Insertion tool

Patent metadata

Field	Value
Publication number	US-12416800-B2
Application number	US-202117144487-A
Country	US
Kind code	B2
Filing date	Jan 8, 2021
Priority date	Jan 8, 2021
Publication date	Sep 16, 2025
Grant date	Sep 16, 2025

Abstract

An insertion tool for performing an operation on equipment, the insertion tool including: a plurality of segments, each segment of the plurality of segments including a body comprising: a first hinge; and a second hinge, the first hinge of a first segment being coupled to the second hinge of a second segment adjacent to the first segment through an interface, wherein the interface comprises a powder gap, a multi-modal interface, a compliance feature, a displace-to-lock configuration, an interference fit, or any combination thereof, wherein the insertion tool is configured to be selectively rigidizable using a strength member interfacing with the plurality of segments.

First claim

What is claimed is:

1. An insertion tool for performing an operation on equipment, the insertion tool comprising: a plurality of segments including adjacent first and second segments connected to one another via an interface; wherein the interface comprises a first hinge member of the first segment and a second hinge member of the second segment; wherein the first hinge member is coupled to the second hinge member; wherein the first hinge member comprises a post and the second hinge member comprises a recess in which the post is received; wherein the post and recess allow the first and second segments to pivot relative to one another; wherein the first and second segments are shiftable between a non-rigid configuration, wherein the post is positioned in the recess with a loose fit, and a rigid configuration, wherein the post is positioned in the recess with a close-fit; wherein the post and recess are configured to be shifted between the loose fit and close-fit by rotating at least one of the first and second segments with respect to one another about an axis of rotation extending through the post and the recess while the post is retained in the recess; and wherein the post and the recess each have an elongate configuration such that the post and the recess each have an aspect ratio different than 1:1 such that when at least one of the first and second segments is rotated with respect to one another about the axis of rotation extending through post and the recess, the post and recess are shifted from the loose fit to the close-fit, wherein the post contacts the recess at opposing outer surface portions of the post, wherein said aspect ratio is defined as a length and width of a cross section of an end face of the post and a cross section of the recess; wherein the first and second hinge members define the axis of rotation about which the first and second segments are rotatable, the axis of rotation being transverse to a longitudinal axis of each of the first and second segments; wherein the post extends from a surface of the first segment in a direction parallel to the axis of rotation.

2. The insertion tool of claim 1 , wherein a body of at least one of the plurality of segments comprises a stratum comprising a plurality of sequentially-formed layers.

3. The insertion tool of claim 1 , wherein the first segment comprises a third hinge member and the second segment comprises a fourth hinge member, wherein the third hinge member is positioned in the fourth hinge member to allow the first and second segments to pivot relative to one another in cooperation with the first and second hinge members.

4. The insertion tool of claim 1 , wherein the post and recess are configured to allow the first and second segments to rotate only about the axis of rotation when the first and second segments are shifted from the non-rigid configuration to the rigid configuration such that the first and second segments have a predefined orientation in the rigid configuration.

5. The insertion tool of claim 1 , wherein the post and the recess are each laterally offset in a radial direction from the longitudinal axis of the respective first and second segments such that a gap is formed between ends of the first and second segments that increases in size when the first and second segments are pivoted away from one another about the axis of rotation.

6. The insertion tool of claim 1 , wherein the insertion tool comprises an elongate strength member extending between the first and second segments and transversely intersecting the interface, wherein the strength member is configured to shift the first and second segments between the non-rigid configuration to the rigid configuration.

7. The insertion tool of claim 6 , wherein the interface comprises the close-fit when the first and second segments are rigidized by the strength member and the loose fit when the first and second segments are not rigidized by the strength member.

8. The insertion tool of claim 1 , wherein the interface comprises a powder gap disposed between an outer surface of the post and an inner facing surface of the recess.

9. The insertion tool of claim 8 , wherein the inner facing surface of the recess and the outer surface of the post are angularly offset from one another.

10. An insertion tool for performing an operation on equipment, the insertion tool comprising: a plurality of segments including a first segment and an adjacent second segment connected to one another via an interface; wherein the interface comprises a first hinge member of the first segment and a second hinge member of the second segment; wherein the first hinge member is coupled to the second hinge member; wherein the first hinge member comprises a post and the second hinge member comprises a recess in which the post is received, wherein the recess comprises an endless inner facing surface that surrounds the post; wherein the post and recess allow the first and second segments to pivot relative to one another; wherein the first and second segments are shiftable between a non-rigid configuration, wherein the post is positioned in the recess with a loose fit, and a rigid configuration, wherein the post is positioned in the recess with a close-fit; a strength member extending between the first and second segments and intersecting the interface, wherein the strength member is configured to shift the first and second segments between the non-rigid configuration and the rigid configuration; wherein the post and recess are configured to be shifted between the loose fit and close-fit by rotating at least one of the first and second segments with respect to one another about an axis of rotation extending through the post and the recess while the post is retained in the recess; and wherein the post and the recess each have an aspect ratio different than 1:1 such that when at least one of the first and second segments is rotated with respect to one another about the axis of rotation extending through the post and the recess, the post and recess are shifted from the loose fit to the close-fit, wherein said aspect ratio is defined as a length and width of a cross section of the post and the recess; wherein the first and second hinge members define the axis of rotation about which the first and second segments are rotatable, the axis of rotation being transverse to a longitudinal axis of each of the first and second segments; wherein the post extends from a surface of the first segment in a direction parallel to the axis of rotation.

11. The insertion tool of claim 10 , wherein the strength member comprises a backbone of the insertion tool configured to maintain the plurality of segments coupled together when the insertion tool is not rigidized.

12. The insertion tool of claim 10 , wherein a body of at least one of the plurality of segments comprises a stratum comprising a plurality of sequentially-formed layers.

13. The insertion tool of claim 10 , wherein the first and second hinge members are configured to move relative to one another when the tool is not rigidized.

14. The insertion tool of claim 10 , wherein at least one of the post and recess include a tapered interface profile.

15. The insertion tool of claim 10 , wherein the interface comprises a powder gap disposed between an outer surface of the post and the endless inner facing surface of the recess.

16. The insertion tool of claim 15 , wherein the endless inner facing surface of the recess and the outer surface of the post are angularly offset from one another.

Assignees

• Gen Electric
• Oliver Crispin Robotics Ltd

Inventors

• Trivedi Deepak
• Bennett Grover Andrew
• Leclerc Stephen Paul
• Graham Andrew Crispin

Classifications

• B25J18/06

  flexible · CPC title

• B25J9/065

  Snake robots · CPC title

• Y10S901/21

  Flaccid drive element · CPC title

• B25J9/104

  with cables, chains or ribbons · CPC title

• B33Y80/00

  Products made by additive manufacturing · CPC title