Description:FIELD
The present disclosure generally relates to a demilitarization robot. In particular, the present disclosure relates to the robot, which is an electro-mechanical system capable of safely diffusing explosives, handling ammunition remotely, transporting injured personnel, transporting goods, and performing safe demilitarization procedures. Further, the invention falls within the fields of robotics, automation, and explosive disposal technology.
BACKGROUND
The background information herein below relates to the present disclosure but is not necessarily prior art.
The development of the explosive disposal robot stems from the critical need to address the inherent risks and dangers associated with handling explosives and ammunition in military and security operations. Throughout history, bomb disposal tasks have been among the most hazardous and challenging endeavors, putting bomb disposal experts and military personnel at grave risk. The urgency to find safer and more efficient methods for handling explosives became evident during times of armed conflict, where the need for rapid and precise disposal of bombs and other hazardous materials was paramount.
In conventional bomb disposal operations, specially trained personnel are required to approach and handle explosive devices manually. These tasks involve visual inspection of ammunition pits, recovery of partially exploded demolition pits, detection of buried ammunition, and the delicate handling of biologic, biochemical, and other hazardous materials. The process is laden with high-stakes risks, as a single misstep can lead to catastrophic consequences, resulting in loss of life and severe damage to property and infrastructure.
In times of war, unexploded ordnance, and landmines also pose significant threats to the safety of both military personnel and civilian populations. The painstaking process of detecting and safely extracting these explosive devices requires meticulous attention to detail and extreme caution, adding to the complexity of bomb disposal missions.
Also, the conventional methods of ammunition disposal involve high-risk activities performed by personnel, leading to potential hazards and loss of life.
The traditional methods of addressing these challenges often involve significant human risk, slow and manual processes, and a lack of automation. The handling of explosive devices and hazardous materials is fraught with danger, as any mishap could lead to catastrophic consequences. Additionally, transporting injured personnel and goods through hazardous environments requires specialized equipment to ensure their safety.
Current solutions to address these challenges involve the deployment of human personnel, who are often placed in life-threatening situations, and utilize cumbersome tools that can be slow and imprecise. Some robots and automated systems exist for bomb disposal, but they often lack the versatility to handle a wide range of tasks beyond their primary function. Furthermore, there is a need for comprehensive demilitarization systems that can safely handle explosive materials, transport goods, and provide aid to injured individuals all in one platform.
To resolve the issues, the present invention proposes an innovative demilitarization robot that is designed to safely perform bomb disposal operations, transport injured personnel, transport goods, and perform safe demilitarization procedures.

OBJECTS
Some of the objects of the present disclosure, which at least one embodiment herein satisfies, are as follows:
It is an object of the present disclosure to ameliorate one or more problems of the prior art or to at least provide a useful alternative.
An object of the present disclosure is to provide a demilitarization robot.
An object of the present disclosure is to provide the demilitarization robot for the safe disposal of explosives and demilitarization tasks.
Another object of the present disclosure is to provide the demilitarization robot which is configured to enhance safety during bomb disposal activities. By performing tasks remotely, it reduces the risk to human life, protecting bomb disposal experts and military personnel from potential harm.
Another object of the present disclosure is to provide the demilitarization robot that is configured to transport injured personnel, transport goods, and perform safe demilitarization procedures.
Another object of the present disclosure is to provide the demilitarization robot having a rugged manipulator with a high load carrying capacity.
Another object of the present disclosure is to provide the demilitarization robot that is specifically designed to efficiently and safely execute routine and predefined demilitarization protocols within military operations.
Another object of the present disclosure is to provide the demilitarization robot which includes a cartesian coordinate manipulator that allows precise positioning and manipulation of explosive materials and ammunition. This level of control ensures that delicate and potentially unstable materials can be handled with utmost care and accuracy.
Another object of the present disclosure is to provide the demilitarization robot that is configured to operate remotely enabling it to access and handle explosives in challenging or hazardous locations. It can be deployed in rough terrain, or other situations where human operators may face difficulties.
Another object of the present disclosure is to provide the demilitarization robot that includes an end effector: The end effector design is configured to accommodate various types of ammunition and explosive devices, making the robot suitable for a wide range of bomb disposal tasks.
Another object of the present disclosure is to provide the demilitarization robot that provides quick mobilization and readiness for deployment allowing for a rapid response to potential explosive threats, thereby minimizing the time taken to neutralize dangerous situations.
Another object of the present disclosure is to provide the demilitarization robot that reduces the need for direct human involvement in bomb disposal activities. The demilitarization robot significantly decreases the chances of casualties or injuries in potentially dangerous situations.
Another object of the present disclosure is to provide the demilitarization robot with modular construction that allows for easy maintenance and replacement of components, extending its operational life and reducing downtime during repairs.
Another object of the present disclosure is to provide the demilitarization robot that can be employed in various settings where hazardous materials, not limited to explosives, need to be handled safely, such as in military operations, mining, or emergency response scenarios.
Other objects and advantages of the present disclosure will be more apparent from the following description when read in conjunction with the accompanying figures, which are not intended to limit the scope of the present disclosure.

SUMMARY
The present disclosure envisages a demilitarization robot for disposal of explosives and demilitarization tasks. The robot is configured to pick up the explosive, drive away with the explosive in a controlled manner to a safe demolition location, diffuse the explosive at the safe demolition location, transport injured personnel, transport goods, and perform safe demilitarization procedures. The demilitarization robot includes a mobile base, a manipulation unit, and a set of remote controller units. The mobile base has a propulsion mechanism configured to enable the movement of the demilitarization robot from one location to another location. The manipulation unit is mounted on the mobile base. The manipulation unit is a cartesian coordinate manipulator having three arms that are configured to move an end effector in a three-dimensional space specified by the movement of the three arms with respect to each other. A set of remote controller units mounted on the mobile base and configured to communicate with a remote control station to receive control instructions associated with the propulsion mechanism, the manipulation unit, and the end effector.
In an embodiment, the propulsion mechanism includes four wheels that are skid steering motor actuated or a continuous track mechanism that is hydraulically actuated.
In an embodiment, the four wheels are powered by brush-less geared direct current (DC) motors. Each of the DC motors has a motor driver that controls the movement of the respective wheel based on the received control instructions.
In an embodiment, the four wheels are made of solid high-quality rubber.
In an embodiment, the three arms include a first arm facilitating the movement of the end effector along an x-axis direction of the demilitarization robot, a second first arm facilitating the movement of the end effector along a y-axis direction of the demilitarization robot, and a third arm facilitating the movement of the end effector along a z-axis direction of the demilitarization robot.
In an embodiment, the end effector is a peripheral device connected to the guiding rails of the third arm for performing tasks such as gripping, disposing the explosive, transporting injured personnel, and transporting goods.
In an embodiment, the end effector is a gripping mechanism selected from a two-jaw gripper, a three-jaw gripper, or a four-jaw gripper to accommodate various tasks.
In an embodiment, the second arm is moveable on the guide rails of the first arm by a first stepper motor so as to facilitate the movement of the end effector along the x-axis direction of the robotic device.
In an embodiment, the third arm is moveable on the guide rails of the second arm by a second stepper motor so as to facilitate the movement of the end effector along the y-axis direction of the robotic device.
In an embodiment, the end effector is moveable on the guide rails of the third arm by a third stepper motor so as to facilitate the movement of the end effector along the z-axis direction of the robotic device.
In an embodiment, the set of remote controller units includes motor driver's circuits, a receiver for receiving remote control instructions, a battery for power supply, and electronic equipment to operate the demilitarization robot.
In an embodiment, the set of remote controller units includes communication modules to establish wireless communication with the remote control station.
In an embodiment, the set of remote controller units includes a first remote controller unit mounted on a front end of the demilitarization robot and a second remote controller unit mounted on a rear end of the demilitarization robot.
In an embodiment, the rugged manipulation unit, including the three arms, is designed to provide a robust and high load-carrying capability, thereby enabling the demilitarization robot to perform demilitarization tasks involving various objects, including explosives, injured personnel, and other items, while ensuring precise control and minimizing the risk of accidental explosions.
BRIEF DESCRIPTION OF THE ACCOMPANYING DRAWING
A demilitarization robot of the present disclosure will now be described with the help of the accompanying drawing, in which:
Figures 1, 2, and 3 illustrate the various views of a demilitarization robot for disposal of explosives and demilitarization tasks, in accordance with an embodiment of the present disclosure.
REFERENCE NUMERALS
100 – Demilitarization robot
101 – Mobile Base
103 – End Effector
105A – First Remote Controller Unit
105B – Second Remote Controller Unit
107 – Wheels
109 - Brush-Less Geared Direct Current (DC) Motors
110 - Motor Driver
111- First Arm
113 - Second First Arm
115 - Third Arm
117A - First Stepper Motor
117B - Second Stepper Motor
117C - Third Stepper Motor

DETAILED DESCRIPTION
Embodiments, of the present disclosure, will now be described with reference to the accompanying drawing.
Embodiments are provided so as to thoroughly and fully convey the scope of the present disclosure to the person skilled in the art. Numerous details are set forth, relating to specific components, and methods, to provide a complete understanding of embodiments of the present disclosure. It will be apparent to the person skilled in the art that the details provided in the embodiments should not be construed to limit the scope of the present disclosure. In some embodiments, well-known processes, well-known apparatus structures, and well-known techniques are not described in detail.
The terminology used, in the present disclosure, is only for the purpose of explaining a particular embodiment and such terminology shall not be considered to limit the scope of the present disclosure. As used in the present disclosure, the forms "a,” "an," and "the" may be intended to include the plural forms as well, unless the context clearly suggests otherwise. The terms “including,” and “having,” are open ended transitional phrases and therefore specify the presence of stated features, integers, steps, operations, elements and/or components, but do not forbid the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The particular order of steps disclosed in the method and process of the present disclosure is not to be construed as necessarily requiring their performance as described or illustrated. It is also to be understood that additional or alternative steps may be employed.
As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed elements.
Figures 1, 2, and 3 illustrate different views of a demilitarization robot 100 for disposal of explosives and (demilitarization tasks, hereinafter for the sake of brevity), in accordance with an embodiment of the present disclosure. A demilitarization robot 100 for disposal of explosives and demilitarization tasks. The robot 100 is configured to pick up the explosive, drive away with the explosive in a controlled manner to a safe demolition location, diffuse the explosive at the safe demolition location, transport injured personnel, transport goods, and perform safe demilitarization procedures. The demilitarization robot 100 includes a mobile base, a manipulation unit, and a set of remote controller units 105A, 105B.
Further, the mobile base 101 has a propulsion mechanism configured to enable the movement of the demilitarization robot 100 from one location to another location. The mobile base 101 allows the demilitarization robot 100 to traverse challenging terrains and access areas where explosives need to be handled and removed safely.
In an aspect, the propulsion mechanism includes four wheels 107 that are skid steering motor actuated or a continuous track mechanism that is hydraulically actuated which allows the vehicle to navigate various terrains effectively. The propulsion mechanism ensures the movement of the demilitarization robot. The four wheels 107 are powered by brush-less geared direct current (DC) motors 109. Each of the DC motors 109 has a motor driver 110 that controls the movement of the respective wheel based on the received control instructions. This setup provides precise control and efficient movement.
In an aspect, the four wheels 107 are made of solid high-quality rubber to enhance traction and durability, ensuring the demilitarization robot 100 reliability in challenging environments.
Further, the rugged manipulation unit is mounted on the mobile base 101. The manipulation unit is a cartesian coordinate manipulator having three arms 111, 113, 115 configured to move an end effector 103 in a three-dimensional space specified by the movement of the three arms 111, 113, 115 with respect to each other. This design allows the end effector 103 to be precisely positioned and oriented as needed. The rugged manipulation unit comprises a gantry structure, including the three arms (111, 113, 115), designed to provide a robust and high load-carrying capability, thereby enabling the demilitarization robot (100) to perform demilitarization tasks involving various objects, including explosives, injured personnel, and other items, while ensuring precise control and minimizing the risk of accidental explosions.
In an aspect, the three arms include a first arm 111 facilitates the movement of the end effector 103 along an x-axis direction of the demilitarization robot 100. A second first arm 113 facilitates the movement of the end effector 103 along a y-axis direction of the demilitarization robot 100. A third arm 115 facilitates the movement of the end effector 103 along a z-axis direction of the demilitarization robot.
Further, the end effector 103 is a peripheral device connected to the guiding rails of the third arm 115 for performing tasks such as gripping, disposing the explosive safely, transporting injured personnel, and transporting goods. The end effector 103 is a two-jaw gripper, a three-jaw gripper, or a four-jaw gripper, depending on the specific requirements.
The end effector 103 is connected to the guiding rails of the third arm 115, ensuring smooth and stable movement during the explosive handling process.
In an aspect, the second arm 113 is moveable on the guide rails of the first arm 111 by a first stepper motor 117A so as to facilitate the movement of the end effector 103 along the x-axis direction of the robotic device 100.
In an aspect, the third arm 115 is moveable on the guide rails of the second arm 113 by a second stepper motor 117B so as to facilitate the movement of the end effector 103 along the y-axis direction of the robotic device 100. The end effector 103 is moveable on the guide rails of the third arm 115 by a third stepper motor 117C so as to facilitate the movement of the end effector 103 along the z-axis direction of the robotic device 100.
Further, the set of remote controller units 105A, 105B are mounted on the mobile base 100. The set of remote controller unit 105A, 105B is configured to communicate with a remote control station to receive control instructions associated with the propulsion mechanism, the manipulation unit, and the end effector 103. The set of remote controller units 105A, 105B includes motor driver's circuits, a receiver for receiving remote control instructions, a battery for power supply, and electronic equipment to operate the demilitarization robot 100. The set of remote controller units 105A, 105B includes communication modules to establish wireless communication with the remote control station.
In an aspect, the set of remote controller units 105A, 105B includes a first remote controller unit 105A mounted on a front end of the demilitarization robot 100 and a second remote controller unit 105B mounted on a rear end of the demilitarization robot 100.
In an aspect, the rugged manipulation unit, including the three arms (111, 113, 115) designed to provide a robust and high load-carrying capability, thereby enabling the demilitarization robot (100) to perform demilitarization tasks involving various objects, including explosives, injured personnel, and other items, while ensuring precise control and minimizing the risk of accidental explosions. The rugged manipulator unit has a high load carrying capacity because of the gantry/ mobile base (101).
In an aspect, the manipulation zone, defined by the movement of the end effector (103) facilitated by the three arms (111, 113, 115), is situated entirely within the body of the demilitarization robot (100), ensuring that demilitarization procedures, including tasks such as gripping, transporting, and disposing of objects, take place within a contained environment, thereby significantly reducing the potential impact and propagation of explosions in case of accidental detonation of explosives or other hazardous materials.
The demilitarization robot 100 for the disposal of explosives described herein offers a safe and effective solution for handling hazardous materials. With its mobile base 101, cartesian coordinate manipulator, and remote controller units 105A, 105B, the robot 100 can pick up explosives, transport them to a safe demolition location, and diffuse them securely under remote guidance. This invention significantly reduces the risk to human personnel during explosive disposal operations and can be employed in various settings where hazardous materials need to be handled safely.
The foregoing description of the embodiments has been provided for purposes of illustration and is not intended to limit the scope of the present disclosure. Individual components of a particular embodiment are generally not limited to that particular embodiment, but, are interchangeable. Such variations are not to be regarded as a departure from the present disclosure, and all such modifications are considered to be within the scope of the present disclosure.
TECHNICAL ADVANCEMENTS
The present disclosure described herein above has several technical advantages including, but not limited to, the demilitarization robot for disposal of explosives and demilitarization tasks that:
• enhance safety during bomb disposal activities, whereby performing tasks remotely, it reduces the risk to human life, protecting bomb disposal experts and military personnel from potential harm;
• allow precise positioning and manipulation of explosive materials and ammunition, and where this level of control ensures that delicate and potentially unstable materials can be handled with utmost care and accuracy;
• operate remotely enables the demilitarization robot to access and handle explosives in challenging or hazardous locations, where the demilitarization robot can be deployed in rough terrain, or other situations where human operators may face difficulties;
• accommodate various types of ammunition and explosive devices, making the robot suitable for a wide range of bomb disposal tasks.
• provide quick mobilization and readiness for deployment allowing for a rapid response to potential explosive threats, thereby minimizing the time taken to neutralize dangerous situations;
• reduce the need for direct human involvement in bomb disposal activities, where the demilitarization robot significantly decreases the chances of casualties or injuries in potentially dangerous situations; and
• provide the demilitarization robot with modular construction that allows for easy maintenance and replacement of components, extending its operational life and reducing downtime during repairs.
The embodiments herein and the various features and advantageous details thereof are explained with reference to the non-limiting embodiments in the description of the invention. Descriptions of well-known components and processing techniques are omitted so as to not unnecessarily obscure the embodiments herein. The examples used herein are intended merely to facilitate an understanding of ways in which the embodiments herein may be practiced and to further enable those of skill in the art to practice the embodiments herein. Accordingly, the examples should not be construed as limiting the scope of the embodiments herein.
The foregoing description of the specific embodiments so fully reveals the general nature of the embodiments herein that others can, by applying current knowledge, readily modify and/or adapt for various applications such specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments. It is to be understood that the phraseology or terminology employed herein is for the purpose of description and not of limitation. Therefore, while the embodiments herein have been described in terms of preferred embodiments, those skilled in the art will recognize that the embodiments herein can be practiced with modification within the spirit and scope of the embodiments as described herein.
The use of the expression “at least” or “at least one” suggests the use of one or more elements or ingredients or quantities, as the use may be in the embodiment of the disclosure to achieve one or more of the desired objects or results.
Any discussion of documents, acts, materials, devices, articles or the like that has been included in this specification is solely for the purpose of providing a context for the disclosure. It is not to be taken as an admission that any or all of these matters form a part of the prior art base or were common general knowledge in the field relevant to the disclosure as it existed anywhere before the priority date of this application.
The numerical values mentioned for the various physical parameters, dimensions or quantities are only approximations and it is envisaged that the values higher/lower than the numerical values assigned to the parameters, dimensions or quantities fall within the scope of the disclosure, unless there is a statement in the specification specific to the contrary.
While considerable emphasis has been placed herein on the components and component parts of the preferred embodiments, it will be appreciated that many embodiments can be made and that many changes can be made in the preferred embodiments without departing from the principles of the disclosure. These and other changes in the preferred embodiment as well as other embodiments of the disclosure will be apparent to those skilled in the art from the disclosure herein, whereby it is to be distinctly understood that the foregoing descriptive matter is to be interpreted merely as illustrative of the disclosure and not as a limitation. , Claims:WE CLAIM:
1. A demilitarization robot (100) for disposal of explosives and demilitarization tasks, wherein said robot (100) is configured to pick up the explosive, drive away with the explosive in a controlled manner to a safe demolition location, diffuse the explosive at the safe demolition location, transporting injured personnel, transporting goods, and performing safe demilitarization procedures, the demilitarization robot (100) comprises:
- a mobile base (101) having a propulsion mechanism configured to enable the movement of the demilitarization robot (100) from one location to another location;
- a rugged manipulation unit mounted on the mobile base (101), the manipulation unit being a cartesian coordinate manipulator having three arms (111, 113, 115) configured to move an end effector (103) in a three-dimensional space specified by the movement of the three arms with respect to each other; and
- a set of remote controller units (105A, 105B) mounted on the mobile base (100) and configured to communicate with a remote control station to receive control instructions associated with the propulsion mechanism, the manipulation unit, and the end effector (103).
2. The demilitarization robot (100) as claimed in claim 1, wherein the propulsion mechanism includes at least four wheels (107) that are skid steering motor actuated or a continuous track mechanism that is hydraulically actuated.
3. The demilitarization robot (100) as claimed in claim 2, wherein the at least four wheels (107) are powered by brush-less geared direct current (DC) motors (109), and wherein each of the DC motors (109) has a motor driver (110) that controls the movement of respective wheel based on the received control instructions.
4. The demilitarization robot (100) as claimed in claim 2, wherein the at least four wheels (107) are made of solid high-quality rubber.
5. The demilitarization robot (100) as claimed in claim 1, wherein the three arms (111, 113, 115) include a first arm (111) facilitating the movement of the end effector (103) along an x-axis direction of the demilitarization robot (100), a second first arm (113) facilitating the movement of the end effector (103) along a y-axis direction of the demilitarization robot(100), and a third arm (115) facilitating the movement of the end effector (103) along a z-axis direction of the demilitarization robot (100).
6. The demilitarization robot (100) as claimed in claim 5, wherein the end effector (103) is a peripheral device connected to guiding rails of the third arm (115) for performing tasks such as gripping, disposing the explosive, transporting injured personnel, and transporting goods.
7. The demilitarization robot (100) as claimed in claim 6, wherein the end effector (103) is a gripping mechanism selected from a two-jaw gripper, a three-jaw gripper, or a four-jaw gripper to accommodate various tasks.
8. The demilitarization robot (100) as claimed in claim 5, wherein the second arm (113) is moveable on the guide rails of the first arm (111) by a first stepper motor (117A) so as to facilitate the movement of the end effector (103) along the x-axis direction of the robotic device (100).
9. The demilitarization robot (100) as claimed in claim 5, wherein the third arm (115) is moveable on the guide rails of the second arm (113) by a second stepper motor (117B) so as to facilitate the movement of the end effector (103) along the y-axis direction of the robotic device (100).
10. The demilitarization robot (100) as claimed in claim 5, wherein the end effector (103) is moveable on the guide rails of the third arm (115) by a third stepper motor (117C) so as to facilitate the movement of the end effector (103) along the z-axis direction of the robotic device (100).
11. The demilitarization robot (100) as claimed in claim 1, wherein the set of remote controller units (105A, 105B) includes motor driver's circuits, a receiver for receiving remote control instructions, a battery for power supply, and electronic equipment to operate the demilitarization robot (100).
12. The demilitarization robot (100) as claimed in claim 1, wherein the set of remote controller units (105A, 105B) includes communication modules to establish wireless communication with the remote control station.
13. The demilitarization robot (100) as claimed in claim 1, wherein the set of remote controller units (105A, 105B) includes a first remote controller unit (105A) mounted on a front end of the demilitarization robot (100) and a second remote controller unit (105B) mounted on a rear end of the demilitarization robot d(100).
The demilitarization robot (100) as claimed in claim 1, wherein the rugged manipulation unit, including the three arms (111, 113, 115), designed to provide a robust and high load-carrying capability, thereby enabling the demilitarization robot (100) to perform demilitarization tasks involving various objects, including explosives, injured personnel, and other items, while ensuring precise control and minimizing the risk of accidental explosions.

Dated this 17th day of August, 2023

_______________________________
MOHAN RAJKUMAR DEWAN, IN/PA – 25
of R.K.DEWAN & CO.
Authorized Agent of Applicant

TO,
THE CONTROLLER OF PATENTS
THE PATENT OFFICE, AT CHENNAI