Abstract:
An apparatus and method for imparting an angularly rotational movement. The apparatus includes a cylinder having an internal portion, a rod operatively positioned within the internal portion of the cylinder, a first bearing operatively positioned about rod; a second unidirectional bearing operatively positioned about the rod and a motion program for selectively inputting incremental radial motion to the rod. The apparatus may also include a force generator for linearly moving the rod in a linear axial motion along an axis of the cylinder.

Description:
This invention relates to an angular motion control system and method. More particularly, but not by way of limitation, this invention relates to precise and small angular motion control by the mechanical motion translation from linear to rotary motion program. 
     SUMMARY OF THE INVENTION 
     An apparatus for imparting an angularly rotational movement is disclosed. The apparatus comprises a cylinder having an internal portion, a rod operatively positioned within the internal portion of the cylinder, a first unidirectional bearing operatively positioned about the rod, and a second unidirectional bearing operatively positioned about the rod. The apparatus may also include means for selectively inputting incremental radial motion to the rod. In one embodiment, the apparatus further includes means for linearly moving the cylinder in a linear axial motion so that the rod is moved linearly along an axis of the cylinder. Additionally, the selective inputting means includes a groove operatively placed within the rod and a protuberance formed on the second unidirectional bearing. Also, the first bearing may contain a spline member on an outer diameter surface, and wherein the spline member is operatively attached to an inner diameter surface of the cylinder and wherein an inner diameter surface of the first bearing is attached to an outer diameter surface of the rod. 
     In one embodiment of the apparatus, an outer diameter surface of the second bearing is attached to the inner diameter of the cylinder and wherein the second bearing contains a spline member on an inner diameter surface, and wherein the spline member is operatively attached to the outer diameter surface of the rod. The inner diameter surface of the first bearing may be attached to the outer diameter surface of the rod by welding and the outer diameter surface of the second bearing may be attached to the inner diameter surface of the cylinder by welding. In one preferred embodiment, the first and second bearing rotates in a clockwise direction. 
     A system for imparting an angularly rotational movement is also disclosed. The system comprises: a cylinder having an internal portion; a rod operatively positioned within the internal portion of the cylinder; a first bearing operatively positioned about the rod; a second bearing operatively positioned about the rod; a motion assembly for turning the rod in preselected radial increments. The system may also include a linear force generator, operatively attached to the rod, so that the cylinder is moved linearly along an axis of the cylinder. 
     In one embodiment of the system, the motion assembly includes a groove operatively placed within the rod and a protuberance formed on the second unidirectional bearing. The first bearing may contain a spline member on an outer diameter surface, and wherein the spline member is operatively attached to an inner diameter surface of the cylinder; and wherein an inner diameter surface of the first bearing is attached to an outer diameter surface of the rod. In one preferred embodiment, an outer diameter surface of the second bearing is attached to the inner diameter of the cylinder and the second bearing contains a spline member on an inner diameter surface, and wherein the spline member is operatively attached to the outer diameter surface of the rod. Also, the first and second bearings are unidirectional so that rotation is allowed in only a single direction about a center axis of the rod. 
     A method for importing an incremental radial movement is also disclosed. The method includes providing a system containing a cylinder having an internal portion; a rod operatively positioned within the internal portion of said cylinder; a first bearing operatively positioned about the rod; a second bearing operatively positioned about the rod; a groove operatively placed within the rod and a protuberance formed on the second unidirectional bearing; wherein the first bearing contains a spline member on an outer diameter surface, and wherein the spline member is operatively attached to an inner diameter surface of the cylinder; and wherein an inner diameter surface of the first bearing is attached to an outer diameter surface of the rod; the inner diameter surface of the cylinder is attached to the outer diameter of the rod. The method further includes engaging the protuberance formed on the second unidirectional bearing with the groove on the rod, creating a linear force in a first direction on the cylinder along the cylinder&#39;s center of axis, transferring the linear force from the protuberance to the rod, slidably displacing the rod a predetermined distance, and angularly rotating the rod a predetermined radial distance. The method may further include creating a linear force in a second direction on the rod along the cylinder&#39;s center of axis, wherein the second direction of the linear force is opposite the first direction of the linear force. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic illustration of one embodiment of the apparatus of the present invention. 
         FIG. 2  is a partial sectional view of the apparatus illustrated in  FIG. 1 . 
         FIG. 3  is an enlarged view of the area “ 3 ” seen in  FIG. 2 . 
         FIG. 4A  is a cross-sectional view of one of the disclosed embodiments of the apparatus taken along line  4 - 4  of  FIG. 1 . 
         FIG. 4B  is a cross-sectional view of a second embodiment of one of the disclosed embodiments of the apparatus taken along line  4 - 4  of  FIG. 1 . 
         FIG. 4C  is a cross-sectional view of a third embodiment of one of the disclosed embodiments of the apparatus taken along line  4 - 4  of  FIG. 1 . 
         FIG. 4D  is a cross-sectional view of a fourth embodiment of one of the disclosed embodiments of the apparatus taken along line  4 - 4  of  FIG. 1 . 
         FIG. 5  is the schematic illustration of the apparatus seen in  FIG. 1  with the angle of rotation theta shown. 
         FIG. 6A  is a graph of the displacement and the angle of rotation theta. 
         FIG. 6B  is a graph of the angle of rotation and the time cycle of the system herein disclosed. 
         FIG. 6C  is a graph of the displacement of the rod and one complete cycle of time for the system herein disclosed. 
     
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     Referring now to  FIG. 1 , a schematic illustration of one embodiment of the apparatus  2  of the present disclosure will now be described. The apparatus  2  includes a cylinder  4  that has a rod  6  partially disposed therein. The cylinder  4  may be referred to as a motion translator  4 . As noted in  FIG. 1 , the output  8  is shown (one-way), wherein the output is the angular rotation around the rod  6  and the input  10  (bi-directional) is the reciprocating linear motion along the axis  12  as will be described later in the description. A force generator  13  (such as a hydraulic piston) may be connected to the rod  6  for providing a bi-directional linear force input to the system. 
       FIG. 2  is a partial sectional view of some of the components of the apparatus  2  illustrated in  FIG. 1 .  FIG. 2  depicts the rod  6  concentrically disposed within unidirectional bearings therein. It should be noted that like numbers refer to like components in the various drawings. The sectional view of  FIG. 2  depicts the internal bearing  14  and the internal bearing  16  wherein the bearings  14 ,  16  are unidirectional so that the bearings  14 ,  16  only rotate in a single direction, which is in the clockwise direction of the output arrows  8 . The bearings  14  and  16  are commercially available from Ringspann under the name Internal Freewheels ZZ. 
     Referring now to  FIG. 3 , an enlarged view of the area “ 3 ” seen in  FIG. 2  will now be described.  FIG. 3  depicts the bearing RB  16  along with the unidirectional arrow  18  which depicts the clockwise rotation of the bearing  16 . The bearing  16  is concentrically disposed within the cylinder  4  (not seen in this view), and the rod  6  is concentrically disposed within the bearing RB  16 , as previously disclosed.  FIG. 3  also depicts the path  20  wherein the path  20  is a groove on the surface of the rod  6 . The path  20 , in one embodiment, is a predetermined curved groove as will be further explained later in the description. The bearing  16  will have a protuberance  22 , sometimes referred to as a notch, formed thereon, and the protuberance  22  will engage the path  20  so that an input  10 , which consist of a linear motion, will create an output  8  that is an angular motion, as will be more fully described later in the description. 
     The rotational angular movement per cycle is determined by the motion program seen generally in  FIGS. 2 and 3 . The motion program includes the bearing  14 , the bearing  16 , the rod  6 , the cylinder  4 , the path  20  and the protuberance  22 . As noted earlier, the unidirectional bearings  14 ,  16  are placed such that both bearings  14 ,  16  provide the same unidirectional rotation to the rod  6 . 
       FIG. 4A  is a cross-sectional view of the apparatus  2  taken along line  4 - 4  of  FIG. 1 . The bearing  14  is shown along with the bearing  16  disposed within an inner portion of the cylinder  4 . The bearing  14  will be attached to the rod  6  with means for attachment  24 , wherein the attachment means may be by welding the inner portion of the bearing  14  to the outer portion of the rod  6 . Also, the outer portion of the bearing  14  will be slidably attached to the inner portion of the cylinder  4  with slidably attachment means  26   a ,  26   b , wherein the slidably attachment means  26   a  and  26   b  may be a spline member or a tongue-in-groove member, for instance. 
     With respect to the bearing  16 , the bearing  16  will be attached to the cylinder  4  with means for attachment  28 , wherein the attachment means may be by welding the inner portion of the cylinder  4  to the outer portion of the bearing  16 . Also, the inner portion of the bearing  16  will be slidably attached to the outer portion of the rod  6  with slidably attachment means  30   a  and  30   b , wherein the slidably attachment means  30   a ,  30   b  may be, for instance, a spline member or a tongue-in-groove member. The slidably attachment means  30   a ,  30   b  allows for straight and parallel displacement along the rod and cylinder axis  12 . 
     As noted earlier, the bearing  14  and  16  are unidirectional.  FIG. 4A  also depicts the direction of bearing rotation, wherein the “dot” within the circle  32  represents the bearing rotation in the direction of coming out of the drawing and the “X” in the circle  34  represents the bearing rotation in the direction going into the drawing. 
       FIG. 4A  also shows the paths, seen generally at  36   a  and  36   b , wherein the pair of paths  36   a ,  36   b  are placed onto the outer surface of the rod  6  at approximately 180° phase to each other. The paths  36   a ,  36   b  may also be referred to as grooves  36   a  and  36   b . It should be noted that the apparatus  2  is operable with a single path, such as path  36   a  only. The radius “r” of the rod  6  is also seen in  FIG. 4A . As per the teachings of this disclosure, the path  36   a ,  36   b  contain predetermined curves, wherein the paths  36   a ,  36   b  will enable incremental angular movement according to the motion program (which is also referred to as the motion assembly). Additionally,  FIG. 4A  depicts the cross-sectional view of the bearings  14 ,  16 . For instance, bearing  14  has an inner cylindrical member  37   a , an outer cylindrical member  37   b , ball bearings  37   c  in between, and means for allowing only unidirectional bearing rotation, as well understood by those of ordinary skill in the art. 
       FIG. 4B  is a cross-sectional view of a second embodiment of one of the disclosed embodiments of the apparatus  2  taken along line  4 - 4  of  FIG. 1 . With the embodiment of  FIG. 4B , the bearings  14 ,  16  are welded to the inner portion of the cylinder  4 . The rod  6  is slidably attached to the inner portion of the bearing  14  with slide mechanisms SM 1 , SM 2  for linear movement. The rod  6  is slidably attached to the inner portion of the bearing  16  for movement in accordance with the motion program, which is also referred to as the motion assembly, which includes the paths P 1 , P 2 . It should be noted that redundancies of similar components previously discussed, such as the bearings, attachment means, the slide mechanism grooves and notches will not be repeated in detail with the description of  FIGS. 4B ,  4 C and  4 D. 
       FIG. 4C  is a cross-sectional view of a third embodiment of one of the disclosed embodiments of the apparatus  2  taken along line  4 - 4  of  FIG. 1 . With this embodiment, the bearing  14  is attached (i.e. welded) to the inner portion of the cylinder  4  and the inner portion of the bearing  14  is slidably attached with a slide mechanism SM 1 , SM 2  to the rod  6  for linear movement. The inner portion of the bearing  16  is welded to the rod  6  and the outer portion of the bearing  16  is slidably attached to the inner part of the cylinder  4  with the motion assembly i.e. the paths P 1 , P 2  are on the inner portion of the cylinder, and male notches are on the outer portion of bearing  16  as previously described. 
     Referring now to  FIG. 4D , a cross-sectional view of a fourth embodiment of the present disclosure will now be described. With this embodiment, the bearing  14  is welded to the rod  6  and the bearing  14  is slidably attached to the inner portion of the cylinder  4  for linear movement. The bearing  16  is welded to the rod  6  and the bearing  16  is slidably attached to the inner portion of the cylinder  4 , wherein the outer portion of the bearing  16  is slidably attached for movement in accordance with the motion assembly i.e. the paths P 1 , P 2  are on the inner portion of the cylinder, and male notches are on the outer portion of bearing  16  as previously described. 
     Referring now to  FIG. 5 , a schematic illustration of the apparatus  2  seen in  FIG. 1  with the angle of rotation will now be described. More specifically, the rod  6  is disposed within the cylinder  4 . The radius “r” of the rod  6  is shown, and the angle theta  40  is shown, wherein in one embodiment the angle theta  40  is between slightly above zero (0) degrees to about ten (10) degrees.  FIG. 5  also shows the displacement “d” of the rod  6 , wherein the displacement “d” represents the amount of linear movement of the rod  6  in a half-cycle. 
       FIG. 6A  is a graph of the displacement “d” and the angle of rotation theta. Hence, theta  1  is the angle of rotation during a first half cycle. An entire cycle consist of the angle rising to theta  1  (until the first half cycle for theta  1  is reached) then the displacement again reverts back to zero (for the second half cycle).  FIG. 6A  then shows that the angle incrementally increases to theta  2  for the start of another cycle, wherein the theta  2  corresponds to the displacement d. 
     Referring now to  FIG. 6B , a graph of the theta angle of rotation and the time cycle of the system is illustrated. More specifically, the time t  1 / 2  represents a half cycle and t 1  represents a full cycle. Hence, the angle of rotation increases during the first half cycle to theta  1 , while the angle theta  1  remains constant (i.e. unchanged) during the second half cycle. 
       FIG. 6C  is a graph of the displacement “d” of the rod  6  for one complete cycle of time for the system herein disclosed. Therefore, the displacement “d” rises during the first half cycle to “d”, and during the second half cycle, the displacement “d” decreases back to zero by the end of a complete cycle. 
     With collective reference to  FIGS. 1-6 , the operation of the apparatus  2  will now be described. The movement of the rod  6  from left to right on the linear axial movement is called “forward” movement for the purpose of this description. This forward movement includes the displacement from the far most right to the far most left on  FIG. 2 . Therefore, “backward” displacement will be the exact opposite of the movement from the far most left to the far most right of the rod  6 . 
     With reference to the forward movement, as the rod  6  linearly moves through the first unidirectional bearing  16 , the male notch  22  on the bearing  16  will move within the path  20 . Since the bearings  14  and  16  are unidirectional, when the path asserts the force on the notch  22 , the component of the force that will try to move the bearings  14 ,  16  opposite to the uni-direction will be met with the resisting force from the bearing  14 ,  16  to the path  20 . The remaining component of the force that is parallel to the cylinder  4  displacement the bearing will assert back the reaction forces and cancelled. Thus the resulting force will act on the cylinder  4  as a torque to turn the cylinder  4 . The component of the force that follows in the direction of bearing rotation, the force will spent on turning the bearings  14 ,  16 . For the case of the  FIG. 3 , the component of the force will torque the cylinder  4  to turn in the direction shown by the arrow in the diagram. The rotational direction show by the diagram is “clockwise” for the convention of this document. 
     Referring specifically to the embodiment of  FIG. 4A , the clockwise motion will be explained Note that the bearing  16  is welded to the inner portion of the cylinder  4  at the outer portion of the bearing  16  whereas the bearing  14  is welded to the rod  6  at the inner bearing  14 . In addition, the outer portion of the bearing  14  is designed to be able to slide along an inner portion of the cylinder  4  in conjunction with the linear displacement of the rod  6  but no angular motion of the bearing  14  with respect to the cylinder  4  is allowed. 
     Therefore, the clockwise motion of the rod  6  will turn the inside bearing of bearing  14  and the whole bearing  14  will slide linearly along with the rod  6 . 
     When the rod  6  reaches the most left position, the angular motion of the rod  6  also stops. This is the end of a half cycle. The other half occurs during the backward movement. 
     With reference to the backward movement, as the rod  6  moves back from the most left position of the displacement, the path  20  on the rod  6  asserts a force (action) on the bearing  16  to turn clockwise. This is in the direction of the rotation for the bearing  16 ; the bearing  16  will turn but not the rod  6 . The turning of the bearing  16 , in the entire system, presents the least amount of force required in the return process. The rod  6  is tightly held by the bearing  14  system in place so that the rod  6  itself will not turn counterclockwise. This second bearing ensures that it is the bearing  14  turning clockwise even though there is force on the rod  6  to turn counterclockwise (reaction). The bearing  14  ensures that during the last half cycle, the rod  6  will maintain the same position in the angular position. 
     In the design of systems, designers find it necessary to control angular motion of members including tubular members. An application of the present disclosure includes a rod rotator that is installed inside a hydraulic pump that turns the rod string continuously in one direction while traveling up and down the well bore to reduce the wearing. 
     An aspect of one embodiment of the present disclosure is the apparatus and method translates a linear and reciprocating motion in the axial direction of the cylinder  4  into a unique unidirectional angular rotational motion of the same cylinder  4  around an axis  10 , as seen in  FIG. 1 . The linear motion is reciprocating along a set distance. Another aspect of one embodiment is that each reciprocating motion completes with the design upper limits and lower limits of the distance that the cylinder travels in the axial direction. The angular rotation is around the axis  10  of the rod  6 . In one preferred embodiment, the angular rotation is limited to between 1 degree and 10 degrees per cycle of linear motion. Yet another aspect of the present embodiments is the simplicity of the mechanical translation. 
     Yet another aspect of the disclosure is that the detailed motion program in the first cycle of theta is completely controlled by the path program designed on the surface of the rod  6 . This is controlled by the machining quality of the time and mathematical definitions of relationships between theta and the displacement “d”. 
     Although the present invention has been described in considerable detail with reference to certain preferred versions thereof, other versions are possible. Therefore, the spirit and scope of the appended claims should not be limited to the description of the preferred versions contained herein.