Patent Publication Number: US-2004050247-A1

Title: Robotic device wich moves by alternately connecting each of its ends to docking stations

Description:
[0001] This invention concerns improvements in or relating to robotic devices and also robotic systems.  
       [0002] Robotic systems and devices are used in a wide range of applications. Such arrangements often tend not to be particularly flexible, and are suited to only carrying out a single job or limited range of jobs. Such systems are also often quite bulky. Robotic systems have the potential for providing assistance to disabled persons. However, in view of the above and other disadvantages, to date such systems have generally not been usable for such applications to any significant degree.  
       [0003] According to the present invention there is provided a robotic device, the device comprising a movable body which mounts at least two spaced connecting parts, the device being arranged such that one of the connecting parts can be selectively connected to a first connection member, the body then moved such that another of the connecting parts is selectively connected to a second connection member, and thereafter said one connecting part can be disconnected from the first connection member, the body further moved, and said one or another connecting part can then be connected to a third connection member, whereby to permit the robotic device to move around a network of connection members.  
       [0004] The robotic device is preferably controllable, and desirably automatically selectively connects and disconnects with a connection member as required.  
       [0005] The connecting parts preferably provide a power connection between connected connection parts and members, which power connection permits movement of the robotic member to take place. The power connection may connect any of electrical, pneumatic, hydraulic or mechanical power. The connecting parts preferably provide a signal connection between connected connection parts and members to provide control of the robotic device and/or an indication of the location thereof.  
       [0006] The connecting parts may be arranged such that a tool or other item can be selectively mounted thereon.  
       [0007] The robotic device may have a flexible form, and the flexible form may be provided by any of pivoted linkages, ball and socket connections or elastomeric joints.  
       [0008] The robotic device may comprise control means to selectively change the flexible shape thereof, and the control means may comprise any of electric motors, solenoids, smart materials, pneumatic or hydraulic devices, or mechanical means.  
       [0009] The robotic device may be substantially elongate, with a respective connecting part substantially at each end thereof.  
       [0010] The robotic device may be substantially symmetrical about a midpoint thereof.  
       [0011] The robotic device may be in the form of a robotic arm.  
       [0012] The invention also provides a robotic system, the system comprising a robotic device according to any of the preceding nine paragraphs, and a plurality of spaced docking stations, each docking station comprising a connection member connectable respectively with the connecting parts on the robotic device.  
       [0013] The system preferably comprises a control arrangement for sending a signal to the robotic device to cause movement thereof. The control arrangement may also identify the location of the robotic device. The control arrangement may comprise a PC or other programmable control device.  
       [0014] The control arrangement may permit human interaction to enable control of the system.  
       [0015] One or more tool stations may be provided which locate one or more tools or other items which are selectively connectable to the connecting parts on the robotic device to be operated by the robotic device.  
       [0016] The system may comprise a plurality of robotic devices.  
       [0017] The system may comprise one or more vehicles, which vehicles may be controllable by the control arrangement. Means may be provided for guiding the or one or more of the vehicles. One or more docking stations and/or tool stations may be provided on the or each vehicle.  
       [0018] The or each vehicle may be in the form of a wheelchair or truck.  
       [0019] Human interfaces may be provided at some or all of the docking stations, to provide local control of the system. 
     
    
    
     [0020] An embodiment of the present invention will now be described by way of example only and with reference to the accompanying drawings, in which:  
     [0021] FIGS.  1 A-E are diagrammatic views of a robotic device according to the invention progressively moving from a first to a second location; and  
     [0022]FIG. 2 is a schematic view of a robotic system according to the invention. 
    
    
     [0023] FIGS.  1 A-E show a robotic device in the form of a robotic arm  10 . The arm  10  comprises a plurality of interconnected segments  12  which are flexible relative to each other to permit the arm  10  to be bent as shown for instance in FIGS.  1 B-D. The segments  12  can be connected in a number of different ways to permit flexing, such as by pivoted linkages, ball and socket connections or elastomeric joints. The segments  12  can be moved relative to each other by the provision of any of electric motors, solenoids, smart materials, pneumatic or hydraulic devices, or mechanical means.  
     [0024] The arm  10  is symmetrical about a midpoint and is provided with a connection part  14  at each end with a male connection  16 . The connection parts  14  permit an electrical connection to be made and also a signal connection to be made. In some instances a pneumatic, hydraulic and/or mechanical connection may also be made.  
     [0025] FIGS.  1 A-E illustrate the robotic arm  10  moving from a first docking station  18  to a second such station  20 . In FIG. 1A a first end  22  of the arm  10  is connected with the first docking station  18 . The arm  10  is caused to bend as shown progressively in the drawings to a U-shaped configuration as shown in FIG. 1C, at which point the second end  24  connects with the second docking station  20 . Once this has been completed the first end  22  can disconnect from the first docking station  18  and the arm  10  flex back to a straight alignment as shown in FIG. 1E. This arrangement permits the arm  10  to move around a network of docking stations whilst being remotely controlled and providing automatic connection and disconnection from the respective docking stations.  
     [0026]FIG. 2 shows a schematic robotic arrangement with four such arms  10  illustrated. In this instance seven such docking stations  26  are illustrated, with six provided in a line connected to a power supply  28  and to a command unit  30  in the form of a PC. One docking station  26  is illustrated movably mounted for instance on a rail  31 . In the middle of FIG. 2 a one of the arms  10  is illustrated moving between a two of the docking stations  26 .  
     [0027] A tool station  32  is provided for each of the above six docking stations  26 . Each tool station  32  permits one or more tools or other implements to be held and selectively picked up by a one of the arms  10  as is illustrated at  34 . Two vehicles  36 , 38  are also illustrated. The vehicles  36 ,  38  can be controlled by a remote signal such as a radio signal, as is diagramnmatically shown by the broken lines  39 . The first vehicle  36  is provided with a docking station  26  and tool station  32 . The vehicle  36  is guided by a track  40  to be movable along a required path.  
     [0028] The second vehicle  38  is autonomous so can move or be driven where required. The vehicle  38  is again provided with a docking station  26  and tool station  32 . The vehicle  38  is provided with a human machine interface  42  to permit a user to input a signal to the vehicle  38  for instance to drive the vehicle  38  and/or operate an arm  10 , and the interface  42  may be operable by a person riding on the vehicle  38 . Similar such interfaces  42  are provided connected to two of the docking stations  26 , to permit local control of the system.  
     [0029] In use the command unit  30  can run to a pre-arranged program or can have instructions input to it at any of the interfaces  42 . This will cause the arms  10  to move as required and also to pick-up tools as required to carry out required steps. Similarly the vehicles  36 , 38  will move as required and can pick-up arms  10  for use with particular tools as appropriate. The arrangement shown is very general and can be used in a wide range of applications. For instance, such an arrangement could be used in a house or elsewhere to provide assistance to a disabled person or persons. Jobs such as feeding could be carried out at one or more docking or tool stations. The vehicles could be used to carry items, or could be in the form of a wheelchair to transport a person where required.  
     [0030] The arrangement of the movable robotic arms enables floor space to be kept clear, as the docking stations for instance can be provided at a required height on the walls. This arrangement permits a relatively small number of robotic arms to be used to carry out a number of tasks.  
     [0031] Whilst one application is described above, the invention is usable in a wide range of different applications, and could be used for instance in a manufacturing capacity in a factory or otherwise. Various other modifications may be made to the embodiment described above. For instance, the robotic device need not be elongate with two connecting parts, and could for instance have more than two connecting parts. Different connection means could be used for instance the connection parts on the arms may be other than male members.  
     [0032] The vehicle guide means may be other than a track, and may move the vehicle other than along a fixed path. Whilst the command unit is indicated as a PC, other types of programmable control devices could be used.  
     [0033] Whilst endeavouring in the foregoing specification to draw attention to those features of the invention believed to be of particular importance it should be understood that the Applicant claims protection in respect of any patentable feature or combination of features hereinbefore referred to and/or shown in the drawings whether or not particular emphasis has been placed thereon.