Patent Publication Number: US-2021171294-A1

Title: Robotic arm system

Description:
RELATED APPLICATION(S) 
     This application claims the benefit of the following: U.S. Provisional Application No. 62/974,359, filed on 4 Dec. 2019 and U.S. Provisional Application No. 63/102,469, filed on 15 Jun. 2020, the entire contents of which are incorporated herein by reference. 
    
    
     TECHNICAL FIELD 
     This disclosure relates to robotic arms and, more particularly, to self-contained robotic arms. 
     BACKGROUND 
     Robotic arms are used in industry to automate tasks. For example, such robotic arms may be used to pick up objects, assembly cars, weld metal, machine material, lift heavy objects, and repeatedly perform redundant tasks. As such robotic arms tend to be heavy, they tend to be permanently mounted to rigid bases. For example, such robotic arms may be mounted to a cement base that is proximate an assembly line. 
     Unfortunately, such a configuration results in robotic arms that are essentially non-moveable. While these robotic arms may be removed from their rigid base to be relocated, it is a complicated process because a new rigid base would need to be constructed and new data and power connections would need to be plumbed. 
     SUMMARY OF DISCLOSURE 
     In one implementation, a detachable, self-contained robotic arm system includes: a mounting subsystem configured to releasable engage an operating platform; a robotic arm subsystem coupled to the mounting subsystem; a control subsystem coupled to the mounting subsystem and configured to effectuate movement of the robotic arm assembly; and a connectivity subsystem configured to detachably couple the detachable, self-contained robotic arm system to one or more external systems. 
     One or more of the following features may be included. The connectivity subsystem may include one or more of: a data connectivity subsystem configured to effectuate communication between the detachable, self-contained robotic arm system and an external control device; and a power connectivity subsystem configured to provide external power to the detachable, self-contained robotic arm system. The control subsystem may include one or more of: a pneumatic control subsystem; a electric control subsystem; and a hydraulic control subsystem. The pneumatic control subsystem may include one or more of: pneumatic controls; one or more pneumatic actuators; an air compressor; and an air storage tank. The electric control subsystem may include one or more of: electronic controls; and one or more electronic actuators. The hydraulic control subsystem may include one or more of: hydraulic controls; one or more hydraulic actuators; a hydraulic pump; and a hydraulic fluid storage tank. A machine vision system may be configured to enable a user of the detachable, self-contained robotic arm system to visually monitor areas proximate the detachable, self-contained robotic arm system. An audio system may be configured to enable a user of the detachable, self-contained robotic arm system to audibly monitor areas proximate the detachable, self-contained robotic arm system. The detachable, self-contained robotic arm system may include a conveyor system. The conveyor system may be configured to receive objects from and/or provide objects to the robotic arm subsystem. The conveyor system may be configured to receive a pallet. The mounting subsystem may be configured to releasably engage the operating platform with one or more of: releasable fasteners; releasable clamps; and releasable grasping assemblies. The robotic arm subsystem may include one or more of: an arm base assembly; a shoulder joint assembly coupled to the arm base assembly; an upper arm assembly coupled to the should joint assembly; an elbow joint assembly coupled to the upper arm assembly; a lower arm assembly coupled to the elbow joint assembly; a wrist joint assembly coupled to the lower arm assembly; and a gripper assembly coupled to the wrist joint assembly. The shoulder joint assembly may be configured to enable rotation about one or more of the X, Y and Z axis. The elbow joint assembly may be configured to enable rotation about one or more of the X, Y and Z axis. The wrist joint assembly may be configured to enable rotation about one or more of the X, Y and Z axis. The operating platform may be a moveable operating platform. The moveable operating platform may include one or more of: an autonomous mobile base; a non-autonomous mobile base; a forklift; and a truck. 
     In another implementation, a detachable, self-contained robotic arm system includes: a mounting subsystem configured to releasable engage an operating platform; a robotic arm subsystem coupled to the mounting subsystem; a control subsystem coupled to the mounting subsystem and configured to effectuate movement of the robotic arm assembly; and a connectivity subsystem configured to detachably couple the detachable, self-contained robotic arm system to one or more external systems, wherein the connectivity subsystem includes one or more of: a data connectivity subsystem configured to effectuate communication between the detachable, self-contained robotic arm system and an external control device, and a power connectivity subsystem configured to provide external power to the detachable, self-contained robotic arm system. 
     One or more of the following features may be included. The control subsystem may include one or more of: a pneumatic control subsystem; a electric control subsystem; and a hydraulic control subsystem. The pneumatic control subsystem may include one or more of: pneumatic controls; one or more pneumatic actuators; an air compressor; and an air storage tank. The electric control subsystem may include one or more of: electronic controls; and one or more electronic actuators. The hydraulic control subsystem may include one or more of: hydraulic controls; one or more hydraulic actuators; a hydraulic pump; and a hydraulic fluid storage tank. The detachable, self-contained robotic arm system may include a conveyor system. The conveyor system may be configured to receive objects from and/or provide objects to the robotic arm subsystem. The conveyor system may be configured to receive a pallet. 
     In another implementation, a detachable, self-contained robotic arm system includes: a mounting subsystem configured to releasable engage an operating platform; a robotic arm subsystem coupled to the mounting subsystem; a control subsystem coupled to the mounting subsystem and configured to effectuate movement of the robotic arm assembly; and a connectivity subsystem configured to detachably couple the detachable, self-contained robotic arm system to one or more external systems, wherein the connectivity subsystem includes one or more of: a data connectivity subsystem configured to effectuate communication between the detachable, self-contained robotic arm system and an external control device, and a power connectivity subsystem configured to provide external power to the detachable, self-contained robotic arm system; wherein the control subsystem includes one or more of: a pneumatic control subsystem; a electric control subsystem; and a hydraulic control subsystem. 
     One or more of the following features may be included. The pneumatic control subsystem may include one or more of: pneumatic controls; one or more pneumatic actuators; an air compressor; and an air storage tank. The electric control subsystem may include one or more of: electronic controls; and one or more electronic actuators. The hydraulic control subsystem may include one or more of: hydraulic controls; one or more hydraulic actuators; a hydraulic pump; and a hydraulic fluid storage tank. 
     The details of one or more implementations are set forth in the accompanying drawings and the description below. Other features and advantages will become apparent from the description, the drawings, and the claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is an isometric view of a detachable, self-contained robotic arm system according to an embodiment of the present disclosure; 
         FIG. 2  is another isometric view of a detachable, self-contained robotic arm system according to an embodiment of the present disclosure; and 
         FIG. 3  is another isometric view of a detachable, self-contained robotic arm system according to an embodiment of the present disclosure. 
     
    
    
     Like reference symbols in the various drawings indicate like elements. 
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     Referring to  FIG. 1 , there is shown detachable, self-contained robotic arm system  10 . As will be discussed below in greater detail, detachable, self-contained robotic arm system  10  is configured to be self-contained, thus allowing it to be easily moveable from one operating environment to another. 
     Detachable, self-contained robotic arm system  10  may include mounting subsystem  12  configured to releasable engage operating platform  14 . For example and as will be discussed below in greater detail, mounting subsystem  12  may be a rigid and compact base that allows for easy attachment to (and detachment from) operating platform  14 . Accordingly, mounting subsystem  12  may be constructed of plate steel, may be compact in size, and may be used as a mounting point for all of the systems/subsystems of detachable, self-contained robotic arm system  10 , thus allowing detachable, self-contained robotic arm system  10  to be easily attached to (and detached from) operating platform  14  as a single/solitary unit. 
     The configuration of operating platform  14  may vary depending upon the operating environment of detachable, self-contained robotic arm system  10 . For example, operating platform  14  may be a moveable operating platform or a stationary operating platform. 
     Examples of a moveable operating platform (i.e., operating platform  14 ) may include but are not limited to: autonomous mobile base  16  (e.g., an intelligent mobile base that is fully (or partially) autonomous and is used within an automated warehouse); a non-autonomous mobile base (e.g., a non-intelligent mobile base that is manually driven/controlled by a user; not shown); forklift  18  (e.g., that is configured to receive detachable, self-contained robotic arm system  10 ); and truck  20  (e.g., that is configured to receive detachable, self-contained robotic arm system  10 ). 
     An example of a stationary operating platform (i.e., operating platform  14 ) may include but is not limited to: assembly line stationary base  22  (that is positioned proximate an assembly line). 
     Mounting subsystem  12  may be configured to releasably engage operating platform  14  with one or more assemblies (e.g., assemblies  24 ), examples of which may include but are not limited to: one or more releasable fasteners (e.g., nut and bolt assemblies); one or more releasable clamps (e.g., leverage-based clamps); and one or more releasable grasping assemblies (e.g., screw-type clamps). Accordingly and through the use of assemblies  24 , mounting subsystem  12  may be quickly and easily detached from operating platform  14 . And since (as discussed above) mounting subsystem  12  may be used as a mounting point for all of the systems/subsystems of detachable, self-contained robotic arm system  10 , detachable, self-contained robotic arm system  10  may be easily attached to (and detached from) operating platform  14  as a single/solitary unit. 
     Detachable, self-contained robotic arm system  10  may include robotic arm subsystem  26  coupled (i.e., directly or indirectly) to mounting subsystem  12 . Robotic arm subsystem  26  may include one or more of:
         Arm Base Assembly: Arm base assembly  28  may be coupled to mounting subsystem  12  and may be configured to allow detachable, self-contained robotic arm system  10  to rotate about the Z-axis with respect to mounting subsystem  12 .   Shoulder Joint Assembly: Shoulder joint assembly  30  may be coupled to arm base assembly  28  and may be configured to allow upper arm assembly  32  rotate about the Y-axis with respect to arm base assembly  28 . Additionally, shoulder joint assembly  30  may be configured to allow for more complex movements. For example, shoulder joint assembly  30  may also be configured to enable rotation about one or more of the X and Z axes.   Upper Arm Assembly: Upper arm assembly  32  may be coupled to shoulder joint assembly  30  and may be constructed of various materials, such steel, aluminum, titanium and carbon fiber. Additionally, upper arm assembly  32  may be configured to be longitudinally-extendable along the longitudinal axis of upper arm assembly  32 , thus enabling detachable, self-contained robotic arm system  10  to have an extended reach when needed.   Elbow Joint Assembly: Elbow joint assembly  34  may be coupled to upper arm assembly  32  and may be configured to allow lower arm assembly  36  to rotate about the Y-axis with respect to upper arm assembly  32 . Additionally, elbow joint assembly  34  may be configured to allow for more complex movements. For example, elbow joint assembly  34  may also be configured to enable rotation about one or more of the X and Z axes.   Lower Arm Assembly: Lower arm assembly  36  may be coupled to elbow joint assembly  34  and may be constructed of various materials, such steel, aluminum, titanium and carbon fiber. Additionally, lower arm assembly  36  may be configured to be longitudinally-extendable along the longitudinal axis of lower arm assembly  36 , thus enabling detachable, self-contained robotic arm system  10  to have an extended reach when needed.   Wrist Joint Assembly: Wrist joint assembly  38  may be coupled to lower arm assembly  36  and may be configured to allow gripper assembly  40  to rotate about the Y-axis with respect to lower arm assembly  36 . Additionally, wrist joint assembly  38  may be configured to allow for more complex movements. For example, wrist joint assembly  38  may also be configured to enable rotation about one or more of the X and Z axes.   Gripper Assembly: Gripper assembly  40  may be coupled to wrist joint assembly  38  and may be configured to grasp various objects. For example, gripper assembly  40  may include a pair of forks (not shown) for releasably engaging and lifting a pallet. Additionally/alternatively, gripper assembly  40  may include a pair of tongs (not shown) for releasably grasping individual items (e.g., boxes, cartons, assemblies). Additionally/alternatively, gripper assembly  40  may include one or more suctions devices (e.g., suction cups; not shown) for generating a vacuum to releasably grasp individual items having a smooth surface upon which a vacuum may be drawn (e.g., boxes, cartons).       

     Accordingly and depending upon the manner in which gripper assembly  40  is configured, robotic arm subsystem  26  may be configured to grasp various objects (generally represented as object  42 ), wherein examples of object  42  may include but are not limited to assemblies, discrete items, boxed discrete items, cartons of boxed items, and loaded pallets. 
     Detachable, self-contained robotic arm system  10  may include control subsystem  44  coupled (i.e., directly or indirectly) to mounting subsystem  12  and configured to effectuate movement of robotic arm assembly  10 . Depending upon the manner in which detachable, self-contained robotic arm system  10  is configured, control subsystem  44  may include one or more of: a pneumatic control subsystem; an electric control subsystem; and a hydraulic control subsystem. 
     For example, control subsystem  44  may include a pneumatic control subsystem when it is desired for robotic arm subsystem  26  to effectuate rapid movement (as pneumatic actuators tend to respond more quickly than electric and hydraulic actuators). Further, control subsystem  44  may include an electric control subsystem when it is desired for robotic arm subsystem  26  to effectuate highly-accurate movement (as electric actuators tend to be more accurate and precise than pneumatic and hydraulic actuators). Additionally, control subsystem  44  may include a hydraulic control subsystem when it is desired for robotic arm subsystem  26  to effectuate high-capacity movement (as hydraulic actuators tend to have higher lift capacity than electric and pneumatic actuators). 
     Naturally, the configuration of control subsystem  44  may vary depending upon the manner in which control subsystem  44  is configured, as discussed below:
         If control subsystem  44  includes a pneumatic control subsystem configured for pneumatic actuation, control subsystem  44  may include one or more of: pneumatic controls (generally represented as controls  46 ); one or more pneumatic actuators (generally represented as joint assemblies  30 ,  34 ,  38  and any longitudinally-extendable actuators (not shown) within arms assemblies  32 ,  36 ); air compressor (generally represented as pump  48 ); and air storage tank (generally represented as tank  50 ).   If control subsystem  44  includes an electric control subsystem configured for electric actuation, control subsystem  44  may include one or more of: electronic controls (generally represented as controls  46 ); and one or more electronic actuators (generally represented as joint assemblies  30 ,  34 ,  38  and any longitudinally-extendable actuators (not shown) within arms assemblies  32 ,  36 ).   If control subsystem  44  includes a hydraulic control subsystem configured for hydraulic actuation, control subsystem  44  may include one or more of: hydraulic controls (generally represented as controls  46 ); one or more hydraulic actuators (generally represented as joint assemblies  30 ,  34 ,  38  and any longitudinally-extendable actuators (not shown) within arms assemblies  32 ,  36 ); hydraulic pump (generally represented as pump  48 ); and hydraulic fluid storage tank (generally represented as tank  50 ).       

     As discussed above, mounting subsystem  12  may be used as a mounting point for all of the systems/subsystems of detachable, self-contained robotic arm system  10 , thus allowing detachable, self-contained robotic arm system  10  to be easily attached to (and detached from) operating platform  14  as a single/solitary unit. Accordingly, detachable, self-contained robotic arm system  10  may include connectivity subsystem  52  coupled (i.e., directly or indirectly) to mounting subsystem  12  and configured to detachably couple detachable, self-contained robotic arm system  10  to one or more external systems  54 . 
     For example, connectivity subsystem  52  may include data connectivity subsystem  56  configured to effectuate communication between detachable, self-contained robotic arm system  10  and an external control device  58 . Examples of data connectivity subsystem  56  may include but are not limited to a hardwired network connection (e.g., an ethernet connection) and a wireless network connection (e.g., a WiFi connection or a Bluetooth connection). Examples of external control device  58  may include but are not limited to an operator control panel, a personal computer, a laptop computer, a tablet computer, and a smart phone. 
     Further, connectivity subsystem  52  may include power connectivity subsystem  60  configured to provide external power  62  to detachable, self-contained robotic arm system  10 . Examples of power connectivity subsystem  60  may include but are not limited to a socket assembly configured to provide power to detachable, self-contained robotic arm system  10 . Examples of external power  62  may include power that is provided by a cable coupled to a power source (e.g., an electrical outlet or a breaker panel). 
     Detachable, self-contained robotic arm system  10  may include machine vision system  64  configured to enable a user (not shown) of detachable, self-contained robotic arm system  10  to visually monitor areas proximate detachable, self-contained robotic arm system  10 . Examples of machine vision system  64  may include any currently available machine vision systems, such a visible light system, UV/IR systems, LIDAR systems, RADAR systems, and thermal imaging systems. 
     Additionally/alternatively, vision system  64  may be configured to provide collision avoidance of robotic arm subsystem  26  with proximate people and/or objects. Additionally/alternatively, vision system  64  may be configured to provide proximity detection for safety purposes to e.g., slow down, redirect and/or stop the movement of robotic arm subsystem  26  when a person or object is proximate the moving pieces of robotic arm subsystem  26  and/or its payload. Such a collision avoidance and/or proximity detection system may be configured to augment the existing proximity sensors on operating platform  14  to which detachable, self-contained robotic arm system  10  is releasably attached. 
     Detachable, self-contained robotic arm system  10  may include audio system  66  configured to enable a user (not shown) of detachable, self-contained robotic arm system  10  to audibly monitor areas proximate detachable, self-contained robotic arm system  10 . Examples of audio system  66  may include any currently available microphone systems, such a discrete microphones and/or microphone arrays. 
     To properly position machine vision system  64  and/or audio system  66  with respect to detachable, self-contained robotic arm system  10 , machine vision system  64  and/or audio system  66  may be mounted on mast assembly  68  coupled (i.e., directly or indirectly) to mounting subsystem  12 . Through the use of mast assembly  68 , an elevated point of view may be achieved with respect to the moving parts of detachable, self-contained robotic arm system  10 , thus providing situational awareness to avoid collision and/or permit safe operation by humans within the reachable proximity of the moving parts of detachable, self-contained robotic arm system  10  and/or its payload. 
     Machine vision system  64  may be configured to include multiple/additional machine vision systems (e.g., multiple/additional cameras). Accordingly, one or more additional cameras may be positioned along robotic arm subsystem  26 . For example, these additional cameras may be mounted on robotic arm subsystem  26  and may provide visual target identification for object pick-up and/or positioning, as well as proximate object detection to allow for safe operation of robotic arm subsystem  26  near moving and stationary objects. An example of such a machine vision system may include but is not limited to the Intel® RealSense™ D435 depth camera. 
     Referring also to  FIG. 2-3 , detachable, self-contained robotic arm system  10  may be configured to enable easier offloading of objects (e.g., object  72 ) from operating platform  14 . For example, detachable, self-contained robotic arm system  10  may include conveyor system  70 , wherein conveyor system  70  may be configured to receive objects from and/or provide objects to robotic arm subsystem  10 . 
     For example, as detachable, self-contained robotic arm system  10  retrieves objects (e.g., object  72 ), these objects (e.g., object  72 ) may be placed onto conveyor system  70 , wherein operating platform  14  (e.g., when configured as a mobile base) may navigate to an unloading platform (not shown) that may be configured as e.g., a shelf, a slide or another conveyor belt), thus allowing conveyor system  70  to transfer these objects (e.g., object  72 ) to the unloading platform (not shown). Further, conveyor system  10  may be configured to receive pallets (e.g., pallet  74 ), wherein detachable, self-contained robotic arm system  10  may retrieve objects (e.g., object  72 ) that are placed onto pallet  74 . Once pallet  74  is fully loaded, pallet  74  may be offloaded from operating platform  14  via conveyor system  70 . In such a configuration, the unloading platform (not shown) may be an automated wrapping station (not shown) configured to e.g., shrink wrap pallet  74  and the objects positioned thereon. 
     General 
     As will be appreciated by one skilled in the art, the present disclosure may be embodied as a method, a system, or a computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a “circuit,” “module” or “system.” Furthermore, the present disclosure may take the form of a computer program product on a computer-usable storage medium having computer-usable program code embodied in the medium. 
     Any suitable computer usable or computer readable medium may be utilized. The computer-usable or computer-readable medium may be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. More specific examples (a non-exhaustive list) of the computer-readable medium may include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a transmission media such as those supporting the Internet or an intranet, or a magnetic storage device. The computer-usable or computer-readable medium may also be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory. In the context of this document, a computer-usable or computer-readable medium may be any medium that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-usable medium may include a propagated data signal with the computer-usable program code embodied therewith, either in baseband or as part of a carrier wave. The computer usable program code may be transmitted using any appropriate medium, including but not limited to the Internet, wireline, optical fiber cable, RF, etc. 
     Computer program code for carrying out operations of the present disclosure may be written in an object oriented programming language such as Java, Smalltalk, C++or the like. However, the computer program code for carrying out operations of the present disclosure may also be written in conventional procedural programming languages, such as the “C” programming language or similar programming languages. The program code may execute entirely on the user&#39;s computer, partly on the user&#39;s computer, as a stand-alone software package, partly on the user&#39;s computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user&#39;s computer through a local area network/a wide area network/the Internet (e.g., network  14 ). 
     These computer program instructions may also be stored in a computer-readable memory that may direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function/act specified in the flowchart and/or block diagram block or blocks. 
     The computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. 
     The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. 
     The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present disclosure has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the disclosure. The embodiment was chosen and described in order to best explain the principles of the disclosure and the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated. 
     A number of implementations have been described. Having thus described the disclosure of the present application in detail and by reference to embodiments thereof, it will be apparent that modifications and variations are possible without departing from the scope of the disclosure defined in the appended claims.