Method and apparatus for penetrating particulate substrates

Abstract

A method or corresponding apparatus in an example embodiment of the present invention relates to penetrating a particulate substrate using a compact, lightweight, low-energy, reversible, and dynamic device for burrowing through particulate substrates. In one preferred embodiment, the apparatus includes at least one vessel and a displacement module coupled with the vessel. The actuation of the displacement module fluidizes the particulate substrate proximate to the vessel and thereby reduces resistance of the particulate substrate to movement of the vessel and causes further penetration of the apparatus through the particulate substrate. The example embodiment utilizes volume contraction and localized fluidizing to efficiently move through substrates.

1 .- 24 . (canceled) 
     
     
         25 . A method for penetrating a particulate substrate, the method comprising the steps of:
 a) pulling a body from a first position in a particulate substrate to a second position, thereby fluidizing a portion of the particulate substrate proximate to a lower portion of the body; and   b) fluidizing particulate substrate proximate to a side portion of the body, thereby generating a volume into which fluidized particulate can be directed, whereby movement of the body into the space occupied by the fluidized particulate substrate proximate to the lower portion of the body directs the fluidized particulate substrate to the side portion of the body, the movement of the body thereby penetrating the particulate substrate.   
     
     
         26 . The method of  claim 25 , wherein fluidization of the particulate substrate proximate to the side of the body is caused by mechanical action. 
     
     
         27 . The method of  claim 26 , wherein the mechanical action includes a change in diameter of the body in a direction normal to the path of flow of penetration of the particulate substrate. 
     
     
         28 . The method of  claim 25 , further including the step of pushing the body into the space occupied by the fluidized particulate proximate the lower portion of the body to thereby displace the fluidized particulate substrate and penetrate the particulate substrate. 
     
     
         29 . The method of  claim 25 , furthering including the steps of:
 a) after fluidizing particulate substrate proximate to a side portion of the body, retracting a second body linked to the body by a rod, thereby fluidizing a portion of the particulate substrate proximate to a lower portion of the second body; and thereafter   b) fluidizing particulate substrate proximate to a side portion of the second body, thereby generating a volume into which fluidized particulate can be directed, whereby movement of the second body into the space occupied by the fluidized particulate substrate proximate to the lower portion of the second body directs fluidized particulate substrate to the side portion of the second body, the movement of the second body thereby penetrating the particulate substrate.   
     
     
         30 . The method of  claim 29 , wherein fluidization of the particulate substrate proximate to the side of the second body is caused by mechanical action. 
     
     
         31 . The method of  claim 30 , wherein the mechanical action includes a change in diameter of the second body in a direction normal to the path of flow of penetration of the particulate substrate. 
     
     
         32 . The method of  claim 29 , further including the step of pushing the second body into the space occupied by the fluidized particulate proximate the lower portion of the body to thereby displace the fluidized particulate substrate and penetrate the particulate substance. 
     
     
         33 . An apparatus for penetrating a particulate substrate, the apparatus comprising:
 a) a first rod;   b) a first end-effector rigidly linked to the rod;   c) a second end-effector; and   d) a second rod linking the first end-effector to the second end-effector,   wherein the first rod causes movement of the first end effector to thereby cause retraction of the first end-effector from a first position to a second position relatively distant from the second end-effector and thereby fluidize the particulate substrate in a path of penetration, and subsequent actuation of the first end-effector fluidizes the particulate substrate adjacent the path of penetration, thereby reducing resistance of the particulate substrate to movement of the first end-effector for penetration of the first end-effector closer to the second end-effector, and wherein the subsequent retraction of the second end-effector toward the first end-effector followed by actuation of the second end-effector fluidizes the particulate substrate in the path of penetration of the second end-effector, thereby reducing resistance of the particulate substrate to movement of the second end-effector for penetration of the second end-effector along the path of penetration and away from the first end-effector, thereby penetrating the particulate substrate.   
     
     
         34 . The apparatus of  claim 33 , wherein at least one of the first and second end effectors includes:
 a) at least one arm; and   b) a displacement module of the arm, wherein actuation of the displacement module fluidizes the particulate substrate proximate to the arm.   
     
     
         35 . The apparatus of  claim 34 , wherein both the first and second end-effectors include at least one arm and a displacement module. 
     
     
         36 . The apparatus of  claim 35 , wherein at least one of the first and second end-effectors includes a plurality of arms that move in relation to each other in a direction normal to the path of movement of the end-effector from a first position to a second position. 
     
     
         37 . The apparatus of  claim 36 , wherein both the first and second end-effectors include a plurality of arms. 
     
     
         38 . The apparatus of  claim 37 , wherein the first end-effector is moveable from the first position to the second position by retraction of the first rod. 
     
     
         39 . The apparatus of  claim 38 , wherein the second end-effector is moveable from the first position to the second position by retraction of the second rod. 
     
     
         40 . The apparatus of  claim 39 , wherein the displacement module of at least one of the end-effectors is a wedge between the arms. 
     
     
         41 . The apparatus of  claim 40 , wherein movement of the wedge parallel to the path of movement offers from the first position to the second position causes the movement of the arms relative to each other. 
     
     
         42 . The apparatus of  claim 41 , wherein the displacement module of both the first and second displacement modules is a wedge. 
     
     
         43 . An apparatus for penetrating a particulate substrate, the apparatus comprising:
 a) a first end effector;   b) a second end effector; and   c) a linear actuator linking the first end effector to the second end effector, wherein the linear actuator causes movement of the first end effector to thereby cause retraction of the first end-effector from a first position to a second position relatively distant from the second end-effector and thereby fluidize the particulate substrate in a path of penetration, and subsequent actuation of the first end-effector fluidizes the particulate substrate adjacent the path of penetration, thereby reducing resistance of the particulate substrate to movement of the first end-effector for penetration of the first end-effector closer to the second end-effector, and wherein the subsequent retraction of the second end-effector toward the first end-effector followed by actuation of the second end-effector fluidizes the particulate substrate in the path of penetration of the second end-effector, thereby reducing resistance of the particulate substrate to movement of the second end-effector for penetration of the second end-effector along the path of penetration and away from the first end-effector, thereby penetrating the particulate substrate.   
     
     
         44 . An apparatus for penetrating a particulate substrate, the apparatus comprising:
 a) a rod;   b) a first end effector;   c) a second end effector; and   d) a linear actuator linking the first end effector to the second end effector, wherein the rod causes movement of the first end effector to thereby cause retraction of the first end-effector from a first position to a second position relatively distant from the second end-effector and thereby fluidize the particulate substrate in a path of penetration, and subsequent actuation of the first end-effector fluidizes the particulate substrate adjacent the path of penetration, thereby reducing resistance of the particulate substrate to movement of the first end-effector for penetration of the first end-effector closer to the second end-effector, and wherein subsequent actuation of the linear actuator causes retraction of the second end-effector toward the first end-effector followed by actuation of the second end-effector to fluidize the particulate substrate in the path of penetration of the second end-effector, thereby reducing resistance of the particulate substrate to movement of the second end-effector for penetration of the second end-effector along the path of penetration and away from the first end-effector, thereby penetrating the particulate substrate.