Folding mechanism for a remotely deployable robotic vehicle

An innovative design for a folding robotic vehicle is presented that can deploy through small openings into crawl spaces and underfloor voids to survey and carry out operations within them. The mechanism employs a four bar linkage, enabling the axles to be extended away from the chassis and the axle to be deployed in line with the chassis, thus producing an elongated but small cross sectional area. In its low cross-sectional area form the device can be fed in through a small opening and once in position, the axles can be rotated into their functional position and locked in place. To remove the robot the mechanism works in reverse, with the axle is unlocked and rotated in line with the chassis This transformation is a key enabler for deployment and practical applications of this type of robot. The mechanism has been commercially developed and used for both survey and applying treatments in a wide range of building applications, although other uses are possible. This paper describes the practical aspects of the mechanism as an enabler for the transformation of a robot chassis for accessing confined spaces