US20130185966A1 - Pulsed Supersonic Jet with Local High Speed Valve - Google Patents

Pulsed Supersonic Jet with Local High Speed Valve Download PDF

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US20130185966A1
US20130185966A1 US13/094,136 US201113094136A US2013185966A1 US 20130185966 A1 US20130185966 A1 US 20130185966A1 US 201113094136 A US201113094136 A US 201113094136A US 2013185966 A1 US2013185966 A1 US 2013185966A1
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valve
air
nozzle
pressure
supersonic
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US13/094,136
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Steven Merrill Harrington
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Priority to US13/094,136 priority Critical patent/US20130185966A1/en
Publication of US20130185966A1 publication Critical patent/US20130185966A1/en
Priority to US14/162,652 priority patent/US8800177B2/en
Priority to US14/162,641 priority patent/US8769848B2/en
Priority to US14/302,078 priority patent/US8991078B1/en
Abandoned legal-status Critical Current

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    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F5/00Dredgers or soil-shifting machines for special purposes
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/90Component parts, e.g. arrangement or adaptation of pumps
    • E02F3/92Digging elements, e.g. suction heads
    • E02F3/9206Digging devices using blowing effect only, like jets or propellers
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20Drives; Control devices
    • E02F9/2025Particular purposes of control systems not otherwise provided for
    • E02F9/205Remotely operated machines, e.g. unmanned vehicles
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20Drives; Control devices
    • E02F9/22Hydraulic or pneumatic drives
    • E02F9/2221Control of flow rate; Load sensing arrangements
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20Drives; Control devices
    • E02F9/22Hydraulic or pneumatic drives
    • E02F9/2264Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2267Valves or distributors
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24Safety devices, e.g. for preventing overload
    • E02F9/245Safety devices, e.g. for preventing overload for preventing damage to underground objects during excavation, e.g. indicating buried pipes or the like
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26Indicating devices
    • E02F9/261Surveying the work-site to be treated
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/12Fluid oscillators or pulse generators

Definitions

  • This application relates to excavators, particularly to portable pneumatic excavators.
  • Excavators which use a jet of air are well known, and they may be used to excavate mines, gas lines and such. These devices may be pulsed by the operator, or they may be pulsed by valves located in the handle, as in U.S. Pat. No. 5,966,847. These devices are cumbersome and bulky because they use powerful air compressors and large quantities of air. Prior devices waste air while building up to a supersonic jet and tapering down to zero pressure. The pressure during the rise and fall time is not sufficient to dig earth. In a previous application 20090044372, the inventor describes a device for cleaning surfaces which use supersonic jets. During the development of that device I discovered that short pulses of air are just as effective as long ones. Therefore a device which incorporates a fast acting valve located nearby a De Laval nozzle will provide the best excavation rate for the least amount of air consumption.
  • an excavator includes a source of compressed air or gas such as a tank or compressor, an air conduit leading to a pulse jet, a nozzle to accelerate the air to maximum velocity, and at least one valve to let the air out through the nozzle in a sharp pulse.
  • a source of compressed air or gas such as a tank or compressor
  • an air conduit leading to a pulse jet leading to a pulse jet
  • a nozzle to accelerate the air to maximum velocity
  • at least one valve to let the air out through the nozzle in a sharp pulse.
  • an electric or pneumatic circuit controls the operation of the valve or valves.
  • the pressure of the air should be approximately 300 psi in order to create a supersonic jet of reasonable length, such that the air reaches the surface and recompresses in order to provide the maximum pressurization and shear force on the earth, but higher or lower pressures are also satisfactory.
  • a pressure regulator may be used in between the tank or compressor and the valve.
  • a heater or heat exchanger may be used upstream of the valve in order to keep the specific volume of the air at a high level.
  • the digging action occurs as the air pressure rises in proximity to the ground during the initial formation of the supersonic jet.
  • the air pressure before the supersonic jet formation is not sufficient to dig.
  • the pulse duration is only long enough for the jet to form. This conserves air consumption.
  • a fast-acting valve which is close coupled to the nozzle. The time required to pressurize the nozzle ahead of the system is minimized.
  • Such a valve is described in U.S. Pat. No. 5,271,226.
  • This technology is common in the art of cold gas thrusters.
  • a Marotta MV78C valve operates most efficiently, but other fast-acting valves are also satisfactory.
  • the Marotta valve is an aerospace poppet valve which is actuated by a small balanced pilot valve.
  • the flow of air to the valve may be limited.
  • a reservoir of air may be located close to the valve.
  • the valve may be designed with hysteresis to open at a given pressure and close at a lower pressure.
  • the valve may open a 300 psi and close at 100 psi.
  • This type of valve converts a steady low flow of air to a pulsatile flow of air with a tapering off of pressure in each pulse. This allows the device to loosen soil with the initial pressure pulse and then blow it away with a lower pressure, thereby achieving effective excavation with a minimum of air consumption.
  • Another embodiment has a continuous supply of air to the valve and nozzle, an air storage chamber near the nozzle, and a dump valve which opens when the pressure in said chamber reaches a given value.
  • This embodiment allows for the use of a smaller air conduit and pressure regulator leading to the pulse jet.
  • the air is heated before it reaches the nozzle. This has the advantage of generating more pulses for a given amount of air. It also helps counteract the cooling of the air which occurs as an air tank is consumed. This may be accomplished by means of a heat exchanger which uses the outside air, or a fuel driven heater to heat the air. It is well known that air cools when it expands through a supersonic nozzle, so the air can be heated up above ambient temperature and still result in a pulse jet that is at ambient temperature.
  • the nozzle is a standard De Laval type, which accelerates the air using a contraction and expansion section.
  • the exit area can be determined based on the upstream pressure and local ambient pressures. This type of nozzle is common in rocket engines and the equations to design them are well known in the art.
  • the valve In order to achieve the required short pulse, the valve must actuate very quickly, or the air supply must be limited.
  • the air supply will be from a pressurized tank of air at 2000-5000 psi.
  • a valve which operates very quickly is used to utilize the full pressure of the tank.
  • adjusting the on time of the valve controls the impulse generated. This way, all the energy of the tank is used.
  • Another possible scenario is to use a spring loaded accumulator in between the two valves. That way the air pressure does not need to taper off and more of the energy in the air can be utilized.
  • the pressure in the air storage container is controlled by controlling the on time of the inlet valve. In this way, and adjustable pressure pulse is delivered.
  • advantages of one or more aspects are to provide an excavator that is more efficient, more portable, inexpensive, has less reaction force, and provides more effective excavation with high pressure and less air consumption.
  • Other advantages of one or more aspects are to provide an excavator that may use a local compressed air source tank and is not tethered to a compressor.
  • Other advantages of one or more aspects are to provide a robotically controlled excavator wherein the robot is small and light-weight, and could not readily operate any other type of digging tool.
  • advantages of one or more aspects will be apparent from a consideration of the drawings and ensuing description.
  • FIG. 1 is a schematic drawing of one embodiment with a local air chamber in the shape of a cylinder.
  • FIG. 2 is a drawing of a quick opening poppet valve in the closed position.
  • FIG. 3 is a drawing of a quick opening poppet valve in the open position.
  • FIGS. 4A to 4C show the dimensions determined for a given nozzle throat diameter.
  • FIGS. 5A and 5B show the results of one test of the stagnation pressure and duration of each pulse of air.
  • FIG. 6 shows a schematic of the logic used to control one embodiment with two valves.
  • FIG. 7 shows a graphical representation of the air conserved with a sharp supersonic pulse instead of a gradual pressure pulse.
  • FIG. 8 shows one embodiment including a pulsed supersonic jet with local high-speed valve attached to a robot.
  • FIG. 9 shows one embodiment including a pulsed supersonic jet with local high-speed valve and local video camera
  • FIG. 1 shows a schematic drawing of one embodiment of the device.
  • the nozzle 14 and a valve 13 are located is close proximity so that as the valve opens, little air is wasted filling the duct in between the nozzle and the valve.
  • a local air chamber 12 holds a volume of air to be dispensed.
  • the prefill valve 11 lets high-pressure air into local air chamber 12 .
  • Valve 11 then shuts and valve 13 opens, dumping the air through the nozzle.
  • operation of the valves is controlled by an electric or pneumatic circuit.
  • the high pressure air is be supplied by a compressor or a tank of compressed air upstream of conduit 10 .
  • FIG. 2 a nozzle and valve combination is illustrated.
  • This includes a volume of air in toroidal prefill chamber 21 in close proximity to valve seat 27 .
  • the poppet 25 keeps the valve closed until the pressure applied over the outer ring 23 overcomes the pressure in dome load compartment 22 , which is augmented in some embodiments by a spring (not shown). Once the pressure in chamber 21 pushes the poppet 25 up, the air then fills in the entire area 28 under the poppet, forcing it up.
  • the throat 26 of the nozzle becomes the flow limiting feature.
  • the pressure behind the nozzle 14 falls to a lower pressure, such as 100 psi, at that point, the pressure in compartment 22 is enough to push the poppet 25 back on the seat 27 . At that point the valve closes and does not reopen until the pressure rises to 300 psi in prefill chamber 21 .
  • the poppet may be limited to a purely up and down movement by poppet guide 24 .
  • FIG. 3 the same valve is shown in the open position. In this position the pressure in chamber 21 is applied to the whole diaphragm 23 and poppet 25 .
  • FIG. 4 shows the nozzle dimensions for one embodiment for ideally expanded supersonic flow.
  • the nozzle exit diameter for various feed pressures was determined using adiabatic and isentropic relations for supersonic flow. The calculations assume air as the working fluid and a throat diameter of 0.635 cm (0.25 inch).
  • My present nozzle has a 0.635 cm (0.25 inch) throat diameter, a 15° cone angle, and a 1.105 cm (0.435 inch) diameter exit nozzle, but other nozzle dimensions are also acceptable.
  • FIG. 5 shows a stagnation pressure test of one embodiment which included a single Marotta MV78C valve. The valve was commanded to open for 40 ms and the resulting stagnation pressure pulse width was 63 ms, but other pulse durations are also satisfactory.
  • FIG. 6 shows the control sequence of one embodiment including two valves in order to produce a short pulse width pressure burst.
  • the fill length 30 is the period of time the upstream valve 11 is open.
  • the fire delay 32 is the period of time that both valves remain closed.
  • the firing length 34 is the period of time the downstream valve 13 is open and exhausting the air in the volume between the two valves.
  • the delay until fill 36 is the period of time from when the downstream valve 13 is closed and the upstream valve 11 is opened again.
  • FIG. 7 shows a graphic representation of a sharp supersonic pulse 44 and a gradual pressure rise and fall 42 .
  • the pressure where digging occurs is at pressure level 38 and above.
  • the sharp burst 44 provided with the local high speed valve uses nearly all of the air in the digging region 38 .
  • the gradual pressure pulse 42 wastes air during time spent in the low pressure area 40 where no digging occurs.
  • FIG. 8 shows one embodiment of the pulsed supersonic nozzle 14 with local high-speed valve 13 attached to a robot 46 .
  • a tank of compressed air 48 supplies the high pressure air, but a compressor would also be satisfactory.
  • the high-speed valve 13 is controlled by a pneumatic circuit 50 , but an electric circuit would also be satisfactory.
  • FIG. 9 shows one embodiment of the pulsed supersonic nozzle 14 with local high-speed valve 13 attached to a robot 46 including a video camera 52 .

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • General Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Paleontology (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

A pulsed supersonic jet excavator uses a short duration blast of air to excavate using a minimum amount of air and a minimum reaction force. This device uses a fast acting valve to create a jet of air that lasts about as long as it takes to develop. The result is a device that works much more efficiently than existing air jet excavators. This device can be mounted on a small robot and allow it to dig, whereas a normal backhoe type excavator would just lift the robot when attempting to dig in packed earth.

Description

    CROSS-REFERENCE TO RELATED APPLICATIONS
  • This application claims the benefit of provisional patent application No. 61/327,832, filed 2010 Apr. 26 by the present inventor.
  • BACKGROUND
  • This application relates to excavators, particularly to portable pneumatic excavators.
  • PRIOR ART
  • Excavators which use a jet of air are well known, and they may be used to excavate mines, gas lines and such. These devices may be pulsed by the operator, or they may be pulsed by valves located in the handle, as in U.S. Pat. No. 5,966,847. These devices are cumbersome and bulky because they use powerful air compressors and large quantities of air. Prior devices waste air while building up to a supersonic jet and tapering down to zero pressure. The pressure during the rise and fall time is not sufficient to dig earth. In a previous application 20090044372, the inventor describes a device for cleaning surfaces which use supersonic jets. During the development of that device I discovered that short pulses of air are just as effective as long ones. Therefore a device which incorporates a fast acting valve located nearby a De Laval nozzle will provide the best excavation rate for the least amount of air consumption.
  • SUMMARY
  • In accordance with one embodiment an excavator includes a source of compressed air or gas such as a tank or compressor, an air conduit leading to a pulse jet, a nozzle to accelerate the air to maximum velocity, and at least one valve to let the air out through the nozzle in a sharp pulse. In some embodiments an electric or pneumatic circuit controls the operation of the valve or valves.
  • At present I believe the pressure of the air should be approximately 300 psi in order to create a supersonic jet of reasonable length, such that the air reaches the surface and recompresses in order to provide the maximum pressurization and shear force on the earth, but higher or lower pressures are also satisfactory. A pressure regulator may be used in between the tank or compressor and the valve. A heater or heat exchanger may be used upstream of the valve in order to keep the specific volume of the air at a high level.
  • I have found that the digging action occurs as the air pressure rises in proximity to the ground during the initial formation of the supersonic jet. The air pressure before the supersonic jet formation is not sufficient to dig. In one embodiment, the pulse duration is only long enough for the jet to form. This conserves air consumption. This is achieved by using a fast-acting valve which is close coupled to the nozzle. The time required to pressurize the nozzle ahead of the system is minimized. Such a valve is described in U.S. Pat. No. 5,271,226. This technology is common in the art of cold gas thrusters. At present I have found that a Marotta MV78C valve operates most efficiently, but other fast-acting valves are also satisfactory. The Marotta valve is an aerospace poppet valve which is actuated by a small balanced pilot valve.
  • In some circumstances, the flow of air to the valve may be limited. In this case a reservoir of air may be located close to the valve. The valve may be designed with hysteresis to open at a given pressure and close at a lower pressure. For example the valve may open a 300 psi and close at 100 psi. This type of valve converts a steady low flow of air to a pulsatile flow of air with a tapering off of pressure in each pulse. This allows the device to loosen soil with the initial pressure pulse and then blow it away with a lower pressure, thereby achieving effective excavation with a minimum of air consumption.
  • Another embodiment has a continuous supply of air to the valve and nozzle, an air storage chamber near the nozzle, and a dump valve which opens when the pressure in said chamber reaches a given value. This embodiment allows for the use of a smaller air conduit and pressure regulator leading to the pulse jet.
  • In some other embodiments, the air is heated before it reaches the nozzle. This has the advantage of generating more pulses for a given amount of air. It also helps counteract the cooling of the air which occurs as an air tank is consumed. This may be accomplished by means of a heat exchanger which uses the outside air, or a fuel driven heater to heat the air. It is well known that air cools when it expands through a supersonic nozzle, so the air can be heated up above ambient temperature and still result in a pulse jet that is at ambient temperature.
  • The nozzle is a standard De Laval type, which accelerates the air using a contraction and expansion section. The exit area can be determined based on the upstream pressure and local ambient pressures. This type of nozzle is common in rocket engines and the equations to design them are well known in the art.
  • In order to achieve the required short pulse, the valve must actuate very quickly, or the air supply must be limited. In some embodiments the air supply will be from a pressurized tank of air at 2000-5000 psi. In some embodiments in order to get the most energy out of the air, a valve which operates very quickly is used to utilize the full pressure of the tank. In some embodiments, adjusting the on time of the valve controls the impulse generated. This way, all the energy of the tank is used. Another possible scenario is to use a spring loaded accumulator in between the two valves. That way the air pressure does not need to taper off and more of the energy in the air can be utilized. In some embodiments the pressure in the air storage container is controlled by controlling the on time of the inlet valve. In this way, and adjustable pressure pulse is delivered.
  • ADVANTAGES
  • Several advantages of one or more aspects are to provide an excavator that is more efficient, more portable, inexpensive, has less reaction force, and provides more effective excavation with high pressure and less air consumption. Other advantages of one or more aspects are to provide an excavator that may use a local compressed air source tank and is not tethered to a compressor. Other advantages of one or more aspects are to provide a robotically controlled excavator wherein the robot is small and light-weight, and could not readily operate any other type of digging tool. Other advantages of one or more aspects will be apparent from a consideration of the drawings and ensuing description.
  • DRAWINGS Figures
  • In the drawings, closely related figures have the same number but different alphabetic suffixes.
  • FIG. 1 is a schematic drawing of one embodiment with a local air chamber in the shape of a cylinder.
  • FIG. 2 is a drawing of a quick opening poppet valve in the closed position.
  • FIG. 3 is a drawing of a quick opening poppet valve in the open position.
  • FIGS. 4A to 4C show the dimensions determined for a given nozzle throat diameter.
  • FIGS. 5A and 5B show the results of one test of the stagnation pressure and duration of each pulse of air.
  • FIG. 6 shows a schematic of the logic used to control one embodiment with two valves.
  • FIG. 7 shows a graphical representation of the air conserved with a sharp supersonic pulse instead of a gradual pressure pulse.
  • FIG. 8 shows one embodiment including a pulsed supersonic jet with local high-speed valve attached to a robot.
  • FIG. 9 shows one embodiment including a pulsed supersonic jet with local high-speed valve and local video camera
  • DETAILED DESCRIPTION OF THE DRAWINGS
  • FIG. 1 shows a schematic drawing of one embodiment of the device. The nozzle 14 and a valve 13 are located is close proximity so that as the valve opens, little air is wasted filling the duct in between the nozzle and the valve. A local air chamber 12 holds a volume of air to be dispensed. In operation the prefill valve 11 lets high-pressure air into local air chamber 12. Valve 11 then shuts and valve 13 opens, dumping the air through the nozzle. In one embodiment, operation of the valves is controlled by an electric or pneumatic circuit. In some embodiments, the high pressure air is be supplied by a compressor or a tank of compressed air upstream of conduit 10.
  • In FIG. 2 a nozzle and valve combination is illustrated. This includes a volume of air in toroidal prefill chamber 21 in close proximity to valve seat 27. The poppet 25 keeps the valve closed until the pressure applied over the outer ring 23 overcomes the pressure in dome load compartment 22, which is augmented in some embodiments by a spring (not shown). Once the pressure in chamber 21 pushes the poppet 25 up, the air then fills in the entire area 28 under the poppet, forcing it up. The throat 26 of the nozzle becomes the flow limiting feature. As the restricted inlet flow is not sufficient to maintain the high pressure continuously, the pressure behind the nozzle 14 falls to a lower pressure, such as 100 psi, at that point, the pressure in compartment 22 is enough to push the poppet 25 back on the seat 27. At that point the valve closes and does not reopen until the pressure rises to 300 psi in prefill chamber 21. The poppet may be limited to a purely up and down movement by poppet guide 24.
  • In FIG. 3, the same valve is shown in the open position. In this position the pressure in chamber 21 is applied to the whole diaphragm 23 and poppet 25.
  • FIG. 4 shows the nozzle dimensions for one embodiment for ideally expanded supersonic flow. The nozzle exit diameter for various feed pressures was determined using adiabatic and isentropic relations for supersonic flow. The calculations assume air as the working fluid and a throat diameter of 0.635 cm (0.25 inch). My present nozzle has a 0.635 cm (0.25 inch) throat diameter, a 15° cone angle, and a 1.105 cm (0.435 inch) diameter exit nozzle, but other nozzle dimensions are also acceptable.
  • FIG. 5 shows a stagnation pressure test of one embodiment which included a single Marotta MV78C valve. The valve was commanded to open for 40 ms and the resulting stagnation pressure pulse width was 63 ms, but other pulse durations are also satisfactory.
  • FIG. 6 shows the control sequence of one embodiment including two valves in order to produce a short pulse width pressure burst. The fill length 30 is the period of time the upstream valve 11 is open. The fire delay 32 is the period of time that both valves remain closed. The firing length 34 is the period of time the downstream valve 13 is open and exhausting the air in the volume between the two valves. The delay until fill 36 is the period of time from when the downstream valve 13 is closed and the upstream valve 11 is opened again.
  • FIG. 7 shows a graphic representation of a sharp supersonic pulse 44 and a gradual pressure rise and fall 42. The pressure where digging occurs is at pressure level 38 and above. The sharp burst 44 provided with the local high speed valve uses nearly all of the air in the digging region 38. The gradual pressure pulse 42 wastes air during time spent in the low pressure area 40 where no digging occurs.
  • FIG. 8 shows one embodiment of the pulsed supersonic nozzle 14 with local high-speed valve 13 attached to a robot 46. In this embodiment, a tank of compressed air 48 supplies the high pressure air, but a compressor would also be satisfactory. In this embodiment, the high-speed valve 13 is controlled by a pneumatic circuit 50, but an electric circuit would also be satisfactory.
  • FIG. 9 shows one embodiment of the pulsed supersonic nozzle 14 with local high-speed valve 13 attached to a robot 46 including a video camera 52.

Claims (12)

I claim:
1. A pulsed supersonic jet excavator consisting of
A supersonic nozzle including a converging portion and a diverging portion.
A high-speed valve located within 10 nozzle diameters of said nozzle,
Said nozzle and valve being attached to a remotely controlled manipulation means.
2. The device as in claim 1, including a local air storage chamber which is periodically dumped through the valve
3. The device as in claim 1, including a heater to heat the air.
4. The device as in claim 1, including a poppet valve wherein the downstream pressure motivates the valve towards an open position.
5. The device as in claim 1, including a robot to carry said device.
6. The device as in claim 1, including a video camera to feed data to a remote location.
7. The device as in claim 1, including an attachment to a vehicle.
8. The device as in claim 1, with including a metal detector to detect buried objects.
9. The device as in claim 1, wherein the volume of the fluid connection between said high speed valve and said nozzle is less than 5 times the volume of said nozzle
10. The device as in claim 2, including a pressure transducer to measure the pressure in said storage chamber.
11. The device as in claim 1, Said valve open duration being less than 10 times to the time required for the supersonic jet to develop to its full supersonic length
12. The device as in claim 1, with a local video camera with positioning means to observer the excavation.
US13/094,136 2010-04-26 2011-04-26 Pulsed Supersonic Jet with Local High Speed Valve Abandoned US20130185966A1 (en)

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Application Number Priority Date Filing Date Title
US13/094,136 US20130185966A1 (en) 2010-04-26 2011-04-26 Pulsed Supersonic Jet with Local High Speed Valve
US14/162,652 US8800177B2 (en) 2011-04-26 2014-01-23 Pneumatic excavation system and method of use
US14/162,641 US8769848B2 (en) 2011-04-26 2014-01-23 Pneumatic excavation system and method of use
US14/302,078 US8991078B1 (en) 2011-04-26 2014-06-11 Pneumatic excavation system and method of use

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US32783210P 2010-04-26 2010-04-26
US13/094,136 US20130185966A1 (en) 2010-04-26 2011-04-26 Pulsed Supersonic Jet with Local High Speed Valve

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US14/162,641 Continuation-In-Part US8769848B2 (en) 2011-04-26 2014-01-23 Pneumatic excavation system and method of use
US14/162,652 Continuation-In-Part US8800177B2 (en) 2011-04-26 2014-01-23 Pneumatic excavation system and method of use

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130055880A1 (en) * 2010-05-28 2013-03-07 Qinetiq Limited Rov terrain disruptor
US10570580B2 (en) * 2015-08-05 2020-02-25 Soletanche Freyssinet Excavation system with interchangeable tools

Citations (17)

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