Support for a shotgun and water jets.
  • Battery charger.
  • Aluminium cables drum (100 metres of cable) with a mercury contact rotor.
The robot can be described in various sections:
1. The moving of the robot itself.
2. The movement of the arms.
3. The image and sound system.
4. The control electronics.
5. The robot’s general systems

1. Translation movement
Translation movements are carried out by two self-ventilated 1500 W 48 V DC motors and an automatic brake. The two motors are independent to give greater mobility and their power is transmitted to the driving wheels via a chain transmission.

The robot has 10 wheels - five on each side. Three on each side are of the 75-10 MT-320 type and have tread that provides a high level of grip on all surfaces. There are four further 245 mm diameter idler wheels, two on each side, between the driving wheels, with anti-skid tread for improved grip on uneven ground. The robot has a gripping power that is greater than its own weight and can drag a braked object (such as a parked vehicle) weighing up to 748 kg.
Both drive motors are self-ventilated to improve their performance under power while preventing overheating.
There is also a 25:1 ratio gearbox using conical pinions with a performance of 90% and an electric brake that prevents the robot from moving when parked, even with the power off.

The speed of each set of wheels can be adjusted from the control console, both in the same direction for forward movement and in opposite directions for turning within its own length. The robot’s speed can be adjusted from 5 km/h to 1 mm/s, carried out progressively using the appropriate buttons.
The robot can climb slopes of 30º and can stop and remain in this state on these slopes, even with the power off.

Each translation motor has:
  • Automatic brake
  • Optical encoder
  • Control driver.
  • Automatic brake. The automatic brake allows the robot to be operated on any type of slope or stairs; when the robot stops, its brakes are applied automatically, blocking the transmission and braking the wheels.
  • Optical encoder. This provides precise control over the motor’s speed using sophisticated ftware algorithms.
  • Control driver. The control driver provides protection against over-currents and contains a temperature sensor to protect against over-heating.
The robot can make any translation movement, whether in lines, turns of adjustable radii or turning within its own length.

2. Movement of arms
2.1 General elements
The arms and hand are moved by a hydraulic system located to the rear of the robot.
The hydraulic system consists of:

  • 770 W self-ventilated 48 V DC motor.
  • A 0.5 cm3 gear pump with a maximum pressure of 200 kg/cm2 .
  • A tank with a capacity of about 10 litres.
  • A 1 litre capacity accumulator rated at 75 kg/cm2.
  • A proportional valve. Designed especially for this application, due to the working pressures. When set to closed, the proportional valve closes fully, leaving the pistons fully sealed and preventing their movement while maintaining their position, even during a power failure.

The system’s normal working pressure is 150 kg/cm2. This can be varied from the control console in three positions: position one is for teaching and automatic movements; position two is used for normal working movements; and position three is for situations requiring exceptional power.
The arm cylinders have a working pressure of 150 kg/cm2 and can apply a force of 1,885 kg when opening and 1,415 kg when closing.

The pincer piston works at 150 kg/cm2, applying a force of 6,700 kg opening and 5,700 kg closing at the point of the pincer. The pincer is especially designed for cutting through vehicle bodywork, opening sheet metal, breaking locks, etc, and has its own specific rotational system for greater manoeuvrability. This movement is provided by a hydraulic motor inside the arm. The pincer rotation system contains a small hydraulic rotating connection that allows oil to pass through 360º to eliminate exterior hoses.

The arms’ speed of movement can be adjusted from the control console using two buttons. It is adjusted linearly, using the relevant algorithms to regulate the proportional valve.
Arm movements start and stop smoothly thanks to programmable acceleration and deceleration ramps to avoid sharp movements whatever the arms’ working speed.


The arms cannot move once stopped, even when there is no hydraulic power. If the hydraulic hose to a cylinder is accidentally broken, the cylinder’s over-centre valves ensure that the cylinder lowers in the event of a pressure failure, preventing any movements.

The robot’s turret can swivel through +/- 15º, giving a total of 30º, powered by a hydraulic cylinder. When an arm reaches the limit of its movement, the system brakes it to reduce its speed to prevent a blow at the end of its movement. This is possible because the positions of the robot’s arms are known at all times.

2.2 Preset positions
The robot can move to preset positions automatically since the robot’s position can be seen in real time at the control console, providing constant information on the position of the arms and allowing the robot’s position to be followed.

Any number of preset positions can be recorded very simply: when the robot is in the required position, the relevant menu is opened, the position is given a name and a key is pressed to record it. For safety, when the robot is in automatic movement, it stops if the joystick is moved or a key pressed on the computer.
The control console shows the robot in 3D; the viewpoint can be changed to the optimal position according to requirements.

The cameras operate at 25-30 frames per second with a resolution of 704 x 480.
Various screens can be used to show the images from different locations, allowing control of the robot to be shared by operators in different positions.
The camera or grid to be shown on the screen is selected from the control console.

Camera technical data
Top camera
  • Type NTSC standard colour system
  • Pixels: Approx. 410,000
  • Minimum lighting: 1 lux
  • Lens
    • 18x optical 12x digital
    • Focal length: 4.1 to 73.8 mm
    • Aperture: F1.4, F3.0
    • Auto focus
Front camera
  • Type NTSC standard colour system
  • Effective pixels 768H x 494V
  • Minimum lighting: 3.5 lux
  • Lens
    • 10x optical, 40x digital
    • Focal length: 3.1 to 31 mm
    • Aperture: F1.8, F2.9
    • Auto focus
Arm camera
  • Type NTSC/PAL
  • Effective pixels 512H x 492V
  • Minimum lighting: 0.2 lux
  • Shutter speed 1/60 – 1/100,000 s
  • Lens
    • Focal length: 3.6 mm
  • Infra-red lighting
    • 850 nm
Pincer camera
  • Type NTSC/PAL
  • Effective pixels 512H x 492V
  • Minimum lighting: 0.2 lux
  • Shutter speed 1/60 – 1/110,000 s
  • Lens
    • Focal length: 3.6 mm
  • Infra-red lighting
    • 850 nm
Turret camera
  • Type NTSC/PAL
  • Effective pixels 512H x 492V
  • Minimum lighting: 0.2 lux
  • Shutter speed 1/60 – 1/110,000 s
  • Lens
    • Focal length: 3.6 mm
  • Infra-red lighting
    • 850 nm

4. Control electronics

Both robot and console are controlled by various latest-generation 8- and 16-bit microcontrollers in which data, software and firmware can be updated.
The micro-controllers have internal and external watchdog timers to ensure that they are always operating.
All the important signals in the robot are sent to the console for checking, verifying and processing to ensure that all is correct. If a problem is detected, this is displayed on the console screen so that the operator can take the appropriate action.

Communications between the robot’s parts are monitored so that any transmission error stops the robot completely to prevent unwanted movements.
The console monitor constantly displays the voltages of the robot and console batteries to give the user a continuous readout of the remaining power in both. The system monitors the robot’s total voltage and the voltages of each of the four batteries separately.
The electronics system is designed in modules so that cards can easily be replaced.

5. General robot systems

The robot has four ultrasonic distance measuring sensors: on its front and rear and below and on the front of the pincer.
These sensors give the distance in centimetres to a specific object.
The range of measurement is from 60 to 1 centimetre with a precision of +/- 1 centimetre.
Signals - lights and sounds - can also be set to warn when the programmed measurement is exceeded; different limits can be set for each distance sensor.
There are indicators on the control console for each sensor to show when the programmed measurements are exceeded.

The hydraulic arms are mutually exclusive so that only one can be moved at a time. The active arm is shown on the control console by a light. When an arm is active, it can be moved with the joystick and its speed controlled by buttons.

The main pincer can easily be replaced with other pincers for different jobs such as cutting, dragging, lifting and even for destroying objects.
The robot is prepared for carrying a shotgun with a flashing laser site for greater firing precision. For safety reasons, four buttons must be pressed simultaneously to fire the shotgun.
There is also a mechanism for placing loads at a distance, containing its own cable roll to allow the firing cable to be laid to a safe position.

The cameras are moved using a joystick and their zooms controlled by buttons. The camera to be moved must first be selected using a button before the joystick or zoom buttons can be used.

There is a joystick for driving the robot and buttons to change its speed. Translation movement is independent of the movement of the cameras and hydraulic arms.
The battery voltages of both robot and console are constantly monitored. When the voltage drops below a set level, a low battery warning is given and when it reaches the safety voltage, the robot stops to prevent damage to its systems.

The robot has three groups of LED lamps, each controlled independently. The first group is located on the front of the robot, the second on the sides of the turret and the third on the robot’s rear.
The lamps consist of groups of LEDs. There are also two connectors for external lamps, on the turret and arm 3, next to the connectors for the extra cameras to allow a camera to be associated with a lamp.

There are two buttons on the console for operating the jets. For safety reasons, these buttons must be pressed simultaneously.
The load connection is by inter-connected, earthed, voltage-free contacts, with voltage present at the moment of firing
The robot’s power system consists of four high range lead-acid batteries with gas recombination and
Spiralcell technology, specially designed for starting and combined uses. Each battery is 12 V 55 Ah for over four hours’ continuous working.
There are two fans at the rear of the robot to cool its entire interior.
If the batteries in the robot or the control console run down, there is a connector that allows continued operation while the batteries are re-charging.

6. CONTROL CONSOLE

The control console consists of a rugged case and a carrying bag for the tripod.
The case contains:
  • Portable computer
  • Joystick
  • Wireless CardBus card
  • Wireless CardBus card with pigtail
  • Portable computer charger
Portable computer: This is a portable computer with the following minimum features:
Centrino microprocessor running at 1.6 MHz, with 528 Mbytes of RAM, 15” TFT screen, 60 Gbytes hard disk and a second battery installed.

The battery allows it to operate for more than six hours.
The computer is protected with passwords and specific programs to prevent use by unauthorised persons.
The program used to operate the robot was written in Microsoft Visual C#.
  • Joystick: This is a standard joystick, for easy replacement, with a USB connection.
  • CardBus Wireless card: Used to communicate with the robot when the directional antenna is not used.
  • CardBus Wireless card with pigtail: Allows communication with the robot when greater range is needed and is connected to the directional antenna.
Portable computer charger: To re-charge the computer’s batteries.
The carrying bag contains:
  • Tripod
  • Directional antenna
  • Coaxial cable

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