Description:TECHNICAL FIELD
The present disclosure relates generally to septic or sewer tanks. More particularly, the present disclosure relates to a robotic arm to clean the septic or sewer tank.
BACKGROUND
Cleaning of tanks such as septic or sewer tank is important these days to mitigate the diseases that are caused due to land pollution. Tanks can have multiple access points at various locations, for example, at the center and away from the center. There are many devices available in the market that are designed to work on standard tanks with a central access point. Therefore, there is always a risk of hitting of conventional devices on the walls, while cleaning any tank with access points having closer to the walls. Conventional devices when cleaning the tanks with access points at their corners, are not able to perform variety of tasks that are required for cleaning. For example, end-effectors would not rotate properly near the walls. The walls would restrict the rotation or other motion of the cleaning devices. Further, the conventional devices are complex due to large number of components being involved in cleaning the tanks.
Another trouble with the conventional cleaning devices being the usage of various electronic components in the cleaning device. The electronic components, when exposed to sludge or slurry inside the tank, gets damaged which needs to be repaired.
There is a huge need in the market for a machine to work with non-standard tanks as well. As we don't have any machines for cleaning the tanks with the access points near to the wall, therefore, direct human intervention is required in order to clean the tanks, which is unsafe and inefficient. This also increases the spreading of various diseases and thereby affects the human life.
Therefore, there exists a need for an efficient device for cleaning tank that is capable of solving aforementioned problems of the conventional cleaning devices.

SUMMARY
In view of the foregoing, a robotic arm for cleaning tanks is disclosed. The robotic arm includes a motor head that includes a motor and a pinion coupled to the motor and adapted to rotate when the motor provides a rotational force to the pinion. The robotic arm further includes a first link having a gear that is coupled to the pinion such that the gear rotates upon rotation of the pinion. The first link further includes a first shaft that extends through the first link such that the first shaft is adapted to rotate by way of a driving unit. The robotic arm further includes a second link that is pivotally coupled to the first link. The first and second links, in response to the rotation of the gear, together rotates relative to the motor head. The second link includes a second shaft that extends through the second link and coupled to the first shaft such that the second shaft rotates, upon rotation of the first shaft. The robotic arm further includes an end effector that is coupled to the second shaft such that the end effector rotates, upon rotation of the second shaft.
In some embodiments, the robotic arm further includes a base member that is coupled to the first end such that the motor head is coupled to the base member.
In some embodiments, the first link having first and second ends such that the gear is mounted on the first end of the first link.
In some embodiments, the second link having proximal and distal ends such that the proximal end is pivotally coupled to the second end.
In some embodiments, the end effector comprising first through third blades such that upon rotation of the end effector the first through third blades clears blockage created within a tank.
In some embodiments, the end effector further comprising first through third bristles such that upon rotation of the end effector the first through third bristles clear away dust from the tank.
In some embodiments, the robotic arm further includes an actuator that is coupled to the first end and a linkage member that is coupled to the actuator such that the actuator is adapted to actuate the linkage member.
In some embodiments, the robotic arm further includes a push bar having third and fourth ends such that the third end is coupled to the linkage member and the fourth end is coupled to the second link. Upon actuation of the linkage member, the push bar facilitates the second link to pivot with respect to the first link.
In some embodiments, the actuator is one of, a hydraulic cylinder and a pneumatic cylinder.
In some embodiments, stroke for the actuator lies in a range between 5 inches and 10 inches.
In some embodiments, the first and second shafts and may rotate at a revolutions per minute (rpm) value that lie in a range between 60 and 150.
In some embodiments, the pinion may rotate at a revolutions per minute (rpm) value that lie in a range between 5 and 15.
BRIEF DESCRIPTION OF DRAWINGS
The above and still further features and advantages of aspects of the present disclosure becomes apparent upon consideration of the following detailed description of aspects thereof, especially when taken in conjunction with the accompanying drawings, and wherein:
FIG. 1 illustrates a front view of a robotic arm, in accordance with an embodiment herein;
FIG. 2 illustrates a zoomed view of section A-A of the robotic arm of FIG. 1, in accordance with an embodiment herein;
FIG. 3A illustrates a front view of a base member of the robotic arm of FIG. 1, in accordance with an embodiment herein;
FIG. 3B illustrates a top view of the base member, in accordance with an embodiment herein;
FIG. 4A illustrates a front view of a first link of the robotic arm of FIG. 1, in accordance with an embodiment herein;
FIG. 4B illustrates a bottom view of the first link, in accordance with an embodiment herein;
FIG. 5A illustrates a front view of a second link of the robotic arm of FIG. 1, in accordance with an embodiment herein;
FIG. 5B illustrates a side view of the second link, in accordance with an embodiment herein;
FIG. 5C illustrates a bottom view of the second link, in accordance with an embodiment herein;
FIG. 6 illustrates a front view of a push bar of the robotic arm of FIG. 1, in accordance with an embodiment herein; and
FIG. 7 illustrates a front view of a linkage member of the robotic arm of FIG. 1, in accordance with an embodiment herein.
To facilitate understanding, like reference numerals have been used, where possible, to designate like elements common to the figures.
DETAILED DESCRIPTION
Various aspects of the present disclosure provide a robotic arm to clean a tank. The following description provides specific details of certain aspects of the disclosure illustrated in the drawings to provide a thorough understanding of those aspects. It should be recognized, however, that the present disclosure can be reflected in additional aspects and the disclosure may be practiced without some of the details in the following description.
The various aspects including the example aspects are now described more fully with reference to the accompanying drawings, in which the various aspects of the disclosure are shown. The disclosure may, however, be embodied in different forms and should not be construed as limited to the aspects set forth herein. Rather, these aspects are provided so that this disclosure is thorough and complete, and fully conveys the scope of the disclosure to those skilled in the art. In the drawings, the sizes of components may be exaggerated for clarity.
It is understood that when an element or layer is referred to as being “on,” “connected to,” or “coupled to” another element or layer, it can be directly on, connected to, or coupled to the other element or layer or intervening elements or layers that may be present. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items.
The subject matter of example aspects, as disclosed herein, is described specifically to meet statutory requirements. However, the description itself is not intended to limit the scope of this disclosure. Rather, the inventor/inventors have contemplated that the claimed subject matter might also be embodied in other ways, to include different features or combinations of features similar to the ones described in this document, in conjunction with other technologies. Generally, the various aspects including the example aspects relate to a robotic arm to clean a tank.
As mentioned, there remains a need for an efficient robotic arm that is capable of cleaning the tanks with access points near to the walls of the tank. Therefore, the present disclosure provides a robotic arm that is capable of transmitting rotational motion and torque independently. The rotational motion allows the robotic arm to rotate within the tank and the torque facilitates rotation of an end effector of the robotic arm for cleaning purposes.
FIG. 1 illustrates a front view of a robotic arm 100, in accordance with an embodiment herein. The robotic arm 100 may be a mechanical arm with least or no electronic components. The robotic arm 100 may be used to clean any kind of tanks, in particular, the robotic arm 100 may be used to clean a septic tank or a sewage tank. Specifically, the robotic arm 100 may be used to clean the tank having access points near to the walls. The robotic arm 100 may easily manoeuvre or turn within the tank thereby avoiding hitting of the robotic arm 100 with the walls, while cleaning within the tank.
The robotic arm 100 may include a base member 102, a motor head 104, a first link 106, an actuator 108, a linkage member 110, a push bar 112, a second link 114, and an end effector 116.
The motor head 104 may include a motor 118 and a pinion 120 such that the pinion 120 is coupled to the motor 118. The first link 106 may include a first end 122, a second end 124, a gear 126, and a first shaft 128. The second link 114 may include a proximal end 130, a distal end 132, and a second shaft 134. The end effector 116 may include a plurality of bristles of which first through third bristles 136A-136C are shown and a plurality of blades of which first through third blades 138A-138C are shown.
The base member 102 may be coupled to the first end 122 of the first link 106. The motor head 104 may be coupled to the base member 102. The motor 118, upon activation, may be adapted to provide rotational force to the pinion 120. The pinion 120, in response to the rotational force provided by the motor 118, may be adapted to rotate.
In some embodiments, the pinion 120 may rotate at a revolutions per minute (rpm) value that lie in a range between 5 and 15.
In some embodiments, module value of the pinion 120 may be 2 and number of teeth of the pinion 120 may be 14.
In some embodiments, torque produced by the motor 118 may lie in a range between 100 Kilogram-force centimeter (Kg-cm) and 150 Kg-cm. Preferably, the torque produced by the motor 118 may be 140 Kg-cm.
The first link 106 may extend from the first end 122 to the second end 124. The gear 126 may be mounted on the first end 122 of the first link 106 such that the pinion 120 meshes with the gear 126. The gear 126, upon rotation of the pinion 120 may be adapted to rotate.
In some embodiments, width of the gear 126 may lie in a range between 10 mm and 20 mm. Preferably, the width of the gear 126 may be 15 mm.
In some embodiments, inner radius of the gear 126 may lie in a range between 45 mm and 55 mm. Preferably, the inner radius of the gear 126 may be 50 mm.
In some embodiments, outer radius of the gear 126 may lie in a range between 60 mm and 65 mm. Preferably, the outer radius of the gear 126 may be 61.60 mm.
In some embodiments, module value of the gear 126 may be 2 and number of teeth of the gear 126 may be 60.
The first shaft 128 may extend within the first link 106. Specifically, the first shaft 128 may extend from one of, the base member 102 and the first link 128 such that a portion of the first shaft 128 is exposed out from the base member 102. The first shaft 128 may be adapted to rotate by way of a driving unit (not shown). Specifically, the driving unit may provide rotational force to the first shaft 128 from the defined portion of the first shaft 128 that is exposed out from the base member 102.
In some embodiments, length of the first shaft 128 may lie in a range between 300 mm and 400 mm. Preferably, the length of the first shaft 128 may be 380 mm.
In some embodiments, the first shaft 128 may be a solid shaft.
In some embodiments, diameter of the first shaft 128 may lie in a range between 20 mm and 40 mm. Preferably, the diameter of the first shaft 128 may be 30 mm.
The second link 114 may be coupled to the first link 106. Specifically, the second end 124 of the first link 106 may be pivotally coupled to the proximal end 130 of the second link 114. The first and second links 106 and 114 may be adapted to together rotate, in response to the rotation of the gear 126, relative to the motor head 104.
The second shaft 134 may extend within the second link 114. The first shaft 128 may be coupled to the second shaft 134. The second shaft 134 may be adapted to rotate upon rotation of the first shaft 128.
In some embodiments, length of the second shaft 134 may lie in a range between 350 mm and 450 mm. Preferably, the length of the second shaft 134 may be 370 mm.
In some embodiments, the second shaft 134 may be a solid shaft.
In some embodiments, diameter of the second shaft 134 may lie in a range between 15 mm and 25 mm. Preferably, the diameter of the second shaft 134 may be 20 mm.
In some embodiments, the first shaft 128 may be coupled to the second shaft 134 by way of one of, a universal joint, and a knuckle joint.
In some embodiments, the first and second shafts 128 and 134 may rotate at a revolutions per minute (rpm) value that lie in a range between 60 and 150.
In some embodiments, torque produced by the first and second shafts 128 and 134 may lie in a range between 10 Newton-meter (Nm) and 20 Nm. Preferably, the torque produced by the first and second shafts 128 and 134 may be 15 Nm.
In some embodiments, the first and second shafts 128 and 134 may be supported by way of a bearing that facilitates easy rotation of the first and second shafts 128 and 134.
The end effector 116 may be coupled to the second shaft 134. The first through third bristles 136A-136C may be disposed near to the distal end 132 of the second link 114 and the first through third blades 138A-138C may be disposed near to the terminating side of the end effector 116. The term “terminating side” as used herein the context of the end effector 116 refers to a side where the end effector 116 terminates i.e., opposite to the distal end 132 of the second link 114. The end effector 116 rotates, upon rotation of the second shaft 134. The first through third blades 138A-138C may be adapted to dredge away heavy sludge particles or other solid debris that is present inside the tank. The first through third blades 138A-138C therefore clears the blockage created at certain locations inside the tank. Upon clearing of the blockage, the first through third bristles 136A-136C may be adapted to clear away light sludge or dust from the tank. Specifically, the first through third bristles 136A-136C may be adapted to wipe the dust from the tank. In some examples, dust may stick to the first through third bristles 136A-136C in order to remove the dust from the tank.
The actuator 108 may be coupled to the first link 106 and the linkage member 110. Specifically, one end of the actuator 108 may be coupled to the first end 122 of the first link 106 and another end of the actuator 108 may be coupled to the linkage member 110. The linkage member 110 may be coupled to the second end 124 of the first link 106. The push bar 112 may be coupled to the second link 114 and the linkage member 110. Specifically, one end of the push bar 112 may be coupled to the linkage member 110 and another end of the push bar 112 may be coupled to the second link 114. The actuator 108, the linkage member 110, and the push bar 112 altogether may be adapted to pivot the second link 114 with respect to the first link 106 or vice-versa. The actuator 108 may actuate the linkage member 110 such that the linkage member 110 rotates. The push bar 112, upon actuation of the linkage member 110 facilitates one of, pushing the second link 114 away from the linkage member 110 and pulling the second link 114 towards the linkage member 110. In other words, upon actuation of the linkage member 110, the push bar 112 facilitates the second link 114 to pivot with respect to the first link 106.
In some examples, the push bar 112 may be coupled at a point that lies between the proximal end 130 and the distal end 132 of the second link 114. In some other examples, the push bar 112 may be coupled at a mid-point between the proximal end 130 and the distal end 132 of the second link 114.
In some embodiments, the linkage member 110 may be a triad linkage member.
In some embodiments, the actuator 108 may be one of, a hydraulic cylinder and a pneumatic cylinder.
In some embodiments, stroke for the actuator 108 may lie in a range between 5 inches and 10 inches. Preferably, stroke for the actuator 108 may be 8 inches.
In some embodiments, stroke value for the actuator 108 may lie in a range between 5 inches and 10 inches.
In some embodiments, load bearing capacity of the actuator 108 may lie in a range between 30 libras and 60 libras. Preferably, the load bearing capacity of the actuator 108 may be 50 libras.
In operation, the robotic arm 100 may be adapted to clean inside the tank. The driving unit may be adapted to rotate the first shaft 128. The first shaft 128 may be adapted to rotate the second shaft 134. The second shaft 134 may be adapted to rotate the end effector 116 such that the first through third bristles 136A-136C and the first through third blades 138A-138C cleans inside the tank. The robotic arm 100 may be easily moved inside the tank, for example, the robotic arm 100 may rotate and turn inside the tank to reach at various locations of the tank. In order to rotate the robotic arm 100 within the tank, the motor 118 may rotate the pinion 120. The pinion 120, upon rotation may be adapted to rotate the gear 126. The gear 126, upon rotation may be adapted to together rotate the first and second links 106 and 114 relative to the motor head 104. This causes the robotic arm 100 to rotate within the tank to reach to various locations in the tank. Further, in order to turn or pivot the robotic arm 100 within the tank, the actuator 108 may actuate the linkage member 110. Upon actuation of the linkage member 110, the push bar 112 facilitates pivoting of the second link 114 with respect to the first link 106. This causes the robotic arm 100 to turn inside the tank to reach to various locations in the tank. The robotic arm 100 may therefore be adapted to transmit rotational motion and torque independently. Specifically, the robotic arm 100 may transmit rotational motion by way of rotation of the gear 126 that causes rotation of the first and second links 106 and 114, together and the robotic arm 100 may transmit torque by way of rotation of the end effector 116. The rotation of the first and second links 106 and 114 may be independent from the rotation of the end effector 116.
FIG. 2 illustrates a zoomed view of section A-A of the robotic arm 100 of FIG. 1, in accordance with an embodiment herein. Specifically, FIG. 2 depicts arrangement of the motor head 104, the base member 102, and the gear 126 with respect to each other. The base member 102 may be disposed above the gear 126. The motor head 104 may be disposed parallel along the length of the base member 102 such that the pinion 120 meshes with the gear 126.
FIG. 3A illustrates a front view of the base member 102 of the robotic arm 100 of FIG. 1, in accordance with an embodiment herein. FIG. 3B illustrates a top view of the base member 102, in accordance with an embodiment herein. The base member 102 may include a flange 302, a first through hole 304, and a second through hole 306. The flange 302 may be adapted to suitably mount the base member 102 in the robotic arm 100. The first through hole 304 may be provided on the flange 302 and the second through hole 306 may be provided at the end opposite to the flange 302 such that the first and second through holes 304 and 306 aligns with each other. The first and second through holes 304 and 306 may allow the first shaft 128 to pass through the base member 102.
In some embodiments, length of the base member 102 may lie in a range between 100 milli-meter (mm) and 120 mm. Preferably, the length of the base member 102 may be 110 mm.
In some embodiments, diameter of the first and second through holes 304 and 306 may lie in a range between 50 mm and 65 mm. Preferably, the diameter of the first and second through holes 304 and 306 may be 60 mm.
In some embodiments, thickness of the flange 302 may lie in a range between 5 mm and 15 mm. Preferably, the thickness of the flange 302 may be 10 mm.
In some embodiments, width of the base member 102 may lie in a range between 70 and 90 mm. Preferably, the width of the base member 102 may be 80 mm.
FIG. 4A illustrates a front view of the first link 106 of the robotic arm 100 of FIG. 1, in accordance with an embodiment herein. FIG. 4B illustrates a bottom view of the first link 106, in accordance with an embodiment herein. The first link 106 may further include a third through hole 402, a fourth through hole 404, and a first extended member 406. The third through hole 402 may be provided at a cross-section near to the first end 122 of the first link 106. The fourth through hole 404 may be provided at a cross-section near to the second end 124 of the first link 106. The third and fourth through holes 402 and 404 may align with each other such that the third and fourth through holes 402 and 404 allows passage of the first shaft 128 through the first link 106. The first extended member 406 may be disposed at the second end 124 of the first link 106. The linkage member 110 may be coupled to the second end 124 of the first link 106 through the first extended member 406. Specifically, the linkage member 110 may be pivotally coupled to the first extended member 406 such that the linkage member 110, upon actuation, may be adapted to pivot around the first extended member 406.
In some embodiments, length of the first link 106 may lie in a range between 300 mm and 500 mm. Preferably, the length of the first link 106 may be one of, 350 mm and 470 mm.
In some embodiments, length of the first extended member 406 may lie in a range between 50 mm and 70 mm. Preferably, the length of the first extended member 406 may be 62 mm.
In some embodiments, dimension of cross-section of the first end 122 may be 156x120 mm.
In some embodiments, dimension of cross-section of the second end 124 may be 156x190 mm.
In some embodiments, diameter of the third and fourth through holes 402 and 404 may lie in a range between 50 mm and 90 mm. Preferably, the diameter of the third and fourth through holes 402 and 404 may be one of, 50 mm, 60mm, and 80 mm.
FIG. 5A illustrates a front view of the second link 114 of the robotic arm 100 of FIG. 1, in accordance with an embodiment herein. FIG. 5B illustrates a side view of the second link, in accordance with an embodiment herein. FIG. 5C illustrates a bottom view of the second link, in accordance with an embodiment herein. The second link 114 may include first and second legs 502 and 504 (as clearly shown in FIG. 5A), a second extended member 506, and fifth and sixth through holes 508 and 510. The first and second legs 502 and 504 may extend from the proximal end 130 of the second link 114. To pivotally couple the second link 114 to the first link 106, the first and second legs 502 and 504 may be received within the fourth through hole 404 of the first link 106. The second extended member 506 may be disposed between the proximal end 130 and the distal end 132 of the second link 114. In some embodiments, the second extended member 506 may be disposed at the mid-point between the proximal end 130 and the distal end 132 of the second link 114. Specifically, the push bar 112 may be coupled to the second extended member 506 such that the push bar 112, upon actuation of the linkage member 110 facilitates the second link 114 to pivot with respect to the first link 106. The fifth through hole 508 may be provided at a cross-section near to the proximal end 130 of the second link 114. The sixth through hole 510 may be provided at a cross-section near to the distal end 132 of the second link 114. The fifth and sixth through holes 508 and 510 may align with each other such that the fifth and sixth through holes 508 and 510 allows passage of the second shaft 134 through the second link 114.
In some embodiments, length of the second link 114 may lie in a range between 350 mm and 450 mm. Preferably, length of the second link 114 may be 410 mm.
In some embodiments, distance between first and second legs 502 and 504 may lie in a range between 100 mm and 150 mm. Preferably, the distance between first and second legs 502 and 504 may be 118 mm.
In some embodiments, length of the second extended member 506 may lie in a range between 40 mm and 50 mm. Preferably, the length of the second extended member 506 may be 43 mm.
In some embodiments, height of the second extended member 506 may lie in a range between 25 mm and 35 mm. Preferably, the height of the second extended member 506 may be 30 mm.
In some embodiments, diameter of the fifth and sixth through holes 508 and 510 may lie in a range between 30 mm and 50 mm. Preferably, the diameter of the fifth and sixth through holes 508 and 510 may be 40 mm.
FIG. 6 illustrates a front view of the push bar 112 of the robotic arm 100 of FIG. 1, in accordance with an embodiment herein. The push bar 112 may include third and fourth ends 602 and 604, a first aperture 606, and a second aperture 608. The first aperture 606 may be disposed at the third end 602 and the second aperture 608 may be disposed at the fourth end 604. The third end 602 may be coupled to the linkage member 110 and fourth end 604 may be coupled to the second link 114. The first and second apertures 606 and 608 may allow passage of a suitable fastener to couple the third and fourth ends 602 and 604 to the linkage member 110 and to the second link, respectively. Specifically, the fourth end 604 may be coupled to the second extended member 506 of the second link 114 such that upon actuation of the linkage member 110, the push bar 112 facilitates the second link 114 to pivot with respect to the first link 106.
In some embodiments, length of the push bar 112 may lie in a range between 250 mm and 350 mm. Preferably, the length of the push bar 112 may be 270 mm.
In some embodiments, distance between the first and second apertures 606 and 608 may lie in a range between 240 mm and 280 mm. Preferably, the distance between the first and second apertures 606 and 608 may be 250 mm.
In some embodiments, diameter of the first and second apertures 606 and 608 may lie in a range between 5 mm and 15 mm. Preferably, the diameter of the first and second apertures 606 and 608 may be 8 mm.
In some embodiments, width of the push bar 112 may lie in a range between 10 mm and 20 mm. Preferably, the width of the push bar 112 may be 15 mm.
In some embodiments, thickness of the push bar 112 may lie in a range between 5 mm and 15 mm. Preferably, the thickness of the push bar 112 may be 10 mm.
FIG. 7 illustrates a front view of the linkage member 110 of the robotic arm 100 of FIG. 1, in accordance with an embodiment herein. The linkage member 110 may be a V-shaped member having first and second arms 702 and 704. The first arm 702 may include a fifth end 706 and the second arm 704 may include a sixth end 708. The first and second arms 702 and 704 may be joined together at a common end 710 such that the fifth end 706 and the sixth end 708 are positioned away from each other. Specifically, the actuator 108 may be coupled to the fifth end 706 of the linkage member 110 and the first extended member 406 of the first link 106 may be coupled to the sixth end 708 of the linkage member 110. The third end 602 of the push bar 112 may be coupled to the common end 710 of the linkage member 110. The arrangement of the linkage member 110 with respect to the actuator 108 and the push bar 112 is such that the linkage member 110, upon actuation, facilitates the second link 114 to pivot with respect to the first link 106.
In some embodiments, angle formed between the first and second arms 702 and 704 may lie in a range between 50 degrees and 70 degrees. Preferably, the angle formed between the first and second arms 702 and 704 may be 58 degrees.
In some embodiments, length of the first arm 702 may lie in a range between 60 mm and 80 mm. Preferably, the length of the first arm 702 may be 70 mm.
In some embodiments, length of the second arm 704 may lie in a range between 120 mm and 150 mm. Preferably, the length of the second arm 704 may be 130 mm.
Embodiments of the present disclosure are intended to include and/or otherwise cover another dimensional range for various elements of the robotic arm 100 without deviating from the scope of the present disclosure.
Thus, the robotic arm 100 may provide following advantages that may be derived from the structural and functional aspects of the robotic arm 100: -
- The robotic arm 100 is capable of cleaning the tanks that have access points near to the walls.
- The robotic arm 100 does not include any electronic component which could get damaged by the exposure of the sludge or slurry. Since the robotic arm 100 includes only mechanical components for cleaning the tank, therefore, there is no risk of damage of electronic components.
- The robotic arm 100 is flexible and thereby exhibits motions in different directions. Specifically, the robotic arm 100 exhibits rotational motion and pivoting or turning.
- The robotic arm 100 can turn and position the first through third blades 138A-138C at any angle in vertical axis of the tank.
- The first through third blades 138A-138C can be moved away from the walls and thereby avoid hitting from the wall of the tank.
- The robotic arm 100 easily mix and homogenize sludge or slurry inside the tank.
The foregoing discussion of the present disclosure has been presented for purposes of illustration and description. It is not intended to limit the present disclosure to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the present disclosure are grouped together in one or more aspects, configurations, or aspects for the purpose of streamlining the disclosure. The features of the aspects, configurations, or aspects may be combined in alternate aspects, configurations, or aspects other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention the present disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed aspect, configuration, or aspect. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate aspect of the present disclosure.
Moreover, though the description of the present disclosure has included description of one or more aspects, configurations, or aspects and certain variations and modifications, other variations, combinations, and modifications are within the scope of the present disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative aspects, configurations, or aspects to the extent permitted, including alternate, interchangeable and/or equivalent structures, functions, ranges or steps to those claimed, whether or not such alternate, interchangeable and/or equivalent structures, functions, ranges or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter. , Claims:WE CLAIM:
1. A robotic arm (100) comprising:
a motor head (104) comprises:
a motor (118);
a pinion (120) coupled to the motor (118) and adapted to rotate when the motor provides a rotational force to the pinion (120);
a first link (106) comprises:
a gear (126) that is coupled to the pinion (120) such that the gear (126) rotates upon rotation of the pinion (120); and
a first shaft (128) that extends through the first link (106) such that the first shaft (128) is adapted to rotate by way of a driving unit;
a second link (114) that is pivotally coupled to the first link (106), wherein the first and second links (106 and 114), in response to the rotation of the gear (126), together rotates relative to the motor head (104), the second link (114) comprises a second shaft (134) that extends through the second link (114) and coupled to the first shaft (128) such that the second shaft (134) rotates, upon rotation of the first shaft (128); and
an end effector (116) that is coupled to the second shaft (134) such that the end effector (116) rotates, upon rotation of the second shaft (134).

2. The robotic arm (100) as claimed in claim 1, further comprising a base member (102) that is coupled to the first end (122) such that the motor head (104) is coupled to the base member (102).

3. The robotic arm (100) as claimed in claim 1, wherein the first link (106) having first and second ends (122 and 124) such that the gear (126) is mounted on the first end (122) of the first link (106).

4. The robotic arm (100) as claimed in claim 3, wherein the second link (114) having proximal and distal ends (132) such that the proximal end (130) is pivotally coupled to the second end (124).

5. The robotic arm (100) as claimed in claim 1, wherein the end effector (116) comprising first through third blades (138A-138C) such that upon rotation of the end effector (116), the first through third blades (138A-138C) clears blockage created within a tank.

6. The robotic arm (100) as claimed in claim 1, wherein the end effector (116) further comprising first through third bristles (136A-136C) such that upon rotation of the end effector (116), the first through third bristles (136A-136C) clear away dust from a tank.

7. The robotic arm (100) as claimed in claim 3, further comprising:
an actuator (108) that is coupled to the first end (122); and
a linkage member (110) that is coupled to the actuator (108) such that the actuator (108) is adapted to actuate the linkage member (110).

8. The robotic arm (100) as claimed in claim 7, further comprising:
a push bar (112) having third and fourth ends (602 and 604) such that the third end (602) is coupled to the linkage member (110) and the fourth end (604) is coupled to the second link (114), wherein upon actuation of the linkage member (110), the push bar (112) facilitates the second link (114) to pivot with respect to the first link (106).

9. The robotic arm (100) as claimed in claim 7, wherein the actuator (108) is one of, a hydraulic cylinder and a pneumatic cylinder.

10. The robotic arm (100) as claimed in claim 7, wherein stroke for the actuator (108) lies in a range between 5 inches and 10 inches.

11. The robotic arm (100) as claimed in claim 1, wherein the first and second shafts (128 and 134) rotate at a revolutions per minute (rpm) value that lie in a range between 60 and 150.

12. The robotic arm (100) as claimed in claim 1, the pinion (120) rotates at a revolutions per minute (rpm) value that lie in a range between 5 and 15.