Rotatable coupling

• US 9,866,035 B2
• Filed: 03/27/2015
• Issued: 01/09/2018
• Est. Priority Date: 03/27/2015
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Doughty, Brian, Shamlian, Steven, Curtis, Jeffrey
• Primary Examiner(s): Desai, Naishadh
• Application Number:
  US14/671,304
• Publication Number:
  US 20160279808A1
• Time in Patent Office: 1,019 Days
• Field of Search: 310179-210, 310 89
• CPC Class Codes: G01D 5/34738 Axles; Driving or coupling means
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/28 Joint

Abstract

A rotatable coupling includes an input housing rotatably coupled to an output housing by a tube fixed to the output housing and on which tube the input housing rotates. The coupling includes two magnetic flux concentrators disposed about the tube and defining therebetween an annular cavity, a first concentrator fixed to the input housing and a second concentrator fixed to the output housing, such that relative rotation of the housings causes relative rotation of the concentrators on either side of the annular cavity. The coupling includes concentric coils disposed within the annular cavity that permit power transfer across the coupling, a first coil fixed to the input housing and a second coil fixed to the output housing; an emitter fixed to the input housing; and a receiver fixed to the output housing and positioned to receive the signals from the emitter during the relative rotation of the housings.

Claims

1. A continuously rotatable coupling, comprising

an input housing rotatably coupled to an output housing by a hollow tube fixed to the output housing and on which tube the input housing rotates, the hollow tube defining a central passage;

two cooperating magnetic flux concentrators disposed about the tube and defining therebetween an annular cavity, the flux concentrators comprising a first flux concentrator fixed to the input housing and a second flux concentrator fixed to the output housing, such that relative rotation of the input and output housings causes relative rotation of the flux concentrators on either side of the annular cavity;

concentric coils disposed within the annular cavity and positioned to permit electrical contact-free power transfer across the coupling, a first of the concentric coils fixed to the input housing and a second of the concentric coils fixed to the output housing;

an optical data emitter fixed to the input housing and positioned to transmit optical signals through the central passage; and

an optical data receiver fixed to the output housing and positioned to receive the optical signals from the input optical data emitter during the relative rotation of the input and output housings.

2. The coupling of claim 1, wherein the first concentric coil is fixed to the first flux concentrator and the second concentric coil is fixed to the second flux concentrator.

3. The coupling of claim 1, wherein the concentric coils are arranged such that a magnetic field induced by an alternating current passing through the second concentric coil will induce an electromotive force within the first concentric coil.

4. The coupling of claim 1, wherein an oscillating waveform passing through the second concentric coil electromagnetically couples the first concentric coil with the second concentric coil.

5. The coupling of claim 1, wherein the optical data transmitter fixed to the input housing comprises a first optical data transceiver, and wherein the optical data transmitter fixed to the output housing comprises a second optical data transceiver, such that the first and second optical data transceivers are configured to pass signals in both directions through the central passage.

6. The coupling of claim 5, wherein the first optical data transceiver is a first emitter and receiver pair, and the second optical data transceiver is a second emitter and receiver pair.

7. The coupling of claim 1, wherein a distance between a surface of the first flux concentrator and a surface of the second flux concentrator is approximately 0.1 mm to 1 mm.

8. The coupling of claim 1, further comprising an encoder coupled to the hollow tube and responsive to rotational displacement of the input housing relative to the hollow tube.

9. The coupling of claim 1, wherein the optical data transmitter comprises an infrared emitting diode.

10. The coupling of claim 1, wherein the rotatable coupling comprises a rotatable joint of an articulating arm.

11. A continuously rotatable sensor turret, comprising:

the rotatable coupling of claim 1, with the output housing fixed to a base; and

a directional sensor carried by the input housing and having an active sense window that sweeps about an environment as the coupling is rotated,

wherein the concentric coils are configured to provide electrical power to the sensor during rotation of the coupling, and

wherein the optical data transmitter and receiver are configured to transmit a signal from the sensor across the central passage during rotation of the coupling.

12. The coupling of claim 11, further comprising a directional beam transmitter carried by the input housing and configured to emit a sensing signal into the environment while the coupling rotates, wherein the sensor is responsive to reflections of the emitted sensing signal.

13. The coupling of claim 12, wherein the beam transmitter comprises a laser.

14. The coupling of claim 11, further comprising a power source mounted on a flyback converter board disposed in the output housing, the flyback converter board configured to deliver power across the coupling to the directional sensor.

15. The coupling of claim 11, wherein comprising a radar transmitter carried by the input housing and configured to emit a radar signal into the environment while the input housing rotates, wherein the sensor is responsive to reflections of the emitted radar signal.

16. The coupling of claim 11, wherein the directional sensor is a camera configured to receive image data about the environment as the coupling is rotated.

17. The coupling of claim 11, wherein the sensor is a radiation transceiver.

18. The coupling of claim 1, wherein the rotatable coupling is configured to be disposed on an autonomous robot.

19. The coupling of claim 1, wherein a controller of the autonomous robot controls movement of the autonomous robot based on the optical signals.

20. An autonomous robot, comprising:

a chassis;

a continuously rotatable sensor turret disposed on the chassis, comprising;

a continuously rotatable coupling, comprising;

an input housing rotatably coupled to an output housing by a hollow tube fixed to the output housing and on which tube the input housing rotates, the hollow tube defining a central passage,

two cooperating magnetic flux concentrators disposed about the tube and defining therebetween an annular cavity, the flux concentrators comprising a first flux concentrator fixed to the input housing and a second flux concentrator fixed to the output housing, such that relative rotation of the input and output housings causes relative rotation of the flux concentrators on either side of the annular cavity,

concentric coils disposed within the annular cavity and positioned to permit electrical contact-free power transfer across the coupling, a first of the concentric coils fixed to the input housing and a second of the concentric coils fixed to the output housing,

an optical data emitter fixed to the input housing and positioned to transmit optical signals through the central passage, and

an optical data receiver fixed to the output housing and positioned to receive the optical signals from the input optical data emitter during the relative rotation of the input and output housings;

a directional sensor carried by the input housing and having an active sense window that sweeps about an environment as the coupling is rotated; and

a controller configured to control movement of the autonomous robot based on signals received from the directional sensor,

wherein the concentric coils are configured to provide electrical power to the sensor during rotation of the coupling, and

wherein the optical data transmitter and receiver are configured to transmit a signal from the sensor across the central passage during rotation of the coupling.