ARTICULATED WAVEGUIDE
Articulated waveguide systems, devices, and methods. Adjacent rigid waveguide segments are connected at an articulating joint. An internal antenna at the joint allows for three hundred sixty degree rotational capability at the joints. Multiple such joints may connect multiple pairs of adjacent waveguide segments to form a robotic waveguide arm. The arm can be articulated to place an energy applicator at the end of the arm in multiple positions and orientations at various speeds and directions of movement. Six degrees of freedom are provided for orienting the applicator using the robotic waveguide arm to transmit energy from a generator to an object, such as rock. The articulate waveguide may be used in a microwave-based system for mining rock having a microwave generator, the articulated robotic waveguide arm, and the applicator.
1 . A microwave-based system for mining rock, the system comprising:
a microwave generator;
a robotic arm connected with the generator and comprising a plurality of waveguide segments, wherein the waveguide segments are rigid and configured to guide therethrough microwaves generated by the microwave generator for application to the rock, and wherein first and second waveguide segments of the plurality of waveguide segments are rotatably attached together at a joint; and
an antenna positioned at least partially within the joint, the antenna comprising a first elongated antenna segment and a second elongated antenna segment attached to and extending from the first antenna segment, wherein the first antenna segment is configured to receive microwaves from the first waveguide segment, and the second antenna segment is configured to transmit microwaves into the second waveguide segment.
2 . The system of claim 1 , wherein the antenna is T-shaped.
3 . The system of claim 1 , wherein the joint comprises a rotatable connector that rotatably attaches the first and second waveguide segments together, and wherein the antenna does not contact the rotatable connector.
4 . The system of claim 1 , wherein the joint defines a rotational axis about which the first waveguide segment is configured to rotate relative to the second waveguide segment, and wherein the first antenna segment is oriented perpendicular to the rotation axis.
5 . The system of claim 4 , wherein the second antenna segment is oriented parallel to the rotation axis.
6 . The system of claim 1 , wherein the joint defines a rotational axis about which the first waveguide segment is configured to rotate relative to the second waveguide segment, and wherein the second antenna segment is oriented parallel to the rotation axis.
7 . The system of claim 1 , wherein the first and second waveguide segments have four-sided cross-sectional profiles.
8 . The system of claim 7 , wherein the cross-sectional profiles are rectangular.
9 . The system of claim 1 , wherein the joint defines a rotational axis about which the first waveguide segment is configured to rotate relative to the second waveguide segment, and wherein the first waveguide segment defines a central axis that intersects the rotational axis.
10 . The system of claim 9 , wherein the central axis intersects the first antenna segment.
11 . The system of claim 1 , wherein the joint defines a rotational axis about which the first waveguide segment is configured to rotate relative to the second waveguide segment, and wherein the second waveguide segment defines a central axis that intersects the rotational axis.
12 . The system of claim 11 , wherein the central axis intersects or abuts the second antenna segment.
13 . The system of claim 1 , further comprising two or more of the joints.
14 . The system of claim 1 , further comprising an applicator at an end of the robotic arm configured to focus the microwaves to a beam.
15 . A waveguide system for transmitting microwaves, the system comprising:
a plurality of waveguide segments, wherein the waveguide segments are rigid and configured to guide therethrough microwaves, and wherein first and second segments of the plurality of waveguide segments are rotatably attached at a joint; and
an antenna positioned at least partially within the joint, the antenna comprising a first elongated antenna segment and a second elongated antenna segment attached to and extending from the first antenna segment, wherein the first antenna segment is configured to receive microwaves from the first waveguide segment, and the second antenna segment is configured to transmit microwaves into the second waveguide segment.
16 . The system of claim 15 , wherein the joint comprises a rotatable connector that rotatably attaches the first and second waveguide segments together, and wherein the antenna does not contact the rotatable connector.
17 . The system of claim 15 , wherein the joint defines a rotational axis about which the first waveguide segment is configured to rotate relative to the second waveguide segment, and wherein the first antenna segment is oriented perpendicular to the rotation axis.
18 . The system of claim 15 , wherein the joint defines a rotational axis about which the first waveguide segment is configured to rotate relative to the second waveguide segment, and wherein the second antenna segment is oriented parallel to the rotation axis.
19 . The system of claim 15 , wherein the first and second waveguide segments have four-sided cross-sectional profiles.
20 . The system of claim 15 , wherein the joint defines a rotational axis about which the first waveguide segment is configured to rotate relative to the second waveguide segment, and wherein the first waveguide segment defines a central axis that intersects the rotational axis.
21 . The system of claim 20 , wherein the central axis intersects the first antenna segment.
22 . The system of claim 15 , wherein the joint defines a rotational axis about which the first waveguide segment is configured to rotate relative to the second waveguide segment, and wherein the second waveguide segment defines a central axis that intersects the rotational axis.
23 . The system of claim 22 , wherein the central axis intersects the second antenna segment.