Props for scenic spot system

Abstract

A prop of a scenic spot system includes a first plate, a second plate coupled to the first plate and configured to move relative to the first plate, and a bias support coupled to the first plate and the second plate and extending between the first plate and the second plate. The biasing support includes a mesh structure and is configured to deform during relative movement between the first plate and the second plate, and the biasing support is configured to, upon deformation, apply a force to the first plate, the second plate, or both.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to and the benefit of U.S. Provisional Application No. 63 / 400,929, filed on August 25, 2022, entitled “ANIMATED PROP FOR AMUSEMENT PARK SYSTEM,” the entire contents of which are hereby incorporated by reference in its entirety for all purposes. Background Art

[0002] This section is intended to introduce the reader to various aspects of the technology that may be related to the various aspects of the present technology described and / or claimed below. This discussion is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure. Therefore, it should be understood that these statements are to be understood in this light and are not self-admissions as prior art.

[0003] Throughout amusement parks and other entertainment venues, special effects can be used to help visitors immerse themselves in the experience of rides or attractions. An immersive environment may include three-dimensional (3D) props and set pieces, robots or mechanical elements, and / or display surfaces that present media. In addition, an immersive environment may include audio effects, smoke effects, and / or motion effects. Therefore, an immersive environment may include a combination of dynamic elements and static elements. However, the implementation and operation of special effects may be complex. For example, it may be difficult to operate certain elements of special effects in a desired manner to create an immersive environment, with the purpose of (such as to) actuating props to provide the desired movement. With the increasing sophistication and complexity of modern ride attractions, and the corresponding increase in expectations among visitors, it is desired to improve and more creative attractions, including ride attractions with special effects to provide an immersive environment. Summary of the invention

[0004] In an embodiment, a prop of an amusement system includes: a first plate, a second plate, and a biasing support, wherein the second plate is coupled to the first plate and configured to move relative to the first plate, the biasing support having a mesh structure, the mesh structure being coupled to the first plate and the second plate and extending between the first plate and the second plate. The biasing support is configured to deform during relative movement between the first plate and the second plate, and the biasing support is configured to apply a force to the first plate, the second plate, or both when deformed.

[0005] In an embodiment, a joint system includes: a first plate, a second plate coupled to the first plate, a first extension coupled to the first plate at a first mounting point, a second extension coupled to the first plate at a second mounting point, and a biasing support coupled to the first plate and to the second plate. The biasing support is coupled to the first plate and to the second plate, wherein the biasing support has a first region and a second region, the first region engages the first mounting point, the second region engages the second mounting point, the first region of the biasing support has a first stiffness, the second region of the biasing support has a second stiffness, and the first stiffness and the second stiffness are different from each other.

[0006] In an embodiment, a method of actuating a prop includes moving a first plate of the prop relative to a second plate of the prop via an actuator of the prop, wherein the prop includes a biasing support coupled to the first plate and the second plate and extending between the first plate and the second plate, and the biasing support is configured to deform during movement between the first plate and the second plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] These and other features, aspects and advantages of the present disclosure will become better understood when the following detailed description is read with reference to the accompanying drawings, in which like characters represent like parts throughout the several views, and in which: Figure 1 is a block diagram of an embodiment of an attraction system according to one aspect of the present disclosure, the attraction system having a prop with a joint system; Figure 2 is a schematic diagram of an embodiment of a prop according to aspects of the present disclosure, the prop having a joint system; Figure 3 is a side view of an embodiment of a joint system according to aspects of the present disclosure, the joint system may be applied to a prop; Figure 4 is a detailed side view of an embodiment of a joint system according to aspects of the present disclosure, the joint system may be applied to a prop; Figure 5 is a partial perspective view of an embodiment of a biasing support according to aspects of the present disclosure, the biasing support being applicable to a joint system of a prop; Figure 6 is a top view of an embodiment of a joint system having a biasing support coupled to a plate according to aspects of the present disclosure; and Figure 7 is a partial perspective view of an embodiment of a biasing support coupled to a plate according to aspects of the present disclosure. DETAILED DESCRIPTION

[0008] When introducing elements of various embodiments of the present disclosure, the articles "a," "an," and "the" are intended to mean that there are one or more of the elements. The terms "comprising," "including," and "having" are intended to be inclusive, and mean that there may be additional elements other than the listed elements. Further, it should be understood that reference to "one embodiment" or "an embodiment" of the present disclosure is not intended to be interpreted to exclude the existence of additional embodiments that also incorporate the recited features.

[0009] One or more specific embodiments of the present disclosure will be described below. In order to provide a concise description of these embodiments, all features of the actual implementation may not be described in the specification. It should be recognized that, as in any engineering or design project, in the development of any such actual implementation, many implementation-specific decisions must be made to achieve the developer's specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. In addition, it should be recognized that such development work may be complex and time-consuming, but will remain a routine undertaking of design, construction, and manufacturing for ordinary technicians who benefit from the present disclosure.

[0010] Embodiments of the present disclosure are directed to an attraction system. The attraction system may be an attraction system for an amusement park. Additionally or alternatively, the system may be used outside the entertainment industry, and may include or be utilized in, for example, manufacturing, research, medical devices, general robotics, etc. An amusement park may include various attraction systems. An attraction system may include rides (e.g., roller coasters, water rides, bungee jumping machines), performances, walkways (e.g., walkways may include static paths and / or moving walkways), etc., with features that may provide entertainment to visitors (e.g., visitors at an amusement park). An attraction system may also include props, which may be activated to provide a desired effect. For example, a prop may include an actuable portion, and the prop may be controlled to drive the movement of such a portion and / or the movement in such a portion. The movement of such a portion of a prop and / or the movement within such a portion of a prop may provide a realistic appearance of the prop and / or enhance the effect of the attraction and / or attraction system. Thus, props may be controlled to provide a realistic immersive environment to provide entertainment to visitors.

[0011] Unfortunately, it may be difficult to control the desired movement of a prop using conventional approaches. For example, it may be difficult to move portions of a prop relative to each other to a desired or target position in order to provide a desired appearance of the prop. Additionally or alternatively, positioning of certain props that place various portions of the prop in relative orientations relative to each other may impart an undesirable amount of stress on certain portions of the prop. As a result, the movement of the prop, and the corresponding effect provided to the visitor, may be undesirable.

[0012] Therefore, it is currently recognized that it is desirable to improve the control of the movement of a prop. Therefore, embodiments of the present disclosure are directed to a prop with a joint system that facilitates the movement and / or stability of the prop. The prop may include an animated prop, an actuatable scene, and / or an animated character. The animated prop may include an actuatable scene and / or an animated character. The joint system may include a joint assembly. The joint system may include a plurality of plates that are coupled to each other and configured to move relative to each other via intervening joints. The movement may include translation, rotation, orientation (e.g., change of orientation) and / or positioning (e.g., change of position). One or more extensions (such as cables) may be coupled to one or more of the plates. One or more corresponding actuators may adjust one or more extension lengths of the one or more extensions to apply a force that moves the plates relative to each other. In addition, one or more biasing supports may be positioned between adjacent plates and coupled to adjacent plates. Each biasing support may apply a force to the plate to improve the movement control of the plate. For example, the biasing support may impart a force to inhibit, limit, eliminate and / or prevent unwanted movement (e.g., movement caused by forces not applied by the extension) and / or unwanted forces (e.g., applied forces not applied by the extension) between the plates to maintain a desired positioning between the plates. Additionally, the biasing support may reduce stress imparted to the extension during movement (e.g., including unwanted movement) and / or actuation of the prop. For example, during operation of one of the actuators to reduce the extension length of the first extension, the plates may move relative to each other (e.g., the ends of the plates may move away from each other) and apply a tensile force to the second extension. However, the biasing support coupled to the second extension may absorb some of the tensile force, thereby reducing the tensile force applied to the second extension. As a result, the structural integrity of the second extension may be maintained. Additionally and / or alternatively, the biasing support may reduce stress imparted to the extension when a force (e.g., the force may include an unwanted force) is applied to the prop. The unwanted force may include a force external to the prop that applies the prop. For example, these may include: drop forces, forces exerted by wind, collision forces, acceleration forces from prop transportation, and / or other external forces. Unwanted movement may include movement caused by unwanted forces.

[0013] In an embodiment, the bias support may include a mesh structure (e.g., a lattice structure, a mesh network) having struts and / or support structures that are interconnected to form spaces and define an open-celled arrangement. The mesh structure may be manufactured to have a specific profile that applies a certain amount of force to the plate to facilitate the desired positioning between the plates. As an example, the mesh structure may have a greater density (e.g., the ratio of structural material to open space may be increased) compared to a mesh structure with a smaller density to apply a relatively larger force to the plate, thereby increasing the resistance to movement to inhibit, limit, eliminate and / or prevent relative movement between the plates. Additionally or alternatively, the mesh structure may have a smaller density (e.g., the ratio of structural material to open space may be reduced) compared to a mesh structure with a larger density to apply a relatively smaller force to the plate, thereby reducing the resistance to movement to facilitate relative movement between the plates. In practice, mesh structures having desired structural characteristics (e.g., density of material) may be more easily manufactured to enable desired relative movement between plates, and thus actuation of the prop. In embodiments, the mesh structure may have a substantially uniform design, wherein the cell size is substantially constant throughout the structure. In embodiments, the mesh structure may be non-uniform and have different cell sizes present within the structure. Variations in the density of the mesh structure may be caused by changing the structural configuration and / or material of the struts and / or support structures of the mesh structure.

[0014] Taking the foregoing into consideration, Figure 15 is a block diagram of an attraction system 50. As an example, the attraction system 50 may include rides (e.g., roller coasters, dark rides), shows, etc. The attraction system may be part of an amusement park system (e.g., an amusement park). As another example, the attraction system 50 may include a dining venue, a waiting area, a walkway, a shopping venue (e.g., a gift shop), or any other suitable part of an amusement park, and / or be part of them. The attraction system 50 may include a visitor area 52 where visitors may be located. For example, the visitor area 52 may include a ride vehicle 54, which may move within the attraction system 50 and / or change its position, location, and / or orientation. Additionally or alternatively, the ride vehicle may move within the amusement park and / or change its position, location, and / or orientation. The visitor area 52 may additionally or alternatively include a visitor path 56, which is used by visitors to navigate (e.g., walk) through the attraction system 50, such as outside the ride vehicle 54. The visitor area 52 may further include a spectator area 58, which may include a general space where visitors may be located, such as a seating area and / or a standing area. In fact, the visitor area 52 may include any suitable features to accommodate visitors within the attraction system 50.

[0015] The attraction system 50 may also include a prop 60 configured to provide entertainment to visitors of the visitor area 52. The prop 60 may include an animated prop. For example, the prop 60 may provide an immersive environment for visitors, with the goal of establishing a theme setting corresponding to the visitor area 52. The animated prop 60 may include a joint system 62 (e.g., a cable-driven spinal assembly, a ligament-type mechanism, a hyper-redundant manipulator, a continuous robot, a continuous manipulator, a soft robotic system, a soft robotic manipulator), and the joint system 62 is configured to actuate. As an example, the joint system 62 may be operated to adjust the positioning of the animated prop 60 and provide a realistic appearance of the animated prop 60. For example, the operation of the joint system 62 may provide realistic movement and / or actuation of the animated prop 60 and / or its components, thereby facilitating the establishment of a realistic environment for visitors.

[0016] In an embodiment, the prop 60 may include an actuator 64, or be coupled to an actuator 64, which is configured to drive and / or actuate the joint system 62, thereby articulating, actuating and / or animating the prop 60. For example, the actuator 64 may be communicatively coupled to a control system 66 (e.g., an automation controller, a programmable controller, an electronic controller, a control circuit), which is configured to operate the actuator 64. The control system 66 may include a memory 68 and a processing circuit 70. The memory 68 may include a volatile memory, such as a random access memory (RAM), and / or a non-volatile memory, such as a read-only memory (ROM), an optical drive, a hard drive, a solid-state drive, or any other non-transitory computer-readable medium that includes instructions to operate the attraction system 50. The processing circuit 70 may be configured to execute such instructions. For example, the processing circuit 70 may include one or more application specific integrated circuits (ASICs), one or more field programmable gate arrays (FPGAs), one or more general purpose processors, or any combination thereof.

[0017] The control system 66 may be configured to control (e.g., instruct) the actuator 64 to control actuation of the joint system 62, and thus control actuation of the prop 60. In one embodiment, the control system 66 may be communicatively coupled to the sensor 72 and may operate based on data received from the sensor 72. As an example, the sensor 72 may be configured to measure, detect, and / or determine operating parameters of the visitor area 52, such as the location of the visitor (e.g., relative to the prop 60), the location of the ride vehicle 54 (e.g., relative to the prop 60), the number of visitors, etc. As another example, the sensor 72 may be configured to determine different operating parameters, such as the time of day, the ride cycle, the user interaction with the prop 60, etc. The control system 66 may be configured to automatically operate the actuator 64 (e.g., without additional user input, such as from a visitor, an operator, and / or a technician) based on the data received from the sensor 72. The control system 66 may operate the actuator by controlling (e.g., instructing) the actuator 64. The sensor 72 may include a control system, or be communicatively coupled to a control system that performs the above determinations. Additionally or alternatively, the control system 66 may receive data measured and / or detected by the sensor 72 and determine operating parameters and / or different operating parameters of the visitor area 52. As another example, the control system 66 may be configured to operate the actuator 64 based on user input. To this end, the control system 66 may include a user interface (UI) 74 with which a user can interact. The UI 74 may include, for example, a touch screen, a switch, a button, a track pad, a gesture sensor, a dial, another suitable feature, or any combination thereof. The interaction between the user and the UI 74 may transmit the user input, and the control system 66 may actuate the actuator 64 based on the user input. Thus, the control system 66 may cause actuation of the joint system 62 in response to receiving the user input, and thus cause actuation of the prop 60. The props 60, articulation system 62, visitor area 52, control system 66, actuator 64 and / or sensor 72 may all include receivers, transmitters and / or transceivers, and / or may be communicatively coupled to receivers, transmitters and / or transceivers, and may communicate with each other via receivers, transmitters and / or transceivers.

[0018] As further described herein, the joint system 62 of the prop 60 may include a variety of components that can be moved and / or adjusted in position relative to each other, and / or oriented relative to each other to allow actuation of the joint system 62. Actuation of the joint system may include: moving and / or adjusting the position and / or orientation of a component of the joint system relative to another component of the joint system. The joint system 62 may also include one or more supports, one or more supports coupled to the components. The one or more supports may facilitate actuation, stability, and / or positioning of the joint system 62 and / or one or more components thereof. In this way, the joint system 62 may be better operated (e.g., via the actuator 64, via the control system 66) to provide the desired appearance of the prop 60. For example, the structure of the joint system 62 may have a spring constant and may impart a force that reduces the stress applied to certain components of the joint system 62 and / or facilitates a certain amount of relative movement between certain components of the joint system 62. Therefore, the joint system 62 may be more desirably operated.

[0019] Figure 2 6 is a schematic diagram of an embodiment of a prop 60 that can utilize a joint system 62. In the illustrated embodiment, the prop 60 includes an octopus having a plurality of tentacles 90. However, other prop arrangements are also contemplated. One or more of the tentacles 90 can be actuated using the joint system 62 for the purpose of bending, flexing, bending, twisting, etc., thereby providing a realistic appearance of movement (e.g., of a real-world octopus). For example, the joint system 62 can include a plurality of plates 92, and adjacent plates 92 can be coupled to each other at joints 94. The joints 94 can include a ball and socket joint, a universal joint, or another suitable joint that can couple, attach, and / or connect the plates 92 to each other. In such embodiments, the plates 92 can be separate components that are coupled, attached, and / or connected to each other via the joints 94. Additionally or alternatively, the plates 92 can be portions of a single integral material (e.g., a hard flexible plastic) that is deformable (e.g., elastically deformable). In either case, plates 92 may be moved relative to one another via joints 94 , thereby causing actuation of tentacle 90 .

[0020] The joint system 62 may also include a biasing support 96 that extends between adjacent plates 92. That is, the biasing support 96 may occupy at least a portion of the space or gap formed between adjacent plates 92. For example, the biasing support 96 may be coupled to and / or fixed to an opposing surface of each of the adjacent plates 92. Thus, movement of the plates 92 relative to each other may cause corresponding adjustment, deformation, and / or distortion of the biasing support 96. As an example, movement of the plates 92 toward each other may compress a portion of the biasing support 96. As another example, movement of the plates 92 away from each other may stretch or expand a portion of the biasing support 96. For this reason, the biasing support 96 may be formed of a flexible material, such as a mesh structure, an elastically deformable material, foam, a spring, etc., so that the shape of the flexible material can be adjusted to facilitate movement of the plates 92 relative to each other.

[0021] The biasing support 96 may also apply a force to the plates 92 to which the biasing support 96 is coupled, and the amount of force applied to the plates 92 may be based on the spring constant of the biasing support 96. As an example, in a default configuration (e.g., an inactive configuration, an unactuated configuration) of the joint system 62, such as a configuration in which adjacent plates 92 are oriented substantially parallel to each other, the biasing support 96 may be pre-compressed and / or pre-tensioned to inhibit, limit, eliminate, and / or prevent unwanted relative movement between the plates 92. Pre-compressing the biasing support 96 (e.g., in the default configuration, the plates 92 compress the biasing support 96) may cause the biasing support 96 to apply a corresponding force to each of the plates 92 to inhibit, limit, eliminate, and / or prevent movement (e.g., translation, rotation, and / or orientation) of the plates 92 toward each other. Pre-tensioning the biasing support 96 (e.g., in the default configuration, the plates 92 exert tension on the biasing support 96) can cause the biasing support 96 to apply a corresponding force to each of the plates 92 to inhibit, limit, eliminate, and / or prevent movement (e.g., translation, rotation, and / or orientation) of the plates 92 away from each other. In either case, the biasing support 96 can reduce unwanted movement between the plates 92 and increase the stability of the default configuration, thereby maintaining the desired positioning of the plates 92 relative to each other. In addition, the biasing support 96 can act to smooth the actuation of the individual plates 92, resulting in a more realistic motion trajectory.

[0022] As another example, in a kinematic configuration (e.g., an active configuration, an actuated configuration) of the joint system 62, in which the plates 92 are moved relative to each other (such as via the actuator 64), the biasing support 96 may apply different amounts of force and / or displacement to different portions of the plates 92. For example, the biasing support 96 may provide a force on a first portion (e.g., a first edge, face, and / or surface) of the plates 92 to push the first portions of the plates 92 away from each other, and the biasing support 96 may provide a force on a second portion (e.g., a second edge, face, and / or surface opposite the first edge, face, and / or surface) to push the second portions of the plates 92 toward each other. The pushing may include movement, translation, rotation, and / or orientation. As further described herein, such forces imparted to the plates 92 by the biasing support 96 may reduce stress imparted to other components of the joint system 62.

[0023] Actuation of the actuator 64 (e.g., extension and / or retraction and / or rotation of one or more components of the actuator) can cause relative movement of the plate 92 to adjust the shape of the joint system 62, thereby actuating the joint system 62. The biasing support 96 can facilitate such movement of the plate 92, thereby enabling a desired positioning, orientation, and / or actuation of the joint system 62. For example, the biasing support 96 can reduce the amount of force and / or torque applied by the actuator 64 to move the plate 92. In embodiments where the control system 66 is communicatively coupled to the actuator 64, the biasing support 96 can facilitate operation of the control system 66 to operate the joint system 62 via the actuator 64. Thus, the biasing support 96 can facilitate operation of the prop 60 to provide a desired effect via the joint system 62.

[0024] The bias support 96 may include a gel, a semi-solid and / or a fluid (e.g., a liquid, a gas), and, where appropriate, a membrane to accommodate the gel, semi-solid and / or fluid. In an embodiment, the bias support 96 may include regions of different geometries and / or materials. This may allow for different force distributions throughout different regions of the bias support 96. The bias support 96 may include multiple sections, multiple sections including different materials and / or geometries, and these multiple sections may be stacked, side by side, nested, spaced apart. The bias support geometry may include a direction-biased geometry. This may include a geometry that allows for larger deformations in one direction under a certain magnitude of force, but smaller deformations in different directions under the same magnitude of force.

[0025] Figure 3is a side view of an embodiment of the joint system 62. For example, the illustrated embodiment may include a default configuration of the joint system 62. Each of the plates 92 may include a base 120, and the bases 120 of adjacent plates 92 may be coupled to each other at respective joints 94. The joints 94 may allow relative movement between the bases 120 and / or enable relative movement between the bases 120 to enable relative movement between the plates 92. Additionally, the bases 120 may bias adjacent plates 92 away from each other to form a space 122 between adjacent plates 92. A biasing support 96 (shown in phantom) may be positioned between adjacent plates 92 and extend through the space 122, and may, for example, surround the joints 94 and / or bases 120 within the space 122. In the illustrated example, the biasing support 96 is coupled to the plate edge so that the biasing support 96 is generally positioned at or near the perimeter of one or more plates 92. In some embodiments, the biasing support 96 may extend at least partially into the interior space 122.

[0026] As discussed herein, the biasing support 96 can be fixed to each of the adjacent plates 92. For example, the first side 124 of one of the biasing supports 96 can be coupled and / or attached to the first plate 92A (e.g., an end plate) to inhibit, limit, eliminate, and / or prevent relative movement between the first side 124 of the biasing support 96 and the first plate 92A. The second side 126 of the biasing support 96, opposite the first side 124, can be coupled and / or attached to the second plate 92B (e.g., an intermediate plate adjacent to the end plate) to inhibit, limit, eliminate, and / or prevent relative movement between the second side 126 of the biasing support 96 and the second plate 92B. Thus, relative movement between the first plate 92A and the second plate 92B can cause relative movement between the first side 124 and the second side 126 of the biasing support 96 to adjust the geometry of the biasing support 96 (e.g., to stretch the biasing support 96, to compress the biasing support 96). Adjustment of the geometry of the biasing support 96 (e.g., by applying a force, pressure, and / or displacement to the biasing support) can cause the biasing support 96 to impart a force to the first plate 92A and / or the second plate 92B to facilitate adjustment of relative movement between the first plate 92A and / or the second plate 92B and / or maintain the positioning of the first plate 92A and / or the second plate 92B. Alternatively, modifying the default geometry (e.g., changing the design of the geometry rather than changing the amount of current force on the biasing support 96) can change how the biasing support 96 and the rest of the system behave when a force is applied to the biasing support 96. The biasing support 96 can be an integral structure coupled to each of the plates 92. In an embodiment, the biasing support 96 can be formed of separate substructures that are individually coupled to adjacent plates 92 to extend between them.

[0027] In the illustrated embodiment, a first actuator 128 (e.g., a first motor, a first capstan) and a second actuator 130 (e.g., a second motor, a second capstan) are operable to actuate the joint system 62. For example, the first actuator 128 may include a first extension 132, or be coupled to the first extension 132, such as a first cable, a first wire, a first rope, etc. The second actuator 130 may include a second extension 134, or be coupled to the second extension 134, such as a second cable, a second wire, a second rope, etc. The first extension 132 may also be coupled to the first plate 92A, and the extension length of the first extension 132 may span from the first actuator 128 to the first plate 92A. Similarly, the second extension 134 may be coupled to the first plate 92A, and the length of the second extension 132 may span from the second actuator 130 to the first plate 92A. Each of the extensions 132, 134 may extend through the other plates 92 (e.g., the second plate 92B) to the first plate 92A. To this end, the other plates 92 may also include openings through which the extensions 132, 134 may extend. Extensions (e.g., extensions 132, 134) may be coupled to plates other than the first plate 92A, and different extensions may be coupled to different plates.

[0028] The openings of the other plates 92 may enable relative movement between the extensions 132, 134 and the other plates 92. For example, the extensions 132, 134 may be slidable through the openings of the other plates 92. However, the extensions 132, 134 may be fixedly coupled to the first plate 92A. For example, the first extension 132 may be coupled to a first mounting point 136 of the first plate 92A, and the second extension 134 may be coupled to a second mounting point 138 of the first plate 92A. For example, the mounting points 136, 138 may be positioned at opposite ends of the first plate 92A. Relative movement between the extensions 132, 134 and the other plates 92 may drive relative movement between the mounting points 136, 138 and the other plates 92, respectively, thereby driving movement of the first plate 92A relative to the other plates 92 to actuate the joint system 62. For example, retracting (e.g., reducing the length of extensions 132, 134 that span from the actuators 128, 130 to the first plate 92A (e.g., to the mounting points 136, 138), respectively, can drive movement of the first plate 92A toward the other plate 92 (e.g., toward the actuators 128, 130). Extending (e.g., increasing the length of extensions 132, 134 that span from the actuators 128, 130 to the first plate 92A can drive movement of the first plate 92A away from the other plate 92 (e.g., away from the actuators 128, 130).

[0029] For example, actuation of the second actuator 130 to retract the second extension 134 spanning from the second actuator 130 to the first plate 92A (e.g., by winding or wrapping the second extension 134) can apply a force to the first plate 92A at the second mounting point 138 to drive the second mounting point 138 toward the second plate 92B via the joint 94 that couples and / or connects the first plate 92A to the second plate 92B. Such movement of the first plate 92A relative to the second plate 92B can further apply a force that drives similar movement of the second plate 92B toward the adjacent plate 92 via the corresponding joint 94, and similar forces can be applied to the remaining plates 92 to drive relative movement between the remaining plates 92. Additionally, movement of the second mounting point 138 toward the second plate 92B, when caused by retracting the second extension 134 spanning from the second actuator 130 to the first plate 92A, can cause the first mounting point 136 to move away from the second plate 92B, causing the second plate 92B to move away from the adjacent plate 92 in a similar manner, and so on. Thus, the extension length of the first extension 132 spanning from the first actuator 128 to the first plate 92A can be increased (e.g., the first actuator 128 can provide additional slack in the first extension 132). In this way, the retraction of the second extension 134 spanning from the second actuator 130 to the second mounting point 138 and the corresponding increase in the extension length of the first extension 132 spanning from the first actuator 128 to the first mounting point 136, when caused by actuation of the second actuator 130, can cooperatively cause relative rotation of the plates 92 relative to each other in the rotational direction 140. Thus, operation of each of the actuators 128 , 130 may be controlled to actuate the joint system 62 .

[0030] Although the illustrated embodiment includes two extensions 132, 134, additional or alternative embodiments may include any suitable number of extensions, such as one extension, three extensions, or four or more extensions. A corresponding actuator may include and / or control each extension. As an example, additional extensions may be implemented to enable additional movement of the plates 92 relative to each other, such as additional movement in additional rotational directions.

[0031] The control system 66 may be configured to operate the actuators 128, 130 independently of one another. That is, for example, the control system 66 may operate the first actuator 128 to retract the first extension 132 spanning from the first actuator 128 to the first mounting point 136, and separately operate the second actuator 130 to increase the extension length of the second extension 134 spanning from the second actuator 130 to the second mounting point 138. In this manner, the control system 66 may precisely adjust the extension lengths of the extensions 132, 134 extending from the actuators 128, 130, respectively, to the first plate 92A to provide a desired positioning and / or movement of the plates 92 relative to one another to actuate the joint system 62.

[0032] The extensions 132, 134 may also extend through the biasing support 96 to couple and / or connect to the first plate 92A. Thus, the biasing support 96 may also include openings through which the extensions 132, 134 may extend, and such openings may enable relative movement between the extensions 132, 134 and the biasing support 96. The biasing support 96 may reduce the operation of the actuators 128, 130, such as the respective amount of force and / or torque applied by the actuators 128, 130 to effectuate the desired positioning of the joint system 62. For example, the biasing support 96 may apply a force that maintains the positioning of the first plate 92A relative to the second plate 92B, as well as the positioning of the other plates 92 relative to each other, without requiring the actuators 128, 130 to be operated to apply significant force on the mounting points 136, 138. For example, even though the extensions 132, 134 do not exert significant force on the first plate 92A, the biasing support 96 coupled to the first plate 92A and to the second plate 92B can inhibit, limit, eliminate and / or prevent unwanted movement of the first mounting point 136 toward the second plate 92B and / or inhibit, limit, eliminate and / or prevent unwanted movement of the second mounting point 138 toward the second plate 92B. In this way, the relative positioning between the plates 92 can be maintained via the biasing support 96 rather than via the extensions 132, 134 as operated by the actuators 128, 130, thereby enabling reduced operation of the actuators 128, 130.

[0033] In addition, in an embodiment, any one of the plates 92 (e.g., the first plate 92A) may be coupled and / or attached to an additional component. The additional component may include a weight, an actuator, a robotic manipulator, an end effector, and / or a light emitting device (e.g., a light bulb, a light emitting diode (LED)). In such embodiments, the extensions 132, 134 may support the weight of the additional component. Thus, the additional component may apply an additional force (e.g., the weight of the additional component, the weight of any object picked up by the additional component) to the extensions 132, 134. The biasing support 96 may absorb and / or distribute the additional force applied by the additional component, and / or reduce the amount of force applied by the additional component acting on the extensions 132, 134. In this way, the biasing support 96 may facilitate the movement of the plate 92 (e.g., to drive the corresponding movement of the additional component) and / or the stability of the plate 92 (e.g., to maintain the position of the additional component).

[0034] The biasing support 96 may also have regions of different stiffness (e.g., stiffness constant, spring constant). Thus, different regions of the biasing support 96 may apply different amounts of force to the plate 92. As an example, a first region of the biasing support 96 adjacent to the first extension 132 may have a greater stiffness (e.g., stiffness constant, spring constant) than a second region of the biasing support 96 adjacent to the second extension 134. Thus, a relatively large amount of force and resistance may be imparted on the portion of the plate 92 adjacent to the first extension 132. As a result, the amount of force applied to the first extension 132 (e.g., via the first actuator 128) to cause movement of the plate 92 is greater than the amount of force applied to the second extension 134 (e.g., via the second actuator 130) to cause similar movement of the plate 92. The varying stiffness of the biasing support 96 may affect a more desirable movement of the plate 92 via the operation of the actuators 128, 130. For example, utilizing a biasing support 96 having a relatively smaller spring constant region adjacent to the second extension 134 may enable operation of the first actuator 128 to more easily cause movement of the plate 92 via the first extension 132 (eg, via a relatively lower output torque).

[0035] Figure 4 is a detailed view of an embodiment of the joint system 62. For example, the illustrated embodiment may include a kinematic configuration of the joint system 62, such as an operation to drive the second mounting point 138 toward the second plate 92B (e.g., the second extension 134 is retracted from its corresponding actuator to the first plate 92A) to cause the first plate 92A to move relative to the second plate 92B in the rotational direction 140. As a result, in the illustrated kinematic configuration, the first mounting point 136 may be correspondingly driven away from the second plate 92B. As a result, the first end 160 of the biasing support 96 coupled to the first plate 92A (e.g., at the first mounting point 136) may expand, and the second end 162 of the biasing support 96 coupled to the first plate 92A (e.g., at the second mounting point 138) may be compressed.

[0036] In another embodiment, the biasing support 96 may apply forces to the plates in opposite directions (e.g., opposite directions 166). For example, the biasing support 96 may urge the first plate 92A and the second plate 92B to move away from each other. In this way, the biasing support 96 may facilitate operation of the extensions 132, 134 to move the first plate 92A (e.g., the first mounting point 136, the second mounting point 138) away from the second plate 92B. Additionally or alternatively, the biasing support 96 may simultaneously apply a first set of forces of magnitude and / or direction (e.g., at the compressed second end 162 in the illustrated motion configuration) and a second set of forces of magnitude and / or direction (e.g., at the expanded first end 160 in the illustrated motion configuration) to the first plate 92A and / or to the second plate 92B. The simultaneous application of a first set of forces of magnitude and / or direction and a second set of forces of magnitude and / or direction may produce a force balance, which may facilitate operation of the joint system 62 (e.g., distributing forces that would otherwise be imparted to the extensions 132, 134 and corresponding actuators during movement of the first plate 92A relative to the second plate 92B).

[0037] The biasing support 96 may also apply different amounts of force at different areas of the biasing support 96. For example, the biasing support 96 may include a first area 168 and a second area 170, the first area 168 engaging the first mounting point 136 and the second area 170 engaging the second mounting point 138. The stiffness of the first area 168 may be greater than the stiffness of the second area 170. Therefore, in the illustrated motion configuration, the force applied to the plate 92 by the biasing support 96 at the first end 160 may be greater than the force applied to the plate 92 by the biasing support 96 at the second end 162. The different amounts of force applied to different portions of the plate 92 at the same time may result in more desirable operation of the actuator. For example, in the illustrated motion configuration, the increased force applied to the plate 92 by the biasing support 96 at the first end 160 may provide a greater reduction in the stress imparted to the first extension 132 to maintain the structural integrity of the first extension 132 and / or to enable the first actuator 128 (see Figure 3 ) operations (eg, moving plate 92) can be reduced.

[0038] Another biasing support 96 coupled to the other plate 92 of the articulation system 62 can similarly facilitate relative movement between the plates 92. That is, the other biasing support 96 can apply a force that promotes movement between different portions of the plates 92 (e.g., due to deformation of the biasing support 96), thereby reducing the force that would be applied to cause relative movement between the plates 92. Thus, the other biasing support 96 can further reduce the stress imparted on the extensions 132, 134 and / or further reduce the operation of the actuator to actuate the articulation system 62 during operation. In fact, the implementation of the additional biasing support 96 can also improve the operation of the articulation system 62.

[0039] Figure 5 is a partial perspective view of an embodiment of a biasing support 96. The illustrated biasing support 96 includes a mesh structure 180 with interconnected materials (such as struts) to form spaces 182 (e.g., holes, openings, gaps) in an open cell arrangement. To facilitate deformation of the mesh structure 180 (e.g., caused by movement of the plates coupled to the biasing support 96), the mesh structure 180 can be constructed of a pliable and / or elastically deformable material (such as a resin and / or a polymer (e.g., rubber, elastomer)). Such materials can also provide sufficient structural integrity to resist wear and / or fatigue caused by continued deformation during relative movement between the plates, thereby increasing the useful life of the joint system.

[0040] Additionally, the arrangement of the mesh structure 180 may facilitate inducing and / or allowing forces imparted at certain portions of the biasing support 96 to provide relative movement between plates coupled to the biasing support 96. As an example, increasing the amount of material within a volume of the mesh structure 180 to reduce the amount of open space 182 within the volume, thereby increasing the density of the mesh structure 180 at the volume, may increase the spring constant of the biasing support 96, increase the force imparted by the biasing support 96, and / or increase the resistance to deformation of the biasing support 96 at the volume. As another example, decreasing the amount of material within a volume of the mesh structure 180 to increase the amount of open space 182 within the volume, thereby decreasing the density of the mesh structure 180 at the volume, may decrease the spring constant of the biasing support 96, decrease the force imparted by the biasing support 96, and / or decrease the resistance to deformation of the biasing support 96 at the volume. Different regions of the mesh structure 180 may have different densities, and therefore different spring constants. Thus, the mesh structure 180 may be configured to apply different amounts of force at different regions.

[0041] For example, different biasing supports 96 may have mesh structures 180 with different densities and / or stiffnesses to adjust and / or bias against movement of the plates caused by operation of the actuator (e.g., to adjust the amount and / or directionality of movement of the plates caused by a specific amount of force or torque applied by the actuator). In embodiments, different biasing supports 96 may be implemented interchangeably in a joint system. For example, in order to reduce movement of the plates imposed by operation of the actuator, a biasing support 96 with increased density and / or stiffness may be implemented in the joint system to increase resistance to relative movement between the plates. That is, relative movement between the plates may be reduced through the implementation of a new biasing support 96 while maintaining operation of the actuator (e.g., force applied by the actuator). Similarly, in order to increase movement of the plates imposed by operation of the actuator, a biasing support 96 with reduced density and / or stiffness may be implemented in the joint system to reduce resistance to relative movement between the plates. In this way, relative movement between the plates may be reduced by adjusting the biasing support 96 implemented in the joint system without having to change the operation and / or implementation of the actuator and / or control system configured to operate the actuator to facilitate adjustment of the operation of the joint system.

[0042] The mesh structure 180 may also be manufactured to provide other properties. As an example, the mesh structure 180 may be manufactured to be controlled in a manner in which the mesh structure 180 deforms in order to reduce the amount of outward expansion (e.g., away from the joint where the plates are attached) of the mesh structure 180 during compression. As another example, the mesh structure 180 may be manufactured to have spaces 182 of a particular size, such as spaces 182 of reduced individual size (e.g., diameter) to limit, eliminate, and / or prevent unwanted particles (e.g., debris, dirt, other joint system components) from being inserted and / or lodged within the mesh structure 180. Indeed, the mesh structure 180 may have a variety of structural properties to provide desired properties for implementation in a joint system.

[0043] In addition, the mesh structure 180 can be manufactured so that the mesh structure 180 can be fixed to the plate. As an example, the mesh structure 180 can form a space 182 that allows a separate member (such as a cable tie, a magnet, an adhesive (e.g., a resin cure, glue), a snap, a button, and / or a hook) to be inserted through one of the spaces 182 to connect and / or attach the mesh structure 180 to one of the plates. For example, the member can compress the mesh structure 180 against the plate to fix the mesh structure 180 to the plate. The mesh structure 180 can additionally or alternatively form features such as punches, inserts, and / or keys that can engage with the plate to fix the mesh structure 180 to the plate. The mesh structure 180 and the plate can also be easily separated or disengaged from each other (e.g., by a user without additional tools) so that the biasing support 96 can be more easily removed from the joint system, such as for maintenance, replacement, inspection, etc.

[0044] The space 182 defined by the mesh structure 180 may also be sized to enable the extension to be inserted through the mesh structure 180 (e.g., to enable the extension to extend toward the plate). In one embodiment, the biasing support 96 may include a sleeve, sheath, enclosure, wall, partition, etc., which may be defined by the mesh structure 180 to isolate the extension from the mesh structure 180. Thus, contact between the extension and the mesh structure 180 may be limited, eliminated, and / or prevented to maintain the structural integrity of the extension and / or the structural integrity of the mesh structure 180. For example, limiting, eliminating, and / or preventing contact between the extension and the mesh structure 180 may inhibit, limit, eliminate, and / or prevent unwanted forces from being applied to the mesh structure 180 by the extension and / or inhibit, limit, eliminate, and / or prevent unwanted forces from being applied to the extension by the mesh structure 180, such as during deformation of the biasing support 96. There may be sufficient clearance provided by the mesh structure 180 to avoid restricting the movement of the extension through the space 182 and to facilitate relative movement between the extension and the mesh structure 180, thereby facilitating movement of the plate and actuation of the joint system. If the clearance is narrow enough, propulsive actuation using the extension may be facilitated. For example, a sleeve, sheath, or enclosure may provide additional external support for the extension to improve the ability of the extension to apply propulsive forces while maintaining structural integrity and not failing.

[0045] In embodiments, the mesh structure 180 may be manufactured via additive manufacturing (e.g., three-dimensional (3D) printing). Such manufacturing processes may allow for better control of the placement of the mesh structure 180 to provide a desired operation and / or appearance of the joint system. For example, an additive manufacturing machine may be pre-programmed or preset to operate and form a mesh structure 180 having: a specific density value, a specific mesh strut size / geometry, a specific mesh or cell type / shape, a specific density distribution, and / or a specific density curve. However, in additional or alternative embodiments, other manufacturing techniques may be used to form the mesh structure 180. For example, injection molding and / or subtractive manufacturing may be utilized.

[0046] In addition to or as an alternative to the mesh structure 180, the biasing support 96 may include other features that can be deformed via relative movement between the plates and apply a biasing force to the plates. For example, the biasing support 96 may include foam, springs (e.g., coil springs), etc., and such structures may also be manufactured to impart different resistance to relative movement between the plates (e.g., at different areas of the structure, via different biasing supports 96). In fact, any suitable structure configured to apply a biasing force to the plates may be utilized in the biasing support 96.

[0047] Existing joint systems may be retrofitted with any of the biasing supports 96 discussed herein. For example, a specific mesh structure 180 may be manufactured for an existing joint system, such as based on the desired movement of the plates of the existing joint system, the size of the spaces between the plates, the specifications (e.g., dimensions) of the plates, etc. Thus, the benefits provided by the biasing support 96 may be realized for any suitable joint system, including joint systems to which the biasing support 96 may not have been previously applied.

[0048] Figure 6 is a top view of an embodiment of the articulation system 62, illustrating a connection between a portion of the biasing support 96 and one of the plates 92. In the illustrated embodiment, the biasing support 96 includes a fastener opening 210 (e.g., one of the spaces 182 of the mesh structure 180). The fastener opening 210 may enable a fastener 212 to be inserted through the biasing support 96 and into the plate 92. For example, the fastener 212 may be utilized to couple the mesh structure 180 to the plate 92, and / or to couple the plate 92 to another component (e.g., to a base). In addition, the plate 92 may include various extension openings 214 through which corresponding extensions may be inserted, such as for coupling to an end plate. In the assembled configuration of the articulation system 62, each extension opening 214 may be aligned with a corresponding space 182 of the mesh structure 180 so that each extension may extend through the plate 92 and the mesh structure 180 via the aligned extension opening 214 and space 182.

[0049] In the assembled configuration, the biasing support 96 can surround an interior volume 216 (e.g., cavity, interior space) within the joint system 62. That is, the biasing support 96 can define an opening that can be aligned with the interior volume 216. In an embodiment, a joint can be disposed within the interior volume 216 via which a plurality of plates are coupled to each other. Thus, in the assembled configuration, the biasing support 96 can enclose the joint.

[0050] Although in the illustrated embodiment, the plate 92 and the biasing support 96 include a circular or oval shape, in additional or alternative embodiments, the plate 92 and / or the biasing support 96 may include any suitable shape. For example, the plate 92 may be triangular, rectangular, pentagonal, etc., and the biasing support 96 may have a shape corresponding to the shape of the plate 92. Fabricating the biasing support 96 to have a shape corresponding to the shape of the plate 92 may increase the contact area between the biasing support 96 and the plate 92 to facilitate securing the biasing support 96 to the plate 92. As a result, relative movement between the plates 92 may cause more desirable deformation or adjustment of the biasing support 96 coupled thereto.

[0051] Figure 7 is a perspective view of an embodiment of a biasing support 96. In the illustrated embodiment, the mesh structure 180 of the biasing support 96 includes a slot 240 configured to receive the plate 92 so as to couple the biasing support 96 to the plate 92. For example, the plate 92 may be inserted into the slot 240, and the mesh structure 180 may capture the plate 92 within the slot 240, thereby inhibiting, limiting, eliminating and / or preventing relative movement between the plate 92 and the biasing support 96. In one embodiment, additional members and / or features (e.g., cable ties, magnets, adhesives, snaps, hooks, punches, inserts, keys) may be utilized to further secure the plate 92 to the biasing support 96. It should be noted that the biasing support 96 may define a plurality of slots 240 so as to couple the biasing support 96 to a plurality of plates 92. Thus, a single biasing support 96 may be implemented to provide a desired relative movement between more than two plates 92. For example, a joint system having three or more plates 92 may utilize a single biasing support 96 extending between adjacent plates 92. Thus, the ease of manufacturing of the biasing support 96 may be improved, such as compared to manufacturing separate biasing supports 96 for positioning between adjacent plates 92.

[0052] Other embodiments may also be utilized in the joint system to control relative movement between the plates 92 of the joint system. For example, a single integral component may be implemented that has the mesh structure 180 and the plates 92. For example, different materials for the mesh structure 180 and for the plates 92 may be utilized to provide the joint system via a single manufacturing process (e.g., additive manufacturing). The manufacture of an integral component that includes both the biasing support 96 and the plates 92 may further improve ease of manufacturing, such as compared to separately manufacturing the biasing support 96 and the plates 92 and coupling the separately manufactured biasing support 96 and the plates 92 to each other.

[0053] Although only certain features of the disclosure have been illustrated and described herein, many modifications and changes will occur to those skilled in the art. It will be understood, therefore, that the appended claims are intended to cover all such modifications and changes that fall within the true spirit of the disclosure.

[0054] The technology presented and claimed herein is cited and utilized in concrete examples of material objects and actual properties that significantly improve the art and are thus not abstract, intangible, or purely theoretical. In addition, if any claim appended to the end of this specification contains one or more elements designated as "means for (performing) ... (function)" or "steps for (performing) ... (function)", it is intended that such elements will be interpreted in accordance with 35 U.S.C. 112(f) (35 U.S.C. 112(f)). However, for any claim containing elements designated in any other manner, it is intended that such elements are not interpreted in accordance with 35 U.S.C. 112(f).

Claims

1. A prop of a scenic spot system, the prop comprising: a plurality of plates including a first plate and a second plate coupled to the first plate, wherein the second plate is configured to move relative to the first plate; and A bias support comprising a mesh structure coupled to the first plate and the second plate and extending between the first plate and the second plate, wherein the bias support is configured to deform during relative movement between the first plate and the second plate, and wherein the bias support is configured to apply a force to the first plate, the second plate, or both when deformed.

2. The prop of claim 1, comprising an actuator and an extension, the extension being coupled to the actuator, wherein: The extension portion extends from the actuator, passes through the second plate, and reaches the first plate, and the actuator is configured to adjust an extension length of the extension portion extending from the actuator to the first plate to cause relative movement between the first plate and the second plate.

3. The tool according to claim 2, wherein: The mesh structure of the biasing support forms an opening, and the extension extends through the biasing support via the opening.

4. The tool according to claim 2, wherein: The actuator is configured to retract the extension, which extends from the actuator to the first plate, to move the first plate toward the second plate.

5. The tool according to claim 1, wherein: The mesh structure of the biasing support includes interconnected material forming spaces in an open cell arrangement and includes varying material density at different regions of the mesh structure.

6. The tool according to claim 1, wherein: The first plate and the second plate are coupled to each other at a joint, and the biasing support surrounds the joint.

7. The tool according to claim 1, wherein: The mesh structure includes a first region and a second region, the first region includes a first spring constant, the second region includes a second spring constant, and the first spring constant and the second spring constant are different from each other.

8. A joint system, comprising: First board; a second plate coupled to the first plate; a first extension coupled to the first plate at a first mounting point; a second extension coupled to the first plate at a second mounting point; as well as A bias support member connected to the first plate and connected to the second plate, wherein the bias support member includes a first area and a second area, the first area is engaged with the first mounting point, the second area is engaged with the second mounting point, the first area of ​​the bias support member includes a first stiffness, the second area of ​​the bias support member includes a second stiffness, and the first stiffness and the second stiffness are different from each other.

9. The joint system according to claim 8, wherein: The second plate is connected to the first plate at a joint, the first plate is configured to move relative to the second plate around the joint to deform the biasing support, and the biasing support is configured to apply force to at least the first plate via relative movement between the first plate and the second plate when deformed.

10. The joint system according to claim 8, wherein: The biasing support comprises a lattice structure.

11. The joint system according to claim 10, wherein: The grid structure at the first zone includes a ratio of a first structural material to an open space, the grid structure at the second zone includes a ratio of a second structural material to an open space, and the ratio of the first structural material to the open space is greater than the ratio of the second structural material to the open space, so that the first spring constant is greater than the second spring constant.

12. The joint system according to claim 8, wherein: The biasing support defines a slot configured to receive the second plate, and the biasing support is configured to capture the second plate within the slot to couple to the second plate.

13. The joint system according to claim 8, wherein: The biasing support defines an opening configured to receive a fastener to couple the biasing support to at least the first plate or the second plate.

14. The joint system according to claim 8, wherein: Each of the first extension and the second extension extends through the second plate and the biasing support and to the first plate.

15. A method for actuating a prop, the method comprising: A first plate of the prop is moved relative to a second plate of the prop via an actuator of the prop, wherein the prop includes a biasing support coupled to and extending between the first plate and the second plate, and the biasing support is configured to deform during movement between the first plate and the second plate.

16. The method according to claim 15, wherein: The prop includes an extension coupled to the first plate, and moving the first plate relative to the second plate includes adjusting the extension via the actuator.

17. The method according to claim 16, wherein: The extension is coupled to the actuator and the first plate, and moving the first plate relative to the second plate includes adjusting, via the actuator, an extension length of the extension extending from the actuator to the first plate.

18. The method according to claim 16, wherein: The extension is coupled to the first plate at a mounting point, and via the actuator, the first plate is moved relative to the second plate, driving movement of the mounting point toward the second plate, thereby compressing the biasing support at the mounting point.

19. The method according to claim 18, wherein: The prop includes an additional extension coupled to the first plate at an additional mounting point, and the method includes moving the first plate relative to the second plate via an additional actuator of the prop to drive movement of the additional mounting point away from the second plate, thereby expanding the biasing support at the additional mounting point.

20. The method according to claim 15, wherein: Moving the first plate t relative to the second plate includes operating the actuator via a control system.

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