Folding robotic system

• US 20030155747A1
• Filed: 01/24/2003
• Published: 08/21/2003
• Est. Priority Date: 01/24/2002
• Status: Active Grant

• Current Assignee: Robotic Sciences, Inc.
• Original Assignee: Bridges J. Clinton
• Inventors: Bridges, J. Clinton
• Granted Patent: US 6,999,849 B2
• Time in Patent Office: Days
• US Class Current: 280/652
• CPC Class Codes: B25J 5/007 mounted on wheels

Abstract

A portable robotic system having a folding carriage is disclosed. The carriage in one embodiment includes two legs and a lateral stabilizer. The folding legs and stabilizer allow the carriage to be maneuvered into a plurality of open and closed positions. In the open positions, the legs and stabilizer are spaced apart to support the robotic system during operation. In the closed positions, the legs and stabilizer and substantially parallel to one another. In one closed position with one leg or stabilizer extended to within reach of a person, the carriage may be rolled like a dolly. In another closed position with one leg or stabilizer collapsed against the carriage, the carriage may be carried like a suitcase. Methods of folding and transporting a robotic system and carriage are also disclosed.

Claims

1. A folding carriage for transporting a payload over a surface, said carriage comprising:

a stage supporting said payload;

at least one first leg and at least one second leg, each of said first and second legs having a proximal end adjacent to and supporting said stage and an opposing distal end, said at least one first leg comprising a first contact element connected to said distal end by a first mounting assembly, and said at least one second leg comprising a second contact element connected to said distal end by a second mounting assembly; and

at least one lateral stabilizer configured to balance said carriage with respect to said surface,

wherein said legs and said stabilizer are foldable with respect to said stage from at least one open position in which said carriage is substantially balanced with respect to said surface, to at least one closed position in which said legs and said stabilizer are substantially parallel to one another and define a closed carriage plane.

2. The carriage of claim 1, wherein said at least one first leg is pivotably connected to said stage.

3. The carriage of claim 2, wherein said at least one first leg further comprises a means for moving said first leg between at least one collapsed position and one or more other positions, wherein said at least one collapsed position is substantially parallel to said closed carriage plane.

4. The carriage of claim 3, wherein said at least one first leg further comprises a means for locking said first leg in at least one of said collapsed and said other positions.

5. The carriage of claim 1, wherein said at least one second leg is pivotably connected to said stage.

6. The carriage of claim 5, wherein said at least one second leg further comprises a means for moving said second leg between at least one collapsed position and one or more other positions, wherein said at least one collapsed position is substantially parallel to said closed carriage plane.

7. The carriage of claim 6, wherein said at least one second leg further comprises a means for locking said second leg in at least one of said collapsed and said other positions.

8. The carriage of claim 1, wherein said first contact element comprises one or more selected from the group consisting of wheels, rollers, skids, casters, ball casters, caterpillar tracks, skis, skids, and knobs.

9. The carriage of claim 1, wherein said second contact element comprises one or more selected from the group consisting of wheels, rollers, skids, casters, ball casters, caterpillar tracks, skis, skids, and knobs.

10. The carriage of claim 1, wherein one of said at least one closed positions is further characterized by a distal end of at least one of said at least one first leg, said at least one second leg, and said at least one lateral stabilizer, collectively, being positioned within a reach envelope of a person, said reach envelope approximating a space above said surface in which an object may be grasped.

11. The carriage of claim 10, wherein said distal end within said reach envelope comprises a pull for grasping by said person.

12. The carriage of claim 1, wherein said first contact element comprises a first drive assembly, and wherein said carriage further comprises a means for disengaging said first drive assembly.

13. The carriage of claim 1, wherein said second contact element comprises a second drive assembly, and wherein said carriage further comprises a means for disengaging said second drive assembly.

14. The carriage of claim 1, wherein said carriage further comprises a means for retracting said first contact element.

15. The carriage of claim 1, wherein said carriage further comprises a means for retracting said second contact element.

16. The carriage of claim 1, wherein said carriage further comprises a handle located within a lift distance from a reach envelope of a person when said carriage is in one of said at least one closed positions,

said reach envelope approximating a space above said surface in which an object may be grasped, said lift distance being less than a radius of said reach envelope.

17. The carriage of claim 1, wherein said lateral stabilizer is characterized by having a proximal end and an opposing distal end, and wherein lateral stabilizer comprises:

a lateral contact element disposed upon said distal end; and

a pivotable connection between said proximal end and said stage.

18. The carriage of claim 17, wherein said lateral stabilizer further comprises a means for moving said lateral stabilizer between at least one collapsed position and one or more other positions, wherein said at least one collapsed position is substantially parallel to said closed carriage plane.

19. The carriage of claim 17, wherein said lateral stabilizer further comprises a means for locking said lateral stabilizer in at least one of said collapsed and said other positions.

20. The carriage of claim 17, wherein said lateral contact element comprises one or more selected from the group consisting of wheels, rollers, skids, casters, ball casters, caterpillar tracks, skis, skids, and knobs.

21. The carriage of claim 1, wherein one of said at least one closed positions is further characterized by a distal end of said lateral stabilizer being positioned within a reach envelope of a person, said reach envelope approximating a space above said surface in which an object may be grasped.

22. The carriage of claim 21, wherein one of said at least one closed positions is further characterized by a pull connected to said lateral stabilizer and located within said reach envelope.

23. The carriage of claim 17, wherein said lateral contact element comprises a lateral drive assembly, and wherein said carriage further comprises a means for disengaging said lateral drive assembly.

24. The carriage of claim 17, wherein said carriage further comprises a means for retracting said lateral contact element.

25. The carriage of claim 1, wherein said lateral stabilizer comprises a motorized drive system modulated by a control system for adjusting a plurality of motor torques to maintain balance.

26. The carriage of claim 1, wherein said payload is pivotably attached to said stage.

27. The carriage of claim 1, wherein said carriage further comprises a console sized to house one or more controllers.

28. The carriage of claim 1, wherein said carriage further comprises a docking station configurable to receive any of a plurality of payloads, said docking station comprising:

a plurality of attachment locations disposed upon said carriage;

a pivot assembly connected to said carriage at one or more of said attachment locations; and

one or more portals through said carriage, said portals positioned to facilitate the passage of connectors between said carriage and said payload.

29. The carriage of claim 1, wherein said payload comprises a robot.

30. The carriage of claim 1, wherein said payload comprises a folding robotic system, said system comprising:

a trunk having one or more segments pivotably connected,

wherein said trunk is foldable with respect to said stage from at least one open trunk position in which said robotic system is substantially balanced with respect to said surface, to at least one closed trunk position in which said segments are substantially parallel to one another and substantially parallel to said closed carriage plane.

31. A robotic apparatus capable of moving over a surface, comprising:

a trunk comprising one or more segments pivotably connected;

at least one first leg having a first proximal end adjacent to and supporting said trunk and an opposing first distal end, said at least one first leg comprising a first contact element connected to said first distal end by a first mounting assembly;

at least one second leg having a second proximal end adjacent to and supporting said trunk and an opposing second distal end, said at least one second leg comprising a second contact element connected to said second distal end by a second mounting assembly;

at least one lateral stabilizer having a fixed end and an opposing free end, said at least one lateral stabilizer comprising a lateral contact element connected to said free end by a lateral mounting assembly; and

at least one motorized assembly connected to drive one of said contact elements of a member selected from the group consisting of said at least one first leg, said at least one second leg, and said at least one lateral stabilizer,

wherein said legs and said stabilizer are foldable with respect to said trunk from at least one open position in which said robotic system is substantially balanced with respect to said surface, to at least one closed position in which said legs and said stabilizer are substantially parallel to one another and define a closed carriage plane.

32. The robotic apparatus of claim 31, wherein said first contact element comprises one or more selected from the group consisting of wheels, rollers, skids, casters, ball casters, caterpillar tracks, skis, skids, and knobs.

33. The robotic apparatus of claim 31, wherein said second contact element comprises one or more selected from the group consisting of wheels, rollers, skids, casters, ball casters, caterpillar tracks, skis, skids, and knobs.

34. The robotic apparatus of claim 31, further comprising a console having a top wall and one or more side walls, said console sized and shaped to house a computing device and a plurality of controllers.

35. The robotic apparatus of claim 31, wherein said console further comprises one or more portals through said walls to permit passage of one or more connectors.

36. The robotic apparatus of claim 31, wherein said trunk is foldable with respect to said legs from at least one open trunk position in which said robotic system is substantially balanced with respect to said surface, to at least one closed trunk position in which said segments are substantially parallel to one another and substantially parallel to said closed carriage plane.

37. The robotic apparatus of claim 31, wherein said at least one first leg is pivotably connected to said trunk.

38. The robotic apparatus of claim 37, wherein said at least one first leg further comprises a means for moving said first leg between at least one collapsed position and one or more other positions, wherein said at least one collapsed position is substantially parallel to said closed carriage plane.

39. The robotic apparatus of claim 38, wherein said at least one first leg further comprises a means for locking said first leg in at least one of said collapsed and said other positions.

40. The robotic apparatus of claim 31, wherein said at least one second leg is pivotably connected to said trunk.

41. The robotic apparatus of claim 40, wherein said at least one second leg further comprises a means for moving said second leg between at least one collapsed position and one or more other positions, wherein said at least one collapsed position is substantially parallel to said closed carriage plane.

42. The robotic apparatus of claim 41, wherein said at least one second leg further comprises a means for locking said second leg in at least one of said collapsed and said other positions.

43. The robotic apparatus of claim 31, wherein one of said at least one closed positions is further characterized by a portion of said member being positioned within a reach envelope of a person, said reach envelope approximating a space above said surface in which an object may be grasped.

44. The robotic apparatus of claim 43, wherein said portion within said reach envelope comprises a pull for grasping by said person.

45. The robotic apparatus of claim 31, wherein said system further comprises a means for retracting said first contact element.

46. The robotic apparatus of claim 31, wherein said system further comprises a means for retracting said second contact element.

47. The robotic apparatus of claim 31, wherein said system further comprises a handle located within a lift distance from a reach envelope of a person when said system is in one of said at least one closed positions,

said reach envelope approximating a space above said surface in which an object may be grasped, said lift distance being less than a radius of said reach envelope.

48. The robotic apparatus of claim 31, wherein said lateral stabilizer comprises a pivotable connection between said fixed end and said trunk.

49. The robotic apparatus of claim 48, wherein said lateral stabilizer further comprises a means for moving said lateral stabilizer between at least one collapsed position and one or more other positions, wherein said at least one collapsed position is substantially parallel to said closed carriage plane.

50. The robotic apparatus of claim 48, wherein said lateral stabilizer further comprises a means for locking said lateral stabilizer in at least one of said collapsed and said other positions.

51. The robotic apparatus of claim 48, wherein said lateral contact element comprises one or more selected from the group consisting of wheels, rollers, skids, casters, ball casters, caterpillar tracks, skis, skids, and knobs.

52. The robotic apparatus of claim 31, wherein one of said at least one closed positions is further characterized by said free end of said lateral stabilizer being positioned within a reach envelope of a person, said reach envelope approximating a space above said surface in which an object may be grasped.

53. The robotic apparatus of claim 52, wherein one of said at least one closed positions is further characterized by a pull connected to said lateral stabilizer and located within said reach envelope.

54. The robotic apparatus of claim 48, wherein said lateral contact element comprises a lateral drive assembly, and wherein said system further comprises a means for disengaging said lateral drive assembly.

55. The robotic apparatus of claim 48, wherein said system further comprises a means for retracting said lateral contact element.

56. The robotic apparatus of claim 31, wherein said lateral stabilizer comprises a motorized drive system modulated by a control system for adjusting a plurality of motor torques to maintain balance.

57. The robotic apparatus of claim 31, wherein said payload is pivotably attached to said trunk.

58. The robotic apparatus of claim 31, wherein said system further comprises a console sized to house one or more controllers.

59. A mobile robotic apparatus, comprising:

a trunk;

a contact element supporting said trunk and powered by a drive assembly for transporting said system over a surface; and

a lateral stabilizer configured to balance said system with respect to said surface,

wherein said contact element is foldable with respect to said trunk, from a plurality of open positions in which said system is substantially balanced, to a plurality of closed positions in which said trunk and said element are substantially parallel.

60. The mobile robotic apparatus of claim 59, wherein said contact element comprises:

a lower element having a joint end and an opposing distal end; and

an upper element connected to said lower element at a joint, said upper element having a joint end and an opposing graspable end,

wherein said upper element is foldable with respect to said lower element to form a first closed position of said plurality of closed positions, in which;

said distal end of said lower element is in contact with said surface;

said upper element is substantially parallel to said lower element; and

said graspable end lies with a reach envelope of a person, said reach envelope approximating a space above said surface in which an object may be grasped.

61. The mobile robotic apparatus of claim 60, wherein said joint further comprises a handle and wherein said upper element is foldable with respect to said lower element to form a second closed position of said plurality of closed positions, in which:

said distal end of said lower element is in contact with said surface;

said upper element is substantially parallel to said lower element;

said graspable end lies near said distal end; and

said handle lies within a lift distance from a reach envelope of a person, said reach envelope approximating a space above said surface in which an object may be grasped, and said lift distance being less than a radius of said reach envelope.

62. The mobile robotic apparatus of claim 61, wherein said contact element further comprises:

an auxiliary element connected to said joint and having a joint end and an opposing handle end,

wherein said auxiliary element is foldable with respect to said upper element and with respect to said lower element, to form a third closed position of said plurality of closed positions, in which;

said auxiliary element is substantially parallel to said upper element and to said lower element;

said handle end lies with said reach envelope of a person.

63. A method of folding a robotic apparatus to prepare it for inactive transport over a surface, said apparatus comprising a trunk having a base and one or more segments pivotably connected, at least two foldable legs each having a proximal end supporting said trunk near said base and a distal end connected to a surface contact element, and at least one lateral stabilizer connected to said trunk or to one of said legs, said method comprising:

providing a handle near said base;

folding said segments into a collapsed position in which said segments are substantially parallel to one another;

folding said legs into a closed position in which said legs are substantially parallel to said segments; and

folding said stabilizer into a lowered position generally adjacent said legs in which said stabilizer is substantially parallel to said segments and to said legs to form a second closed position in which said handle lies within a lift distance from a reach envelope of a person, said reach envelope approximating a space above said surface in which an object may be grasped, and said lift distance being less than a radius of said reach envelope.

64. The method of claim 63, further comprising:

unfolding an elongate member selected from the group consisting of said legs and said stabilizer;

raising said elongate member into a raised position generally opposite said segments in which said member is substantially parallel to said segments such that a free end of said elongate member lies with said reach envelope of a person.

65. A method of transporting a robotic apparatus over a surface, said apparatus comprising a trunk having a base and one or more segments pivotably connected, at least two foldable legs each having a proximal end supporting said trunk near said base and a distal end connected to a surface contact element, at least one lateral stabilizer connected to said trunk or to one of said legs, and one or more drives assemblies powering said segments, said legs, and said stabilizer, said method comprising:

providing a handle near said base;

disengaging said drive assemblies;

folding said segments into a collapsed position in which said segments are substantially parallel to one another;

folding said legs into a closed position in which said legs are substantially parallel to said segments; and

folding said stabilizer into a lowered position generally adjacent said legs in which said stabilizer is substantially parallel to said segments and to said legs to form a second closed position in which said handle lies within a lift distance from a reach envelope of a person, said reach envelope approximating a space above said surface in which an object may be grasped, and said lift distance being less than a radius of said reach envelope.

66. The method of claim 65, further comprising:

grasping said handle;

lifting said robotic apparatus; and

carrying said robotic apparatus over said surface.

67. The method of claim 65, further comprising:

unfolding an elongate member selected from the group consisting of said legs and said stabilizer; and

raising said elongate member into a raised position generally opposite said segments in which said member is substantially parallel to said segments such that a free end of said elongate member lies with said reach envelope of a person.

68. The method of claim 67, further comprising:

grasping said free end of said elongate member; and

rolling said robotic apparatus over said surface.