Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
1998-07-07
2001-09-04
Lee, Thomas (Department: 2182)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S245000, C700S275000, C318S568110
Reexamination Certificate
active
06285919
ABSTRACT:
BACKGROUND OF THE INVENTION
The present invention relates generally to an apparatus with a teleoperated arm. Specifically, the present invention relates to an apparatus having a teleoperated arm that can perform a variety of tasks in a confined space.
Many difficulties arise when performing tasks within a confined space. For instance, several apparatuses and processes must be simultaneously controlled. In addition, the tool used to perform must be small enough to enter through access ports of limited size. The tool must also reach all necessary locations within the confined space. Despite their limited size, the tools are still required to perform the desired task properly.
When hazardous materials are present in the confined space, the difficulty of performing the task multiplies. Human intervention at the location of the hazardous material or within a confined space is obviously not recommended, or may be prohibited in certain circumstances. In these instances, robotic or teleoperated systems must be used.
Several attempts have been made to provide robotic or teleoperated systems that perform various tasks in confined and/or hazardous spaces. U.S. Pat. No. 4,351,478 to Looper discloses an apparatus for cleaning tanks. The apparatus includes a vertical member that enters the tank. The vertical member supports a wash nozzle assembly. An air motor drives two gear boxes to pivot the wash nozzle in two directions within the tank.
Also, U.S. Pat. No. 5,265,667 to Lester, II et al. discloses a robotic arm for servicing nuclear steam generators. The robotic arm includes a support beam securable to the manway of a steam generator. The support beam allows placement of an extension arm to a suitable position relative to heat exchanger tube in the steam generator in order to allow eddy current inspection of the tubes.
While certainly beneficial in their specific applications, previous attempts at a solution may not be suitable in other confined space situations. In addition, the previous attempts do not integrate the various apparatuses and processes involved in performing a task in a confined space. Clearly, there is room for improvement in the art.
SUMMARY OF THE INVENTION
Therefore, it is an object of the present invention to provide an improved apparatus with a teleoperated arm.
It is a further object of the present invention to provide an apparatus with a teleoperated arm used to perform a variety of tasks in a confined space.
It is a further object of the present invention to provide an apparatus with a teleoperated arm integrated with the processes involved in performing a variety of tasks in a confined space.
It is a further object of the present invention to provide an apparatus with a teleoperated arm that can perform a variety of task within a storage tank by accessing the storage tank through a single riser.
It is a further object of the present invention to provide an apparatus with a four degree of freedom teleoperated arm.
It is a further object of the present invention to provide a teleoperated arm assembly in which the conduits used to transport material for performing tasks within the confined space form the structure of the teleoperated arm.
It is a further object of the present invention to provide a control system that integrates the apparatuses with the processes involved in performing a given task in a confined space.
These and other objects are achieved in one aspect of the present invention by an apparatus for performing a task in a confined space having an access port. The apparatus comprises: a confinement box securable to the access port of the confined space; a shell extending from the confinement box; a teleoperated arm movable between a retracted position, in which the teleoperated arm is disposed within the shell, and a deployed position, in which the teleoperated arm extends through the access port and into the confined space to perform the task; and a control system for commanding the teleoperated arm.
These and other objects are achieved in a second aspect of the present invention by the apparatus comprising: a confinement box; an elongated tube connected to an aperture in an upper end of a main compartment of the confinement box; a teleoperated arm; and a control system operatively connected to the confinement box and teleoperated arm for manipulating the apparatus. The confinement box includes: an aperture at an upper end and an aperture at a lower end securable to the access port of the confined space; a height adjustable table including: a motor for raising and lower the table; a rotatable flange; and a motor for rotating the flange. The teleoperated arm includes: a mast movable within the tube and the confinement box; an inner arm comprising a conduit; a shoulder joint connecting the mast and inner arm, the inner arm being in fluid communication with at least one conduit; a means for actuating the shoulder joint; an outer arm comprising a conduit; an elbow joint connecting the outer arm and inner arm, the outer arm being in fluid communication with the inner arm; and a means for actuating the elbow joint. The mast secures to the rotatable flange and has at least one conduit extending therethrough.
These and other objects are achieved in a third aspect of the present invention by a teleoperated arm assembly, comprising: a first section; a means for translating the first section; a means for rotating the first section; a second section; a shoulder joint connecting the first and second sections; a means for actuating the shoulder joint; a third section; an elbow joint connecting the second and third sections; a means for actuating the elbow joint; and a control system commanding the first section translating means, first section rotating means, shoulder joint actuating means and elbow joint actuating means.
These and other objects are achieved in a fourth aspect of the present invention by a teleoperated arm assembly in which the arm links serve as process conduits integral to the teleoperated arm for the purpose of transporting extractable material from a confined space and/or for the purpose of supplying a process stream or electrical utility to the confined space.
REFERENCES:
patent: 4149934 (1979-04-01), Jacobs et al.
patent: 4351478 (1982-09-01), Looper
patent: 4594049 (1986-06-01), Terauchi
patent: 4889197 (1989-12-01), Boe
patent: 4962338 (1990-10-01), Daggett et al.
patent: 4976278 (1990-12-01), Ripley et al.
patent: 5085242 (1992-02-01), Ripley et al.
patent: 5265667 (1993-11-01), Lester, II et al.
patent: 5355063 (1994-10-01), Boone et al.
patent: 5497813 (1996-03-01), Dinnis et al.
patent: 5944476 (1999-08-01), Bacchi et al.
patent: 5989220 (1999-11-01), Shaw et al.
Blank James Allen
Davis Hurley Thomas
Kwon Dong Soo
Lloyd Peter Downes
Love Lonnie Joe
Cao Chun
Hardaway/Mann IP Group
Lee Thomas
O'Toole J. Herbert
U T Battelle LLC
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