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US 11,969,888 B2Granted
Systems and methods for chain joint cable routing
AssigneeVeolia Nuclear Solutions, Inc.
InventorsMatthew Cole, Paul Damon Linnebur, Dan Alan Preston, Kenneth Schofield
Life of this patent
Estimating the term…
Abstract
Cable routing approaches are described that allow cables to pass through a traditional chain joint without reducing the strength capacity or impairing the range of motion of the joint. The cable routing approaches permit the cables to be housed inside the structure of the robotic arm and pass through the chain joint in a manner that does not limit the width of the chain.
Claims20
A mechanical joint mounted between an actuating arm and a moving arm, comprising:
- a hub configured to receive one or more cables passing through the hub from the actuating arm to the moving arm, the hub including a body section including an outside surface, a flat top surface comprising one or more hub cable guide holes, a first and second side for attaching to the actuating arm and the moving arm, and a vertical slot extending through the body section configured to receive the one or more cables;
- one or more linear actuators connected to a flexible mechanical drive system wherein the flexible mechanical drive system includes first and second flexible drive devices having first ends coupled to the one or more linear actuators and second ends configured to rotate the hub about its central axis resulting in a change of position between the actuating arm and the moving arm from a first position to a second position;
- and
- a link connector extending from the flat top surface of the hub and attached on opposite sides to the second ends of the first and second flexible drive devices, the link connector including one or more connector cable guide holes aligned with the one or more hub cable guide holes and the one or more cables extend from the actuating arm through the one or more connector cable guide holes, the one or more hub cable guide holes, and through the vertical slot in between the second ends of the first and second flexible drive devices.
1 more element
A mechanical joint mounted between an actuating arm and a moving arm, comprising:
- a hub configured to receive one or more cables passing through the hub from the actuating arm to the moving arm, the hub including a body section including an outside surface, a flat top surface comprising one or more hub cable guide holes, a first and second side for attaching to the actuating arm and the moving arm, and a vertical slot extending through the body section configured to receive the one or more cables;
- one or more actuators connected to a flexible mechanical drive system wherein the flexible mechanical drive system includes first and second flexible drive devices having first ends coupled to the one or more actuators and second ends configured to rotate the hub about its central axis resulting in a change of position between the actuating arm and the moving arm from a first position to a second position;
- and
- a link connector extending from the flat top surface of the hub and attached on opposite sides to the second ends of the first and second flexible drive devices, the link connector including one or more connector cable guide holes aligned with the one or more hub cable guide holes and the one or more cables extend from the actuating arm through the one or more connector cable guide holes, the one or more hub cable guide holes, and through the vertical slot in between the second ends of the first and second flexible drive devices.
1 more element
Dependencies are inferred from the claim text.