ROBOT ARM LAUNCHING SYSTEM
FIG6 is a schematic drawing showing a payload guide of the launching assembly  FIG5 is a schematic drawing showing the launching assembly during operation using a second type of effector
Referring in addition to FIG6, the payload guide 44 may include an electro-mechanical interface, such as an electro-mechanical case 90. The adaptor 88 and the electro-mechanical case 90 of the payload guide 44 may be in communication with the control system 20b. The payload guide 44 may be configured to send and receive data from the control system 20b. The electro-mechanical case 90 may include at least one sensor 92 for sensing a number of effectors 48, 52, 54 in the payload guide 44. The control system 20b may include a converting module 94 that is in communication with the electro-mechanical case 90 for converting electronic messages and power from the control system 20b to a signal that is readable by the effectors 48, 52, 54 for executing a launching sequence. The electro-mechanical case 90 may also include at least one electrical connector 93 or a plurality of electrical connectors that mate with the effectors 48, 52, 54 to charge batteries of the effectors 48, 52, 54 when the effectors are being stored. The electrical connector 93 may be electrically connected to a power source for transferring power to the effectors. The electrical connector 93 may be connected to the power source via additional electrical connections in the payload guide magazine.  As shown in FIG5, the end portion 84 may be engageable with an adaptor 88 arranged on an electro-mechanical case 90 of the canister or payload guide 44. The end portion 84 may be rotatable about a horizontal axis of the distal portion 80 to engage the adaptor 88. The end portion 84 may be rotated to extend vertically downward and lowered via the distal portion 80 pivoting in a vertically downward direction. The end portion 84 may engage the payload guide 44 within the payload guide magazine 34 when the payload guide 44 is in a stored position. After engagement with the adaptor 88 of the payload guide 44, the adaptor 88 and the end portion 84 may be locked together for movement such that the distal portion 80 may be pivoted in a vertically upward direction to raise the payload guide 44 out of the payload guide magazine 34. The payload guide 44 may then be in an engaged position where the payload guide 44 is engaged with the end portion 84. The end portion 84 may then be rotated to extend vertically upward for firing the effector 48 from the payload guide 44. As shown in FIG5, the payload guide 44 may be configured to hold two second effectors 48 and the corresponding payload guide magazine 28 may be configured to hold five payload guides, such that the payload guide magazine 28 associated with the second effectors may contain ten second effectors. All of the numbers are just examples, and any number of effectors may be used. The robot arm 72 may be configured to move up to around 453 kilograms (around 1000 pounds). As also shown in FIG5, the robot arm 72 may also be configured to engage the first effectors. The payload guide magazine 32 may be configured to hold 3 first effector containers that each contain a single first effector. The payload guide magazines 28, 32, 34 may be configured to hold more or fewer containers or payload guides such that more or fewer effectors may be contained and used during various launching sequences.
schematic
28
guide magazine guide magazines
30
canisters canister
80
distal portion
48
effectors effector
94
converting module
93
electrical connector
34
payload guide magazine
40
housing
76
proximate portion
78
proximate end
90
electro-mechanical case
16
launching sequence may require
88
adaptor
26
robot
82
distal end
70
main body
74
one joint
32
payload guide magazine
['1. An effector launching system (20) that is located on a moving platform (24), the launching system comprising: a plurality of effectors (48, 52, 54, 86); a robot (26) that includes: a main body (70) that is fixed to the moving platform, and a moveable robot arm (72) having an end portion (84) that is engageable with the plurality of effectors for firing the plurality of effectors; a sensor (98) for detecting movement of the moving platform; a processor (100) that is in communication with the sensor; and a motion stabilization controller (102) that is in communication with the processor and the robot arm for controlling movement of the robot arm, wherein the motion stabilization controller adjusts the robot arm in response to the detected movement of the moving platform to maintain the end portion in a static position when the end portion is engaged with at least one of the plurality of effectors; and further comprising a payload guide (44, 50) that houses the plurality of effectors, wherein the payload guide has an engaged position and a storage position, the payload guide being engaged with the end portion of the robot arm when in the engaged position for firing the effector from the payload guide, the payload guide being disengaged from the end portion when in the storage position.', '3. The effector launching system of claim 1 or 2 further comprising a payload guide magazine (28, 32, 34) that houses a plurality of payload guides, the payload guide magazine being configured to automatically dispense one of the plurality of payload guides when another one of the plurality of payload guides is expended.']