Robot arm launching system

Patent metadata

Field	Value
Publication number	US-10054400-B2
Application number	US-201615264934-A
Country	US
Kind code	B2
Filing date	Sep 14, 2016
Priority date	Sep 14, 2016
Publication date	Aug 21, 2018
Grant date	Aug 21, 2018

Abstract

An effector launching system and method may be used on a moving ship deck. The launching system includes a plurality of effectors and a robot that is arranged on the moving platform. The robot includes a moveable robot arm having an end portion that is engageable with the effectors for firing the effectors during engagement. The system includes a sensor for detecting movement of the moving platform and a motion stabilization controller that is in communication with a processor and the robot arm for controlling movement of the robot arm. The motion stabilization controller adjusts the robot arm in response to the detected movement of the moving platform to maintain the end portion in a static position when the effector is fired.

First claim

What is claimed is:

1. An effector launching system that is located on a moving platform, the launching system comprising:
a plurality of effectors;
a robot that includes:
a main body that is fixed to the moving platform, and
a moveable robot arm having an end portion that is engageable with the plurality of effectors for firing the plurality of effectors;

a sensor for detecting movement of the moving platform;
a processor that is in communication with the sensor; and
a motion stabilization controller that is in communication with the processor and the robot arm for controlling movement of the robot arm, wherein the motion stabilization controller adjusts the robot arm in response to the detected movement of the moving platform to maintain the end portion in a static position when the end portion is engaged with at least one of the plurality of effectors.

2. The effector launching system of claim 1 further comprising a payload guide that houses the plurality of effectors, wherein the payload guide has an engaged position and a storage position, the payload guide being engaged with the end portion of the robot arm when in the engaged position for firing the effector from the payload guide, the payload guide being disengaged from the end portion when in the storage position.

3. The effector launching system of claim 2 , wherein the payload guide includes an electro-mechanical interface that provides for communication between the robot and the plurality of effectors housed in the payload guide.

4. The effector launching system of claim 2 further comprising a payload guide magazine that houses a plurality of payload guides, the payload guide magazine being configured to automatically dispense one of the plurality of payload guides when another one of the plurality of payload guides is expended.

5. The effector launching system of claim 4 further comprising a plurality of payload guide magazines, wherein each of the plurality of payload guide magazines houses a different type of effector or payload guide.

6. The effector launching system of claim 4 , wherein the payload guide magazine includes an electro-mechanical interface that is in communication with the effectors for determining a number of effectors housed in the payload guide magazine.

7. The effector launching system of claim 1 , wherein the sensor is embedded in the robot arm.

8. The effector launching system of claim 1 , wherein the sensor includes a gyroscope.

9. The effector launching system of claim 1 , wherein the sensor includes an inertial measurement unit.

10. The effector launching system of claim 1 further comprising a modular control system having a core processor module and a plurality of converting modules for executing a mission sequence, wherein one of the plurality of converting modules is connectable between the core processor module and the robot for converting data from the core processor module to readable data for the robot.

11. A method of launching an effector from a moving platform, the moving platform including a plurality of effectors and a robot having a main body fixed to the moving platform, the method comprising:
using an end portion of a moveable robot arm to engage at least one of the plurality of effectors;
detecting movement of the moving platform;
adjusting the moveable robot arm to maintain the end portion of the moveable robot arm in a static position in response to the detected movement of the moving platform when the robot arm is engaged with the at least one of the plurality of effectors; and
maintaining the end portion in the static position while firing the effector.

12. The method of claim 11 further comprising storing the plurality of effectors in a payload guide and engaging the end portion of the moveable robot arm with the payload guide to fire the effectors from the payload guide during engagement.

13. The method of claim 12 further comprising using a plurality of payload guides that each contain different types of effectors.

14. The method of claim 13 further comprising automatically supplying one of the plurality of payload guides for engagement with the moveable robot arm after another one of the plurality of payload guides is expended.

15. The method of claim 14 further comprising automatically dispensing the plurality of payload guides using a payload guide magazine that houses the plurality of payload guides.

16. The method of claim 15 further comprising using the payload guide magazine to determine a number of effectors or payload guides contained in the payload guide magazine.

17. The method of claim 11 further comprising using a sensor to detect movement of the moving platform.

18. The method of claim 17 , wherein using the sensor includes using a gyroscope.

19. The method of claim 17 , wherein using the sensor includes using an inertial measurement unit.

20. The method of claim 11 , wherein adjusting the moveable robot arm includes using a controller to control movement of the moveable robot arm.

Assignees

• Raytheon Co

Inventors

• Szlemko Emile M
• Le Huy
• Gin Brian A
• Wahl Ryan P
• Kulbacki Mary L

Classifications

• F41G5/16 Primary

  gyroscopically influenced · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• F41G5/24

  for guns on tanks · CPC title

• B63G1/00

  Arrangements of guns or missile launchers; Vessels characterised thereby (submarines B63G8/00; guns, missile launchers F41) · CPC title

• F41F1/085

  with oscillating barrels; with barrels having variable relative orientation (scatter-fire arrangements F41A27/04) · CPC title