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EP-4739184-A1 - APPARATUS FOR PUMPING LIQUID ONTO A ROTATING SURFACE

EP4739184A1EP 4739184 A1EP4739184 A1EP 4739184A1EP-4739184-A1

Abstract

In one embodiment, an apparatus includes an actuator coupled to an end effector, the actuator configured to create relative rotation between the actuator and the end effector. The apparatus further includes one or more peristaltic-pump rollers coupled to the actuator. The end effector includes a liquid-storage chamber configured to store a liquid and a flexible tubing that includes: (1) an intake disposed within the liquid-storage chamber, (2) an outlet configured to dispense the liquid onto an outer surface of the end effector, and (3) a peristaltic section configured to compress against at least one of the one or more peristaltic-pump rollers as a result of the relative rotation between the actuator and the end effector.

Inventors

  • FRANCE, IVAN ASHTON
  • TRAN, Forrest Gia-Bao
  • CHO, EUNSEO
  • JIANG, ZIWEN

Assignees

  • Samsung Electronics Co., Ltd.

Dates

Publication Date
20260513
Application Date
20241015

Claims (14)

  1. [Claim 1 ] An apparatus comprising: an actuator coupled to an end effector, the actuator configured to create relative rotation between the actuator and the end effector; one or more peristaltic-pump rollers coupled to the actuator; and the end effector, comprising: a liquid-storage chamber configured to store a liquid; a flexible tubing comprising an intake disposed within the liquid-storage chamber, an outlet configured to dispense the liquid onto an outer surface of the end effector, and a peristaltic section configured to compress against at least one of the one or more peristaltic-pump rollers as a result of the relative rotation between the actuator and the end effector.
  2. [Claim 2] The apparatus of Claim 1, further comprising a check valve disposed between the outlet of the flexible tubing and the outer surface of the end effector.
  3. [Claim 3] The apparatus of Claim 2, wherein the check valve includes: a first setting configured to allow liquid to flow out of the flexible tubing and onto the outer surface of the end effector when the relative rotation is in a first direction; and a second setting configured to allow liquid to flow from the outer surface of the end effector into the flexible tubing when the relative rotation is in a second direction that is opposite the first direction.
  4. [Claim 4] The apparatus of Claim 1, wherein the liquid storage-chamber has a varying elevation, and the intake of the flexible tubing is located in a section of the liquid-storage chamber that has a relatively lower elevation.
  5. [Claim 5] The apparatus of Claim 1, wherein the liquid-storage chamber comprises one or more of a bladder or a piston.
  6. [Claim 6] The apparatus of Claim 1, further comprising a plurality of flexible tubing, each configured to dispense liquid from the liquid-storage chamber onto the outer surface of the end effector.
  7. [Claim 7] The apparatus of Claim 1, wherein the relative rotation comprises an oscillation.
  8. [Claim 8] The apparatus of Claim 1, further comprising one or more liquid-level sensors configured to detect an amount of liquid in the liquid-storage chamber.
  9. [Claim 9] The apparatus of Claim 1, further comprising one or more moisture-level sensors configured to detect an amount of moisture on the outer surface of the end effector.
  10. [Claim 10] The apparatus of Claim 1, wherein the end effector comprises a terminal end of a robotic arm.
  11. [Claim 11 ] A method comprising: generating, by an actuator coupled an end effector, a relative rotation between the actuator and the end effector; and pumping, by one or more peristaltic-pump rollers coupled to the actuator and in response to the relative rotation, liquid from a liquid-storage chamber of the end effector onto an outer surface of the end effector, wherein the liquid is pumped through a flexible tubing of the end effector comprising: an intake disposed within the liquid- storage chamber; an outlet configured to dispense the liquid onto an outer surface of the end effector; and a peristaltic section configured to compress against at least one of the one or more peristaltic-pump rollers.
  12. [Claim 12] The method of Claim 11, wherein a check valve is disposed between the outlet of the flexible tubing and the outer surface of the end effector.
  13. [Claim 13] The method of Claim 11, wherein the liquid storage-chamber has a varying elevation, and the intake of the flexible tubing is located in a section of the liquid-storage chamber that has a relatively lower elevation.
  14. [Claim 14] The method of Claim 11, wherein the liquid-storage chamber comprises one or more of a bladder or a piston. [Claim 15] The method of Claim 11, wherein the end effector comprises a plurality of flexible tubing, each configured to dispense liquid from the liquid-storage chamber onto the outer surface of the end effector.

Description

[DESCRIPTION] [Invention Title] APPARATUS FOR PUMPING LIQUID ONTO A ROTATING SURFACE [Technical Field] This application generally relates to an apparatus for pumping liquid onto a rotating surface. [Background Art] In a typical peristaltic pump, a motor rotates a set of rollers across a flexible tube containing a fluid. The rollers trap liquid in the tube by pinching off sections of tubing where the roller and tube meet. The roller then pushes trapped liquid through the tube until the liquid reaches an outlet. A peristaltic pump provides a metered flow rate and is commonly used to create slow and controlled flow rates without interacting directly with the liquid. For example, in medical applications, the liquid can be pumped without the possibility of being contaminated by contact with pumping elements. A check valve allows fluid to flow in only one direction. Examples of check valves include a swing or hinged-type check valve and a ball-and-set check valve, among others. [Description of Drawings] Fig. 1 illustrates an example apparatus for pumping liquid onto a rotating surface. Fig. 2 illustrates an example of a robot with an end effector that can be used to automatically clean various surfaces. Fig. 3 illustrates a partial interior view of the example apparatus of Fig. 1. Fig. 4 illustrates an example computing system. [Best Mode] Fig. 1 illustrates an example apparatus for pumping liquid onto a rotating surface. The apparatus includes an actuator 105 (e.g., a motor) that generates relative rotation between actuator 105 and an end effector 110. For example, the actuator may rotate end effector 110 while actuator 105 remains fixed, or may rotate actuator 105 while end effector 110 remains fixed. Attached to actuator 105 are one or more rollers 115. Due to the relative rotational motion of actuator 105 and end effector 110, rollers 115 periodically compress a portion of flexible pump tube 120, which pumps liquid through the tube. As illustrated in Fig. 1, flexible pump tube 120 is part of (i.e., moves with) end effector 110, while rollers 115 are part of (i.e., move with) actuator 105. In the example of Fig. 1, end effector 110 is the terminal component of a robotic arm. For example, end effector 110 may include a foam material covered by a cloth pad. The cloth pad may be used for cleaning surfaces, e.g., wiping, dusting, mopping, etc. For example, circular motion of the end effector may be used to clean a surface contacted by the cloth pad, and the pumping action described herein may be used to accurately and consistently pump cleaning liquid onto the pad, as described more fully herein. Fig. 2 illustrates an example of a robot having an end effector 210 at the end of a robotic arm 250, which can be used to automatically clean various surfaces, including surfaces that are above ground level. While the example of Fig. 1 illustrates a pumping apparatus in the context of a robotic system, this disclosure contemplates that the pumping apparatus may be used in any suitable system, and the end effector may be any suitable terminal piece of the system. For example, the end effector may be a rotating pad of a sander, of a polishing device, or of a cutting device, and the pumped liquid may be, e.g., lubricant, polish, etc., as appropriate for the end effector in that specific system. Fig. 3 illustrates a partial interior view of the example apparatus of Fig. 1. In Fig. 3, certain internal components of end effector 310 are shown. In Fig. 3, upper portion 311 of end effector 310 is shown as partially transparent, revealing certain internal components of end effector 310. The internal components include liquid-storage chamber 330, which holds the liquid in the interior of end effector 310. Intake 323 of a line of flexible tubing, which is part of the end effector, draws liquid into the tubing from the liquid-storage chamber 330. As illustrated in Fig. 3, portions of liquid-storage chamber 330 may have different elevations, for example so that liquid tends to pool at the location of intake 323. In the example of Fig. 3, liquid may be added to liquid-storage chamber 330 through fill valve 325. From the perspective of Fig. 3, when end effector 310 moves in a clockwise direction relative to actuator 305 and/or when actuator 305 moves in a counterclockwise direction relative to end effector 310 (or both), some of rollers 315 pinch flexible tubing section 322, drawing liquid through intake 323 and moving liquid through the flexible tubing and onto the outer surface (not shown) of end effector 310. In the example of Fig. 3, the liquid may flow onto the outer surface of end effector 310 through a check valve 324, which can be used to permit liquid to flow in only one direction (e.g., out of the liquid-storage chamber and onto the outer surface of end effector 310). In particular embodiments, the outer surface of end effector 310 may include a cloth or pad 321, which absorbs the output liquid to create a moist surface for