Cable-Driven Robot for 3D Shaft Operations With Surface-Mounted Actuators
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Solution Overview
Problem
Existing systems for operating inside long piles or shafts are limited by one-dimensional motions, unsuitable actuator placement, environmental constraints, and high maintenance costs, particularly in hazardous environments with limited lifting capacity.
Innovation Solution
A cable-driven robotic system with a fixed base platform, a movable working platform, and a cable-driven end-effector, utilizing sensors and control systems for three-dimensional motion and actuation, allowing actuators to be easily accessible and protected from harsh conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If actuators are placed on the working platform, then three-dimensional motion capability is achieved, but the weight exceeds the loading capacity of the working platform
Solution Approach 1:
The actuators are extracted from the working platform and relocated to the surface above the shaft. The cable mechanism transmits the actuating force from the surface to the end-tools, allowing the working platform to remain lightweight while still achieving three-dimensional motion capability through the cable-driven system.
2Ease of operation
If actuators are placed on the working platform, then direct actuation is achieved, but maintenance costs and difficulties increase in hazardous environments
Solution Approach 1:
The actuators are extracted from the hazardous working environment inside the shaft and positioned on the safe surface above. The cable mechanism serves as a transmission medium, allowing actuators to remain in easily accessible locations for maintenance while still providing direct actuation control to the end-tools through the cable system.
3Device complexity
If actuators are placed on the working platform, then compact system design is achieved, but the working environment constraints limit suitable actuator types
Solution Approach 1:
The actuators are extracted from the constrained working environment and repositioned on the surface where environmental constraints are absent. This expansion of spatial freedom allows selection from a broader range of actuator types without the limitations of the hazardous shaft environment, while the cable mechanism maintains system connectivity.
4Device complexity
If one-dimensional motion along shaft pathways is used, then system simplicity is maintained, but operational versatility is limited
Solution Approach 1:
The system transitions from one-dimensional motion along the shaft to three-dimensional motion capability. Multiple cables are used to control the end-tools in three-dimensional space, allowing operations in multiple directions and planes while maintaining relative system simplicity through the cable-driven parallel mechanism.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient three-dimensional operations inside long piles or shafts, improving cleaning quality and reducing costs by maintaining actuators in safe, accessible locations, enhancing maintenance and operation in hazardous environments.
Implementation Method 1
a cable-driven robot system for operation in long shafts or piles 100 comprises a fixed base platform 110, a movable working platform 120 driven by a first plurality of cables 141, 142, and a cable-driven end-effector 130 coupled with the working platform 120 and driven by a second plurality of cables 143, 144
Data Source
AI summary
The subject invention pertains to systems and methods for controlling an end-effector moving in three-dimensional space within long piles or shafts. Systems can include a fixed base platform, a cable-driven working platform, a cable-driven end-effector, a sensing system including draw wire sensors, gyroscopes, sonar sensors, and lidar, a control system in communication with the sensing system, and actuators for cables. The end-effector can be configurable to become a cable-driven parallel end-effector, a serially linked arm, a flexible end-effector or an air-lifting end-tool in cases of cleaning founding layers in bored pile shafts. The control system can be configurable to regulate the lengths of cables through actuators and modulate the positions and orientations of the working platform and the end-effector.