The present disclosure relates generally to mechanical devices, and more particularly, modular apparatuses.
There are numerous tasks and chores that may require humans to utilize mechanical apparatuses in order to complete. Some reasons for this may include strength, maneuverability, functionality, efficiency, and the presence of dangerous or hazardous conditions, among others. For example, decontamination and decommissioning of the world's most hazardous environments can require the use of mechanical apparatuses. Advancement in technology has resulted in more modular and scalable solutions to today's problems.
The present disclosure introduces modular apparatuses for mechanical devices. In one embodiment, a chain joint is described. The chain joint may include a rotating drum having an attachment point. Further, the chain joint may also include hydraulic cylinders connected to the rotating drum. Lengths of chain may be used to connect the hydraulic cylinders to the rotating drum via the attachment point. Another embodiment describes a robotic apparatus incorporating the chain joint. Other embodiments are also described.
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
Various embodiments will now be described in detail with reference to the accompanying drawings.
The following detailed description is divided into three sections. A first section presents a system level overview of the modular apparatuses. The following section describes example implementations of the modular apparatuses. The final section presents the claims.
The chain joint 100 may be powered by hydraulic cylinders 104 attached to the rotating drum 102 via the lengths of chain 106. The rotating drum 102 may have an attachment point 102a, allowing the hydraulic cylinders 104 to be attached to the rotating drum 102. In an example embodiment, each of the lengths of chain 106 may wrap around an opposing side of the rotating drum 102 to the attachment point 102a. This configuration may give the chain joint 100 constant torque over one-hundred and eighty degrees (180°) of motion.
In one embodiment, at least two hydraulic cylinders 104 may be included in the chain joint 100. The hydraulic cylinders 104 may be linear. Any style of hydraulic cylinder may be used for the hydraulic cylinders 104 of the chain joint 100 including tie rod style cylinders and welded body style cylinders, among others.
The lengths of chain 106 connecting the rotating drum 102 to the hydraulic cylinders 104 may be made of any material and consist of two or more links. In a particular embodiment, at least two lengths of chain may be used to connect the rotating drum 102 to the hydraulic cylinders 104. In one embodiment, the lengths of chain 106 may be comprised of leaf chain.
In a particular embodiment, the chain joint 100 may be used in a robotic arm apparatus. The robotic arm may be lowered by retracting a bottom hydraulic cylinder 104, creating counterclockwise rotation of the rotating drum 102 thereby lowering the robotic arm.
An alternative embodiment of the chain joint 100 may further comprise a valve set to control the chain joint 100. The valve set applied to the chain joint 100 is described in more detail in the description of
A dual counter balance valve 204 may also be attached to the hydraulic cylinders 104. The dual counter balance valve 204 may maintain tension in the lengths of chain 106 connecting the hydraulic cylinders to the rotating drum 102. As previously mentioned, the chain joint 100 may be utilized in a robotic arm apparatus. The dual counter balance valve 204 may be used to control the overrunning load when lowering the robotic arm apparatus as well as maintaining tension in the lengths of chain 106. Additionally, the dual counter balance valve 204 may also be used as a load holding valve to hold the robotic arm apparatus in position with very little drift when the chain joint 100 is not moving or the robotic apparatus is not powered on.
Furthermore, a proportional directional control valve 206 may be attached to the hydraulic cylinders 104 to control the flow of hydraulic oil through the chain joint 100. The proportional directional control valve 206 controls the meters in and float center of the hydraulic oil. The proportional directional control valve 206 is designed to work particularly well with the dual counter balance valve 204. The proportional directional control valve 206 has very low flow characteristics that may allow a connected robotic arm apparatus to make precise movements.
In an alternative embodiment, the valve set 200 may also include a ball valve 208 connected to the hydraulic cylinders 104. The ball valve 208 may allow the chain joint 100 to move freely to external forces. The ball valve 208 may be useful during installation and emergency recovery of a chain joint 100.
In another alternative embodiment, the valve set 200 may be located outside of a robotic arm apparatus. This may make it possible for an operator to override the valve settings in case of failure of chain joint 100.
The frame 302 of the remote controllable robotic apparatus 300 may be constructed out of radiation tolerant material. In one embodiment, the radiation tolerant material of the frame 302 may be carbon fiber. Using carbon fiber to fabricate the frame 302 may cut down on the weight and material costs of the remote controllable robotic apparatus 300, as well as the strength needed to lift large objects. In an alternative embodiment, the frame 302 may be constructed out of hollow aluminum tubes for buoyancy purposes in underwater applications of the remote controllable robotic apparatus 300.
The remote controllable robotic apparatus 300 further includes at least two chain joints 304 (e.g., 304-1 and 304-2) coupled to the frame 302. Each of the at least two chain joints 304 represent an example embodiment of the chain joint 100 described in
The remote controllable robotic apparatus 300 further includes a plurality of actuators 306 coupled to the frame 302. In an example embodiment, the plurality of actuators 306 may combine to act as a wrist joint for the remote controllable robotic apparatus 300. The plurality of actuators 306 may be arranged in vertical, horizontal, and axial configurations to allow for pitch, yaw, and roll capabilities. In one embodiment, the plurality of actuators 306 may be linear. In another embodiment, the plurality of actuators 306 may be rotary.
The remote controllable robotic apparatus 300 further includes an attachable end effector 308 connected to the plurality of actuators 306. The attachable end effector 308 may be powered by a combination of hydraulic cylinders, piston-based rotary actuators and/or electric motor drives. The attachable end effector 308 of the remote controllable robotic apparatus 300 may have quick change tool capabilities. Quick change tool methods are utilized to allow for many different attachments including, but not limited to: grippers, shears, hydrolasing heads, water-jet cutters, dry media blasters, saws, and a pneumatic torque wrench, among others. In a particular embodiment, the attachable end effector 308 may be a hydraulic actuated gripper. In yet another embodiment, the attachable end effector 308 may include an isolation circuit. The isolation circuit may be used to limit the spread of contaminants beyond the attachable end effector 308. The isolation circuit of the attachable end effector 308 is described in more detail in the description of
An alternative embodiment of the remote controllable robotic apparatus 300 may include a position feedback module linked to the remote controllable robotic apparatus 300. The position feedback module may allow implementation of inverse kinematics control of the at least two chain joints 304, the plurality of actuators 306, and the attachable end effector 308. The position feedback module may allow an operator of a remote controllable robotic apparatus 300 so that movements may be smooth and linear. An alternative embodiment of the remote controllable robotic apparatus 300 may include force sensors, pressure sensors and torque sensors linked to the remote controllable robotics apparatus 300. The force/pressure feedback module may be combined with the position feedback module to allow implementation of arm protection algorithms. These algorithms may look at the position feedback module to determine the current orientation of the remote controllable robotic apparatus 300 and determine the anticipated force/pressure that may be seen for each joint. Sensor errors may be taken into account and a maximum allowable force/pressure can be calculated. If the sensor readings exceed the maximum allowable, the remote controllable robotic apparatus 300 may be disabled to prevent the remote controllable robotic apparatus 300 from being damaged.
The drive cylinder 402 and the drive cylinder controlling valving 404 may be positioned on a clean side of the isolation circuit 400, separate from potential contaminated hydraulic fluid on the master/slave side of the isolation circuit 400. The drive cylinder 402 may be connected to the master cylinder 406 only through a mechanical link, providing a physical barrier between contaminated fluid and clean hydraulic fluid. Further, the drive cylinder 402 is controlled by the drive cylinder controlling valving 404 which may be used to actuate the drive cylinder 402 back and forth, and hold the drive cylinder 402 in place when unpowered. The drive cylinder controlling valving 404 includes a directional control valve, a counterbalance valve, and a pressure reduction valve.
The master cylinder 406 may be mechanically driven by the drive cylinder 402. Furthermore, the master cylinder 406 may be hydraulically coupled to the slave cylinder 408. Displacement ratios of the master cylinder 406 and slave cylinder 408 may be equal to allow hydraulic oil to move freely between the two cylinders.
The master/slave controlling valve set 410 may include a dual overpressure relief valve and two ball valves. The dual overpressure relief valve may have reverse flow free checks which prevent the contaminated side of the isolation circuit 400 from becoming over pressurized. The two ball valves may allow an operator of the remote controllable robotic apparatus 300 (as described in
In the particular embodiment where the attachable end effector 308 is a hydraulic actuated gripper, the directional control valve of the drive cylinder controlling valving 404 may be used to close the gripper during normal operation of the remote controllable robotic apparatus 300. The directional control valve may force hydraulic oil into a butt side of the drive cylinder 402, driving the rod of the cylinder out. This in turn may push the rod of the master into the cylinder, pushing oil out of a butt side of the master cylinder 406. The hydraulic fluid may flow into a butt side of the slave cylinder 408, pushing the rod out and closing the gripper.
The frame 502 of the powered remote manipulator 500 may be constructed out of radiation tolerant material. In one embodiment, the radiation tolerant material of the frame 502 may be carbon fiber. In an alternative embodiment, the frame 502 may be constructed out of sealed, hollow tubes (e.g., aluminum tubes) for buoyancy purposes in underwater applications of the powered remote manipulator 500.
The shoulder joint 504 may be coupled to the frame 502 and have at least two hydraulic cylinders connecting to a rotating drum. In one embodiment, the shoulder joint 504 may be configured like the chain joint 100 described in
The elbow joint 506 may also be coupled to the frame 502 and have at least two hydraulic cylinders attached to a rotating drum via at least two lengths of chain. The shoulder joint 504 may be configured like the chain joint 100 described in
Additionally, the powered remote manipulator 500 may include a wrist joint 508 coupled to the frame 502 and including a plurality of actuators. The plurality of actuators of the wrist joint 508 may be arranged in vertical, horizontal and axial configurations to allow pitch, yaw and roll capabilities. In one embodiment, the plurality of actuators may be linear. In an alternative embodiment, the plurality of actuators may be rotary.
The attachable end effector 510 having an isolation circuit may be connected to the wrist joint 508 of the powered remote manipulator 500. The attachable end effector 510 and its components may be like the attachable end effector 308 described in
An alternative embodiment of the powered remote manipulator 500 may further include a mounting attachment 512. The mounting attachment may allow the powered remote manipulator 500 to be mounted to a wall, port, container, or any other device. One particular device the powered remote manipulator 500 may be mounted to is a crane.
In another alternative embodiment, the powered remote manipulator 500 may further include an external valve set linked to the shoulder joint 504, the elbow joint 506, the wrist joint 508, and the attachable end effector 510. The external valve set may allow an operator of the powered remote manipulator 500 to override the valve settings in case of joint failure. In one particular embodiment, all of the hydraulic joints of the powered remote manipulator 500 may be plumbed using custom three/thirty-second inch ( 3/32″) hoses engineered for higher radiation tolerance than standard micro hoses. The three/thirty-second inch ( 3/32″) hoses makes it possible to keep the entire valve set external to the powered remote manipulator 500. This may be done by routing the required number of hoses through the powered remote manipulator 500 producing three (3) benefits. First, the arrangement keeps the valve set away from high radiation and makes them available for any maintenance. Second, it also makes it possible to uninstall the powered remote manipulator 500 under a failed condition. Finally, the small hoses and fittings control the rate of descent of the powered remote manipulator 500 if a hose would happen to burst. Sensors may also be built into the powered remote manipulator 500 to prevent damage under overloaded conditions.
In yet another alternative embodiment, a positional feedback module may be linked to the powered remote manipulator 500 allowing for the implementation of kinematic control of all the joints and the attachable end effector 510.
The boot 602 covers the robotic arm providing a physical barrier to airborne contamination as it may enter a high radiation room or toxic area. One example of a high radiation room or toxic area may be a hot cell. The robotic arm having the containment system 600 may be placed in the hot cell through a round penetration, a through wall penetration 608. In one embodiment, the boot 602 may be fabricated out of radiation tolerant material. The boot 602 may comprise a gripper side and a wall side.
A sealed bearing 604 may be clamped to the gripper side of the boot 602. The sealed bearing may be designed to allow constrained relative motion between the boot 602 and the robotic arm, specifically an intermediate tool changer, while sealing the robotic arm on the gripper side from airborne contamination. The intermediate tool changer may be exactly like the attachable end effector 308 described in
A boot ring 606 may be clamped to the wall side of the boot 602. The boot ring 606 may create a wall side seal for the robotic arm from airborne contamination.
Various examples and embodiments of the present disclosure have been described above. Listed and explained below are alternative embodiments, which incorporate modular apparatuses. Specifically, one alternative embodiment describes a Powered Remote Manipulator (PRM).
A PRM is a scalable and modular apparatus that may be designed and customized to fit jobs of any type and size. Example embodiments of the PRM may be shown in
One example industry which may utilize the PRM is the nuclear and hazardous waste industry. In one embodiment, the PRM may be customized with a wide range of applications for decontamination and decommissioning in the most hazardous environments around the world. The PRM's ability to scale and maintain mobility and strength makes it a highly versatile tool to remotely solve some of the most difficult decommissioning problems.
In another embodiment, a PRM may be fabricated out of radiation tolerant material. One example of a radiation tolerant material may be carbon fiber. The PRM may be powered by a combination of hydraulic and electric drives.
In one embodiment, the PRM may possess a ten (10)- to fifteen (15)-foot full reach. The PRM may also include an interchangeable tool attachment. The PRM may also have quick tool change capabilities to suit different types of jobs. One example of the interchangeable tool attachment attached to the PRM may be a hydraulic gripper. The hydraulic gripper may have a grasp that opens over six (6) inches. The PRM may also possess a high handling capacity. In one embodiment, the high handling capacity may be between one-hundred and ten (110) and one-hundred and sixty-eight (168) pounds depending on the orientation and configuration of the customizable PRM.
Block 1104 represents an attachment to connect the PRM 1102 to a crane. The PRM 1102 may comprise at least two chain joints 100 as described in
Furthermore,
Several enhancements to the PRM have been designed in order to increase reliability and functionality of its equipment. These changes include the following:
a) Modular construction to fit various deployment requirements.
b) Buoyancy design to be used for underwater applications.
c) Joint design improvements to increase reliability and functionality.
d) Implementation of Inverse Kinematic control for precision operation.
e) Scaled down design to fit through a 10 inch hot-cell penetrations.
f) Arm overload protection during operations.
This has been a detailed description of some exemplary embodiments of the present disclosure contained within the disclosed subject matter. The detailed description refers to the accompanying drawings that form a part hereof and which show by way of illustration, but not of limitation, some specific embodiments of the present disclosure, including a preferred embodiment. These embodiments are described in sufficient detail to enable those of ordinary skill in the art to understand and implement the present disclosure. Other embodiments may be utilized and changes may be made without departing from the scope of the present disclosure. Thus, although specific embodiments have been illustrated and described herein, any arrangement calculated to achieve the same purpose may be substituted for the specific embodiments shown. This disclosure is intended to cover any and all adaptations or variations of various embodiments. Combinations of the above embodiments, and other embodiments not specifically described herein, will be apparent to those of skill in the art upon reviewing the above description.
In the foregoing Detailed Description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments require more features than are expressly recited in each claim. Rather, as the following claims reflect, the present disclosure lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby incorporated into the Detailed Description, with each claim standing on its own as a separate preferred embodiment. It will be readily understood to those skilled in the art that various other changes in the details, material, and arrangements of the parts and method stages which have been described and illustrated in order to explain the nature of this disclosure may be made without departing from the principles and scope as expressed in the subjoined claims.
It is emphasized that the Abstract is provided to comply with 37 C.F.R. §1.72(b) requiring an Abstract that will allow the reader to quickly ascertain the nature and gist of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims.
This application claims the benefit of U.S. Provisional Application No. 61/393,353 filed Oct. 14, 2010, titled “Powered Remote Manipulator,” which is hereby incorporated in its entirety by reference.
Number | Date | Country | |
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61393353 | Oct 2010 | US |