Back to results
US 10,590,965 B1Granted
Controlling a fluid actuated device
AssigneeVecna Robotics, Inc.
InventorDaniel Theobald
Life of this patent
Estimating the term…
Abstract
Apparatuses, systems and methods are provided for controlling at least one fluid actuated device; e.g., an actuator such as a hydraulic cylinder. A method is provided, for example, involving an actuatable component and an actuation system, which includes an actuation system component and an actuator. During a mode of operation, the actuation system component is fluidly coupled with a first chamber and a second chamber of the actuator using the actuation system. The actuator is operable to move the actuatable component.
Claims20
A device comprising:
- a hydraulic cylinder comprising a piston, the hydraulic cylinder defining a first chamber and a second chamber, the piston having a stem extending to an exterior of the hydraulic cylinder for desired activation of
- a robotic arm member;
- a first valve system and a second valve system, each in direct, independent operable engagement with the first chamber and the second chamber, respectively, wherein the first valve system and the second valve system each provide a variable flow of a hydraulic fluid both into and out of the first chamber and the second chamber;
- a hydraulic fluid pump, a hydraulic fluid reservoir and a hydraulic fluid line system for operable engagement with at least the first valve system and the second valve system, wherein at least one fluid input line is into each of the first valve system and the second valve system and is in operable communication with the hydraulic fluid pump to supply hydraulic fluid under pressure to both the first chamber and the second chamber and wherein at least one fluid output line is out of each of the first valve system and the second valve system and is in operable communication with the hydraulic fluid reservoir for draining both the first chamber and the second chamber to the hydraulic fluid reservoir;
- and
- a control system in operable communication with the first valve system, the second valve system, the robotic arm member, a sensor for determining actuation of the robotic arm member, and the hydraulic fluid pump, wherein the control system is configured to perform operations comprising:
- determining a desired motion of the robotic arm member;
- determining an actual motion of the robotic arm member;
- and
- activating both the first valve system and the second valve system to provide hydraulic fluid into one of the first chamber and the second chamber at a first rate and to drain the hydraulic fluid from an opposite one of the first chamber and the second chamber at a second rate to control the robotic arm member.
7 more elements
A device comprising:
- a hydraulic cylinder comprising a piston, the hydraulic cylinder defining a first chamber and a second chamber, the piston having a stem extending to an exterior of the hydraulic cylinder for desired activation of
- a robotic arm member;
- a first valve system and a second valve system, each in operable engagement with the first chamber and the second chamber, respectively;
- a hydraulic fluid pump, a hydraulic fluid reservoir and a hydraulic fluid line system for operable engagement with at least the first valve system and the second valve system, wherein the hydraulic fluid line system connects each of the first valve system and the second valve system and the hydraulic fluid pump to supply hydraulic fluid under pressure to both the first chamber and the second chamber and wherein the hydraulic fluid line system connects each of the first valve system and the second valve system with the hydraulic fluid reservoir for draining both the first chamber and the second chamber to the hydraulic fluid reservoir;
- and
- a control system in operable communication with the first valve system, the second valve system, the robotic arm member, a sensor for determining actuation of the robotic arm member, and the hydraulic fluid pump, wherein the control system is configured to perform operations comprising activating both the first valve system and the second valve system to provide hydraulic fluid into one of the first chamber and the second chamber at a first rate and to drain the hydraulic fluid from an opposite one of the first chamber and the second chamber at a second rate to control the robotic arm member.
3 more elements
A method for operating a device, the method comprising:
- determining, via a control system of the device, a desired motion of a robotic arm member on the device;
- determining an actual motion of the robotic arm member;
- and
- activating, via the control system, both a first valve system and a second valve system on the device to provide hydraulic fluid into one of a first chamber and a second chamber at a first rate and to drain the hydraulic fluid from an opposite one of the first chamber and the second chamber at a second rate to control the robotic arm member, wherein the device comprises:
- a hydraulic cylinder comprising a piston, the hydraulic cylinder defining the first chamber and the second chamber, the piston having a stem extending to an exterior of the hydraulic cylinder for desired activation of the robotic arm member;
- the first valve system and the second valve system, each in operable engagement with the first chamber and the second chamber, respectively;
- a hydraulic fluid pump, a hydraulic fluid reservoir and a hydraulic fluid line system for operable engagement with at least the first valve system and the second valve system, wherein the hydraulic fluid line system connects each of the first valve system and the second valve system and the hydraulic fluid pump to supply hydraulic fluid under pressure to both the first chamber and the second chamber and wherein the hydraulic fluid line system connects each of the first valve system and the second valve system with the hydraulic fluid reservoir for draining both the first chamber and the second chamber to the hydraulic fluid reservoir;
- and
- a control system in operable communication with the first valve system, the second valve system, the robotic arm member, a sensor for determining actuation of the robotic arm member, and the hydraulic fluid pump.
6 more elements
Dependencies are inferred from the claim text.