Hybrid compounded robotic platform

Abstract

The invention relates to a hybrid compounded robotic platform (HCRP) comprising: a support base; at least one robot arm with multiple degrees of freedom projected from the support base; at least one primary end‐effector, which may be adapted to carry and drive one or more secondary and tertiary end‐effectors; at least one coupler for establishing connections between the end‐effectors; at least one parking station for stowing end‐effectors; and an intelligent management unit to control the platform and / or the plurality of platforms.

Description

[0001] Description

[0002] Title of Invention: HYBRID COMPOUNDED ROBOTIC PLATFORM

[0003] Technical Field Exemplary embodiments of the present invention are related to robotic system, in particular, versatile hybrid compounded robotic platform, systems and methods.

[0004] Summary of Invention The present invention relates to a versatile hybrid compounded robotic platform designed to enhance the adaptability, efficiency, and scalability of robotic systems. The platform comprises modular components that can be reconfigured or assembled in multiple configurations easily to meet the specific needs of diverse tasks and environments. These modules can be easily combined to form different types of robots with varying capabilities, such as wheeled vehicles, aerial drones, multi-legged crawlers, stair climber, caterpillar chain, over / under water guided vehicles or humanoid robots, depending on the operational requirements. The key feature of the hybrid compound robotic platform is its flexibility in design, allowing users to modify the robot's physical structure, payload capacity, mobility features, and functionality without the need for substantial redesigns. By utilizing interchangeable and selfaligning end effectors, work piece and / or modules, the platform can optimize its performance across different environments, whether in constrained urban settings, remote locations, or even hazardous conditions. In one embodiment, the platform includes a base structure with a set of connected joints and a control system that can dynamically adapt to different configurations. Sensors, actuators, and power sources are distributed across the modules to ensure efficient and responsive performance in any configuration. Furthermore, the platform incorporates advanced algorithms for autonomous reconfiguration, enabling the robot to automatically adjust its shape or operational parameters based on real-time environmental data or task-specific requirements. This versatile hybrid compounded robotic platform is designed for various applications, including industrial automation, search and rescue operations, exploration, environmental monitoring, and assistive healthcare. The platform's adaptability reduces operational costs by consolidating multiple robotic functions into a single system and enhancing its lifespan through modular upgrades. By offering an easy-to-use and highly customizable solution, this invention provides a robust foundation for the next generation of robotic systems. In the healthcare industry, there is an increasing demand for robotic systems capable of performing a range of functions such as surgical assistance, patient care, diagnostics, treatment and rehabilitation. However, current robotic systems tend to be limited in scope, often designed for specific applications such as minimally invasive surgeries, rehabilitation, or robotic nursing assistants. The challenge lies in creating a system that can perform multiple healthcare functions without requiring completely different machines or infrastructure. Healthcare environments also require robots to be highly adaptable, moving between different spaces (e.g., operating rooms, patient wards, and emergency rooms) while ensuring compliance with medical regulations and safety standards. Additionally, healthcare robots need to address significant issues such as patient mobility assistance, emergency response, infection control, and the need for telemedicine or remote assistance. The manufacturing industry has undergone significant automation, yet the challenge remains in creating versatile robotic platforms capable of performing diverse tasks on production lines. These tasks can include precision assembly, heavy lifting, quality inspection, and material handling. While robots have been widely adopted for repetitive, high-precision tasks, they often struggle with flexibility in dynamic production environments that require adaptation to new products or changing production lines. The need for robotic systems that can be quickly reprogrammed or reconfigured to accommodate different processes is critical for minimizing downtime and increasing operational efficiency. Manufacturing facilities must also deal with changing market demands, the need for customization, and a move toward smaller batch production, necessitating robots that can handle a variety of tasks without requiring custom-built equipment. In the hospitality industry, there is a growing need for robots that can assist with various tasks, including room service, cleaning, food delivery, and guest interaction. Robots are increasingly being employed to improve guest experience, enhance operational efficiency, and reduce human labor costs. However, existing robotic solutions often specialize in a single function or are limited to specific environments, such as hotels or restaurants, making them less useful across broader hospitality operations. The demand for robots capable of performing multiple functions, moving efficiently between hotel rooms, kitchens, and public spaces, and adapting to customer needs in real time presents a significant challenge. Furthermore, hospitality robots must integrate seamlessly with human staff and provide a high level of interaction and communication, which is a growing concern for manufacturers of robotic systems in this field. Logistics and supply chain management are critical to modern economies, and the need for automation in these sectors is growing. Current robotic solutions in logistics often focus on specific tasks such as warehouse sorting, material transport, and package handling. However, these systems tend to lack the flexibility required to adapt to changing workflows or environments. The integration of robots for last-mile delivery, real-time inventory management, and efficient storage solutions has also been a growing focus, but many of the available robots are either limited to certain tasks or face difficulties in navigating dynamic environments, such as outdoor terrains or complex indoor warehouse layouts. The logistics sector requires robots that can adapt to changing inventory, user demands, and physical environments. Versatile, modular robots capable of performing a range of tasks without human intervention would dramatically reduce costs, enhance productivity, and streamline operations. Construction is another sector where robotic automation holds immense promise. The demand for robotics in construction ranges from autonomous heavy machinery for earth-moving and bricklaying to lightweight robots that assist workers with lifting, carrying, or assembly tasks. However, current robotic systems tend to be rigid, tailored to specific roles, and often difficult to modify for different types of tasks or construction projects. Construction sites vary significantly in terms of terrain, scale, and complexity. Therefore, a robotic system that can adapt to these varying environments, from complex urban construction sites to more rural and rugged terrains, is critical for increasing worker safety, improving efficiency, and reducing costs. The construction industry also needs robots that can work alongside human laborers, providing them with the tools and assistance required to improve productivity and reduce labor strain. The military sector has long recognized the potential of robotics for enhancing operational capabilities. Robots are used for tasks such as reconnaissance, logistics support, bomb disposal, surveillance, and combat assistance. However, current military robots are often specialized for specific roles, requiring significant reconfiguration or investment in multiple platforms to handle diverse tasks. Military operations also require robots that are capable of performing in highly variable and hostile environments, such as combat zones, urban warfare settings, or remote regions. The versatility and adaptability of military robotic systems are paramount in ensuring the safety and efficiency of soldiers while minimizing risk in dangerous situations. However, the challenge lies in providing a system that is capable of switching between different functions, such as reconnaissance, emergency support, and tactical operations, without requiring entirely separate units or configurations. Need for a versatile hybrid compounded robotic platform given these varied and evolving challenges across different industries, there is a strong need for a single, highly adaptable robotic platform that can perform a wide array of tasks across diverse applications. This platform should offer modularity, flexibility, and scalability, allowing for reconfiguration of the system to meet the specific needs of healthcare, manufacturing, hospitality, logistics, construction, mining and military operations. The invention described herein provides a solution to these challenges by providing a versatile, compound robotic platform capable of seamlessly transitioning between different forms, tasks, and operational environments.

[0005] Technical Problem In recent years, robotics has significantly advanced, in all fields particularly in the fields of healthcare, logistics, manufacturing, construction, agriculture, hospitality, military, mining, entertainment, automation, exploration, and consumer service. However, existing robotic systems often have limitations when it comes to flexibility, versatility, adaptability, and scalability. Many robots are designed for specific tasks and require significant modifications or a complete redesign to perform new functions or operate in diverse environments. This lack of flexibility hinders their potential for broader applications, especially in rapidly evolving industries where multi-functional and adaptive systems are highly desirable. Solution to Problem A key challenge faced by in existing robotics is creating a common platform that can seamlessly transition between different forms or modes to perform a wide variety of tasks. These tasks can range from intricate, high-precision operations to more rugged, heavy-duty functions in different terrains or environments. As such, a versatile and scalable hybrid compound robotic platform capable of reconfiguring itself to meet the demands of various applications could significantly enhance operational efficiency, reduce costs, and simplify design processes in numerous industries. Moreover, existing robotic systems may require separate platforms or multiple robots to tackle tasks with varying complexities, leading to increased operational overhead, maintenance costs, and resource requirements. There is a need for a versatile hybrid compounded robotic platform that can integrate various features and be easily adapted or reconfigured to suit different environments and objectives.

[0006] Brief Description of Drawings The aforementioned characteristics, attributes, and benefits of this invention will be more fully understood when considered alongside the subsequent figures and their explanations. These figures and explanations are not meant to limit the scope of the invention or its variations in any manner. Corresponding reference numerals are used to label identical components across the different figures. Typically, the figures are not drawn to scale or alignment. In the drawings: FIG.l illustrates an exemplary how the sequences of end effectors are connected in the hybrid compounded robotic platform. FIG.2 illustrates schematic diagram the method how hybrid compounded robotic platform is configured in a simplified manner for visualization. FIG.3A-3B provides prior art of an industrial robotic arm and robotic tool change. FIG.4 illustrates schematic diagram the method how hybrid compounded robotic platform works. FIG.5 shows a few exemplary embodiments of mobile, immobile and / or a combination of support base where in an industrial robot is projected from and to be fitted with different primary, secondary and tertiary end effectors and / or work pieces

[0007] Description of Embodiments Various embodiments will be detailed below in conjunction with the accompanying drawings for illustrative purposes. It should be understood that numerous alternative implementations of the disclosed concepts are feasible, and various benefits may be realized through the described implementations. Headings are provided for reference and to facilitate navigation through the different sections. However, these headings are not intended to constrain the scope of the concepts discussed therein. Such concepts may be applicable throughout the entirety of the specification. The disclosed invention discovered that the mobile hybrid compounded robotic platform movement in at least one version is optimized for maximum flexibility through the use of exchangeable locomotives which can be omni-directional mecanum / AGV wheels, casters, stair climbers, caterpillar chain, manned / unmanned aerial / water vehicle, multi-legged walkers. With this design, no steering adjustments are needed to position the platform. For example, the omnidirectional wheels allow the platform to move freely in any direction at any moment. This design results in time efficiency and a reduced spatial footprint, as no extra room is needed for maneuvering. Moreover, the omnidirectional wheels enable a larger working area for the mobile platform, which includes all the operating positions of the end effectors. Notably, the platform can move in any direction— before, during, or after executing a task— allowing it to follow a variety of paths seamlessly. Collisions between plurality of hybrid compounded robotic platforms, end effectors and / or work pieces with other platforms can be avoided via sensor module and intelligent management unit. The precise position of one hybrid compounded robotic platform, also the end effectors and / or the robot tool change is known by other hybrid compounded robotic platform at all times. If necessary or periodically, the one platform can also request the position of the other platform / s to locate the exact position of any of HCRP. This request may be directly communicated between two or more platforms, alternatively, facilitated by a central intelligent management unit. The disclosed invention is multi-disciplinary, multi-tasking and versatile hybrid robotic platform that can be reconfigured without substantial modification to be deployed in multitudinous applications. FIG.l shows exploded views of components of human-like hybrid compounded robotic platform 20. The mobile support base 2.1 carries a standard industrial robot arm 1.1 which is coupled to linear guide system 4.1 using robotic tool changes 3.4.1 & 3.4.2. The linear guide system is equipped with rotational mechanism 7 & 7.1 which in return coupled to human arm like cooperative robots 6 & 6.1 using coupler 3.5.1 & 3.5.2. The cooperative robots are connected with detachable / exchangeable territory end effectors for desired application including robotic palm for human like dexterity. FIG.2 demonstrates a simplified connection of a fixed and mobile hybrid compounded robotic platforms along with the connection among the sequence of end effectors. FIG.3A illustrates one embodiment of industrial robotic arm as prior art including a robotic arm having six rotational degrees of freedom and one substantially horizontal, linear degree of freedom. The prior art drawing is taken from USPTO publication no: US20130025055A1. As shown in FIG.3A, the industrial robotic arm includes a robotic arm 1.1 having a wrist assembly 220 , an elbow assembly 230 , a shoulder assembly 240 , a plate member 380 , a track mount assembly 350 , and a track 360. The primary end effector or work piece / patient may be rotatably attached to the wrist assembly 220, which includes a tool-yaw joint, a tool-pitch joint, and a tool-roll joint. The tool-yaw joint of wrist assembly 220 may be coupled to robot side tool change / EOAT, which is attached to the End Effector / work piece EOAT. The tool-yaw joint of wrist assembly 220 facilitates rotational movement of primary end effector or work piece / patient in a yaw-rotation along a yaw axis, axis 6 of FIG.3A. The tool-pitch joint may be coupled to the tool-yaw joint and facilitates rotational movement of the primary end effector or work piece / patient in a pitch-rotation along a pitch axis, axis 5 of FIG.3A. The tool-roll joints may be coupled to the tool-pitch joint and facilitates rotational movement of the primary end effector or work piece / patient in a roll-rotation along a roll axis, axis 4 of FIG.3A. The elbow assembly 230 may be coupled to the tool-roll joint of wrist assembly 220. The elbow assembly 230 includes three drive shafts and three motors. The first drive shaft may be coupled to the tool-yaw joint and the first motor. The first motor and drive shaft drive rotational movement of primary end effector or work piece / patient along the yaw axis, axis 6 of FIG.3A. The second drive shaft may be coupled to the tool-pitch joint and the second motor. The second motor and drive shaft drive rotational movement of the primary end effector or work piece / patient along the pitch axis, axis 5 of FIG.3A. The third drive shaft may be coupled to the tool-roll joint and the third motor. The third motor and drive shaft drive rotational movement of the primary end effector or work piece / patient along the roll axis, axis 4 of FIG.3A. The shoulder assembly 240 may be coupled to the elbow assembly 230 by an elbow joint and to the track mount assembly 350 by a shoulder joint. The elbow joint includes an elbow gearbox, which may be configured to drive rotational movement of the elbow assembly 230 of the robotic arm in a rotational axis, axis 3 of FIG.3A. The shoulder joint includes a shoulder gearbox, which may be configured to drive rotational movement of the shoulder assembly 240 of the robotic arm in a rotational axis, axis 2 of FIG.3A. The elbow and shoulder gearboxes of the shoulder and elbow assemblies 230 and 240 facilitate translational movement of the primary end effectors or work piece in a two-dimensional horizontal plane, for example, in the (x-, y-) plane parallel with the floor. The plate member 380 may be coupled to the shoulder joint of the shoulder assembly 240 and rotatably mounted to the track mount assembly 350. The plate member includes a gearbox, which may be configured to drive rotational movement of the plate member 380 of the robotic arm in a rotational axis, axis 1 of FIG.3A. The gearbox of the plate member facilitates translational movement of the primary end effector or work piece / patient in a horizontal plane substantially parallel to the floor. In one embodiment, the gearbox of the plate member 380 has a gear reduction ratio. The track mount assembly 350 may be coupled to a track 360 and to the plate member 380. The track mount assembly 350 and track 360 facilitate translational movement of the primary end effector or work piece / patient in a substantially horizontal, linear axis, axis 7 of FIG.3A. The substantially horizontal, linear axis (x-, y-) is substantially perpendicular to the two dimensional vertical plane (z-). Track 360 is coupled to the floor. Alternatively, the track 360 may be vertically mounted to other structures known to those skilled in the art, such as a wall, pedestal, block, or base structure, autonomous guided vehicle (AGV), autonomous mobile robot (AMR), manned / unmanned aerial vehicle, over / under water guided vehicle and other supporting strictures. . The abovementioned arrangement of the wrist assembly 220 , elbow assembly 230 , shoulder assembly 240 , plate member 380 , track mount assembly 350 , and track 360 facilitate the positioning of the primary end effector or work piece / patient using six rotational degrees of freedom and one translational substantially horizontal, linear degree of freedom. The six rotational and one substantially horizontal, linear DOF of the robotic arm 1.1 primary end effector or work piece / patient in substantially any place in a desired operating area, such as a workspace, within the mechanical range of motion of the robotic arm 1.1 . The robotic arm 1.1 may position the primary end effector or work piece / patient in multiple locations within the workspace or treatment area. The robotic arm 1.1 may also provide loading / unloading positions for a particular primary end effector or work piece / patient. In one embodiment, the six DOF includes three rotational axes for translational movements along mutually orthogonal coordinate axes (x-, y-, and z-); and three rotational axes for roll-, pitch-, and yaw-rotational movements about x-, y-, and z-axes, respectively. The one substantially horizontal, linear DOF includes a substantial linear axis for translational movement along a substantially horizontal line in a coordinate axis (x-, and y-) substantially perpendicular to the vertical coordinate axes (z-). In one embodiment, the robotic arm 1.1 includes one or more primary end effector or work piece / patient motion actuators for moving the primary end effector or work piece / patient , in accordance with directions from the central intelligent controller. FIG.3B illustrates exemplary connection mechanism of robotic wrist with the primary end effectors (a liner guide system in this picture) using end of arm tooling (EOAT) or robot tool change connector / coupler which can be manual, automatic or a combination thereof. The EOAT has two sides. The robot side 3.0.1 and the end effectors side 3.0.2. The end of arm tooling or root tool change allows the hybrid compounded robotic platform to be versatile by exchanging the end effectors for desired application. Electrical and communication signals may be transmitted through the robot tool change / EOAT connection mechanism as well. FIG.4 demonstrates the block diagram of a method and work flow of the executing a task using hybrid compounded robotic platform. FIG.5 shows a few exemplary embodiments of hybrid compounded robotic platforms with mobile, immobile and / or a combination of support bases (19, 20,21and22) to be fitted with different primary, secondary and tertiary end effectors and / or work pieces. An exemplary embodiment 19 shows a mobile support base with omnidirectional wheels where in an industrial robotic arm is projected and in return to be coupled with a secondary end effector and / or work piece. A human like hybrid compounded robotic platform 20 is shown where in the support base is fitted with multi-joint robotic leg and which in return is fitted with onmidirectional wheels and an industrial robotic arm where in the upper arm with plurality of joints projected from the support base. A linear guide system as primary end effecter is coupled with the wrist of the industrial robot wherein the secondary end effectors (cobots in this casse) are projected from the linear guide system. An exemplary HCRP combination of mobile and immobile support base 21 is shown where in an industrial robot is projected from the elevated immobile platform. An exemplary immobile hybrid compounded robotic platform 22 is shown where in the industrial robot forearm with wrist is directly connected with an immobile support base joint and a plurality of linear guide system as primary end-effecter are coupled at the wrist of the industrial robotic wrist. The plurality primary end effectors (the linear guide system) in return supports a plurality of secondary end effectors (Cobots in this particular picture) where in the tertiary end effectors are projected from the secondary end effectors and driven and positioned using the secondary end effecters.

Claims

Claims

1. A hybrid compounded robotic platform, comprising: at least one mobile and / or immobile support base; at least one robot arm with plurality of degrees of freedom or plurality of joints projected from the support base; at least one primary end effector / work piece, preferably detachable, attached to the robot arm wrist assembly which may be adopted to carry and drive one or more sequence of end effectors as secondary and tertiary end effectors where in the primary end effectors caries and drives the secondary end effector / s and, in return, the secondary end effector / s carries and drives the tertiary end effector / s and so on; at least one coupler that establishes detachable connections among industrial robotic wrist and in between the sequences of end effectors; and at least one parking station for stowing the at least one end-effector.

2. The hybrid compounded robotic platform of claim 1, where in the at least one end effector / s and the sequence of end effectors is / are one of or a combination of: a linear guide system, an industrial robot arm, collaborative robot (cobot), a plurality of cobots, medical devices, medical device components, manufacturing tool, CNC machine tooling devices, logistics devices, hospitality tools, construction devices, military devices, space devices, agricultural devices, entertainment devices, home care devices, over / underwater tools, areal tools, mining tools, monitoring / inspection sensors / detectors, robot palm or in general tools and devices.

3. The hybrid compounded robotic platform of claim 1, where in the at least one primary end effector / s and the sequence of end effectors are designed to be detachable, exchangeable and replaceable at the at least one connector / coupler manually, automatically, autonomously and / or a combination thereof.

4. The hybrid compounded robotic platform of claim 1, where in the at least one robotic arm may be an industrial robotic arm which may be configured wherein the robot arm elbow assembly of the forearm is directly connected to the shoulder assembly without the robot upper arm or, alternatively, the elbow assembly of the forearm may be connected to a rotating mechanism of the mobile / immobile support base without the presence of both the robot shoulder assembly and upper arm or an industrial robot arm configured with one or more joints on the upper arm.

5. The hybrid compounded robotic platform of claim 1, where in the at least one robot arm may be a humanoid arm / cooperative robot (cobot) or plurality of cobots, preferably detachable and connectable at the side, bottom and / or top end of the humanoid arm / cooperative robot (cobot).

6. The hybrid compounded robotic platform of claim 1, wherein the at least one base of support is one of or a combination of mobile and / or immobile support, wherein the mobile platform is one of or a combination of; omni-directional autonomousmobile robot (AMR), autonomous guided vehicle (AGV), a trolley, a cart, over head crane, manned / unmanned aerial vehicle, over and under water vehicle, a plurality of walking legs with one or more joints, stair climber or crawling locomotive.

7. The hybrid compounded robotic platform of claim 1, wherein the at least one base of support is immobile support and the immobile base is one of or a combination of; linear guide system, lifting column, lifting system, fixed column, elevated column, a guide rail or robot-positioner.

8. The hybrid compounded robotic platform of claim 1, where in the at least one support base is designed to be omni-form, configured to accommodate and / or stow the shape and size of the at least one end effector / work piece and / or a plurality of end effectors / work pieces and configured to be used as end effector / s parking / docking station.

9. The hybrid compounded robotic platform of claim 1, where in the at least one coupler may be automatic or manual connector that establishes connection among sequences of end effectors and connects the primary end effectors with the robotic wrist.

10. The at least one coupler of claim 8 may be one of or a combination of: End or arm tooling (EOAT), robotic tool change, magnetic coupler, hydraulic coupler, pneumatic coupler, manual sliding groove, bolt and nuts fastener or a magnetic levitating coupler mechanism, gravitational coupler.

11. The hybrid compounded robotic platform of claim 1, where in an intelligent management unit designed to be used as a brain to control the platform having sensors, analytical capability, open recommendation capability for human approval and confirmation, intelligent decision making capability, self inspecting and self corrective maintenance capability, self teaching, self training and self recording capability, battery / power status controls, motion / collusion detection, self balancing, deflection compensation control, safety protection mechanism, position detection, traffic management, autonomous end effectors transfer / exchange and / or communication over wireless satellite internet or local area network connection.

12. A system, comprising: a plurality of hybrid compounded robotic platform, each of the plurality of hybrid compounded robotic platform including, a mobile and / or immobile support base; at least one industrial robotic arm with plurality of joints / degree of freedom projected from each supporting base; at least one detachable primary end effector attached to each robot arm wrist assembly which may be adopted to carry a sequence of end effectors as , secondary and tertiary end effectors where in the primary end effectors caries the secondary end effector / s and, in return, the secondary end effector / s carries the tertiary end effector / s; at least one coupler that establishes connections; at least one parking station for end effectors and / or work piece; anda central intelligent management unit to control the platform and / or the plurality of platforms, wherein each of the plurality of platforms are coordinated among other of the plurality of hybrid platforms.

13. The system of claim 12, wherein the plurality of mobile and immobile platforms has position tracking and locating mechanism to exchange end effectors and / or work pieces configured to intercommunicate and cooperate to execute an ordered task manually, automatically, autonomously and / or a combination thereof.

14. The system of claim 12, wherein the parking station for end effectors is on the one or more mobile platform and / or on a separate shelf designed to accommodate the size, weight, shape and form of the end effectors and / or work pieces.

15. The integrated system of claim 12, wherein the parking station has one or more manual or autonomous battery charging and battery swapping, preferably autonomous battery swapping, mechanism.

16. The integrated system of claim 12, wherein the central intelligent management unit is designed as an individual brain and / or central brain to control the plurality of platforms safety, anti-collusion detection, coordination, cooperation, self inspection, communication and executing a task and further comprising sensors for motion detection, dynamic real-time 3D position detection, visual sensor to recognize end effectors / work piece and task / work progress controlling.

17. A method of executing a task autonomously, automatically, manually or a combination thereof using one or more hybrid compounded robotic platform / s consisting of: an instruction input; a communication mechanism; an execution plan, execution process and execution confirmation; and an intelligent management unit.

18. A method of executing a task as claimed in Claim 17, wherein an instruction input may be one of or a combination of; a voice command, a text message, an email, a pre-programmed instruction and / or an encrypted program / message.

19. A method of executing a task as claimed in Claim 17, wherein the communication mechanism is wireless and / or wired communication.

20. A method of executing a task as claimed in Claim 17, wherein the intelligent management unit further controls the communication from instruction input, execution plan, and execution process and execution confirmation.

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