SYSTEM AND METHODS FOR ACTUATING REVERSIBLY EXPANDABLE STRUCTURES

• US 20090158674A1
• Filed: 12/21/2007
• Published: 06/25/2009
• Est. Priority Date: 12/21/2007
• Status: Active Grant

• Current Assignee: Schlumberger Technology Corporation (Schlumberger NV)
• Original Assignee: Schlumberger Technology Corporation (Schlumberger NV)
• Inventors: Guerrero, Julio C., Munro, Logan
• Granted Patent: US 8,291,781 B2
• Time in Patent Office: Days
• US Class Current: 52/81.200
• CPC Class Codes: A63F 9/088 Puzzles with elements that are connected by straps, strings or hinges, e.g. Rubik's Magic
• CPC Class Codes: E04B 1/344 with hinged parts
• CPC Class Codes: E21B 43/105 Expanding tools specially adapted therefor
• CPC Class Codes: Y10T 74/18056 Rotary to or from reciprocating or oscillating
• CPC Class Codes: Y10T 74/18296 Cam and slide
• CPC Class Codes: Y10T 74/18568 Reciprocating or oscillating to or from alternating rotary
• CPC Class Codes: Y10T 74/2115 Radially

Abstract

An actuator is provided for reconfiguring a reversibly expandable structure, also referred to as a deployable structure. The deployable structure includes an enclosed mechanical linkage capable of transformation between expanded and collapsed configurations while maintaining its shape. An actuator coupled to the deployable structure provides a load, force, or torque for actuating a transformation. The actuated deployable structure transfers the actuation force to an external body substances, or element in contact with the deployable structure. The force can be directed inwardly or outwardly depending upon direction of the transformation (i.e., expanding or contracting). The force provided by the deployable structure can be used to perform work by its application over at least a portion of the distance traveled by a perimeter of the deployable structure during its transformation. In some embodiments, the actuatable deployable structure is lockable structure supporting a static load.

Claims

1. A rotary actuator, comprising:

a first member including a first surface defining at least one track; and

a second member including an opposing surface defining at lest one opposing track, the opposing surface rotatably positioned opposite the first surface, such that at least a portion of the at least one track overlappingly intersects at least a portion of a respective one of the at least one opposing tracks, the overlapping intersection defining an anchor point configured for slideable coupling to an anchor of a reversibly expandable structure,

wherein rotation of the first member with respect to the second member transfers an actuation force to the expandable structure through the anchored connection.

2. The rotary actuator of claim 1, wherein the at least one track is a radial track.

3. The rotary actuator of claim 1, wherein the at least one overlapping track is a spiral track.

4. The rotary actuator of claim 1, further comprising a motor configured to rotate about a rotational center point the first member with respect to the second member.

5. The rotary actuator of claim 1, wherein the first and second members are disk-shaped.

6. The rotary actuator of claim 1, wherein at least one of the tracks is a grooved track.

7. The rotary actuator of claim 6, wherein at least one of the grooved tracks is an elongated aperture.

8. The rotary actuator of claim 1, wherein the actuator is configured to provide a mechanical advantage in response to the actuation force, the mechanical advantage being determined by at least one of the at least one track of the first member and the at lest one opposing track of the second member.

9. A method for transferring an actuation force to a reversibly expandable structure, comprising:

providing a first member including a first surface defining at least one track and a second member including an opposing surface defining at lest one opposing track;

aligning the first member with respect to the second member such that at least a portion of the at least one track overlappingly intersects at least a portion of a respective one of the at least one opposing tracks, the overlapping intersection defining an anchor point;

engaging with the anchor point an anchor of a reversibly expandable structure; and

rotating the first member with respect to the second member, the rotational force being transferred to the expandable structure through the anchored engagement, wherein actuation induces a diametric change of the reversibly expandable structure.

10. The method of claim 9, wherein the act of rotating the first member with respect to the second member comprises positionally fixing one of the first and second members and rotating the other one of the first and second members with respect to the positionally fixed member.

11. The method of claim 10, wherein the act of rotating the first member with respect to the second member comprises using a motor to apply a torque to the other one of the first and second members.

12. A rotary actuator, comprising:

a first disk including a first surface defining more than one radial slot; and

a second disk including an opposing surface defining more than one opposing spiral slot, the opposing surface rotatably positioned opposite the first surface, such that at least a portion of each of the more than one radial slots overlappingly intersect at least a portion of at least a respective one of the more than one opposing spiral slots, the overlapping intersection defining an anchoring aperture configured for slideable coupling to an anchor of a reversibly expandable structure,

wherein rotation of the first member with respect to the second member transfers an actuation force to the expandable structure through the anchored coupling.

13. A reversibly expandable structure, comprising:

an enclosed mechanical linkage including a plurality of pivotally joined kinematics modules reversibly expandable between expanded and collapsed configurations; and

an actuator in communication with at least one of the plurality of pivotally joined kinematics modules, the actuator being configured to provide an actuation force for adjusting the at least one of the plurality of pivotally joined kinematics modules between open and closed configurations, adjustment of the at least one pivotally joined kinematics module inducing adjustment of the enclosed mechanical linkage between expanded and collapsed configurations.

14. The reversibly expandable structure of claim 13, wherein the enclosed mechanical linkage defines an annular structure about a central axis having an external perimeter and an internal perimeter, wherein at least one reversibly expanding dimension is orthogonal to the central axis.

15. The reversibly expandable structure of claim 14, further comprising at least one additional enclosed mechanical linkage stacked along the central axis and also reversibly expandable between expanded and collapsed configurations.

16. The reversibly expandable structure of claim 13, further including a compliant layer disposed along at least a peripheral portion of at least some of the plurality of pivotally joined kinematics modules.

17. The reversibly expandable structure of claim 13, wherein at least some of the plurality of pivotally joined kinematics modules are planar, subtending an area of the enclosed mechanical linkage an overall larger area variable with the open and closed configurations.

18. The reversibly expandable structure of claim 13, further including a locking element configured to lock at least one pivotally joined kinematics module of the plurality of pivotally joined kinematics modules in a preferred adjustment between the open and closed configurations.

19. The reversibly expandable structure of claim 18, wherein the locking element includes a ratchet assembly having a toothed surface along at least one of the plurality of pivotally joined kinematics modules and a pawl adapted to engage at least a portion of the toothed surface engagement of the pawl and the toothed surface allowing movement of the toothed surface with respect to the pawl in a preferred direction only, the ratchet assembly allowing one of expansion or contraction of the enclosed mechanical linkage, while preventing an opposite one of expansion or contraction, of the enclosed mechanical linkage.

20. The reversibly expandable structure of claim 13, wherein the actuator is a rotary actuator providing an actuation torque transferable to the at least one of the plurality of pivotally joined kinematics modules.

21. The reversibly expandable structure of claim 20, wherein the rotary actuator comprises an electric motor.

22. The reversibly expandable structure of claim 13, wherein the actuator is a linear actuator providing a linear actuation force transferable to the at least one of the plurality of pivotally joined kinematics modules.

23. The reversibly expandable structure of claim 22, wherein the linear actuator is selected from the group consisting of:

pneumatic pistons;

hydraulic pistons;

bolt-and-screw drives;

piezoelectric devices;

phase change materials;

solenoids; and

linear electric motors.

24. The reversibly expandable structure of claim 13, further comprising a linkage configured to transfer the actuation force between the actuator and the at least one of the plurality of pivotally joined kinematics modules.

25. The reversibly expandable structure of claim 24, wherein the linkage comprises a first gear fixedly coupled to the at least one of the plurality of pivotally joined kinematics modules and a second gear in communication with the first gear, wherein rotation of the second gear induces a rotation of the first gear for adjusting the at least one of the at least one of the plurality of pivotally joined kinematics modules between open and closed configurations.

26. The reversibly expandable structure of claim 25, wherein the linkage comprises a belt and pulley system transferring torque from the actuator to the at least one of the plurality of pivotally joined kinematics modules.

27. The reversibly expandable structure of claim 13, wherein the actuator is configured to provide a mechanical advantage in response to the actuation force.

28. The reversibly expandable structure of claim 13, wherein the actuator comprises a first member including at least one radial track and an overlapping second member including at lest one spiral track, intersection of the radial and spiral tracks of the overlapping first and second members defining an anchor point configured for slideable coupling to an extension of a pivot of the enclosed mechanical linkage, wherein rotation of the first member transfers an actuation force to the pivot extension.

29. A method for transferring a force to a body, comprising:

providing an enclosed mechanical linkage including a plurality of pivotally joined kinematics modules, the enclosed mechanical linkage actuatable between collapsed and expanded states;

applying an actuation force to at least one of the plurality of pivotally joined kinematics modules, the applied actuation force varying a diameter of the enclosed mechanical linkage; and

positioning at least a portion of the enclosed mechanical linkage with respect to the body, wherein variation of the diameter of the enclosed mechanical linkage produces a force acting upon the body.

30. The method of claim 29, wherein the act of applying an actuation force comprises transferring an actuation force from an actuator to at least one of the plurality of pivotally joined kinematics modules.

31. The method of claim 30, wherein transferring an actuation force from an actuator to the at least one of the plurality of pivotally joined kinematics modules comprises:

rotating a first disk including at least one overlapping slot with respect to an overlapping second disk including at least one slot, whereby overlapping intersection of slots of the first and second slotted disks defines an anchor point movable with rotation of the first and second; and

slideably engaging within the anchor point a pivot extension of at least one of the plurality of pivotally joined kinematics modules, whereby relative rotation of the overlapping disks varies a diameter of the enclosed mechanical linkage.

32. The method of claim 30, wherein transferring an actuation force from an actuator to at least one of the plurality of pivotally joined kinematics modules comprises rotating a gear fixedly coupled to one of the plurality of pivotally joined kinematics modules, whereby rotation of the gear varies a diameter of the enclosed mechanical linkage.

33. The method of claim 29, further comprising applying force with the enclosed mechanical linkage over a distance resulting from variation of the diameter of the enclosed mechanical linkage between its collapsed and expanded states the applied force usable to do work over the distance.

34. The method of claim 29, further comprising providing:

inserting the enclosed mechanical linkage into a wellbore; and

positioning a sealing body between an external surface of the enclosed mechanical linkage and an adjacent surface of the wellbore, wherein the force acting upon the sealing body urges the sealing body against the adjacent surface of the wellbore for sealing an aperture in the adjacent surface of the wellbore.

35. The method of claim 29, wherein the act of positioning at least a portion of the enclosed mechanical linkage with respect to the body comprises coupling at least a portion of the enclosed mechanical linkage to a tool, wherein the force produced by the enclosed mechanical linkage urges the tool across a cylindrical surface of the wellbore.

36. A reversibly expandable structure, comprising:

an enclosed mechanical linkage including a plurality of pivotally joined kinematics modules, the enclosed mechanical linkage actuatable between collapsed and expanded states;

means for applying an actuation force to at least one of the plurality of pivotally joined kinematics modules, the applied actuation force varying a diameter of the enclosed mechanical linkage; and

means for positioning at least a portion of the enclosed mechanical linkage with respect to the body, wherein variation of the diameter of the enclosed mechanical linkage produces a force acting upon the body.