Tunable Actuator Joint Modules Having Energy Recovering Quasi-Passive Elastic Actuators with Internal Valve Arrangements

Patent metadata

Field	Value
Publication number	US-2021069892-A1
Application number	US-202017093487-A
Country	US
Kind code	A1
Filing date	Nov 9, 2020
Priority date	Nov 11, 2016
Publication date	Mar 11, 2021
Grant date	—

Abstract

A robotic system for a robotic limb configured to recover energy for minimizing power consumption of the robotic system, comprising a first support member, a second support member, and a quasi-passive elastic actuator rotatably coupling the first and second support members to define a joint of the robotic system rotatable about an axis of rotation defining a degree of freedom. The quasi-passive elastic actuator can comprise a first vane device and a second vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. The system can further comprise a valve assembly, the valve assembly comprising a valve device disposed through an opening of the first vane device along the axis of rotation, and a shunt circuit facilitating fluid flow between the compression and expansion chambers through the valve assembly. The valve assembly is operable to position the valve device in an open position to open the shunt circuit to place the quasi-passive elastic actuator in an inelastic state, and to position the valve device in a closed position to close the shunt circuit to place the quasi-passive elastic actuator in an elastic state.

First claim

What is claimed is:

1 . A robotic system for a robotic limb configured to recover energy for minimizing power consumption of the robotic system, comprising:
a first support member; a second support member; and a quasi-passive elastic actuator rotatably coupling the first and second support members to define a joint of the robotic system rotatable about an axis of rotation defining a degree of freedom, the quasi-passive elastic actuator comprising:
a housing coupled to the first support member;
a first vane device supported by the housing and coupled to the second support member;
a second vane device coupled to the housing and interfaced with the first vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber;
a valve assembly located and operable at the joint of the robotic system, the valve assembly comprising a valve device disposed through an opening of the first vane device along the axis of rotation; and
a shunt circuit facilitating fluid flow between the compression and expansion chambers through the valve assembly,
wherein the valve assembly is operable to position the valve device in an open position to open the shunt circuit to permit fluid flow between the compression and expansion chambers, thereby placing the quasi-passive elastic actuator in an inelastic state, and
wherein the valve assembly is operable to position the valve device in a closed position to close the shunt circuit to restrict fluid flow between the compression and expansion chambers, thereby placing the quasi-passive elastic actuator in an elastic state, the quasi-passive elastic actuator being operable in the elastic state to store and release energy and to apply an augmented torque to rotate the first support member relative to the second support member.

2 . The robotic system of claim 1 , wherein the valve assembly further comprises a valve housing at least partially supported by the first vane device.

3 . The robotic system of claim 1 , wherein the valve device comprises a movable valve component and an actuator operable to actuate the movable valve component.

4 . The robotic system of claim 1 , wherein the first vane device defines, at least in part, a valve housing of the valve assembly.

5 . The robotic system of claim 4 , wherein the first vane device comprises a rotor vane shaft defining the opening and the valve housing, the rotor vane further comprising:
a first conduit in fluid communication with the valve housing and the compression chamber; a second conduit in fluid communication with the valve housing and the expansion chamber.

6 . The robotic system of claim 1 , wherein the valve device has at least one opening through which fluid flows when in an open position to equalize gas pressure between the compression and expansion chambers, wherein the valve device is variably controllable to provide a controlled damping mode of the quasi-passive elastic actuator.

7 . The robotic system of claim 1 , wherein the valve device comprises one of an axis of rotation or an axis of translation collinear with the axis of rotation of the quasi-passive actuator.

8 . The robotic system of claim 1 , wherein the valve assembly is configured to be at least one of radially or axially gas pressure balanced to maximize switching time between the open and closed positions.

9 . The robotic system of claim 1 , wherein the valve device comprises:
a movable valve component coupled to the valve actuator, the valve actuator configured to axially move the movable valve component between the open and closed positions; a first valve body adjacent the first movable member and having at least one fluid opening in fluid communication with an expansion chamber conduit of the first vane device; and a second valve body adjacent the first valve body and having at least one fluid opening in fluid communication with a compression chamber conduit of the first vane device; wherein, upon actuating the movable valve component from the open position to the closed position, the movable valve component covers the at least one fluid opening of the first valve body to close the shunt circuit, thereby restricting fluid flow between the compression and expansion chambers through the valve assembly.

10 . The robotic system of claim 9 , wherein the first and second valve bodies each comprise an outer annular channel and a plurality of fluid openings disposed around the outer annular channel to facilitate radial gas pressure balancing of the valve assembly.

11 . The robotic system of claim 10 , wherein the movable valve component comprises a cylindrical tube body slidably interfaced to an interior surface of the first valve body, the cylindrical tube body comprising at least one fluid opening proximate the valve actuator and in fluid communication with the fluid openings of the first and second valve bodies to facilitate axial gas pressure balancing of the valve assembly.

12 . The robotic system of claim 1 , wherein the valve device comprises:
a movable valve component coupled to the valve actuator; a first valve body coupled to the movable valve component and comprising an annular recess, the movable valve component and the first valve body configured to axially move between the open and closed positions; and a second valve body comprising a central opening that slidably receives the movable valve component and the first valve body, the second valve body comprising a first fluid opening in selective fluid communication with an expansion chamber conduit of the first vane device, and a second fluid opening in fluid communication with a compression chamber conduit of the first vane device; wherein, upon actuating the movable valve component and first valve body from the closed position to the open position, the annular recess of the first valve body facilitates fluid communication between the first and second fluid openings to open the shunt circuit that permits fluid flow between the compression and expansion chambers through the valve assembly.

13 . The robotic system of claim 12 , wherein the first valve body comprises a first annular stop portion and a second annular stop portion formed on either side of the annular recess, wherein the first annular stop portion is configured to restrict fluid flow about the first fluid opening of the second valve body when in the closed positon.

14 . The robotic system of claim 12 , wherein the second valve body comprises a first outer annular channel comprising a first plurality of fluid openings, and a second outer annular channel comprising a second plurality of fluid openings, such that the valve assembly is radially pressure balanced when in the closed and open positions.

15 . The robotic system of claim 12 , wherein the movable valve component comprises a cylindrically shaped tube body attached to an inner opening of the first valve body, the tube body comprising at least one fluid opening in fluid communication with chambers on either end of the cylindrical tube body such that the valve assembly is axially pressure balanced when in the closed and open positions.

16 . The robotic system of claim 1 , wherein the valve device comprises:
a movable valve component coupled to the valve actuator, the valve actuator configured to rotatably move the movable valve component between the open and closed positions; a radial band device coupled to the movable valve component and comprising a first curved stop surface and a second curved stop surface

Assignees

• Sarcos Corp

Inventors

• Smith Fraser M
• Olivier Marc X
• Maclean Brian J
• Myers Michael

Classifications

• F15B11/072

  Combined pneumatic-hydraulic systems (F15B11/032 takes precedence) · CPC title

• A61F2002/5072

  having spring elements · CPC title

• A61F2/70

  electrical · CPC title

• F15B2211/3058

  having additional valves for interconnecting the fluid chambers of a double-acting actuator, e.g. for regeneration mode or for floating mode · CPC title

• A61F2/68

  Operating or control means · CPC title