Telescopic Teleoperation Arm Chain Conveyor for Lifting in Tight Diameters
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Solution Overview
Problem
Existing motorized telescopic slave telemanipulator arms with distributed motors struggle to reduce the overall section to pass through small diameters while maintaining a large lifting capacity due to control rod limitations, restricting the diameter of the control motor at the arm's shoulder.
Innovation Solution
A telescopic teleoperation arm design with a first electric motor integral to the intermediate tube, coupled to a chain conveyor, where the outer and inner tubes are pushed or pulled relative to the intermediate tube via a chain's forward and return strands, allowing extension and retraction, enhancing precision and reducing the overall section.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If a control rod device with external telescopic arm is used, then the diameter of the tube is limited to about 10 cm or less, but this limits the diameter of the control motor and reduces lifting capacity
Solution Approach 1:
The patent applies nesting by placing the telescopic mechanism inside the tube rather than externally. The intermediate tube and internal tube are nested within the external tube, allowing the control motor to be positioned inside the tube structure. This nested arrangement eliminates the space constraint that previously limited tube diameter to 10 cm or less, enabling larger diameter tubes (e.g., 15 cm or more) while maintaining the telescopic function and lifting capacity.
2Adaptability or versatility
If the overall section of the arms is reduced to pass through small diameters, then maneuverability improves, but lifting capacity is compromised
Solution Approach 1:
The patent segments the arm into multiple telescopic sections (external tube, intermediate tube, internal tube) that can be extended and retracted independently. This segmentation allows the arm to have a compact retracted profile for passing through small diameters while maintaining the capability to extend to larger dimensions for high-lifting capacity operations. The chain conveyor mechanism enables precise control of each segment's position.
Solution Approach 2:
The nested arrangement of telescopic tubes allows the arm to minimize its overall section when retracted, enabling passage through small diameter openings. When extended, the nested tubes provide the necessary length and structural support for high lifting capacity, thus resolving the contradiction between compactness and power.
3Manufacturing precision
If rigid mechanical links are used for movement transmission, then precision and repeatability improve, but device complexity increases
Solution Approach 1:
The patent replaces traditional rigid mechanical links (gears, pinions, toothed wheels) with a chain conveyor system driven by an electric motor. The chain conveyor provides precise movement transmission through its rigid structure while being simpler to implement than complex gear systems. The chain's rigid links maintain positional accuracy and repeatability without requiring multiple interconnected mechanical components.
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
The solution enables the arm to extend and retract with high precision and maintain a large lifting capacity, facilitating passage through small diameters by utilizing a chain conveyor for rigid mechanical links, improving the arm's maneuverability and control.
Implementation Method 1
a first electric motor integral with one end of the intermediate tube on the proximal end side, said motor being coupled to a drive sprocket of a chain conveyor
Implementation Method 2
utilizing a chain conveyor for rigid mechanical links
Data Source
Figure 1
Figure 2A
Figure 2B
AI summary
Telescopic teleoperation arm device (100), comprising an external tube (1) fixed relative to a mounting joint (101) forming the shoulder of the arm and defining a proximal end of the telescopic device, an intermediate tube (2) and an internal tube (3) provided at a distal end of the telescopic device with a tool manipulator device (14), the intermediate tube (2) sliding in the external tube (1) and the internal tube (3) sliding in the intermediate tube (2), the telescopic device comprising a first electric motor (4) integral with one end of the intermediate tube on the proximal end side, said motor being coupled to a drive sprocket (7a) of a chain conveyor (6) extending through the internal tube towards the distal end, said chain conveyor comprising a forward strand (6a) and a return strand (6b) between said drive sprocket (7a) and a follower sprocket (7b) on the distal end side,said forward strand (6a) moving towards said distal end and the return strand (6b) moving towards said proximal end during an extension of the telescopic device, and wherein the inner tube (3) is secured (61, 81, 82) by means of a first rod (8) to the forward strand near said motor (4) while the outer tube (1) is secured to the return strand on the follower pinion side (7b) by means of a second rod (9) extending along the chain conveyor such that, with the telescopic device retracted, a rotation of the first electric motor (4) in the direction of extension of the telescopic device pushes the outer tube (1) and the inner tube (3) in two opposite directions with respect to the central tube (2), which causes the extension of the telescopic device and such that, with the telescopic device extended,A rotation of the first electric motor (4) in one direction retracts the telescopic device, pulling the outer tube (1) and inner tube (3) towards each other.