Remote control robot

Abstract

The invention relates to a remotely controlled robot (1) for the handling of ordnance, comprising a chassis connected to a robot arm (11) and to rolling means (9, 10), wherein the chassis comprises a platform (2) joined to the robot arm (11) by means of a movable articulated joint and articulated means connecting the platform (2) to two transport bases (3, 4) connected to the rolling means (9, 10). The articulated means are configured to laterally displace the transport bases (3, 4) relative to the platform (2) between two positions. A folded position, in which the transport bases (3, 4) are folded relative to the platform (2), and an unfolded position, in which the transport bases (3, 4) are extended relative to the platform (2).

Description

[0001] Object of the invention

[0002] The following invention relates to a remotely controlled robot, belonging to the field of medium-sized robots, and has as its main purposes the detection, handling and disarming of Improvised Explosive Devices (IEDs), activities in Explosive Ordnance Disposal (EOD) or Nuclear, Radiological, Biological and Chemical (NRBC) environments, and the execution of fact-finding missions and reconnaissance in situations dangerous for individuals and other operations whenever dependent on the explosive payload associated with them.

[0003] In this way, the medium-sized remotely controlled robot has the purpose of dealing with possible threats (EOD / IED / NRBC) in civil or military environments and of executing fact-finding missions and reconnaissance in the case of complex situations such as chemical, petrochemical or nuclear infrastructures.

[0004] Therefore, the robot is able to give service in the civil and military field, mainly requiring a compact robot in operation, easy to transport, with medium weight, good mobility and dexterity and sufficient capacity to handle targets with medium weight and to allow the visualization of inaccessible environments.

[0005] Another purpose of the invention is to provide a robot with variable geometry, which has significant stability when its width is adjusted based on the needs of the operation; moreover, the system is configured to automatically keep the platform in a horizontal position, unaffected by the irregularities of the terrain, to move the rolling elements required for this purpose and therefore to adjust its center of gravity when it lifts heavy loads, to balance the platform by moving the corresponding rolling elements. BACKGROUND

[0006] As is known, when explosive devices must be handled or dangerous operations must be carried out, and even more so when human life is at risk, robots are used which are remotely controlled by the operator, usually by means of a portable console.

[0007] Said robots can also be used in other fields, since they include features that allow them to adapt to different needs, thus being able to adjust their size, their use, based on the design features, and therefore to be used for perimeter surveillance of critical infrastructures such as petrochemical and nuclear power plants and large industries that require a high level of security control.

[0008] Sometimes, the robot can be required to have small or medium size, so that the document ES2546053 can be cited as the closest prior art, in which a "robot for handling suspicious ordnance" is described, which belongs to the type of robots provided with movable traction means and reduced size in order to access to reduced spaces, such as the interiors of buses, trains and airplanes, capable of inspecting, handling and disarming explosive ordnance, incorporating in the upper surface of the tank body a rotating base with load sensors, and having four movable traction means by means of track mechanisms, two at each side of the tank body, actuated by respective motors with corresponding encoders, independently controlling position, speed and torque, and each movable means with a traction belt, said movable means being actuated by a pair of motors for their two-by-two transmission, as well as inertial and inclination sensors, which together with the independent control of the track mechanisms, keep the tank body in a horizontal position or in an inclined position, as required. SUMMARY

[0009] Thus, the present invention consists of a remotely controlled robot, configured to be used remotely by an operator via an operator control unit, either by means of a wired or wireless connection, or having a pre-programmed autonomous control.

[0010] Its preferred function consists of handling ordnance, preferably explosive ordnance, also including the ability to carry out pre-programmed routes or cycles, giving it the ability of autonomous surveillance.

[0011] The robot comprises a chassis connected to the mechanical arm and to the rolling means, wherein the chassis comprises a platform joined to the mechanical arm by means of a movable articulated joint, articulated means connecting the platform to two transmission bases, and the two transmission bases connected to the rolling means.

[0012] The articulated means are configured to laterally displace the transmission bases with respect to the platform, between two adjustable positions, selected from: a folded position, in which the transmission bases are folded with respect to the platform; and an unfolded position, in which the transmission bases are extended with respect to the platform. These positions can be selected by the operator of the robot, or automatically by the robot.

[0013] This folding and unfolding lateral displacement implies that the orientation of the platform does not change with respect to the orientation of the transmission bases, it is a parallel displacement. Thus, the width of the robot can be adapted to the needs of the operation to be carried out.

[0014] Moreover, assuming that during the lateral displacement of the conveying base they are oriented in the same direction with respect to the platform, the rolling means are always kept in the operating position, the robot being able to act with the rolling means in any position assumed by the conveying base.

[0015] In one embodiment, in the folded position the conveying base is located below the platform, while in the unfolded position the conveying base is located displaced to the opposite side of the platform, covering the entire width that the robot can assume.

[0016] In this lateral displacement of the conveying base, when it is performed by means of articulated means connected to the platform, the conveying base is supported on the ground closer or further from the rolling means when respectively unfolded or folded.

[0017] In one embodiment, each articulated means comprises a driving rod and a driven rod, said driving rod comprising one end connected to one side of the platform and the other end connected to the conveying base, said driven rod comprising one end connected to the lower surface of the platform and the other end connected to the conveying base.

[0018] The term rod is used to explain that it refers to a piece that is articulated at the ends and therefore converts a rotational movement into a longitudinal movement.

[0019] The connection of the rods to the platform and to the conveying base is articulated, and the side of the platform to which the driving rod is connected is opposite.

[0020] The driving rods are preferably connected through the central portion of the platform at the same height and symmetrically, while the driven rods are arranged in a stepped manner at different lengths of the platform, which provides greater stability to the articulated structure in a quadrilateral manner.

[0021] When said articulated means comprise two articulated rods instead of one, they allow the conveying base not to be eccentric; they are only displaced laterally, always keeping the same orientation.

[0022] In one embodiment, each articulated means comprises a gear motor connected to the driving rod, so that said gear motor activates the folding and unfolding of the conveying base with respect to the platform.

[0023] In one embodiment, the articulated means are configured to adjust the inclination of the conveying base with respect to the platform. If one of the driving or driven rods consists of or comprises a linear actuator, when said linear actuator is extended or stretched, engaging with the articulated joint of the rod itself, allows the rotation of the base, this purpose is achieved.

[0024] In one embodiment, the movable articulated joint that connects the robotic arm to the platform is removable and is located on the upper surface of said platform, configured so that the robotic arm rotates with respect to the normal axis of said upper surface.

[0025] In one embodiment, each of the articulation means that laterally displace the transport bases with respect to the platform comprises an independent actuation for each, so that if said actuation is produced by each of the gear motors connected to the driving rods, said motors are not connected. This feature allows the robot not to be always arranged symmetrically, but to adapt to external use conditions, being able to fold one base while unfolding the other.

[0026] In another embodiment, the two articulation means that laterally displace the transport bases with respect to the platform comprise a slave actuation for both transport bases. In this way, if said actuation is produced by the gear motors connected to the driving rods, said motors are connected so that the displacement of both is the same. This feature allows the robot to always displace symmetrically, contributing to the stability of the robot on flat terrain.

[0027] In one embodiment, each transport base is connected to two rolling means, each of said rolling means being located at the end of the outer side of said base. In this way, the rolling means are always located on the outermost part of the robot.

[0028] In one embodiment, the rolling means are connected to the second connectors of the transport bases with a removable connection and are selected within the group consisting of track conversion systems, wheels and combinations of the aforementioned.

[0029] In the preferred embodiment, each of said track conversion systems comprises a triangular or trapezoidal shape, that is to say, it comprises various flat support surfaces to the ground.

[0030] In one embodiment, each of the track mechanisms comprises an actuation configured to rotate said mechanisms adjusting their orientation with respect to the transport bases. In this way, the trapezoidal or triangular shape can be rotated around some of its points, allowing the mechanisms to be supported on the different flat surfaces that it comprises, which can increase or decrease the height of the platform with respect to the ground on which the robot is supported. Said actuation can be actuated based on a linear actuator connected to each of the track conversion mechanisms.

[0031] In the preferred embodiment, the actuation of each of the track conversion systems is independent with respect to the rest of the track conversion systems of the rolling means included in the robot.

[0032] The indicated displacements for the platform and all the actuations for the rolling means are configured so that the platform of the robot always remains in a horizontal position, contributing to the work to be carried out by the robot, whether it is the handling of ordnance or any other work.

[0033] In one embodiment, the robotic arm comprises:

[0034] a turret, said turret being hingedly connected to a first connector of an upper surface of a platform, said turret being configured to rotate with respect to an axis normal to said upper surface;

[0035] a three-segmented link, said three-segmented link being continuously and hingedly joined, hingedly connected at one first end to a turret and at a second end to a handling tool; and

[0036] a handling tool, said handling tool being configured to rotate about itself in a torsional direction.

[0037] In one embodiment, each of the three segments can comprise a linear actuator configured to lengthen and reduce the length of the segment. With this configuration, the robotic arm has the ability to employ multiple equipment at longer distances.

[0038] Each of the joints between the segments comprises a gear motor with angular movement, said gear motor having an encoder which allows each segment to move with respect to its predecessor.

[0039] The handling tool can have different uses, such as a clamp, a fixing element, an operation or even a combination of various tools with a video camera which allows visualization in difficult to access locations.

[0040] In one embodiment, the remotely controlled robot comprises a processing unit of the robot configured to control the functions of the robot, that is, the functions of each of its components included connected to the remote operator control unit by cable or wirelessly.

[0041] In one embodiment, the rolling device, the robotic arm, the hinging device and the transport base each comprise an electronic identification system. At the same time, the robot comprises a communication system connecting said electronic identification systems to a processing unit of the robot configured to detect and identify said electronic systems and transmit to the operator control unit whether the rolling device, the robotic arm, the hinging device and the transport base are connected or not, without the need for visual confirmation.

[0042] In one embodiment, the remotely controlled robot comprises a set of sensors connected to a processing unit of the robot, said sensors being configured to measure parameters such as inclination, orientation, position, temperature and weight supported by the robot.

[0043] The control unit receives the signals measured by the indicated sensors and configures the components of the robot based on said signals. In fact, in one embodiment, the processing unit of the robot comprises a system configured to visualize, identify and map the environment close to the remotely controlled robot based on the sensors it comprises.

[0044] In this way, the control unit allows the robot to have the ability to move freely in an autonomous manner, with a collision avoidance system that allows the robot to detect and avoid obstacles during its operation.

[0045] The description is supplemented by a set of drawings that represent, by way of illustration and not limitation, the most typical details of the application, in addition to the description provided herein and for the purpose of helping to make the features of the application more easily understandable. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 An exploded view of the remote control robot is shown, in which the main components included in the robot are visualized, here the rolling elements are four track mechanisms at the end of each one of the sides of the transport base.

[0047] Figure 2 A perspective view of the remote control robot is shown without rolling elements, in which the transport base is in an unfolded position with respect to the platform and includes a partially unfolded robotic arm.

[0048] Figure 3 A perspective view of the remote control robot is shown with four track mechanisms as rolling means, in which the transport base is in a folded position with respect to the platform.

[0049] Figure 4 A perspective view of the remote control robot of Figure 3 is shown, in which the two transport bases are in an unfolded position with respect to the platform, which has a lower height with respect to the ground than the platform in the folded position of the bases shown in Figure 3 .

[0050] Figure 5a A side view of the remote control robot is shown, in which the transport base is partially unfolded with respect to the platform and the robotic arm is completely folded.

[0051] Figure 5b A front view of the remote control robot of Figure 5a is shown.

[0052] Figure 5c A plan view of the remote control robot of Figure 5a is shown.

[0053] Figure 6a A front view of the remote control robot is shown, in which the transport base is in a folded position, under the platform, the rolling means are four track mechanisms, which are rotated with respect to the position shown in Figures 5a to 5c , the platform is at a height with respect to the ground greater than the height shown in the figure.

[0054] Figure 6b a side view of the remote controlled robot of Figure 6a

[0055] Figure 7 a front cross-sectional view of the chassis of the remote controlled robot without rolling means, showing the hinged joint means connecting the platform to the transport base, the transport base being in the folded position, below the platform.

[0056] Figure 8 a plan cross-sectional view of the chassis shown in Figure 7

[0057] Figure 9 a front cross-sectional view of the chassis of the remote controlled robot without rolling means, the transport base being in the unfolded position, symmetrically displaced to the sides, with respect to the platform.

[0058] Figure 10 a plan cross-sectional view of the chassis shown in Figure 9

[0059] Figure 11 a perspective view of the remote controlled robot, the rolling means being four wheels, the transport base being in the folded position, and the four wheels being below the platform.

[0060] Figure 12 a perspective view of the remote controlled robot of Figure 11

[0061] Figure 13 a perspective view of the remote controlled robot with four rolling means, each of the four rolling means comprising a combination of wheels and track mechanisms, the transport base being in the folded position.

[0062] Figure 14 a perspective view of the remote controlled robot of Figure 13

[0063] Figure 15 a front view of the remote controlled robot in position of use or displacement along an irregular surface, the transport base being partially unfolded, the rolling means comprising four track mechanisms, the track mechanisms being partially rotated with respect to the platform, the platform maintaining a horizontal position.

[0064] Figure 16 a front view of the remote controlled robot of Figure 15 DETAILED DESCRIPTION

[0065] In view of the drawings provided, in particular in Figure 1 ​​​​​​and Figure 3 In the middle, and according to the numbering adopted, a remote controlled robot 1 is observed, which comprises a modular configuration substantially based on a platform 2 or body of the robot 1, connected by means of articulated means through its lateral sides and through its lower surface to two transport bases 3, 4, respectively.

[0066] As can be seen in Figures 7 to 10 The robot 1 comprises said two articulated means operating independently of each other, each one located at each lateral side of the platform 2, wherein each of said means comprises a driving rod 5, 7 and a driven rod 6, 8, the driving rod 5, 7 comprising one end connected to a lateral side of the platform 2 and the other end connected to the transport base 3, 4, the driven rod 6, 8 comprising one end connected to the lower surface of the platform 2 and the other end also connected to the transport base 3, 4. That is, each transport base 3, 4 is connected to the platform 2 by means of two rods, so that these connections are articulated. In addition, the driving rod 5, 7 is connected to a gear motor 14, which is the element that activates the transverse displacement of the bases 3, 4, said gear motor 14 being independent between the two articulated means.

[0067] As can be observed in Figure 8 and Figure 10 The driven rods 6, 8 are not aligned with each other in different planes transversal to the longitudinal axis of the robot 1.

[0068] Due to the fact that the articulated means are composed of rods, the two transport bases 3, 4 can be transversely displaced from the folded position shown in Figure 7 and Figure 8 to the unfolded position shown in Figure 9 and Figure 10 so that the width and height of the robot 1 adapt to the needs of the operation carried out by the robot, being displaced in parallel position without the bases 3, 4 adjusting their orientation with respect to the platform 2. In addition, due to the mentioned independent functionality, it is possible for one of the transport bases 3, 4 to be in a different position than the other, that is, asymmetric with respect to the platform 2, in the event that the conditions of use of the robot 1 require it, to improve the balance of the platform 2 or to access restricted spaces.

[0069] The robot 1 also comprises rolling means 9, 10 joined to the transport bases 3, 4 by means of removable joints and a mechanical arm 11 connected to a first connector 12 of the upper surface of the platform 2 in an articulated joint.

[0070] Since the distance between the conveying bases 3, 4 that support the rolling means 9, 10 can vary, the shape and size of the robot 1 can vary based on the operating needs, then said robot 1 comprises a size with a total width between 400 mm and 680 mm. Moreover, since the fact that the supports 3, 4 move only in a transverse and parallel direction, the rolling means 9, 10 can function in any position assumed by said bases 3, 4 from the folded position to the unfolded position, without the need to stop their functioning.

[0071] As regards the rolling means 9, 10, the drawings show the different configurations that the robot 1 can have, so that preferably said rolling means 9, 10 are four devices connected at the outer ends of the conveying bases 3, 4, i.e. a device 9, 10 at each end of each base 3, 4.

[0072] These rolling means 9, 10 can consist of Figure 1 and Figure 3 the caterpillar conversion systems 9 shown in figure 6, Figure 11 and Figure 12 the wheels 10 shown in figure 7, or Figure 13 and Figure 14 a combination of the above caterpillar conversion systems 9 and wheels 10 shown in figures 8 and 9.

[0073] The rolling means 9, 10 consisting of caterpillar conversion systems 9 comprise a triangular or trapezoidal shape, with abutting or rounded corners, the radius depending on the size of the rotating parts that form it.

[0074] One of the remarkable advantages of this embodiment of the present invention is that, in addition to being able to adjust the width of the robot 1 by means of the articulation means, it also affects the height of the platform 2, it can adjust the position of the caterpillar conversion systems 9 with respect to the platform 2, it can make them rotate with respect to a point, it can adjust the height at which the platform 2 is located with respect to the ground. In fact, the caterpillar conversion systems can be rotated until they are supported only at their corners, while it maintains the balance of the platform 2.

[0075] This adjustment of the position of the caterpillar conversion systems 9 is produced by each of the actuators included, each of said actuators being independent among all the caterpillar conversion systems 9. That is, as shown in figures 10 and 11, Figure 15 and Figure 16 each of the caterpillar conversion systems 9 can be positioned in a different orientation or position.

[0076] The independent actuation of the caterpillar conversion systems 9 and the articulation means (also independent) that connect the platform 2 to the conveying bases 3, 4 have the purpose of being able to maintain the platform 2 in a position suitable for use, in most cases horizontal, or in a different position in the case of having to compensate for the weight loaded by the robot 1 and / or the robotic arm 11.

[0077] Moreover, regardless of what the rolling means 9, 10 comprised in the robot 1 are, thanks to the configuration of both the articulation means and the platform 2, in the folded position all the rolling means 9, 10 are located below the platform 2, as shown in Figure 3 , Figure 6, Figure 11 and Figure 13 , and in the unfolded position they are positioned at a distance from the sides of the platform 2, as shown in Figure 4, Figure 5, Figure 12 , Figures 14 to 16 .

[0078] As regards the robotic arm 11, as observable in the attached figures, it comprises a turret 15 connected in an articulated way to a first connector 12 of the upper surface of the platform 2, said turret 15 being configured to rotate through an angle of 360° with respect to the normal axis of said upper surface of the platform 2.

[0079] Said turret 15 is connected by means of an articulated connection to a first end of a three-segmented connecting rod 16, 17, 18, said three-segmented connecting rod being engaged in succession and also in an articulated way to each other, so that the second end of the connecting rod is connected to a handling tool 19, said handling tool being configured to rotate about itself in a torsional direction, said handling tool 19 being a gripper, as shown in Figure 2 .

[0080] In order for the elements comprised in the robot 1 to function correctly, the robot comprises a processing unit which controls and communicates with said electromechanical elements. Said processing unit is connected wirelessly by means of radio frequency, Bluetooth or Wi-Fi to a remote operator control unit which allows the operation and control of an operator located at a distance from the robot.

[0081] Moreover, the rolling means 9, 10, the robotic arm 11, the articulation means and the transport base 3, 4 comprise an electronic recognition system connected by means of a communication system to the processing unit of the robot 1. These electronic control systems detect and recognize whether the rolling means 9, 10, the robotic arm 11, the articulation means and the transport base 3, 4 are connected to the platform 2, without the need for visual confirmation by the operator.

[0082] The robot 1 also comprises a set of sensors connected to the processing unit of the robot 1, said sensors being configured to measure inclination, orientation, position, temperature and weight supported by the robot 1 or by the robotic arm 11. Moreover, the robot 1 comprises a system configured to visualize, identify and map the environment close to the robot 1 based on powerful calculation algorithms based on the measurements performed by said sensors.

[0083] Once the topographical data provided has been analyzed, this system allows the processing unit to act on the position of the rolling elements 9, 10, in particular on the track conversion system 9, moving them so that the platform is always kept in a horizontal position or in a position suitable for use.

[0084] The modularity of the elements included in the robot 1 is associated with the advantages of its transportability, since the different users of the robot have two main requirements that the robot must meet in its transport, which are:

[0085] - it can be transported on a small vehicle; and

[0086] - if it cannot reach a location on its own or by being transported in a vehicle, it can be transported from one location to another by two people.

[0087] Therefore, assuming that the robot 1 is essentially composed of the platform 2, the transport bases 3, 4, the rolling means 9, 10 and the robotic arm 11, its total weight is approximately 120 kg and the volume it occupies when assembled is high, hindering its transport by two people without the use of machinery and hindering its easy carrying on a small vehicle, the cited modularity enables the previous two requirements to be met, so that the elements included can be quickly and easily disassembled and assembled. This means that the weight of each individual part can be properly carried by one or two people, allowing the elements to be moved from one location to another.

[0088] In this way, the joint mechanism between the robotic arm 11 and the platform 2 of the robot 1 is a quick assembly system composed of locator elements that allow the two parts to easily face each other without having to look for an established adjustment position. In fact, once the robotic arm 11 is positioned in the first connector 12, the anchoring system between the pieces can be actuated, thus providing a rigid joint between the two elements.

[0089] On the other hand, the track conversion system 9 can be joined to the transport bases 3, 4 by means of removable joints, since said system includes joint bushing mechanisms 20 in which the articulation and traction mechanisms of the track conversion system 9 itself coexist, so that each bushing mechanism 20 includes a locator flange that is simply and intuitively connected to the second connector 13 of each transport base 3, 4. Once positioned, a single central joining bolt should be tightened, which joins the two pieces in a firm way.

[0090] Since the robot 1 can be divided into various elements, the volume of each element itself is smaller than the overall volume of the robot 1 and each module can be individually positioned and stored.

[0091] In addition to the gripper, the robot 1 can incorporate a series of accessories based on the needs to be performed, said accessories also including an electronic recognition system connected to the processing unit of the robot 1 so that it can recognize that a device is connected to the robot 1 without having to visualize it.

Claims

1. A remotely controlled robot (1) for handling munitions, comprising a chassis connected to an arm and to a rolling device (9, 10), wherein, The chassis comprises: a platform (2) joined to a robotic arm (11) by means of a movable articulated joint; an articulation device connecting the platform (2) to two transport bases (3, 4); and the two transport bases (3, 4) connected to the rolling devices (9, 10); wherein the articulation device is configured to laterally displace the transport bases (3, 4) with respect to the platform (2) between two adjustable positions selected from: a folded position, at which the transport bases (3, 4) are folded with respect to the platform (2); and an unfolded position, at which the transport bases (3, 4) are extended with respect to the platform (2); wherein, during the lateral displacement of the transport bases (3, 4), the transport bases (3, 4) remain oriented in one same direction with respect to the platform (2), characterized in that each articulation device comprises: a driving rod (5, 7) comprising one end connected to one side of the platform (2) and the other end connected to the transport base (3, 4); and a driven rod (6, 8) comprising one end connected to the lower surface of the platform (2) and the other end connected to the transport base (3, 4); wherein the connections of the rods (5, 6, 7, 8) to the platform (2) and to the transport bases (3, 4) are articulated; and wherein the sides of the platform (2) to which the driving rods (5, 7) are connected face each other.

2. The remote control robot (1) according to claim 1, characterized in that In the folded position the transport bases (3, 4) are located below the platform (2), and in the unfolded position the transport bases (3, 4) are located displaced to the opposite sides of the platform (2).

3. The remote control robot (1) according to claim 1, characterized in that Each articulation device comprises a gear motor (14) connected to the driving rod (5, 7).

4. The remote control robot (1) according to claim 1 or 2, characterized in that The articulation device is configured to adjust the inclination of the transport bases with respect to the platform (2).

5. The remote control robot (1) according to claim 1 or 2, characterized in that The movable articulated joint connecting the robotic arm (11) to the platform (2) is removable and is located on the upper surface of the platform (2) and is configured so that the robotic arm (11) rotates with respect to the normal axis of the upper surface.

6. The remote control robot (1) according to claim 1 or 2, characterized in that Each of the articulation devices that laterally displace the transport bases (3, 4) with respect to the platform (2) comprises independent actuation for each of the two transport bases (3, 4).

7. The remote control robot (1) according to claim 1 or 2, characterized in that The two articulation devices that laterally displace the transport bases (3, 4) with respect to the platform (2) comprise dependent actuation for each of the two transport bases (3, 4).

8. The remote control robot (1) according to claim 1 or 2, characterized in that Each transport base (3, 4) is connected to two rolling devices (9, 10) each located at the end of the outer side of the base (3, 4).

9. The remote control robot (1) according to claim 1 or 2, characterized in that Said rolling means (9, 10) are connected to the second connectors (13) of the transport base (3, 4) by means of removable connections and are selected from the group consisting of caterpillar conversion systems (9), wheels (10) and combinations of the aforementioned.

10. The remote control robot (1) according to claim 9, characterized in that Each of said caterpillar conversion systems (9) comprises a triangular or trapezoidal shaped cross section.

11. The remote control robot (1) according to claim 9, characterized in that Each of said caterpillar conversion systems (9) comprises an actuation configured to rotate said caterpillar conversion systems (9) adjusting their orientation with respect to the transport base (3, 4).

12. The remote control robot (1) according to claim 11, characterized in that Said actuation of said caterpillar conversion systems (9) is independent with respect to the rest of said caterpillar conversion systems (9) of said rolling means comprised in said robot (1).

13. The remote control robot (1) according to claim 1 or 2, characterized in that, Said robotic arm (11) comprises: a turret (15) connected in a hinged way to a first connector (12) of the upper surface of said platform (2), said turret (15) being configured to rotate with respect to the normal axis of said upper surface; a three-segment link (16, 17, 18) which is continuously and hingedly joined, being connected in a hinged way at one first end to said turret (15) and at a second end to a handling tool (19); and said handling tool (19) being configured to rotate around itself in a torsional direction.

14. The remote control robot (1) according to claim 1 or 2, characterized in that It comprises a processing unit of said robot (1) configured for controlling the functions of said robot (1) connected in a cable way or wirelessly to a remote operator control unit.

15. The remote control robot (1) according to claim 14, characterized in that Said rolling means (9, 10), said robotic arm (11), said articulation means and said transport base (3, 4) each comprise an electronic identification system; and wherein said robot (1) comprises a communication system connecting said electronic identification systems to said processing unit of said robot (1) configured to detect and identify said electronic systems and to transmit to said operator control unit whether said rolling means (9, 10), said robotic arm (11), said articulation means and said transport base (3, 4) are connected.

16. The remote control robot (1) according to claim 14, characterized in that It comprises a set of sensors connected to said processing unit of said robot (1), said sensors being configured to measure at least one of the parameters selected from inclination, orientation, position, temperature and weight supported by said robot (1).

17. The remote control robot (1) according to claim 14, characterized in that Said processing unit of said robot (1) comprises a system configured to visualize, identify and map the environment close to said remote control robot (1). Said processing unit of said robot (1) comprises a system configured to visualize, identify and map the environment close to said remote control robot (1).

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