Movable hardstop for a robotic component

Patent metadata

Field	Value
Publication number	US-9925663-B2
Application number	US-201615204780-A
Country	US
Kind code	B2
Filing date	Jul 7, 2016
Priority date	Jul 7, 2016
Publication date	Mar 27, 2018
Grant date	Mar 27, 2018

Abstract

A robotic system includes a robotic arm and a movable hardstop disposed proximate to the robotic arm. The movable hardstop is separated from the robotic arm by at least one clearance in a first operating condition. The movable hardstop physically contacts the robotic arm in a second operating condition. The robotic system also includes one or more controllers configured to control movement of the robotic arm and movement of the movable hardstop such that the first operating condition is maintained or such that, if the second operating condition occurs, the hardtop blocks movement of the robotic arm.

First claim

The invention claimed is:

1. A robotic system, comprising:
a robotic arm;
a movable hardstop disposed proximate to the robotic arm, wherein the movable hardstop is separated from the robotic arm by at least one clearance during a first operating condition, and wherein the movable hardstop physically contacts the robotic arm during a second operating condition; and
one or more controllers configured to control movement of the robotic arm and movement of the movable hardstop such that the first operating condition is maintained or such that, if the second operating condition occurs, the movable hardstop blocks movement of the robotic arm.

2. The robotic system of claim 1 , wherein the movable hardstop comprises:
a motor directly or indirectly communicatively coupled with the one or more controllers, whereby the one or more controllers controls movement of the movable hardstop by controlling movement of the motor;
a pinion driven by the motor; and
a rack driven by the pinion, wherein the rack is separated from the robotic arm by the at least one clearance during the first operating condition, and wherein the rack physically contacts the robotic arm during the second operating condition.

3. The robotic system of claim 2 , wherein the robotic system comprises a rail on which the rack is mounted and about which the rack is moved by the pinion.

4. The robotic system of claim 2 , wherein the pinion comprises a screw and the rack comprises teeth, and wherein the screw of the pinion engages with the teeth of the rack.

5. The robotic system of claim 1 , wherein the robotic arm comprises an arm extension member centered about a central point and having a first bumper and a second bumper, wherein the movable hardstop comprises a rack centered about the central point, wherein the rack is separated from the first bumper of the arm extension member by a first clearance and from the second bumper of the arm extension member by a second clearance during the first operating condition, and wherein the rack comprises a first contact point that physically contacts the first bumper or a second contact point that physically contacts the second bumper during the second operating condition.

6. The robotic system of claim 5 , wherein the arm extension member comprises a lip extending from a central portion, wherein the lip comprises a first circumferential portion having a first radius greater than a second radius of a second circumferential portion of the central portion, wherein the first bumper and the second bumper are disposed on opposing sides of the lip, and wherein the rack is disposed annularly about the central portion of the arm extension member such that, during the second operating condition, the first contact point of the rack physically contacts the first bumper or the second contact point of the rack physically contacts the second bumper.

7. The robotic system of claim 1 , wherein the robotic arm and the movable hardstop are separated from one another during the first operating condition by a first clearance and by a second clearance, and wherein the robotic arm and the movable hardstop are only separated from one another during the second operating condition by either the first clearance or by the second clearance.

8. The robotic system of claim 1 , wherein the one or more controllers comprise an robotic arm controller and a movable hardstop controller, wherein the robotic arm controller maps a desired path of motion of the robotic arm, and wherein the movable hardstop controller maps a desired path of motion of the movable hardstop based on the desired path of motion of the robotic arm mapped by the arm controller.

9. A control system for a robotic system, comprising:
a controller having a processor and a memory, wherein the memory is configured to store instructions that, when executed by the processor, cause the controller to perform acts, the acts comprising:
mapping a first path of movement for a robotic arm of the robotic system;
mapping a second path of movement for a movable hardstop of the robotic system; and
executing the first path of movement and the second path of movement such that, during a first operating condition, a clearance is maintained between a bumper of the robotic arm and a contact point of the movable hardstop and, during a second operating condition, the clearance is not maintained between the bumper of the robotic arm and the contact point of the movable hardstop, whereby the bumper and the contact point physically contact each other during the second operating condition.

10. The control system of claim 9 , wherein the controller comprises an arm controller that maps and executes the first path of movement for the robotic arm of the robotic arm system, wherein the controller comprises a movable hardstop controller that maps and executes the second path of movement for the robotic arm system, and wherein the arm controller and the movable hardstop controller are communicatively coupled together.

11. The control system of claim 10 , wherein the arm controller is configured to communicate the first path of movement mapped for the robotic arm to the movable hardstop controller while, or prior to when, the second controller maps the second path of movement for the movable hardstop.

12. A robotic system, comprising:
a robotic member comprising an arm extension member centered on a central point of the robotic system, wherein the arm extension member comprises a first bumper disposed on a first side of a lip of the arm extension member and a second bumper disposed on a second side of the lip of the arm extension member, and wherein the lip extends from a central portion of the arm extension member; and
a movable hardstop having a rack centered on, and extending in an annular direction about, the central point of the robotic system, disposed about the central portion of the arm extension member, and separated in the annular direction from the first bumper of the lip of the arm extension member by a first clearance and from the second bumper of the lip of the arm extension member by a second clearance.

13. The robotic system of claim 12 , comprising a controller configured to map and execute movement of the robotic member and the movable hardstop, wherein the controller, during a first operating condition, maintains the first and second clearances, and wherein, during a second operating condition, the rack contacts either the first bumper or the second bumper.

14. The robotic system of claim 13 , wherein the movable hardstop comprises:
a motor directly or indirectly communicatively coupled with the controller; and
a pinion engaged with the rack, wherein the controller drives the motor, wherein the motor drives the pinion, and wherein the pinion drives the rack.

15. The robotic system of claim 14 , wherein the robotic system comprises a rail on which the rack is mounted and about which the rack is moved by the pinion.

16. The robotic system of claim 14 , wherein the pinion comprises a screw and the rack comprises teeth, and wherein the screw of the pinion engages with the teeth of the rack.

17. The robotic system of claim 12 , wherein the first clearance and the second clearance are sized to accommodate allowable error margins of the robotic system.

18. The robotic system of claim 13 , wherein the controller comprises a robotic member controller and a movable hardstop controller, wherein the robotic member controller maps and executes the movement for the robotic member, and wherein the movable hardstop controller maps and executes the movement f

Assignees

• Universal City Studios Llc

Inventors

• Vance Eric
• Blum Steven C

Classifications

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• B25J9/10

  characterised by positioning means for manipulator elements · CPC title

• B25J9/1035

  Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base · CPC title

• B25J9/101 Primary

  using limit-switches, -stops · CPC title

• B25J9/1602

  characterised by the control system, structure, architecture · CPC title