eod robot teodor - xtek · release 0811 3 telerob gesellschaft für fernhantierungstechnik mbh - 1...

Product Description

EOD Robot tEODor

Release 0811 2

Table of contents

1 The EOD Robot tEODor 3 1.1 Running gear.............................................................................................................. 3 1.2 Manipulator arm ......................................................................................................... 4 1.3 Control........................................................................................................................ 5 1.4 Cameras..................................................................................................................... 7 1.5 Control station with control panel ............................................................................... 7

2 Technical Data 8 2.1 Running gear.............................................................................................................. 8 2.2 Manipulator arm ......................................................................................................... 9 2.3 Control station with control panel ............................................................................. 11 2.4 Additional data.......................................................................................................... 12

3 Scope of Delivery for Standard Vehicle 14

4 Accessories 15

List of illustrations Figure 1: Packing position .................................................................................................. 8 Figure 2: Range of movement of the turret and manipulator arm....................................... 9 Figure 3: Range................................................................................................................ 10 Figure 4: Payload in gripper ............................................................................................. 10 Figure 5: Control station with control panel ...................................................................... 11 Figure 6: Control panel ..................................................................................................... 11 Figure 7: Overview Accessories ....................................................................................... 18

telerob Gesellschaft für Fernhantierungstechnik mbH Vogelsangstrasse 8 73760 Ostfildern, Germany Phone +49 (0)711 3 41 02 0 Fax +49 (0)711 3 41 02 555 [email protected] www.telerob.de

Release 0811 3 telerob Gesellschaft für Fernhantierungstechnik mbH - www.telerob.de

1 The EOD Robot tEODor The telerob Explosive Ordnance Disposal and observation robot is designed to replace people in especially dangerous situations and to perform hazardous tasks for them. Operated by remote control, the vehicle is capable of performing all the standard tasks of a bomb disposal engineer. These include:

Gaining access (e.g. opening doors, breaking windows, removing obstacles)

Reconnaissance, monitoring and investigation with the aid of built-in cameras, special cameras and x-ray systems

Destruction of suspicious objects by ballistic means Opening of suspicious objects using water jet cutting technology Temporary neutralization of suspicious objects with an icing system Depositing objects in a bomb-proof container Detection and destruction of booby traps and concealed explosive

devices Transport, positioning and remote-control operation of measuring

equipment and sensors

telerob engineers developed, tested and optimized the tEODor in close cooperation with police and military specialists. As a result, telerob was able to meet key requirements of EOD experts right from the start, including a linear axis, a tool magazine and a diagnostic system. Open interfaces enable ready expansion and modification to meet the latest technical standards.

The EOD robot tEODor is reliable, robust and versatile. Since the year 2000, we have supplied over 300 systems to customers in 37 countries. No fewer than 17 NATO member nations now rely on tEODor for disarming improvised explosive and incendiary devices.

1.1 Running gear

The running gear is equipped with two rubber-padded metal tracks. This has the following advantages:

Easy exchange of tracks and track elements High resistance to throwing Low maintenance costs Excellent maneuverability and good off-road performance

Each track is driven by its own high-torsion electromotor. Since the tracks can be operated in opposite directions, this results in a very narrow turning circle. It can overcome obstacles up to 250mm in height, equating to nearly ten inches.


Moreover, tEODor is able to drive up and down stairs and ramps with a gradient of up to 45° *. Safety brakes automatically block the running gear during halts on gradients and sloping terrain. Furthermore, the running gear features spring-mounted wheels, giving the robot smooth, low-vibration running characteristics.

Owing to its compact design, tEODor can also operate well in buildings and other confined spaces. The system’s outstanding maneuverability and handling characteristics are based on the infinitely adjustable four quadrant-drive concept. A sensitive, high-precision joystick is used for controlling all driving movements.

Besides the motors and transmission system, the running gear contains two high-performance rechargeable lead gel batteries, the central computer, the control components and the components for transmitting data and images.

The running gear also features a mechanical interface for mounting optional accessories such as a tool magazine, fiberglass cable drum, freezing system or water jet cutting device. This interface means that the tEODor can be quickly prepared for deployment or modified to meet new operational requirements.

* This depends on the surface conditions and friction situation. Under ideal conditions and with the manipulator arm correctly positioned, an experienced operator can obtain even better results.

1.2 Manipulator arm

The rotating manipulator arm features six degrees of freedom and a linear access, giving it excellent mobility. A sensitive, high-precision joystick is used for controlling all movements of the manipulator arm.

The built-in linear axis with a telescopic range of 390 mm (15.3 inches) offers unique possibilities for movement. This feature provides the user with numerous additional options for manipulating objects, e.g.:

Introducing keys into locks Switching tools during an operation (e.g. electric drill) Precise positioning of ballistic systems, tools or x-ray systems Especially long reach in hard-to-access places (e.g. under vehicles) Improved upward reach of up to 2860 mm (e.g. on top of vehicles or

cabinets)

The extremely robust design makes it possible to deploy any available disrupter, and to lift objects weighing up to 100 kg (depending on the arm position). Safety clutches protect the manipulator arm’s joints from damage due to overloading.

Its integrated anti-collision technology is another special feature. A possible collision of individual arm components is recognized before it happens, and the movement is stopped. This way, the operator does not have to worry about damaging the manipulator arm during complex and critical situations.

Practically all of the cables are laid in the interior of the manipulator arm or running gear,


thus minimizing the risk of damage by explosions or obstacles. The gripper-jaws contain electrical contacts that automatically close or separate when a tool or weapon is picked up or put down. Additional cables for operating the automatically gripped tools or weapons are not necessary, meaning that there is no risk of external damage here either.

A built-in force measurement function indicates the current pressure level by means of a 10-level LED display on the control panel. This feature assists the operator when gripping fragile or sensitive objects; he can also be sure that the manipulator arm has a firm grip on a tool.

The manipulator arm has three sockets and four ballistic apertures. This makes mounting standard accessories very easy as well as facilitating integration of customer-specific devices. In addition, the manipulator arm features four external camera ports, three of which are mounted with cameras as standard equipment. The fourth camera port, located in the lower arm, is intended for the aiming camera of a ballistic device mounted to the lower arm. Here, just as with the other ports, customer-specific cameras can of course be connected as well. All inputs and outputs can be remotely actuated from the control panel.

1.3 Control

The tEODor can be controlled by radio link or via an optional fiberglass cable.

When operating in wireless mode, communication between the EOD robot and the control station/panel takes place via a wireless link that transmits encrypted signals in both directions in the 434 MHz band (command and checkback signal). Depending on the model, video transmission takes place at 1.3 GHz or 2.3 GHz. With a clear line of sight it is possible to attain ranges of up to 1,000 m. Moreover, thanks to powerful transmitters, operations inside buildings do not pose a problem.

Owing to security reasons, the system continuously checks incoming encoded messages for errors. Only error-free messages are accepted. As a result, the possibility of outside interference can be virtually ruled out.

An optional fiberglass cable control system (with a 200 meter-long cable) is available for certain operational situations. It is used when electromagnetic radiation must be absolutely avoided. When the fiberglass cable is connected, the wireless control components automatically switch off; this is a plug-and-play function.

The fiberglass cable is contained in an automatic cable drum located on the rear of the vehicle. Unwinding and winding of the cable is controlled automatically in conformity with the speed of the vehicle. This significantly reduces the risk of the cable being damaged or wedged under automobile tires, etc.

During radio and cable operation alike, a built-in computer takes over monitoring and control functions, relieving the pressure on the operator when conducting standardized sequences and control functions. An outstanding feature of the control system is the


programmability of recurrent movement sequences, known as “automatic moves”. These automatic moves are selected by pressing a button, causing the system to shift into the desired end position. Programming is very easy, and can be performed by the user at any time. Ex works, the following sequences and end-positions are pre-programmed:

Zero position / Packing position Shooting X-ray position Inspection of vehicle undercarriages Tool left Tool centre Tool right

Two diagnosis interfaces on the vehicle and the control panel permit access to the internal computer. With the help of a service program, this enables scanning and adjustment of numerous parameters, including:

Selection and setting of a wireless data channel (80 built-in channels) Viewing and setting of pre-programmed positions and sequences Calibration of the individual axes Adjustment of driving motors and battery voltage Setting of gripper strength end-value

The optional diagnosis system, consisting of diagnosis software and a laptop, features an easy to use graphic surface. This facilitates and improves the process of searching for errors

An optional Internet extension enables a telephone/data connection for direct diagnosis and support from the telerob service team in Germany.


1.4 Cameras

The standard version of the robot is equipped with four high-resolution color cameras:

Front camera Rear camera Gripper camera Overview camera in pan/tilt head with zoom and focus function (P/T

camera)

Each camera has its own powerful halogen spotlight, which can be switched to five different levels of intensity.

Furthermore, the vehicle has been prepared for the installation and control of additional optional (special) cameras, e.g.:

Stereo camera X-ray camera Aiming cameras for diverse standoff ballistic systems Additional P/T camera mounted on an extendable camera mast Infrared camera

When the vehicle is equipped with picture-in-picture technology (option), it is possible to display images from two cameras at the same time. This makes driving in confined spaces much easier, and also substantially simplifies manipulator operations.

1.5 Control station with control panel

The mobile control station consists of a monitor, a removable control panel and a battery-operated control cabinet.

The necessary battery chargers are integrated into the control cabinet. If the EOD robot or the control panel is connected to the control station, all that is required is a mains connection in order to charge all of the system’s batteries. An intelligent battery management system controls the charging process, adjusting to the current ambient conditions (e.g. temperature). This keeps the EOD robot in a high state of operational readiness and also assures an extended battery life.

The respective camera image is displayed on a heated 15”-TFT screen. An optional 17”-screen is also available.

The control panel features a logical, self-explanatory surface. The individual functions are directly selected via clearly marked keys. The complete EOD robot is controlled with just two joysticks. Numerous indicators provide information concerning the current status of the vehicle and the selected settings. An integrated LCD display furnishes a graphic and numerical display of tEODor’s current axes data. Moreover, an array of additional functions can be selected from various menus.


2 Technical Data

2.1 Running gear

Figure 1: Packing position

Length 1300 mm 1350 mm (system in packing position)

Width 685 mm Height 1240 mm (system in packing position) Weight 375 kg (standard configuration) Speed * max. 3 km/h (infinitely variable) Turning circle* 1460 mm (theoretical) Climbing ability (slopes/stairs)* 45° Climbing ability (obstacles) 250 mm

Wading depth 300 mm Payload 350 kg Towing capacity* 3000N (permanent) Power supply Lead-gel rechargeable battery; 2 x 12V, 85 Ah Nominal life approx. 3-4h mixed operation, approx. 20h camera

operation only

* depending on surface


2.2 Manipulator arm

Figure 2: Range of movement of the turret and manipulator arm

Degrees of freedom Six, with additional linear axis in the lower arm Rotate turret +/- 205° Incline upper arm +144° to -85° Length of upper arm 800 mm Incline lower arm + 110° to -110° Telescope in lower arm 0 - 390 mm Length of lower arm 500 ... 890 mm

Gripper opening 300 mm (standard gripper) Incline gripper + 120° to -95° Rotate gripper infinite Gripper closing force 600N Gripper payload 20-100 kg Upward reach 2860 mm (gripper vertical)

2410 mm (gripper horizontal) Forward reach 1860 mm Downward reach 1260 mm Firing channels 4 standard, plus 2 optional (with safety switch) Pre-programmed positions Eight (including zero and packing position)


Figure 3: Range

Velocities of manipulator axes

Rotate turret 0 ... 1.6 / min

Incline upper arm 0 ... 1.6 / min Incline lower arm 0 ... 1.6 / min Extend telescope 0 ... 0.8 m/min Incline gripper 0 ... 1.2 / min Rotate gripper 0 ... 4.7/ min

Figure 4: Payload in gripper


2.3 Control station with control panel

Figure 5: Control station with control panel

Figure 6: Control panel Control station

Width 680 mm Height 1220 mm Depth 620 mm

Weight 86 kg

TFT monitor 380 mm (15”) diagonal Battery 1 x 12 V, 42 Ah lead gel, rechargeable

Control panel

Width 440 mm Height (including joysticks) 350 mm Depth 310 mm

Weight 9 kg

Battery 1 x 12 V, 7,2 Ah lead gel, rechargeable


2.4 Additional data

NATO Supply Number (NSN) 2350-12-369-4077 (1.3 GHz) 1385-12-364-9373 (2.3 GHz)

Material number

302601 (1.3 GHz) 302602 (2.3 GHz)

BTN number 8479 5000 End user certificate required

Electrical/Electronics

Electromagnetic compatibility (EMC) EN 50081-1 EN 50082-2 EN 55022 (DIN VDE 0878 Part 22) EN 61000 - 4 Parts 2, 3, 4, 6 at least 30 V/m; 30 V/m in the frequency band in accordance VG 95373 Part 23 GWK 3 (Test report available upon request)

Radio link

Frequency band of data link 433 - 435 MHz Available channels for data link 80 channels (adjustable via the system software) Frequency band of video link 2.3 GHz industrial version (2339/2346 MHz)

2,3 GHz police version (2353/2360/2367/2374/2381MHz) 1.3 GHz export version (1324/1338/1352/1366/1380 MHz)

Available channels for video link 2 or 5 channels, selectable by remote control Note for users in the Federal Republic of Germany: Pursuant to Article 47 of the German Telecommunications Act, the operator of a manipulator vehicle with the wireless frequencies 433.xxx MHz or 2.3xx GHz is obliged to report this to the responsible authorities!


Cameras

Number 4 (standard) up to six cameras possible (option)

Front camera Color, fixed focus, halogen spotlight (with five adjustable levels of intensity)

Rear camera Color, fixed focus, halogen spotlight (with five adjustable levels of intensity)

Gripper camera Color, fixed focus, halogen spotlight (with five adjustable levels of intensity)

P/T camera (pan/tilt camera) Color automatic focusing, 1 lux 1/50 sec (PAL), 18x optical zoom, 4x digital zoom, high resolution of 752 H x 582 V, pixels, wide angle 48°, tele 2.7°, pan/tilt head, halogen spotlight (with five adjustable levels of intensity)

Camera ports 2 additional video for special cameras Special cameras (optional) X-ray camera

Video aiming device / target camera Stereo camera Infrared camera

Interface 9600Bd, 8 bit, no parity, 1 stop bit (for mounting on customer-specific devices)

Ambient operating conditions

Temperature range -20°C to +60°C -40°C to +60°C (Option)

Moisture Cleaning and decontamination with running water IP rating Vehicle IP 65, telescope IP 54,

control station IP 55


3 Scope of Delivery for Standard Vehicle

EOD Robot Ready-to-operate hull with drives, tracks and batteries Manipulator arm with rotating turret and telescopic lower arm Manipulator arm axes protected by safety clutches Built-in collision protection 8 pre-programmable teach positions Defined interfaces for adapting customer-specific devices 4 color cameras with integrated lighting (with five adjustable levels of

intensity) Control station

Control station consisting of a 15” TFT monitor, control cabinet and detachable control panel mounted on a transport trolley.

Monitor with heater and video output for connection to customer-specific equipment

Control station and control panel, including batteries Control cabinet with automatic charger for charging all system

components, including the necessary charging cables. Wireless remote control (image and data wireless link) as well as direct

control via 5m cable Wireless video and data transmission antenna with telescopic mast Headset Control panel with two joysticks, self-explanatory user interface with

pictograms and display of current manipulator position (numerical and 3-D display)

Additional

Replacement fuses for EOD robot and control station Set of tools onboard Ring binder with manual, circuit and card plans, and acceptance report TeoService software (on CD) with cable (links vehicle or control panel

to PC)


4 Accessories The following accessories are available for the EOD robot tEODor. The product description of the individual items is available separately upon request. We would be pleased to assist you with customized solutions or in integrating other systems.

If desired we also deliver the firing systems with the respective holders. Please note, in doing so, special regulations have to be met which might affect the delivery time.

Holder for firing systems (taken with gripper) * available in two versions (basic and advanced)

Holder ABL 2000 Holder ABL 3000 Holder MULTIBLOCK * Holder for ‚DemiMod’/‚MiniMod’ Holder DYNERGIT * Holder NEEDLE (double) Holder NEUTREX 12.5 mm recoilless Holder NEUTREX 20 mm recoilless Holder NEUTREX 20 mm * Holder HOTROD Holder PIGSTICK * Holder RE12g mini Holder RE70M3 Holder TEL 220 Holder TELEJET-short

Holder for firing systems (mounted on lower arm)

TELEJET-long (with video visor) Benelli M4 S90 (with video visor) Universal adapter (adaption Benelli telemax to tEODor) Holder Richmond RE 70 Holder RE 70 twin Ignition cable drum

Cameras

P/T camera Camera mast (for P/T camera) 3D stereo camera Day/night camera Twin camera


Tools and tool magazine

Tool magazine Electrical Tools

Electric grinder Electric shear Impact wrench Electric saw Hammer drill Right angle drill

Mechanical Tools (requirement: Holder MULTIBLOCK) Magnetic clamp Tearing hook Spring hook Window breaker

Special tools

Fiber optic comms, 200m, with automatic rewinding and integrated tool magazine)

Fiber optic comms light, 200m, (requirement: tool magazine) LIN freezing system Sensor platform (on tool magazine)

available sensors: GPS, Xam-7000, RadEye-PRD, Fido MiniMACE Jet cutting system Car-towing device

X-ray systems

X-ray Mounting frame (with holder film) X-ray camera system TELEVIS Built-on set FoXray X-ray source INSPECTOR XR 150, XR 200 or XRS3

Options

Picture-in-picture function (PiP function) Digital video transmission 2-way audio system (audio transmitter at control station and audio receiver at

tEODor) Extended temperature range (-40°C to +60°C) Brake release (separation of drive train) Automatic hitch Interface Air Robot

Special gripper jaws

Large gripper (for barrels) Prism gripper (for spherical objects)


Control station

Control station with video and audio output Transformer 110V/230V

Trainings software

CAT Software (computer aided training software)

Diagnostic system

Diagnostic system (with or without notebook) Requirements: Recent laptop or PC with serial port (RS232) or corresponding adapter. Microsoft Windows 2000 or Windows XP (Attention, Windows Vista is not supported at this time!)

Remote diagnostic system Requirements: Unrestricted internet connection, DSL or similar

Spare parts packages

Electronic spare parts package Mechanical spare parts package Batteries spare parts package Fuses spare parts package Spare parts (see Illustrated Parts Catalog)

Other accessories

Transport container tEODor Transport container control station Ramps (foldable)

Subject to technical change without notice. (c) telerob GmbH


Figure 7: Overview Accessories

eod robot teodor - xtek · release 0811 3 telerob gesellschaft für fernhantierungstechnik mbh - 1...

Documents