Robot skeletal components

• US 9,156,172 B2
• Filed: 04/01/2013
• Issued: 10/13/2015
• Est. Priority Date: 03/08/2012
• Status: Active Grant

• Current Assignee: Quality Manufacturing Inc. (Integrated Aerospace Manufacturing LLC)
• Original Assignee: Quality Manufacturing Inc. (Integrated Aerospace Manufacturing LLC)
• Inventors: Rose, Jeffrey A., Rose, James Adam, Rose, Stephen D., Cooper, Raymond
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US13/854,710
• Publication Number:
  US 20130233116A1
• Time in Patent Office: 925 Days
• Field of Search: 700245-264
• US Class Current: 1/1
• CPC Class Codes: B25J 13/081 Touching devices, e.g. pressure-sensitive
• CPC Class Codes: B25J 15/00 Gripping heads and other end effectors grippers used in machine tools B23Q7/04; gripping members fitted on cranes B66C1/42, B66C1/44; gripping means used in the manufacture of semiconductors H01L21/68707; gripping means used for mounting electrical components H05K13/04
• CPC Class Codes: B25J 18/00 Arms
• CPC Class Codes: B25J 19/0029 arranged within the different robot elements
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• CPC Class Codes: B25J 19/02 Sensing devices
• CPC Class Codes: B25J 9/1612 characterised by the hand, wrist, grip control
• CPC Class Codes: F04B 9/10 the fluid being liquid
• CPC Class Codes: G01B 7/00 Measuring arrangements characterised by the use of electric or magnetic techniques
• CPC Class Codes: Y10S 901/27 Arm part
• CPC Class Codes: Y10S 901/28 Joint
• CPC Class Codes: Y10T 74/20311 including power cable or connector

Abstract

A robot skeletal component may be configured to support and power a robot. The skeletal component may include an elongated inner core and a battery coupled to and substantially circumscribing the inner core. The robot skeletal component may be configured to connect to a joint via a quick release flange. A casing may enclose the battery. The casing may be configured to seal punctures. The robot skeletal component may include a heating element to heat the battery. The robot skeletal component may be configured to transport fluid, data, and/or electrical power. The inner core may include a plurality of surface elements to transfer data and/or electrical power. The inner core may include a hollow interior, and the hollow interior may include a plurality of non-interconnected chambers configured to transfer fluid. The inner core may include insulators to insulate the inner core from the surface elements and/or the fluid.

Claims

1. A skeletal component for supporting and powering locomotion of an electric device, the skeletal component comprising:

an elongated inner core;

a first battery coupled to and substantially circumscribing the inner core, the first battery comprising an anode, a cathode, a separator, and wires, wherein the wires couple each of the anode and the cathode to the robot, and wherein the first battery provides structural support to the skeletal component; and

a casing at least partially enclosing the first battery.

2. The skeletal component of claim 1, wherein the first battery comprises a battery cell selected from the group consisting of a rechargeable lithium battery and a flexible lithium polymer battery.

3. The skeletal component of claim 1, wherein the inner core comprises a hollow interior.

4. The skeletal component of claim 3, further comprising a polyvinyl chloride (PVC) pipe for transmitting fluid, wherein the inner core at least partially encircles the PVC pipe.

5. The skeletal component of claim 3, further comprising an insulator sleeve, wherein the hollow interior comprises a plurality of chambers configured to transport fluid longitudinally, wherein the plurality of chambers are configured to prevent fluid from different chambers from mixing during transport, and wherein the insulator sleeve insulates the fluid from the inner core.

6. The skeletal component of claim 3, wherein the inner core comprises conductive, longitudinal surface elements configured to transmit data.

7. The skeletal component of claim 3, wherein the inner core comprises conductive, longitudinal surface elements configured to couple the wires to the robot.

8. The skeletal component of claim 1, wherein the first battery comprises a plurality of battery cells and a plurality of support plates, and wherein each battery cell is encased by the plurality of support plates.

9. The skeletal component of claim 1, further comprising a second battery, wherein the second battery substantially circumscribes the first battery.

10. The skeletal component of claim 1, wherein the inner core is configured to connect to a joint via a quick release flange.

11. The skeletal component of claim 1, further comprising an end cap configured to removeably couple to the inner core.

12. The skeletal component of claim 11, wherein the end cap comprises a port configured to transmit at least one of fluid, data, and power.

13. The skeletal component of claim 1, wherein the first battery comprises a plurality of battery cells, and wherein each battery cell comprises a plurality of substantially parallel windings.

14. The skeletal component of claim 13, wherein the substantially parallel windings are insert molded into at least one of the plurality of battery cells.

15. The skeletal component of claim 1, wherein the first battery is configured to conform to a shape of the inner core.

16. The skeletal component of claim 1, wherein the casing is configured to seal punctures.

17. The skeletal component of claim 1, wherein the casing completely encloses the first battery, and wherein the wires perforate the casing.

18. The skeletal component of claim 1, further comprising:

a heating element configured to deliver heat to the first battery; and

an electrical insulator configured to electrically insulate the first battery from the heating element.

19. The skeletal component of claim 18, wherein the heating element comprises at least one of a resistive heating element and a thermoelectric heating element.

20. The skeletal component of claim 18, wherein the heating element is helically shaped and wraps around the battery.

21. A robot skeletal component for transporting fluid, the robot skeletal component comprising:

a male end;

a female end;

an output section between the male end and the female end; and

an elongated inner core comprising a hollow interior,

wherein the male and female ends are configured to mechanically connect to other skeletal components and/or joints,

wherein the output section and the female end are configured to transfer the fluid to the other skeletal components and/or joints, and

wherein the inner core comprises a plurality of chambers, wherein each chamber is bounded by the elongated inner core and a common dividing wall configured to prevent fluids from different chambers from mixing during transport, wherein the plurality of chambers are parallel to each other, and wherein the plurality of chambers are configured to transfer the fluid between the female end and the output section.

22. The robot skeletal component of claim 21, wherein the inner core comprises a plurality of surface elements configured to transfer at least one of data and electrical power between the female end and the output section.

23. The robot skeletal component of claim 22, wherein the inner core comprises:

a core cylinder; and

an insulator configured to electrically insulate the core cylinder from the plurality of surface elements.

24. The robot skeletal component of claim 21, wherein the plurality of chambers are configured to insulate the fluid in each chamber from fluid in other chambers.

25. The robot skeletal component of claim 24, wherein the inner core comprises an insulator configured to electrically insulate the fluid from the inner core.

26. The robot skeletal component of claim 21, wherein the inner core comprises a material selected from the group consisting of titanium, aluminum, and carbon fiber.

27. The robot skeletal component of claim 21, further comprising a battery, wherein at least one of the female end and the output section is electrically coupled to the battery.

28. The robot skeletal component of claim 27, wherein the battery comprises first and second ends and is cylindrically wound about the inner core, and wherein the female end and the output section enclose the first and second ends of the battery to prevent longitudinal displacement relative to the inner core.

29. The robot skeletal component of claim 27, wherein the female end comprises one or more switches configured to selectively couple the battery to charging and discharging circuits.

30. The robot skeletal component of claim 21, wherein the female end comprises a fluid port in fluid communication with a pump.

31. A robot skeletal component for transporting data and/or electrical power, the robot skeletal component comprising:

a cylindrical inner core comprising a hollow interior;

a proximal end configured to connect the robot skeletal component to a first adjacent skeletal component or joint; and

a distal end configured to connect the robot skeletal component to a second adjacent skeletal component or joint,

wherein the inner core comprises a plurality of conducting elements coupled to a surface of the cylindrical inner core and running along the surface parallel to a cylinder axis, the plurality of conducting elements configured to transfer at least one of data and electrical power between the first adjacent skeletal component and the second adjacent skeletal component.