WO1995032078A1 - Shape variable structure - Google Patents

Abstract

Internally actuated, remotely controlled, load-bearing, multi-degree of freedom form-variable structure (A) with multi-form internal power supply features and built-in multi-channel electric signal (2) and telecommunications facilities (104) as a stand-alone device suitable for affixing to a variety of base machines and to carrying a diverse range of tip-end tooling systems (B) and active instrumentation packages (C, D).

Description

SHAPE VARIABLE STRUCTURE

TECHNICAL FIELD The following invention relates to the general field of industrial load handling devices and manipulators and more particularly to the field of independently-operable manipulator modules and special purpose robotic machines. The invention especially relates to the type of heavy materials handling and large load lifting problems encountered in the building and construction industries.

BACKGROUND ART

A number of signal-controlled variable form structural- machines that are independently operable in a stand-alone mode and which can be compounded together to form structures such as multi- jointed manipulators or robotic-arm assemblies are known to the art. Typical of this form of machine are fluid powered assemblies developed as servo-motor based rotary-joint actuation modules and compounds of three single-axis modules into triple orthogonal axis robotic-arm wrist assemblies (Ref UK Patents GB 21 19855 and GB 2102763) These machines can be used in a stand-alone fashion but are generally designed as add-on elements to existing robotic components. A typical such machine is comprised of a set of jointed parts driven by individual, linear or rotary, actuators located at each joint. Pilot signal operated servo-drives located on the body of the machine are typically used to get the control unit and the actuation unit as close to each other as possible for precision of control and frequency response reasons. Thus, if there are N actuators there are exactly N remote signal operated control valves with the assumption being that each axis can be driven independently of another and that the actuators are under the direct real-time control of an external master control unit. Generally known machines however are limited in their roles in relation to other adjacent modules and are equipped only with sufficient facilities to control their own actuation functionalities. They are not generally designed to act specific master-controller units to other machines. That is they supply only N on-board remote- control valves rather than N+k on-board remote-control valves to remotely control "k" supplemental, off-module functions. Again, known modules typically do not operate in a mother/daughter relation in providing power and total composite utility services to adjacent modules. Whilst real-time multi-degree of freedom pilot-signal controllable systems are known (ref UK Patent GB 21 19855) that provide uncontrolled fluid power to other elements generally the systems do not provide, as a standard feature, electric power, computer facilities or on-board complex digital communication services outlets . In most current art all these systems are provided to downstream elements, not through the body of the machine but by separate non-integral services supply lines.

Typical also of existing hydraulic machines is that they work on active power and spool type directional control valves and do not have on-board supplementary facilities for creep-free locking up of the system (ref US Patent 4625836) during work or for long-term power-off load holding nor for full system lock-up or braking in the event of primary systems failure

The current inability of existing multi-degree of freedom powered machinery modules to positively lock joints plus their inability to operate without large number of attached service lines that can fray or catch on environmental obstacles or be caught in the machines own motion joints plus their inability to provide user accessible plug-in type power-points for hydraulic fluid compressed air as well as complex analogue and digital control and communication interfaces forms the basis of the current invention.

DISCLOSURE OF THE INVENTION

There is disclosed herein an apparatus comprising A discretely jointed or physically deformable variable geometry structure removably connectable means for the mechanical connection of the structure to a fixed base or support removably connectable means for the mechanical connection to the structure of one or more free bodies, machines, devices or loads. removably connectable means for the connection of this system to a external energy source or power supply

Double acting, motor means, operationally associated with said energy source, for the positive or negative alteration of the geometry of the structure, or for its maintenance in a steady state, against conditions where alternatively positive or negative forces or torque conditions may prevail, where external loads may be resistive, over¬ running or dynamic in nature or under conditions where the system is required to do either positive or negative mechanical work. means for the remote control of the aforesaid motor means either in real-time, asynchronous time, batch command or master signal initiated stored program form a number of energy and physical services links or linkages from points in the external world to points on, or directly adjacent to, the body of the apparatus. These links have user accessible end points, are designed for signal, power and physical media supply and return, are of generally initially indeterminate in mode of use and provide a set of integral or prearranged connection potentials between a variety of machines, tools, devices or pieces of equipment that may desirably be mounted or carried on the body of the machine and a set of systems, devices or power and services source or sink points that may exist in the external world. The links provide a set of in-built connection means that will permit a user to simply develop, preferably without any customisation, electrical, mechanical or media flow services between any set of devices he may seek to affix to the end of the lines and to a desired set of remote sources, machines or control systems.

Typically the links are comprised of conductor based or non¬ conductor based transmission lines - the transfer functions of which may be optionally modified, mediated or controlled by associated functional elements such as switches, transformers, amplifiers or reducers or other active or passive elements. These mediation elements may be either fixed in their operation or alternately externally, locally or remotely, controlled.

Typically a plurality of links of the same type and character are provided with each links being able to be operated independently of another link.

Beneficially, a link is a controlled link or one mediated by some control or conditioning apparatus.

Beneficially one or more of the links may bifurcate or otherwise be connected into a network of other links or lines to a number of diverse ports.

Typically one of the links is a digital data link. Typically one or more links may serve a number of physically different sites on the surface of the apparatus or via flexible leads to sites near it. beneficially all the linkage lines will be enclosed within the body of the apparatus or within its overall bounding envelope such that they can be fully enclosed with covers.

Beneficially, all the through services will have open user access ports or connectors at the base of the structure and equivalent outlets at the tip of the structure. Likewise the on-board computer system will be user accessible as to its ports and for programming.

Preferably at least one of the links is a direct current capable, electric power link. Beneficially a well electrically insulated circuit for the communication of high voltage electric power is provided.

Preferably at least one electric, direct-current bandwidth, circuit and at least one hydraulic fluid pressure circuit are provided as a minimum combination. Preferably at least one of the links is a video-bandwidth, analogue signal, electrical communications channel or circuit. Beneficially one of the links is a fibre optic signal communication system. preferably, individual links or groups of links are configured in industry standard electrical and mechanical form to which external devices can be connected to by means of industry standard interfaces or connectors.

Typically at least one pair of links so developed as to form a fluid pressure supply and return circuit is provided. beneficially a hydraulic fluid drain line or link is provided. Preferably at least one of the links is a pressure pipeline for the transfer of physical media either in full-phase pipeline flow or by carrier medium transport.

Preferably means are provided for the development of at least one remotely controllable fluid pressure internal link, operationally associated with the apparatus's primary power system and connecting to at least one external power port or outlet distribution manifold .

Beneficially, power for the system is supplied through a set of hydraulic fluid pressure supply and return lines such lines being controlled through pressure or flow modulation.

Preferably, power is supplied through a singular pair of hydraulic fluid pressure supply and return lines - such lines having been supplied with no supplementary control signal modulation.

Beneficially all power is supplied though a single supply/return electrical cable.

Typically, the external power system will be removably connectable to the shape variable system through appropriate quick- release connectors.

Beneficially there is provided on-board means for energy storage, conversion from form to form and for energy accumulation or release.

Preferentially the motor means for the whole system is lumped into individual motor elements each being coupled to an individual portion of the structure and with each being provided with its own independent real-time remote control means such that one or more of the motor elements can be operated either independently of, or simultaneously with, other elements with such activity allowing a full range of motion responses of the system across a number of simultaneous motion axes in real time so as to yield multi-portion motion of the structure rather than just serial motion of selected portions.

Beneficially, means are provided for the elimination of joint and other forms of mechanical backlash in the presence of oscillatory forces. Preferably, means are provided for the automatic immobilisation of the system under conditions of system power failure or cut-off or under condition of failure of hydraulic pressure hoses or pipelines or local electric power system or control signalling failures.

Preferably systems-locking or protection means are provided to protect the apparatus against sudden kick-backs or impact forces arising from the action of active machines which might be being deployed.

Preferably means are further provided for automatic or discretionary structural immobilisation of the apparatus under all conditions save those of deliberate powered actuator motion.

Preferably means are further provided for the control of the rate of motion of the structure whilst the latter is under movement and negative work conditions such as where there is a chance of load run-away. Typically, the overall structural system motor means is provided not through one holistic system but through a number of individually controllable motor units acting across one or more joints, overall system control is effected by the operation of these motor units in concert. Beneficially the apparatus is further provided with fixed or discretionarily selectable, remotely operable, means, for the positive, creep-free, holding against load of any one or all of the joints under load or under conditions where any one of the individual motor unit actuators is de-energised. beneficially each hydraulic actuator means will have its own automatically operable lock valve assembly to fluidically lock-it in position when the hydraulic pressure to that actuator is turned off. This valving will be supplemental to any spool valve based cut-off or locking means employed for operation of the actuator since spool valve based system suffer from sensible leakages around the spools and hence are not satisfactory as positive fluidic locking valves for drift free operation.

Typically electro-hydraulic proportional valves will be used on the joint actuators for precision motion control. These components may take the form of ordinary proportional valves or servo-valves. Typfcally all electro-hydraulic valving will be located on board the apparatus and close coupled physically to the actuating device for precision in motion control. Alternately the valving may be separate valve package assembly connected to the main structure by flexible hoses or pipework.

Beneficially there is further provided on-board electronic and computer systems for information signal processing, data storage and on-board device control. The on-board computer system is beneficially further provided with a variety of multifunction interface cards for digital communications, data acquisition and specialised signal analysis features as for example for image processing and video data compression. A variety of digital and analogue I/O channels and management system therefore may also be beneficially provided. The computer may also be usefully provided with interfaces to a number of other systems via a general data communication network.

Beneficially there is further provided fully remotely operable automatic end-tooling connect/disconnect features.

Beneficially, any gripping systems provided will be disconnectable and be quickly removed for maintenance or exchange for different types or sizes.

Typically, the apparatus may be employed as a supplementary attachment to an existing limited degree of freedom industrial manipulator or large construction machine.

Typically the apparatus will be provided in a form devoid of permanently attached or integral robotic type grippers but such gripper systems will be provided as a separate system.

Typically the apparatus will be specially internally developed mechanically as to be operational in all geometrical attitudes including inclinations from horizontal to full vertical. Beneficially the system is also provided with control componentry and circuitry means for the modification of the systems response function ie its control and behavioural properties under normal load handling conditions, under conditions of load over-run, under conditions of prolonged static load hold and under motion reversal situation, and for the development of generally desirable and well behaved forms of control engineering system transfer function with minimum between channel cross-talk.

Beneficially control component and circuitry means for the regularisation and smoothening of the control response of the apparatus during operation is also provided.

Typically the mechanical connection means to the tooling systems and load will be by normal fasteners such as bolts and screws but equally well connection can be provided in the form of a remotely programmable mechanical gripper or sets of grippers. Typically the system can power and control a plurality of diverse form active devices or tooling systems in strictly simultaneously use rather than in serial use. beneficially the system may be provided with at least two independently tele-operated instrumented or uninstrumented grippers with or without gripper force and displacement feedback.

Preferentially the system is supplied with at least two remotely controllable oil outlet ports, with or without a supplementary fluid drain lines, for the tele-operation of two, fluid port controlled, hydraulic machines that may be mounted on the apparatus or for the tele-control of one machine and for the tele-operation of a hydraulically operated remote tool systems interchange mounting block.

Beneficially the system can be provided with a separate add-on remote tooling disconnection module (or modules), that can be remotely controlled through and powered by the base apparatus, such as to allow the remote connection and disconnection of devices from the apparatus or to allow the apparatus's disconnection from it's support structure.

Typically the apparatus will have at least three degrees of mechanical freedom such degrees of freedom being generally not in the same geometrical plane.

In a preferred form, the apparatus may be specifically configured as a separate three orthogonal axis robotic "wrist" unit with tip end power and services manifolds and base end power, control and services manifolds and offering motions in pitch yaw and roll and with supplementary remotely controlled systems for discretionary joint locking and for control of hydraulic oil outlets.

In a preferred form, the apparatus may be specifically configured to accept specialised robotic gripper systems or process based end-effectors. In a preferred form, the apparatus may be specifically configured to be fed with uncontrolled power and a digital data link connectable to a master controller. In this arrangement, all on-board subsidiary functions are handled by a slave controller system in response to digitally encoded instructions from the master controller. The slave controller also handles local data acquisition and the transmission of operational data back to the master controller. The slave controller may also operate to control all or some of the other transmission line linkages between the system and external devices. In a preferred form of the above apparatus a multi-degree of freedom simply jointed open or closed form spatial mechanism or spatially trussed structure is provided, which is connected via a distribution manifold to a source of uncontrolled fluid pressure through a single pair of supply return lines. Structural connection is to a basal structure by means of bolting or clamps and a number of bodies are mounted on the top of the system through bolts, clamps or gripper devices. Motor means in the form of a plurality of double acting, linear hydraulic motors or rotary hydraulic motors that can operate across one or more joints is provided. These hydraulic machines in turn are remote signal controlled through individual on¬ board electro-hydraulic valves by radio or pilot signal controlled remote control systems. Positive locking of the system under de- energisation conditions is provided in the form of positive fluidic locking of the fluid within the hydraulic actuator chambers or nearby by use of on-board check valves, pilot operated check valves, load holding valves or by use multifunction counterbalance and logic valves. Control property modification circuits and system are provided in the form of adjustable orifices and pressure setable components as well as multifunction, logic and piloting valves to form a variety of control or behaviour modifications systems such as power failure lockup, anti-creep, over-centre control, counterbalance, hydraulic fluid anti-cavitation structures, logic valve sequencing system and remotely operable anti-backlash lockout circuitry systems which can modify the control and motion response of the system under normal and emergency operational conditions. Through or along the structure is "woven" firstly a variety of individual hydraulic lines some with and some without remote control valving and secondly a number of electric power lines and AC and DC power reticulation services. These power electrical services may be supplied with tele-operated control devices. Yet again there is provided a host of individual or bundled electrical signalling lines, or harnesses of same, for the provision of internal signal routing, data exchange services and video image communication. A variety of on-board electronic systems such as micro-processors, modems, wireless transceivers and the like may be provided. Yet again a variety of positive and negative pressure pipelines may be provided for fluid or gas supply or exhaust, for the carriage of physical media such as grit-blasting services or fuels or for the carriage of hot or cold fluids for heat exchange. Collectively the aim of all these services is to provide power and control links, transmission lines and services and power and services take-off points to a variety of programmable and non-programmable systems mounted on the exterior of the structure and/or to provide equivalent services to a number of on-board internally and externally mounted sensor or data acquisition systems or to provide test points for instrumentation probes.

Beneficially one or more pulley wheels or winching systems may be formed into the structure for the cranage of loads up to the region of the device.

In a further preferred form, the apparatus is provided in a revolute and translational joint based serially linked arm structure wherein a pair of uncontrolled oil-hydraulic power supply and return lines feed into either an on-board or a hose connected distribution manifold from which a set of hydraulic rotary or linear motors are fluidically fed and wherein each hydraulic motor is associated with an individual, remotely operable electro-hydraulic valve and wherein there is further provided a set of internal services comprised of a set of electrical signal carrying wires, co-axial cabling for video connection and some electric power lines. In this preferred configuration extra hydraulic lines and compressed air services are optional. In this configuration extra lines are be tapped off the main hydraulic power distribution manifold and passed through , normally remote controllable electro-hydraulic valving, to externally accessible hydraulic services take-off supply return points for the supply of fluid pressure to one or more external hydraulic machinery systems. Control to the whole and power for operation of internal transducers and electro-hydraulic valving is through electrical signals carried up to the device on a bundled wire cable or umbilical. In this configuration the individual motor units that make up the apparatus may either be direct acting on the structure or operate on it through a set of mechanical gears or rack and pinion structures.

BRIEF DESCRIPTION OF THE DRAWINGS

A preferred form of the invention will now be described by way of example with reference to the accompanying drawings, wherein:

Fig. 1 is a schematic perspective view of a manipulator, showing a wrist unit connected to an arm unit, which is in turn connected to a shoulder unit,

Fig. 2 is a side elevational view of a preferred form of wrist actuator unit with an external cover removed showing some internal details, Fig. 3 is a plan view of the wrist actuator unit of Fig. 2, and

Fig. 4 is a schematic hydraulic circuit diagram depicting remote controlled valves and actuators in series in a multi link assembly.

Figure 5 is an annotated services diagram for the manipulator of figure 1 .

Figure 6 is a services logic diagram covering the invention.

In Fig. 1 there is schematically depicted the separate units of a Preferably manipulator generally at 10. The manipulator comprises a first structural connection means and shoulder actuator 12, an arm actuator unit 13 and a wrist actuator unit 14. Shoulder actuator 12 may be connected to a limited degree of freedom industrial manipulator, or simply attached to a fixed or mobile mounting point. The shoulder unit comprises a hydraulic actuator and is capable of rotating a device or actuator attached to it about pivot axis P. The arm unit 13, which may be attached to the shoulder unit 12, is adapted to swivel whatever is attached to it about pivot axis Q. A facility in the arm unit 13 is provided to extend a forearm 13A backwards and forwards in the direction of the double headed arrow R.

The wrist unit 14 comprises three sub-units: the yaw actuator 14A, the roll actuator 14B and the pitch actuator 14C.

The roll actuator 14B pivots about axis T whereas the yaw actuator 14A pivots about axis S. In turn, the pitch actuator 14C pivots about axis U.

A pair of end effector grabs 15A and 15B are attached to a structural connection means 16 which is supported by pitch actuator 14C.

It should be appreciated that any number of elements may be located between shoulder unit 12 and connection means 16. That is, any number of degrees of freedom of movement may be employed depending on the number of elements connected in series. An hydraulic fluid pressure inlet is to be provided at some point on manipulator 10. Generally, the hydraulic fluid pressure inlet will be provided at shoulder unit 12. Hydraulic lines would be provided within or upon each of the linkage members to allow hydraulic power manipulation of the device upon remote control. Hydraulic fluid from the same source would also be available at a controlled fluid pressure outlet, preferably provided at structural connection means 16. Hydraulic lines may then be directly tapped to a device such as the end effector grabs 15A and 15B as shown to be exemplary. Referring to Figs. 2 and 3, a hose mounting plate 30 is contained in a telescopic arm inside a protective cover (not shown). The plate 30 mounts the wrist 14 onto the arm 13 or forearm 13A. A flexible hose is passed into a region between a yoke 32. The yoke 32 can rotate about the yaw axis as shown. Racks are contained within the housing 34. Axially drilled ducts pass through a narrow neck connection 32A between the yoke 32 and "hand" 35. Valves 37 and 37A and others on the other side of the machine (not shown) correspond to valves controlling the roll, yaw and pitch actions. Valves 36 are further remotely controllable valves associated with the operation of the anti-backlash lockout system. A control box (or boxes) 39 houses further valves and hydraulic circuit elements. These elements and associated hydraulic fluid distribution lines act to provide a number of simple and advanced control features to the wrist unit. Included in the hydraulic circuitry controls that are preferably provided are pilot pressure operated load-holding or pilot operated check or flow control valves such as are required to cater for failure of the main fluid pressure supply and/or electrical signalling power, overcentre and counterbalance valves and associated circuitry for load run-away control and load sinkage control on active hold, valving and circuits to prevent hydraulic fluid cavitation under sub vapour-pressure operating pressure condition, fine pilot-pressure adjustment circuits and so on. Various components are additionally needed to control cross-talk between hydraulic channels and control of slow creep-uπder-power phenomena. Typically also included here are pilot operated check- valves for the fluidic locking of individual actuators in position under loss of individual power, a relief pressure make-up check valve or valves to insure that no-cavity inside the hydraulic system has pressure less that the return line pressure or the vapour pressure of the hydraulic fluid and an overpressure relief valve that ensures that no pressure within the system or any actuator exceeds the design system pressure. Also included here is a valve or screw that may be released to free the actuator should it need to be moved when hydraulic power is not applied Additionally included here, is a remotely operable, solenoid type, anti-backlash and actuator locking valve and associated circuit system that operates firstly to drive an object into position with one actuator and thence to arrange that another actuator operates to exert a vectorially opposite directional force on the object to that being exerted by the actuator that drove the object to its position initially. Thence in further joint locking action the valves operate to introduce fluid into the end chambers of the operating and non- driving cylinders at a joint and thence to positively lock this fluid into these chambers such that no motion of the actuator is possible since no fluid may drain from either end of either drive cylinder. On release of the valve the actuator becomes unlocked.

In a preferred arrangement this "backlash lockout system" is comprised of a number of hydraulic logic valves, load release and load holding valves and pilot line circuits, operating in conjunction with the main actuator control spool valves. It is engaged by an electric solenoid valve operated in on-off mode by toggle switch from a remote control console panel. Lockout facilities may be provided for all or only some of the system's motion axes. All the valves may be solenoid type valves enabling remote control of the actuator as desired.

Racks 31 A and 31 B are shown extending beyond the housing in the plan view. Further racks 40A and 40B together with rack 41 provide roll motion and yaw motion respectively. It should be appreciated that each of the racks is associated with a corresponding pinion and are to be actuated hydraulically in a conventional manner. Structural connection means are provided in pitching member 41 (Fig.

2) .

Referring now to Fig. 4, a schematic hydraulic circuit diagram is depicted. A fluid pressure inlet 44 is provided at any convenient location, typically at shoulder unit 12. Extending in parallel hydraulic engagement with fluid inlet 44 is a number of remote controlled valves 40 and corresponding actuators 42. Each control valve 40 and associated actuator 42 corresponds to a link in the manipulator assembly, whether it be a pivot link, telescopic link or otherwise. Typically, actuator 42 is associated with a rack. Alternatively, one or more of actuators 42 may be an hydraulic ram extending between joined arm members. Also connected in parallel with hydraulic inlet 44 is a further remote control valve 41 to provide controlled fluid pressure at outlet 43. Outlet 43 as mentioned earlier would typically be provided at structural connection means 16. The actuators and valves may be also connected in series or in series/parallel in accordance with general open and closed circuit hydraulic circuitry practice .

Also located at 16 might be a controlled electrical output socket, pneumatic output means and the like. Control valves 40 and 41 may be locally controlled manually or may be controlled from a distance by way of radio controllers or otherwise .

Upon operation, valves 40 and 41 and supplementary valving (control box 39) may be activated so as to render the members locked into any desired position.

Having described some of the mechanical engineering features of the invention the services and allied features will now be described by way of example.

In figure 5 there is depicted schematically a variable geometry structure A equipped with a tool carrier or implement bar B. The bar carries exchangeable tool or device structures C and D.

A quick release hydraulic connections manifold 1 allows systems power from an external supply to be connected to the hydraulic linear or rotary motor actuated structure through a flexible hydraulic hose umbilical cable (not shown). Port 1 provides major systems power to the variable geometry structure (VGS) and minor systems power to attached accessory gripper C and/or D through line 108 and valve V2.

At 2 is shown an electrical or connections panel or bulkhead for connection of a multi-conductor remote control umbilical cable. This control umbilical supplies electrical power for on-board electronic systems as well as command signalling. The cable also carries feed back and telemetry signals outwards from the VGS to the external world. Box 3, is an on-board computer that acts locally as a data acquisitions system, as a local device manager and optionally as a full systems slave controller with electro-hydraulic valve control capabilities. The computer has digital signal communications and may be connected directly to a base command station by wireless communication links (3B) or else to port 1 for conductor based communication. As required the computer may be connected to a variety of sensors, transducers and minor actuators within the VGS. The communications port 2 can handle either multiple electrical conductors based systems or fibre optic communications. Digital as well as analogue signalling can optionally be handled. Connections manifold 5 allows direct connection of a high volume high pressure oil hydraulic supply line and for a hydraulic return line directly linked by a mixture of flexible hose and drilled conduit to a pair of quick release (check-valve equipped) hydraulic connectors 100. Similarly a compressed air or vacuum air pair of lines 6 connect through remotely operable valve V1 to screw terminal outlets at 1 01 . A multiple screw or push-fit direct access electrical terminal block 8, allows for a large number of independent direct or alternating current electrical services or instrumentation connections to be made to terminal panels or break-out board 102. Signal amplification or conditioning may be provided in-line. Inductive coupling type end connectors may be provided at panel 102 on one line. Panel 8 also provides connection for high voltage electrical power supplies to outlet 103 and to a dual electric power point at 109. This power point may be used, for example, to drive a set of on-board high power flood lights. Connector panel 8 provides video camera outlet services from a number of video cameras or imaging systems connectable to the tool bar at 104.

Standard computer systems communications interface 9 connects to bidirectional computer interface 105. A standard RS232 type or other standard serial interface is supplied.

Fibre optic communications-link end connector panel 10 communicates through the machine to panel 106 on the tool bar.

Further, hydraulic power inlet 1 is connected through remotely operable valve V2 to controllable hydraulic outlet/return fluid pressure port 107. Device C is thence controllable through port 107 by means of flexible hose and connector 108.

A pair of remotely actuatable hydraulically operated dogs or latches (not shown) acting within panel E engage into retainer holes or slots in panel F. These latches in conjunction with a set of internal quick release connectors allows remote controlled dropping off of an existing tool bar and replacement of it with another.

In the system shown in fig 5, across section X-X one would encounter the following in-built "plumbing" items. A dozen or more signal voltage electrical conductors, possibly 2 - 1 10 volt power lines, normally a high volume and a low volume oil hydraulic supply line, at least one compressed line, 2 coaxial cables for video communications and a digital RS232 computer link.

Generally these lines will be located internal to the VGS but they may equally well be laid along the surface of the structure or fastened to it at intervals.

The formal logic of the multiplicity of on-board services connections and service types is illustrated in figure 6. Services connections 1 and 2 supply systems power and control. Direct off¬ takes from these services are shown in figure 6 as mediated by valve elements similar to Valve V2 shown in figure 5.

At the bottom of diagram 6 are shown a set of power and services lines that are, in principle, totally independent from the systems power and master control link. These supplementary system may be networked or reticulated across the body of the shape variable structure and may or may not be provided with remotely operable mediation or switching apparatus. BEST MODE FOR CARRYING OUT THE INVENTION

One common expected use of the present invention would be as a supplementary attachment to an existing limited degree of freedom industrial manipulator or as an element in a modular robotic or manipulator system or as a free attachment hanging downwards from a support gantry.

In a best mode form the machine will be connected by physical remote control links which are disconnectable at the base of the machine for handling and storage and for independent checking. These links control a dual line hydraulic machine equipped with high- precision proportional electro-hydraulic valves. At the remote end of the machine a large serviced connections plate is located. This plate provided fluid power and multiple standard-interface electrical connections to a number of different sets of machines and tooling systems that may be utilised simultaneously. Quick coupling and release fittings are provided at the end-tooling connections plate. The remote control links to a master computerised or tele-operated remote controller. It should be appreciated that modifications and alterations obvious to those skilled in the art are not to be considered as beyond the scope of the present invention. For example, the system may be provided with many other forms of on-board systems and various degrees of on-board intelligence. In addition any modern form of communication or telemetry system may be employed and a number of computers may be connected into the system to control the apparatus and its on-board systems.

It will be obvious to a skilled man that the machine can be further equipped with joint position instrumentation, and sensors for pressure and force and other parameter measurement and laser and other on-board electronic based surveying schemes for position determination. In addition any of a variety of collision detection and environmental sensing systems can be employed. Such information can be passed back to a base station for closed loop and other forms of advanced computer control or tele-presence operation. Full computer control of the apparatus under full interactive control is thereby possible. By addition of suitable computer software and on¬ board sensing and hardware systems a machine with a large degree of task execution autonomy can be attained.

Claims

1 . A variable geometry apparatus comprised of

- a load bearing structure which is variable in N geometrical dimensions.

- means for the temporary mechanical connection of the structure to a primary support structure

- means for the temporary mechanical connection of various free- bodies to the structure

- means for independently or collectively varying, under the action of a set of remote controls, each of the aforesaid N geometrical variables with such action being possible whilst the structure is under a state of positive or negative mechanical stress,

- means for the selective positive locking of the structure in any desired loaded state with this function's operation being through a set of remote controls,

- means for the supply of reticulated power, in controlled or uncontrolled form, to one or more user-accessible connections points on or within the structure

- means for the supply of multiple independent-channel, back-to- base-station type, information tele-communications services to one or more user-accessible connections points on or within the structu re

2. Apparatus as described in claim 1 where there is further provided pressure-pipeline means for the delivery and removal of physical material to one or more user-accessible connections ports on or within the structure

3. Apparatus as in either of claims 1 or 2 where power for the geometry-varying system is provided through a single pair of pressurised fluid supply and return power lines and where the local actuation means are fluid power based linear or rotary hydraulic motors.

5. Apparatus as in either of claims 1 or 2 where the telecommunications point is as a video-bandwidth or TV signal handling communications facility.

6. Apparatus as in either of claims 1 or 2 where one or more of the power points are direct-current electricity power supply points.

7. Apparatus as in either of claims 1 or 2 where one or more of the power points function as high voltage A-C or D-C electrical power supply and earth points.

8. Apparatus as in either of claims 1 or 2 where the material supply pipeline can provide either compressed or vacuum air or provide supply or return water or other fluids.

9. Apparatus as in either of claims 1 or 2 where all the service means are contained fully within the body of the structure.

10. Apparatus as in either of claims 1 or 2 where the telecommunications points provide multiple modulated electrical signals for multi-device control purposes.

1 1 . Apparatus as in either of claims 1 or 2 where there is further provided on-board micro-processor based information processing systems for data gathering, control, computation or communications purposes

12. Apparatus as generally described in the drawings attached hereto.