Patent Application
20250033094
This application currently claims priority to no prior U.S. patent applications.
This disclosure relates to the technical fields of hydro-blasting and robotics.
Hydro-blasting/hydro-jet cleaning is an effective form of power washing, used to remove buildup and debris (scale) in tanks, agitators, cladding, etc. The hydro-blasters customarily use high pressure nozzles at the tip of a spray gun.
While the technology to shoot water as high as 30,000 PSI has existed for some time, no pressure washing system has heretofore solved the problem of getting the high-pressure water to a desired location in pinpoint fashion, especially when the scale is located on the inside of a tall tank. Customarily, makeshift scaffolding systems are built to physically carry or wheel a hydro-blaster to a debris site. Cleaners are often forced to use a 1″ hose tank tied with a rope, or temporarily rig a blaster to a crane, all of which must be continually moved and maintained by hand. Troublesome vibration then occurs, forcing replacement of valves and diaphragms. Furthermore, the process is ordinarily arduous and dangerous.
What is needed (and solved by the instant disclosure) is a radio-controlled robotic hydro-blaster using hydraulic power to bring the water nozzle to the debris.
Disclosed are a methodology and apparatus device for on-point hydro-blasting. Inter alia, the invention is an industrial, long reach, robotic 360° swiveling/rotating pressure water blaster capable of 15,000 PSI water pressure and 140 gallons per minute that functions without undue vibrations that would otherwise throw the system out of alignment or cause cracks in diaphragms and valves. The long reach 360° rotating boom and arm, and the proprietary “stinger” (spray gun and lance with wand for hydro blasting) are novel to the industry.
The invention features a unique, hydraulically-controlled “stinger” (on-point robotically controlled nozzle/spray gun and lance with wand). The power and hydraulic lines run along (and are braced to) the full length of the boom of the robotic multi-jointed arm for superior stability and maneuverability. The invention is unique in its superior maneuverability at such high GPM and pressure, previously unimaginable without the invention's unique engineering and design. A Radio Frequency controlled system accurately moves the hydraulically powered stinger to the debris site at the proper water-spray angle (not just along a one-vector track like a clumsy power washer).
In many aspects, the blaster features a 1″ high pressure feed hose, two hydro-hoses, a power cable, a proprietary control panel optionally mounted on the boom, an RF controller, two-way hydraulic solenoids, and a remote-control unit for the hydraulic-controls. Controls for the boom feature, in some embodiments, a handheld pendant-style joystick (4 functions). Older boom controls were primarily manually operated levers. The RF stinger assembly controller offers the stinger full 360° movement in all directions and all angles. The result is that the stinger (water gun & nozzle) is fully capable of 360° pitch, roll and yaw, bringing the pressure water to any precise location.
The herein-disclosed invention involves on-point hydro-blasting. The invention comprises a long-reach 360° rotating robotically-controlled boom and multi-jointed arm for hydro blasting The invention further features a unique remote RF-controlled hydraulic “stinger” (water jet wand gun and nozzle) assembly. The stinger is, inter alia, a pinpoint, RF-controlled robotically-maneuvered high pressure water gun & nozzle (spray gun).
The engineering & design of the stinger (water spray gun and lance with wand) allows superior stability and maneuverability at extremely high GPM and PSI pressure, previously unimaginable without the invention's unique engineering and design.
The invention features, inter alia, an industrial, long reach high pressure water blaster capable of 15,000 PSI water pressure and 140 gallons per minute. The power and hydraulic lines run along (bracketed to) the length of the boom (and the extending robotic arm) for superior stability.
The blaster features a 1″ high pressure feed hose (pumped in through 1″ inlet positioned at the base/truck in some embodiments), at least two hydraulic hoses, at least one power cable, a proprietary RF control panel (panel optionally mounted on the boom), a controller, and at least 4 two-way hydraulic solenoids/cylinoids for stinger 360° control).
Controls for the boom feature, in some embodiments, are through a handheld pendant-style joystick (4 primary functions of CNC wire-control). Older units may use manually operated levers. Optionally, RF controlled unit(s) may be used, or Bluetooth™. The radio transmitters of the system may be controlled by push buttons, joysticks or linear levers, or other appropriately safe mechanism.
Also featured are slew drive hydraulics, which are high pressure driven “swivels” inside the stinger mechanism (positioned at the base/proximal end of the stinger wand) to allow seamless movement. One drive is for 360° X-direction rotation and one drive for is for 360° Y-direction up/down movement).
The RF controller offers control of 360° movement in all directions and all angles for the stinger (the water gun wand and nozzle). One slew drive offers 360° movement in the Y (forward/backward) direction, and the other [second] slew drive offers 360° movement in the X (around/sideways) direction, therein offering full 360° pinpoint hydro-jet (stinger) positioning. The result is that the system's stinger is capable of 360° pitch, roll and yaw movement to bring the high-pressure water to virtually any location at the right blasting angle.
In this embodiment, the stingray system is mounted atop the truck in its collapsed (non-deployed/stayed/resting) position. Along the length of the 170′ boom are positioned: a 1″ high pressure feed hose, 2 hydraulic hoses, and [here] one power cable(s).
At ≤15,000 PSI, the ≤170′, the substantially-steel boom functions as an anchor against vibration. The hydraulic and power lines run internally through boom, counteracting the extreme vibration/shake caused by the high-water pressure.
Furthermore, the substantially square metallic mounts along the arm further dampen vibration (in one embodiment, these brackets and mounts are spaced 4′ apart). These brace-mounts are combined with metal couplers to reduce excessive vibration of the (high pressure-rated) rubber water hose. Alternatives to welded/bolted brackets & bracket mounts are possible; the square pipe bracket materials & shapes may vary so long as the hose-attachment devices appropriately secure the hoses, ensure liquid flow and dampen vibration for the full 180′ (max) boom length.
In one embodiment, the stinger movement mechanism is comprised of a 1″ high pressure quick-connect piece, connected to a 1″ 90°-degree bend piece, connected to a 1″ pressure swivel piece, connected to another 1″ 90°-degree bend piece, connected to another 1″ swivel piece, connected to another 1″-quick connect piece, connected to a 6″ nipple, connected to another 1″ 90°-degree bend piece, connected to a 1″×8″ rigid lance/pipe (herein synonymous with “barrel”). The tip is a 1″ to ¾″ nozzle holder, wherein the nozzle is a ¾″ diameter aperture with a #90 jet.
The control unit provides stinger rotation to direct the water at any angle (even if the debris is unseen, such as the internal surfaces of a tank). High pressure swivel pieces are positioned inside the stinger, one for 360° sideways rotation, and one for 360° front/back movement.
The control panel and unit is for the system's multi-jointed robotic arm. This unit comprises four cylinoids, a two-way radio controller, a transmitter & receiver. In some embodiments, the remote unit comprises an HBC radio remote control transmitter unit.
Around the external circumference of the water line (or solvent line) is an isolation sleeve that goes over/around the hose, which is customarily made of plastic/plastic composite. Providing a buffer between metal mounts and the hose helps reduce vibration from the fast-flowing, high-pressure water. The brackets are, in one embodiment, spaced four feet apart along the boom and robotic arm. Other distance ratios are allowable so long as stability and durability are maintained.
In a preferred embodiment, Maximum Oil Flow is 158.5 gal/min/600 l/min, and Hydraulic Circuitry Type is MPS (machine protection system), providing smooth linear motion to the hydraulic actuator(s).
An industrial device for hydro-blasting debris in hard-to-reach places, the device having
The base can be a truck of sufficient mass to support the device's remaining components.
The boom can be a multi-jointed articulated arm hingedly fixed to the base, said arm capable of at least vertical motion.
The boom controller can be positioned inside a panel affixed to the boom.
The device can have a joystick-operated controller comprising at least six control features for movement and flow functions, and wherein said joystick-operated controller is an optionally detachable modular remote unit.
The solvent line can be a 1″ water line with optional fittings.
The stinger lance is usually a rigid metallic 1″ diameter pipe barrel. The stinger lance can be a barrel between about 3″ long and about 12″ long with a diameter of between about ½″ to a.
The stinger spray nozzle can be a Tungsten Carbide nozzle with a #90 jet™.
The RF stinger control system can have a manual or auto override safety system.
The device can also be a hydro-blasting device comprising a hydraulicly powered articulated main boom attached to an articulated robotic stinger arm, both apparatus' having a proximal end and a distal end; said blasting device further comprising a hydraulic turret assembly which rotates 360° along one axis,
The rotating turret and pivoting jet-support assembly may each be driven by two dedicated slew drives.
The hydraulics may be controlled by at least four computer-operated cylinoids, each cylinoid having at least two hydraulic lines stemming therefrom.
The device may further comprise a high-pressure hose running through a central channel in the turret and jet support assemblies, said hose connected to the stinger assembly by coupling devices substantially evenly spaced along the boom, and wherein the hydraulic, power and water lines are secured to the boom by metal pipe-style mounted brackets, therein allowing water flow at up to 15000 lbs without undue structural or hose vibration.
The device may have at least one hose is sheathed in an isolation sleeve;
The coupling devices comprise mounts and brackets arranged along the boom, where the brackets are substantially metallic pipe-style brackets and ties.
The stinger assembly may have a substantially central channel for at least 1 fluid line, at least one 90° swivel piece to prevent hose-tangling, and at least one hammerlock to allow controlled 360° movement.
The device may further comprise at least one digital video camera and at least one monitor for stinger positioning and system monitoring.
The device of claim 11 further comprising an override safety system.
The device may be an industrial hydro-blasting device mounted on the far end of a concrete-pouring truck's boom, wherein the device comprises at least a lance shaft a waterjet trigger mechanism, and a nozzle,
In the Summary above and in this Detailed Description, and the Claims below, and in the accompanying drawings, reference is made to particular features of various embodiments of the invention. It is to be understood that the disclosure of embodiments of the invention in this specification includes all possible combinations of such particular features. For example, where a particular feature is disclosed in the context of a particular aspect or embodiment of the invention, or a particular claim, that feature can also be used-to the extent possible-in combination with and/or in the context of other particular aspects and embodiments of the invention, and in the invention generally.
While multiple embodiments are disclosed, still other embodiments of the present invention will become apparent to those skilled in the art from this detailed description. The invention is capable of myriad modifications in various obvious aspects, all without departing from the spirit and scope of the present invention. Accordingly, the drawings and descriptions are to be regarded as illustrative in nature and not restrictive.
It should be noted that the features illustrated in the drawings are not necessarily drawn to scale, and features of one embodiment may be employed with other embodiments as the skilled artisan would recognize, even if not explicitly stated herein. Descriptions of well-known components and processing techniques may be omitted so as to not unnecessarily obscure the embodiments.
In the present disclosure, various features may be described as being optional, for example, through the use of the verb “may;”, or, through the use of any of the phrases: “in some embodiments,” “in some implementations,” “in some designs,” “in various embodiments,” “in various implementations,”, “in various designs,” “in an illustrative example,” or “for example;” or, through the use of parentheses. For the sake of brevity and legibility, the present disclosure does not explicitly recite each and every permutation that may be obtained by choosing from the set of optional features. However, the present disclosure is to be interpreted as explicitly disclosing all such permutations. For example, a system described as having three optional features may be embodied in seven different ways, namely with just one of the three possible features, with any two of the three possible features or with all three of the three possible features.
In the present disclosure, the term “any” may be understood as designating any number of the respective elements, i.e. as designating one, at least one, at least two, each or all of the respective elements. Similarly, the term “any” may be understood as designating any collection(s) of the respective elements, i.e. as designating one or more collections of the respective elements, a collection comprising one, at least one, at least two, each or all of the respective elements. The respective collections need not comprise the same number of elements.
In the present disclosure, all embodiments where “comprising” is used may have as alternatives “consisting essentially of,” or “consisting of.” In the present disclosure, any method or apparatus embodiment may be devoid of one or more process steps or components. In the present disclosure, embodiments employing negative limitations are expressly disclosed and considered a part of this disclosure.
Certain terminology and derivations thereof may be used in the present disclosure for convenience in reference only and will not be limiting. For example, words such as “upward,” “downward,” “left,” and “right” would refer to directions in the drawings to which reference is made unless otherwise stated. Similarly, words such as “inward” and “outward” would refer to directions toward and away from, respectively, the geometric center of a device or area and designated parts thereof. References in the singular tense include the plural, and vice versa, unless otherwise noted.
The term “comprises” and grammatical equivalents thereof are used herein to mean that other components, ingredients, steps, among others, are optionally present. For example, an embodiment “comprising” (or “which comprises”) components A, B and C can consist of (i.e., contain only) components A, B and C, or can contain not only components A, B, and C but also contain one or more other components.
Where reference is made herein to a method comprising two or more defined steps, the defined steps can be carried out in any order or simultaneously (except where the context excludes that possibility), and the method can include one or more other steps which are carried out before any of the defined steps, between two of the defined steps, or after all the defined steps (except where the context excludes that possibility).
The term “at least” followed by a number is used herein to denote the start of a range beginning with that number (which may be a range having an upper limit or no upper limit, depending on the variable being defined). For example, “at least 1” means 1 or more than 1. The term “at most” followed by a number (which may be a range having 1 or 0 as its lower limit, or a range having no lower limit, depending upon the variable being defined). For example, “at most 4” means 4 or less than 4, and “at most 40%” means 40% or less than 40%. When, in this specification, a range is given as “(a first number) to (a second number)” or “(a first number)-(a second number),” this means a range whose limit is the second number. For example, 25 to 100 mm means a range whose lower limit is 25 mm and upper limit is 100 mm.
Many suitable methods and corresponding materials to make each of the individual parts of embodiment apparatus are known in the art. According to an embodiment of the present invention, one or more of the parts may be formed by machining, CNC machined parts (also known as “subtractive” manufacturing), and injection molding, as will be apparent to a person of ordinary skill in the art. Metals, wood, thermoplastic and thermosetting polymers, resins and elastomers as may be described herein-above may be used. Many suitable materials are known and available and can be selected and mixed depending on desired strength and flexibility, preferred manufacturing method and particular use, as will be apparent to a person of ordinary skill in the art.
Any element in a claim herein that does not explicitly state “means for” performing a specified function, or “step for” performing a specific function, is not to be interpreted as a “means” or “step” clause as specified in 35 U.S.C. § 112 (f). Specifically, any use of “step of” in the claims herein is not intended to invoke the provisions of 35 U.S.C. § 112 (f). Elements recited in means-plus-function format are intended to be construed in accordance with 35 U.S.C. § 112 (f).
Recitation in a claim of the term “first” with respect to a feature or element does not necessarily imply the existence of a second or additional such feature or element.
The phrases “connected to,” “coupled to” and “in communication with” refer to any form of interaction between two or more entities, including mechanical, electrical, magnetic, electromagnetic, fluid, and thermal interaction. Two components may be functionally coupled to each other even though they are not in direct contact with each other. The term “abutting” refers to items that are in direct physical contact with each other, although the items may not necessarily be attached together.
The word “exemplary” is used herein to mean “serving as an example, instance, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
Reference throughout this specification to “an embodiment” or “the embodiment” means that a particular feature, structure or characteristic described in connection with that embodiment is included in at least one embodiment. Thus, the quoted phrases, or variations thereof, as recited throughout this specification are not necessarily all referring to the same embodiment.
Similarly, it should be appreciated that in the above description of embodiments, various features are sometimes grouped together in a single embodiment, Figure, or description thereof for the purpose of streamlining the disclosure. This method of disclosure, however, is not to be interpreted as reflecting an intention that any claim in this or any application claiming priority to this application require more features than those expressly recited in that claim. Rather, as the following claims reflect, inventive aspects lie in a combination of fewer than all features of any single foregoing disclosed embodiment. Thus, the claims following this Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment. This disclosure includes all permutations of the independent claims with their dependent claims.
According to an embodiment of the present invention, the communications means of the system may be, for instance, any means for communicating data over one or more networks or to one or more peripheral devices attached to the system. Appropriate communications means may include, but are not limited to, circuitry and control systems for providing wireless connections, wired connections, cellular connections, data port connections, Bluetooth connections, or any combination thereof. One of ordinary skill in the art would appreciate that there are numerous communications means that may be utilized with embodiments of the present invention, and embodiments of the present invention are contemplated for use with any communications means.
Throughout this disclosure and elsewhere, block diagrams and flowchart illustrations depict methods, apparatuses (i.e., systems), and computer program products. Each element of the block diagrams and flowchart illustrations, as well as each respective combination of elements in the block diagrams and flowchart illustrations, illustrates a function of the methods, apparatuses, and computer program products. Any and all such functions (“depicted functions”) can be implemented by computer program instructions; by special-purpose, hardware-based computer systems; by combinations of special purpose hardware and computer instructions; by combinations of general-purpose hardware and computer instructions; and so on-any and all of which may be generally referred to herein as a “circuit,” “module,” or “system.”
While the foregoing drawings and description may set forth functional aspects of the disclosed systems, no particular arrangement of software for implementing these functional aspects should be inferred from these descriptions unless explicitly stated or otherwise clear from the context.
Each element in flowchart illustrations may depict a step, or group of steps, of a computer-implemented method. Further, each step may contain one or more sub-steps. For the purpose of illustration, these steps (as well as any and all other steps identified and described above) are presented in order. It will be understood that an embodiment can contain an alternate order of the steps adapted to a particular application of a technique disclosed herein. All such variations and modifications are intended to fall within the scope of this disclosure. The depiction and description of steps in any particular order is not intended to exclude embodiments having the steps in a different order, unless required by a particular application, explicitly stated, or otherwise clear from the context.
A number of implementations have been described. Nevertheless, it will be understood that various modifications may be made. For example, advantageous results may be achieved if the steps of the disclosed techniques were performed in a different sequence, or if components of the disclosed systems were combined in a different manner, or if the components were supplemented with other components. Accordingly, other implementations are contemplated within the scope of the following claims.
