1. A thrust bearing assembly for a washing machine, the washing machine including a cabinet substantially enclosing an outer water-retaining tub and a basket located within the tub, the machine further including a transmission coupled to an electric motor by an input shaft, the transmission including a transmission housing, a pulley engaged to the input shaft at one end thereof and a belt extending around the pulley and coupled to the motor, the input shaft coupled to and extending from the pulley, the shaft extending through a pulley hub and a brake assembly to a pinion gear located within the transmission housing, said thrust bearing assembly comprising:
a thrust bearing coupled to the input shaft at an upper end thereof; and
a flange bearing supporting said thrust bearing on the transmission housing.
2. A thrust bearing assembly in accordance with claim 1 wherein said thrust bearing comprises a cage and bearing assembly.
3. A thrust bearing assembly in accordance with claim 2 further comprising at least two washers, said cage and bearing assembly located between said washers.
4. A thrust bearing assembly in accordance with claim 1 wherein a bore extends through said flange bearing, and the input shaft extends through the bore to the flange bearing.
5. A thrust bearing assembly in accordance with claim 1 wherein said flange bearing comprises an annular flange.
6. A thrust bearing assembly in accordance with claim 5 wherein said annular flange is in contact with, and supported by, the transmission housing.
7. A thrust bearing assembly in accordance with claim 1 wherein a lubrication reservoir is formed by the transmission housing, and said thrust bearing is lubricated by lubrication in the reservoir.
8. A thrust bearing assembly in accordance with claim 1 wherein axial forces are transferred through the brake assembly, the pulley hub, and the input shaft to said thrust bearing.
9. A thrust bearing assembly for a washing machine, the washing machine including a transmission coupled to an electric motor by an input shaft, the transmission including a housing, said thrust bearing assembly comprising:
a thrust bearing coupled to the input shaft; and
a support for supporting said thrust bearing on the transmission housing.
10. A thrust bearing assembly in accordance with claim 9 wherein said thrust bearing comprises a cage and bearing assembly.
11. A thrust bearing assembly in accordance with claim 10 further comprising at least two washers, said cage and bearing assembly located between said washers.
12. A thrust bearing assembly in accordance with claim 9 wherein said support comprises a flange bearing.
13. A thrust bearing in accordance with claim 12 wherein a bore extends through said flange bearing, and the input shaft extends through said bore.
14. A thrust bearing assembly in accordance with claim 12 wherein said flange bearing comprises an annular flange.
15. A thrust bearing assembly in accordance with claim 14 wherein said annular flange is in contact with, and supported by, the transmission housing.
16. A thrust bearing assembly in accordance with claim 8 wherein a lubrication reservoir is formed by the transmission housing, and said thrust bearing is lubricated by lubrication in the reservoir.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A method of coupling an end effector to a base of a robotic component, the method comprising:
aligning at least one alignment member of the end effector with at least one indentation of the base of the robotic component, wherein the at least one alignment member extends from the end effector, and wherein the at least one indentation corresponds in position with the at least one alignment member, and further wherein the end effector is adapted to be coupled to the base of the robotic component and is further adapted to operably engage an inspection probe at a distal end of the end effector from where the end effector is adapted to be coupled to the base of the robotic component, wherein the end effector is further adapted to provide at least one of degree of motion to the distal end of the end effector independent of the control of the robotic component and during an inspection operation, and wherein the at least one degree of motion comprises at least one of the degrees of motion selected from the group of (i) a telescoping extension of the inspection probe from the end effector and the robotic component and (ii) an angular rotation of the inspection probe relative to the end effector and the robotic component,
wherein the base of the robotic component comprises at least one ferromagnetic material, and wherein the end effector comprises at least one magnet; and
positioning the at least one ferromagnetic material of the base of the robotic component and the at least one magnet of the end effector in proximity to cause magnetic attraction between the at least one ferromagnetic material of the base of the robotic component and the at least one magnet of the end effector,
wherein the magnetic attraction pulls the end effector and the base of the robotic component together to permit the at least one alignment member of the end effector to protrude into the corresponding at least one indentation in the base of the robotic component, thereby aligning the end effector and the base of the robotic component when magnetically coupled.
2. The method of claim 1, further comprising:
providing a magnetic coupling offset release clamp comprising at least one extension adapted to adjustably protrude between the end effector and the robotic component, wherein the magnetic coupling offset release clamp is connected to the end effector or the robotic component thereby permitting separation of the end effector and the robotic component when the at least one extension of the magnetic coupling offset release clamp is protruded between the end effector and the robotic component;
protruding the at least one extension of the magnetic coupling offset release clamp between the end effector and the robotic component to separate the end effector and the robotic component prior to positioning the at least one ferromagnetic material of the robotic component and the at least one magnet of the end effector in proximity to cause the magnetic attraction, thereby permitting adjustment of the alignment of at least one of the end effector and the robotic component with respect to the other; and
decreasing the protrusion of the at least one extension of the magnetic coupling offset release clamp between the end effector and the robotic component, thereby decreasing the separation between the end effector and the robotic component to permit the end effector and the robotic component to magnetically couple.
3. The method of claim 1, further comprising:
providing a magnetic coupling offset release clamp comprising at least one extension adapted to adjustably protrude between the end effector and the robotic component, wherein the magnetic coupling offset release clamp is connected to the end effector or the robotic component thereby permitting separation of the end effector and the robotic component when the at least one extension of the magnetic coupling offset release clamp is protruded between the end effector and the robotic component; and
protruding the at least one extension of the magnetic coupling offset release clamp between the end effector and the robotic component to separate the end effector and the robotic component, thereby at least partially decreasing the magnetic coupling of the end effector and the robotic component.
4. The method of claim 1, further comprising:
providing a force mechanism interoperably coupled to a telescoping arm of the end effector and a tube of the end effector, wherein the tube is configured for receiving the telescoping arm to be at least partially disposed within the tube; and
exerting a force by the force mechanism to dynamically extend the arm from the tube.
5. A method of inspecting a structure, the method comprising:
aligning at least one alignment member of an end effector with at least one indentation of a base of a robotic control system, wherein the alignment member extends from the end effector, and wherein the at least one indentation corresponds in position with the at least one alignment member, and further wherein the end effector is adapted to be coupled to the base of the robotic control system and is further adapted to couple an inspection probe at a distal end of the end effector from where the end effector is adapted to be coupled to the base of the robotic control system, wherein the end effector is further adapted to provide at least one of degree of motion to the distal end of the end effector independent of the control of the robotic control system and during an inspection operation, and wherein the at least one degree of motion comprises at least one of the degrees of motion selected from the group of (i) an extension of the inspection probe from the end effector and the robotic control system, (ii) a telescoping extension of the inspection probe from the end effector and the robotic control system, and (iii) an angular rotation of the inspection probe relative to the end effector and the robotic component,
wherein the base of the robotic control system comprises at least one ferromagnetic material, and wherein the end effector comprises at least one magnet;
positioning the at least one ferromagnetic material of the base of the robotic control system and the at least one magnet of the end effector in proximity to cause magnetic attraction between the at least one ferromagnetic material of the base of the robotic control system and the at least one magnet of the end effector,
wherein the magnetic attraction between the at least one ferromagnetic material of the base of the robotic control system and the at least one magnet of the end effector pulls the end effector and the base of the robotic control system together to permit the at least one alignment member of the end effector to protrude into the corresponding at least one indentation in the base of the robotic control system, thereby aligning the end effector and the control system when magnetically coupled;
coupling the inspection probe to the end effector;
positioning the inspection probe against a surface of the structure; and
translating the inspection probe across at least a portion of the surface of the structure, wherein the end effector is further adapted to provide the at least one degree of motion while the inspection probe is translated across the surface of the structure.
6. The method of claim 5, wherein the step of coupling an inspection probe to the end effector comprises:
coupling a telescoping arm to the inspection probe;
coupling a tube for receiving the telescoping arm to the end effector; and
recessing the telescoping arm at least partially into the tube.
7. The method of claim 6, further comprising the step of providing a cut-off switch configured for determining separation of the end effector from the base of the robotic control system for indicating when the magnetic attraction between the end effector and the base of the robotic control system has been decreased during inspection due to contact by at least one of the end effector, telescoping arm, tube, and inspection probe with another object which prohibits the translation of at least one of the end effector, telescoping arm, tube, and inspection probe by the base of the robotic control system.
8. The method of claim 6, further comprising:
dynamically extending the telescoping arm from the tube using a force mechanism interoperably coupled to the tube and the telescoping arm, wherein the force mechanism is configured for exerting a force inclined to extend the telescoping arm from the tube, and wherein dynamically extending the telescoping arm presses the inspection probe against the structure.
9. The method of claim 6, further comprising the step of fixing the rotation of the telescoping arm within the tube.
10. The method of claim 9, wherein the step of fixing the rotation of the telescoping arm within the tube comprises the step of providing the tube and the telescoping arm with corresponding, non-circular cross-sectional shapes to prevent rotation of the telescoping arm within the tube.
11. The method of claim 5, further comprising controlling inspection of the structure with the control system, wherein the control system is a robotic, multi-axis control system.
12. The method of claim 5, further comprising the step of providing a cut-off switch configured for determining separation of the end effector from the control system for indicating when the magnetic attraction between the end effector and the control system has been decreased during inspection due to contact by at least one of the end effector and inspection probe with another object which prohibits the translation of at least one of the end effector and inspection probe by the control system.