| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 61 | Adhesion and braking system for a magnetic shipping container crawling apparatus | US12583974 | 2009-08-27 | US20110050374A1 | 2011-03-03 | Edward Leroy Dvorak |
| A magnetic adhesive and braking system for a remote controlled vehicle adapted for traversing across ferromagnetic surfaces of a steel shipping container including the vertical walls and ceiling. The magnetic wheel system allows the vehicle to traverse vertical grades. The magnetic braking system both securely holds the vehicle when stopped on a vertical surface, and exerts enough attractive force between the vehicle and the shipping container to allow a vehicle mounted drill to operate. The magnetic brake design uses mechanical advantage such that the force required to roll the vehicle vertically downward is heightened to the force required to detach the vehicle in a perpendicular vector from the container's surface. | ||||||
| 62 | Magnetic wheel | US266368 | 1999-03-11 | US6125955A | 2000-10-03 | Carl Zoretich; Daniel Garman |
| An improved magnetic wheel for a vehicle that moves over ferromagnetic surfaces. The vehicle includes an articulating, remotely controlled chassis that is constructed around a variable frequency motor. Drive axles extend from spring biased torsion hubs and are supported at resilient bushings at each wheel. Each wheel includes a number of adjoining annular permanent magnet pole sets. Permanent magnet disks are arrayed around the circumference of each pole set. At least one pole set is secured to a wheel hub and the others are supported from resiliently mounted registration pins. The resiliently mounted pole sets are able to flex with encountered irregularities at the work surface as the axle tracks and independently flexes with the surface changes. | ||||||
| 63 | HINGED VEHICLE CHASSIS | EP14816515.2 | 2014-11-25 | EP3077279B1 | 2018-07-18 | PARROTT, Brian; OUTA, Ali; CARRASCO ZANINI GONZALEZ, Pablo Eduardo; ABDELLATIF, Fadl |
| A robotic vehicle chassis is provided. The robotic vehicle chassis includes a first chassis section, a second chassis section, and a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction. The vehicle includes a drive wheel mounted to one of the first and second chassis sections and an omni-wheel mounted to the other of the first and second chassis sections. The omni-wheel is mounted at an angle orthogonal with respect to the drive wheel. The hinge joint rotates in response to the curvature of a surface the vehicle is traversing. | ||||||
| 64 | MAGNETIC WHEEL | EP15873565 | 2015-12-18 | EP3225421A4 | 2017-12-27 | LEE DONG WOOK |
| A magnetic wheel includes: a balance block; a magnetic body which is provided in the balance block and attaches the balance block to an attachment object with a magnetic force; and a magnetic shielding block which is provided in the balance block and guides a magnetic field generated in the magnetic body toward the attachment object. | ||||||
| 65 | MODULAR MOBILE INSPECTION VEHICLE | EP14824180.5 | 2014-11-25 | EP3074188A1 | 2016-10-05 | GONZALEZ, Pablo Eduardo Carrasco Zanini; OUTA, Ali; LATIF, Fadl Abdel; PARROTT, Brian; TRIGUI, Hassane; PATEL, Sahejad; AMER, Ayman Mohammad |
| A modular inspection vehicle having at least first and second motion modules is provided. The first and second motion modules are connected to a chassis. The first motion module includes a first wheel mounted to the chassis. The second motion module includes second wheel mounted to the chassis, the second wheel being at an angle to the first wheel. The vehicle further includes a navigation module configured to collect position data related to the position of the vehicle, an inspection module configured to collect inspection data related to the vehicle's environment, and a communication module configured to transmit and receive data. The vehicle can also include a control module configured to receive the inspection data and associate the inspection data with received position data that corresponds to the inspection data collect at a corresponding position for transmission via the communication module. | ||||||
| 66 | Magnetic roller | EP15158211.1 | 2015-03-09 | EP3067258A1 | 2016-09-14 | Wiesendanger, Markus; Baur, Walter |
A magnetic roller 100 for being rotatable on a ferromagnetic surface is provided. The magnetic roller 100 includes a roller wheel 110 having an inner space 112, a magnetic array arrangement 120 and at least one first drive mechanism 130. Further, the magnetic array arrangement 120 is adapted to be swivelably disposed within the inner space 112 of the roller wheel 110. The magnetic array arrangement 120 includes a strong adhesion force side 122 and a weak adhesion force side 124. Furthermore, the first drive mechanism 130 is configured to swivelably drive the magnetic array arrangement 120. The first drive mechanism 130 swivelably drive the magnetic array arrangement 120 to direct the strong adhesion force side 122 towards the oncoming ferromagnetic surface, and, to direct the weak adhesion force side 124 towards the foregoing ferromagnetic surface to enable the roller wheel 110 to move forward on the ferromagnetic surface.
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| 67 | MAGNETIC WHEEL FOR VEHICLES | EP04711621.5 | 2004-02-17 | EP1595720B1 | 2008-01-02 | REBOREDO LOSADA, Oscar; VARELA REY, Manuel |
| The invention relates to a magnetic wheel which has been specially designed for vehicles that have to travel on ferromagnetic surfaces such as, for example, the iron or steel walls of large stores. The inventive wheel combines a hollow rim (1-1') and a casing (4) which is made from an elastomer material or similar, which define a cylindrical chamber (8). Moreover, a magnetic ring (9) is disposed in the aforementioned chamber and takes the form of a permanent magnet of sufficient power. The invention is characterised in that the diameter of the magnetic ring (9) is considerably smaller than that of the chamber (8), such that the ring can perform a planetary movement therein while retaining a permanent tangential position in relation to the casing (4) at the point at which it is always in contact with the ferromagnetic surface on which the vehicle is moving, thereby ensuring maximum adhesion at said point. As a result, it is possible to improve the wheel's surfacing-holding power, make the wheel lighter and increase the safety of same by dispensing with the need for an electrical power source. In addition, the inventive wheel can clear obstacles encountered on the surface. | ||||||
| 68 | PIPELINE INSPECTION ROBOT | US15777632 | 2016-11-16 | US20180313715A1 | 2018-11-01 | RAFAL CICHOSZ; JOHN WHITE; TOM PRICE; CHRIS BARKER |
| The present invention provides a robot which is suitable for travel through a pipeline. The inventive robot comprises at least one tracked drive means and at least one roller means that can swivel about an axis substantially normal to a rolling axis thereof, wherein said at least one tracked drive means and at least one roller means are provided with magnetic means for generating a magnetic adhesion force between the robot and an internal wall of the pipeline. | ||||||
| 69 | One-dimensional climbing vehicle with resilient guide mechanism | US14720430 | 2015-05-22 | US10106215B2 | 2018-10-23 | James Walter Beard, III; Stephen Lee Canfield; David Andrew Bryant |
| This patent discloses a climbing vehicle capable of high payload to weight ratio and capable of climbing surfaces with geometric variations and traveling along a single dimension. More specifically, this invention applies to a vehicle well adapted to climbing non-planar surfaces such as pipes or other structural members while traveling along a single dimension, for example traveling parallel to the axis of the pipe. The climbing vehicle makes contact with the climbing surface through drive wheels and a trailing arm. The adhering members are aligned with the primary axis and are rigidly attached or contained in a suspension that is able to conform to a large range of surface irregularities while providing push and pulling forces between the adhering members and the climbing vehicle chassis to uniformly distribute the climbing loads on the adhering members. The result is a climbing machine that can accommodate large surface irregularities while maximizing the climbing payload with a minimum number and size of adhering members. | ||||||
| 70 | SYSTEM, METHOD, AND APPARATUS FOR ACOUSTIC INSPECTION OF A SURFACE | US15990046 | 2018-05-25 | US20180292838A1 | 2018-10-11 | Mark Loosararian; Joshua Moore; Yizhu Gu; Kevin Low; Edward Bryner; Logan MacKenzie; Ian Miller; Alvin Chou; Todd Joslin |
| A system includes an inspection robot comprising a plurality of sensor sleds; a plurality of ultra-sonic (UT) sensors; a couplant chamber mounted to each of the plurality of sleds, each couplant chamber comprising: a cone, the cone comprising a cone tip portion at an inspection surface end of the cone; a sensor mounting end opposite the cone tip portion; a couplant entry fluidly coupled to the cone at a position between the cone tip portion and the sensor mounting end; and wherein each of the UT sensors is mounted to the sensor mounting end of one of the couplant chambers. | ||||||
| 71 | INSPECTION ROBOT | US16000732 | 2018-06-05 | US20180284797A1 | 2018-10-04 | Mark Loosararian; Joshua Moore; Yizhu Gu; Kevin Low; Edward Bryner; Logan MacKenzie; Ian Miller; Alvin Chou; Todd Joslin |
| A system includes an inspection robot having mounted sleds, and a number of sensors each mounted to a sled. A couplant chamber is disposed within at least two of the sleds, each couplant chamber between a transducer of the sensor and an inspection surface. Each couplant chamber includes a cone, the cone having a cone tip portion at an inspection surface end, and a senor mounting end opposite the cone tip portion. A couplant entry for each couplant chamber is at a vertically upper side of the cone in the intended orientation of the inspection robot on the inspection surface. | ||||||
| 72 | SYSTEM, METHOD, AND APPARATUS FOR INSPECTING A SURFACE | US15997569 | 2018-06-04 | US20180284796A1 | 2018-10-04 | Mark Loosararian; Joshua Moore; Yizhu Gu; Kevin Low; Edward Bryner; Logan MacKenzie; Ian Miller; Alvin Chou; Todd Joslin |
| A system includes an inspection robot having a plurality of input sensors, the plurality of input sensors distributed horizontally relative to an inspection surface and configured to provide inspection data of the inspection surface at selected horizontal positions; a controller, comprising: a position definition circuit structured to determine an inspection robot position of the inspection robot on the inspection surface; a data positioning circuit structured to interpret the inspection data, and to correlate the inspection data to the inspection robot position on the inspection surface; and wherein the data positioning circuit is further structured to determine position informed inspection data in response to the correlating of the inspection data with the inspection robot position. | ||||||
| 73 | SYSTEM, METHOD, AND APPARATUS FOR CORRELATING INSPECTION DATA AND IMAGE DATA | US15989979 | 2018-05-25 | US20180275673A1 | 2018-09-27 | Mark Loosararian; Joshua Moore; Yizhu Gu; Kevin Low; Edward Bryner; Logan MacKenzie; Ian Miller; Alvin Chou; Todd Joslin |
| A system includes an apparatus for performing an inspection on an inspection surface with an inspection robot, the apparatus comprising: a controller configured to: interpret inspection data comprising sensed information from a location on an inspection surface; determine a feature of interest is present at the location of the inspection surface in response to the inspection data, and in response to determining the feature of interest is present at the location of the inspection surface, capture image information from the location on the inspection surface, and correlate the captured image information with the inspection data corresponding to the location of the inspection surface. | ||||||
| 74 | SYSTEM, METHOD, AND APPARATUS FOR AN INSPECTION ROBOT PERFORMING AN ULTRASONIC INSPECTION | US15988999 | 2018-05-24 | US20180275672A1 | 2018-09-27 | Mark Loosararian; Joshua Moore; Yizhu Gu; Kevin Low; Edward Bryner; Logan MacKenzie; Ian Miller; Alvin Chou; Todd Joslin |
| A system includes an inspection robot having a plurality of acoustic sensors coupleable to an inspection surface through a couplant chamber defining a delay line therebetween; the plurality of acoustic sensors configured to provide raw acoustic data; a controller, comprising: an acoustic data circuit structured to interpret the raw acoustic data; a thickness processing circuit structured to determine a primary mode value and a primary mode score value in response to the raw acoustic data; and wherein the thickness processing circuit is further structured to determine a thickness value in response to the primary mode value and the primary mode score value. | ||||||
| 75 | INSPECTION ROBOT HAVING REPLACEABLE SENSOR SLED PORTIONS | US15988969 | 2018-05-24 | US20180275670A1 | 2018-09-27 | Mark Loosararian; Joshua Moore; Yizhu Gu; Kevin Low; Edward Bryner; Logan MacKenzie; Ian Miller; Alvin Chou; Todd Joslin |
| A system includes an inspection robot having a number of payloads, a number of arms mounted to the payloads, and a number of sleds mounted to the arms, where the sleds comprise an upper portion coupled to a replaceable lower portion, the replaceable lower portion having a bottom surface shaped to accommodate an inspection surface; and an inspection sensor coupled to the upper portion of the one of the plurality of sleds such that the sensor is operationally couplable to the inspection surface. | ||||||
| 76 | MAGNETIC ELEVATED WHEEL | US15368164 | 2016-12-02 | US20180154910A1 | 2018-06-07 | Tong Li |
| A magnetic elevated wheel assembly of a vehicle may include at least one wheel mounted on an axle, at least one magnet mounted on at least one of the axle or a vehicle body, and a shell connected to the at least one wheel. The shell may extend from the at least one wheel in an axial direction and may be positioned radially outward of at least a portion the at least one magnet. The at least one magnet may be configured and oriented to generate a magnetic force acting on the shell to elevate at least a portion of a weight of the vehicle acting on the axle to balance a rolling resistance acting on the at least one wheel. | ||||||
| 77 | MAGNETIC WHEEL | US15538181 | 2015-12-18 | US20170355225A1 | 2017-12-14 | Dong Wook LEE |
| A magnetic wheel includes: a balance block; a magnetic body which is provided in the balance block and attaches the balance block to an attachment object with a magnetic force; and a magnetic shielding block which is provided in the balance block and guides a magnetic field generated in the magnetic body toward the attachment object. | ||||||
| 78 | MOBILE ROBOT | US15592972 | 2017-05-11 | US20170348850A1 | 2017-12-07 | Duyhinh NGUYEN; Katsuhiko NISHIZAWA; Tsukasa HOJO; Keisuke NAKAMURA |
| In mobile robot that runs from first flat surface which is a magnetic body to second flat surface which is a magnetic body and intersects the first flat surface, the mobile robot includes a pair of driving wheels which is rotatably supported to robot body and includes permanent magnets on outer circumferential surfaces thereof; driving mechanism which drives the pair of driving wheels to be independently rotated; rear wheel which is rotatably supported to the robot body and includes permanent magnets on an outer circumferential surface thereof; distance sensor which acquires a distance to the second flat surface; and pressing out mechanisms which include pressing out members which are movable between contact position at which the pressing out member can be in contact with the first flat surface and retracted position at which the pressing out member is retracted from the first flat surface. The pressing out member is moved from the retracted position to the contact position to be in contact with the first flat surface by the pressing out mechanism, the driving wheels is separated from the first flat surface, and the driving wheels move from the first flat surface to the second flat surface, when the distance sensor detects that the driving wheels are in contact with the second flat surface. | ||||||
| 79 | Magnetic Omni-Wheel with Roller Bracket | US15158287 | 2016-05-18 | US20170334241A1 | 2017-11-23 | Pablo Eduardo Carrasco Zanini Gonzalez; Fadl Abdel Latif; Sahejad Patel; Shigeo Hirose; Michele Guarnieri; Paulo Debenest |
| A multidirectional wheel for traversing a surface is provided that includes a magnet and a plurality of rollers disposed around an outer periphery of each of the hubs of the wheels. The rollers are mounted for rotation in a second axial direction that is perpendicular to a first axial direction of the wheel. The rollers are supported by a plurality of magnetically-inducible brackets attached to the hub. The brackets are optimally sized and shaped to reduce the space between the magnetized materials of the wheel and the surface upon which the wheel travels. | ||||||
| 80 | MAGNETICALLY COUPLED SPHERICAL TIRE FOR A SELF-PROPELLED VEHICLE | US15065959 | 2016-03-10 | US20170239982A1 | 2017-08-24 | Sebastien Willy Fontaine; Armand René Gabriel Leconte; Frederic Ngo; Claude Ernest Felix Boes |
| A support assembly for a vehicle includes at least two spherical tires travelling on a road surface and rotating relative to the road surface and the vehicle and a drive system magnetically driving rotation of the tires relative to the drive system itself such that no portion of the drive system physically contacts the tires or the road surface. | ||||||
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