| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 81 | Hinged Vehicle Chassis | US15137168 | 2016-04-25 | US20160311476A1 | 2016-10-27 | Ali Outa; Pablo Eduardo Carrasco Zanini Gonzalez; Fadl Abdel Latif; Brian Parrott |
| 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. | ||||||
| 82 | Modular Mobile Inspection Vehicle | US14553876 | 2014-11-25 | US20150153312A1 | 2015-06-04 | Pablo Eduardo Carrasco Zanini Gonzalez; Fadl Abdel Latif; Brian Parrott; Hassane Trigui; Sahejad Patel; Ayman Amer; Ali Outa |
| 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. | ||||||
| 83 | Hinged Vehicle Chassis | US14553862 | 2014-11-25 | US20150151797A1 | 2015-06-04 | Ali Outa; Pablo Eduardo Carrasco Zanini Gonzalez; Fadl Abdel Latif; Brian Parrott |
| 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. | ||||||
| 84 | MAGNETIC OMNI-WHEEL | US14552010 | 2014-11-24 | US20150151572A1 | 2015-06-04 | Brian Parrott; Pablo Eduardo Carrasco Zanini Gonzalez; Ali Outa; Fadl Abdel Latif; Hassane Trigui |
| A multidirectional wheel for traversing a surface that includes at least one hub is provided. The hub defines a first axial direction of rotation. A plurality of rollers are disposed around an outer periphery of the hub. The rollers are mounted for rotation in a second axial direction that is at an angle to the first axial direction. The wheel includes at least one magnet that is mounted to the hub. The hub is made of a magnetically inducible material that concentrates the flux of the at least one magnet toward the surface being traversed. | ||||||
| 85 | System for driving spherical wheel | US13533294 | 2012-06-26 | US08600600B2 | 2013-12-03 | Ui Jung Jung |
| Disclosed is a system for driving a spherical wheel that includes a rotating sphere having a plurality of magnetic modules and a fixed body. The fixed body has coil modules that generate a magnetic field by current and partially enclose the rotating sphere so that a portion of the rotating sphere is exposed. A support wheel disposed between the rotating sphere and the fixed body is configured to maintain a substantially constant distance between the rotating sphere and the fixed body and rotatably support the rotating sphere. A sensor provided in at least one of the rotating sphere and the fixed body is configured to measure a rotational speed and a position of the rotating sphere, and a control device is configured to receive driving signals, the rotational velocity and the position measured by the sensor and to transmit a control signal supplying a current to the coil module. | ||||||
| 86 | Robotic Submersible Cleaning System | US13950700 | 2013-07-25 | US20130298817A1 | 2013-11-14 | Kenneth W. Holappa; Donald T. Darling; William M. Hertel, III |
| A cleaning system includes a chassis supporting a propulsion system for propelling the cleaning system across a surface. At least one sensor of a first type is coupled to the chassis, and a surface engagement mechanism is configured to maintain the cleaning system coupled to the surface as the propulsion system propels the cleaning system across the surface. A cleaning device is coupled to the chassis and configured to abrade the fouling from the surface, and a controller coupled to the chassis and in signal communication with the propulsion system and the first sensor. The controller is configured to receive a signal from the at least one sensor of the first type and control the propulsion system in response to the signal. | ||||||
| 87 | ROBOTIC SUBMERSIBLE CLEANING SYSTEM | US12952973 | 2010-11-23 | US20120006352A1 | 2012-01-12 | Kenneth W. HOLAPPA; Donald Thomas DARLING; William Martin HERTEL, III |
| A cleaning system includes a chassis supporting a propulsion system for propelling the cleaning system across a surface. At least one sensor of a first type is coupled to the chassis, and a surface engagement mechanism is configured to maintain the cleaning system coupled to the surface as the propulsion system propels the cleaning system across the surface. A cleaning device is coupled to the chassis and configured to abrade the fouling from the surface, and a controller coupled to the chassis and in signal communication with the propulsion system and the first sensor. The controller is configured to receive a signal from the at least one sensor of the first type and control the propulsion system in response to the signal. | ||||||
| 88 | Magnetic wheel for vehicles | US10546355 | 2004-02-17 | US07233221B2 | 2007-06-19 | Oscar Reboredo Losada; Manuel Varela Rey |
| Specially conceived for vehicles which have to be displaced over ferromagnetic surfaces, like the iron or steel walls of large tanks for example, it is incorporated by the combination of a hollow rim (1–1′) and a tyre (4) of an elastomer or similar material, which define a cylindrical chamber (8) inside which a magnetic annulus (9) runs, materialized in a permanent magnet of adequate strength, with the particularity that said magnetic annulus (9) has a substantially smaller diameter than that of the cited chamber (8), so that it is capable of carrying out a planetary motion inside the same, maintaining a permanently tangential condition with the tyre (4) at the point in which the latter is in contact at all times with the ferromagnetic surface over which the vehicle is displaced, achieving maximum adherence at said point. In this way it is managed to improve the grip of the wheel on said surface, overcome possible obstacles of the same, lighten the wheel and increase safety through not requiring an electricity supply. | ||||||
| 89 | 자석 롤러 | KR1020160027622 | 2016-03-08 | KR1020160110161A | 2016-09-21 | 바우어,발터; 비젠당어,마르쿠스 |
| 강자성표면상에서회전하기위한자석롤러(100)가제공된다. 자석롤러(100)는내부공간(112)을가지는롤러바퀴(110), 자석어레이설비(120), 및적어도하나의제1 구동메커니즘(130)을포함한다. 또한, 자석어레이설비(120)는롤러바퀴(110)의내부공간(112) 내에서선회가능하게배치되도록적응된다. 자석어레이설비(120)는강한접착력측부(122)와약한접착력측부(124)를포함한다. 또한, 제1 구동메커니즘(130)은자석어레이설비(120)를선회가능하게구동하도록구성된다. 제1 구동메커니즘(130)은강자성표면상에서앞으로롤러바퀴(110)를움직이는것을가능하게하도록, 강한접착력측부(122)를다가오는강자성표면을향해유도하고, 약한접착력측부(124)를이전의강자성표면을향해유도하도록자석어레이설비(120)를선회가능하게구동한다. | ||||||
| 90 | 힌지형 차량 새시 | KR1020167016812 | 2014-11-25 | KR1020160104624A | 2016-09-05 | 패럿,브라이언; 오우타,알리; 파블로카라스코자니니; 파들압델라티프 |
| 로봇식차량이제공된다. 로봇식차량섀시는제1 섀시섹션, 제2 섀시섹션, 및상기제1 및제2 섀시섹션이서로에대해적어도제1 방향으로회전할수 있도록제1 섀시섹션과제2 섀시섹션을연결하는힌지조인트를포함한다. 차량은제1 및제2 섀시섹션중 하나에장착되는구동휠, 및제1 및제2 섀시섹션중 다른하나에장착되는옴니-휠을포함한다. 옴니-휠은구동휠에대해직교하는각도로장착된다. 힌지조인트는차량이횡단하는표면의곡률에응답하여회전한다. | ||||||
| 91 | 선박의 파울링 제거용 로봇 | KR1020150023890 | 2015-02-17 | KR1020160101747A | 2016-08-26 | 이제명; 김슬기; 공석현; 김승현; 이채민; 주솔빈; 조창래 |
| 본발명의목적은선박의파울링문제를안전하고편리하게해결할수 있는파울링제거용로봇과그 제어시스템을제공하고자하는것이다. 상기목적에따라본 발명은선박외벽면에착지하여파울링및/또는슬라임을제거할수 있는블레이드를구비한로봇을제공한다. 상기파울링제거용로봇은몸체배면에와이퍼형블레이드를구비하고몸체측면에이동을위한바퀴를구비하고, 바퀴의구동및 방향을제어하는조향장치가구비되며, 이를원격으로제어하는소형 RC카형태를띠고있다. | ||||||
| 92 | WHEELED POWER PLANT WITH RENEWABLE ENERGY | PCT/TR2014000348 | 2014-09-24 | WO2015047203A3 | 2015-06-11 | BAYRAKDAR HAMI |
| The invention relates to a novel type of wheeled power plant with renewable energy (A) wherein a plurality of the wheels (1) generating electrical energy more than the electrical energy required for rotation of at least one wheel (2) that generate energy are assembled together within a system and control, and generate energy in the order of MW by moving said wheels at desired speed by triggering also the electric generators installed on the ground on which said wheels (1) will travel, wherein generated electricity is provided with the required technical specifications and values and transferred to an interconnected system. | ||||||
| 93 | HINGED VEHICLE CHASSIS | PCT/US2014067494 | 2014-11-25 | WO2015081137A9 | 2015-07-09 | PARROTT BRIAN; OUTA ALI; GONZALEZ PABLO EDUARDO CARRASCO ZANINI; LATIF FADL ABDEL |
| 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. | ||||||
| 94 | 자석 바퀴 | KR1020170161892 | 2017-11-29 | KR101811989B1 | 2017-12-22 | 김경섭; 김동일; 김창훈; 문영준 |
| 본발명에따른자석바퀴는, 영구자석으로구성되는자성체와, 상기자성체의외주면을둘러싸고상자성체로구성되는원환형의하우징과, 상기자성체의기준방향측면을덮으며강자성체로구성되는커버를포함하는이동유닛; 및상기하우징의외주면을둘러싸는원통형의강자성체로구성되는외륜유닛을포함하는외륜을포함하되, 상기이동유닛은, 상기외륜의내주면에이동가능하게결합되어, 상기외륜이자성을가지도록, 상기자성체의기준방향반대측면과상기외륜의내측면을서로접촉시키고, 상기커버와상기외륜을서로접촉시키거나, 상기외륜이자성을잃도록, 상기자성체의기준방향반대측면과상기외륜의내측면을서로이격시키고, 상기커버와상기외륜을서로이격시킬수 있어, 탈착이용이하다. | ||||||
| 95 | 자기 옴니-휠 | KR1020167016801 | 2014-11-24 | KR1020160103992A | 2016-09-02 | 패럿,브라이언; 파블로카라스코자니니; 오우타,알리; 파들압델라티프; 트리귀,하싸네 |
| 적어도하나의허브를포함하는표면횡단용다방향휠이제공된다. 허브는제1 회전축방향을갖는다. 다수의롤러가허브의외주둘레에배치된다. 롤러는상기제1 축방향과각도를이루는제2 축방향으로회전하도록장착된다. 휠은허브에장착되는적어도하나의자석을포함한다. 허브는적어도하나의자석의자속을, 횡단될표면을향해집중시키는자기유도성재료로제조된다. | ||||||
| 96 | 선체면 청소로봇 결속장치 | KR1020140172371 | 2014-12-03 | KR1020160067305A | 2016-06-14 | 신영일; 이석우; 조기용; 최두진 |
| 본발명은선체면청소로봇결속장치를제공한다. 본발명의선체면청소로봇결속장치는인양장치와연결되고, 선체면청소로봇에결속되거나결속을해제할수 있는샤클; 및상기샤클의일측에설치되고, 상기샤클이흔들리거나임의회전하는것을방지하는회전방지부를포함한다. | ||||||
| 97 | 구형 바퀴 구동 시스템 | KR1020110131193 | 2011-12-08 | KR101284338B1 | 2013-07-08 | 정의정 |
| 본 발명은 구형 바퀴 구동 시스템을 개시한다. 본 발명의 실시예에 따른 구형 바퀴 구동 시스템은 자기장에 반응하는 복수 개의 자성 모듈을 포함하는 회전구와 상기 회전구의 일부가 노출되도록 둘러싸고, 전류에 의해 자기장을 형성하는복수 개의 코일 모듈을 포함하는 고정체와 상기 회전구와 상기 고정체 사이에 일정한 간격을 유지하도록 제공되고, 상기 회전구를 회전가능하도록 지지하는 지지휠과 상기 회전구 또는 상기 고정체 중 적어도 어느 하나에 제공되어, 상기 회전구의 회전 속도 및 위치를 측정하는 센서 및 구동 신호와 상기 센서로부터 측정된 회전 속도 및 위치를 수신받아 상기 코일 모듈에 전류를 공급하는 제어 신호를 송출하는 제어부를 포함한다.
|
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| 98 | 구형 바퀴 구동 시스템 | KR1020110131193 | 2011-12-08 | KR1020130064534A | 2013-06-18 | 정의정 |
| PURPOSE: A system for driving a spherical wheel is provided to have advantages of efficiently moving a vehicle in all directions depending on the direction set by a user. CONSTITUTION: A system(1) for driving a spherical wheel includes a spherical wheel(10), a sensor(20), and a control device(30). The spherical wheel has three rotational degrees of freedom so as to move in all directions. The spherical wheel includes a rotating sphere(12), a fixed body(14), and one or more support wheels(16). The rotating sphere rotates in a state of contacting a bottom surface and includes a plurality of magnetic modules(13) The fixed body partially encloses the rotating sphere such that a portion of the rotating sphere is exposed. The fixed body is formed spaced apart from the rotating sphere with a constant distance. The fixed body includes a plurality of coil modules(15) that generates a magnetic field by a current. The support wheel is disposed between the rotating sphere and the fixed body so as to keep the constant distance between the rotating sphere and the fixed body. The sensor is provided in at least one of the rotating sphere and the fixed body, and measures a rotational speed and a position of the rotating sphere. The control device is adapted to supply the current to the coil module. | ||||||
| 99 | 다목적 이동장치 | KR20160129163 | 2016-10-06 | KR20180038268A | 2018-04-16 | KIM NAM GYUN; YOO KYUNG HO; SEO JAE SUK; SEO YONG UK; JUNG YOUNG A; LIM HONG GYUN; YOO JOO SEON |
| 다목적이동장치가개시된다. 구형구동휠; 상기구동휠에회전력을가하도록상기구동휠의내부에설치된구동장치; 상기구동휠의내부에설치되어자력을발생시키는도킹부; 및상기도킹부의자력에의해상기구동휠의표면에부착가능하고, 물건을탑재할수 있는탑재부를포함하여, 물건을탑재해서지상에서전방위로용이하고안정되게이동시킬수 있다. | ||||||
| 100 | 마그네틱 롤러 구동 장치 | KR1020160082175 | 2016-06-30 | KR1020180002980A | 2018-01-09 | 정찬우; 강병무; 이승준 |
| 본발명은이동형로봇에편리하게장착할수 있으며, 조향기능을수용가능하고, 구조가간단하여유지보수역시편리한마그네틱롤러구동장치를제공하는것을그 목적으로한다. 상기의목적을달성하기위하여본 발명은, 이동형로봇에장착되어구동부역할을하는마그네틱롤러구동장치에있어서, 이동형로봇몸체에결합하는베이스; 상기베이스상단에구동축이상기베이스길이방향으로배치되도록수직으로결합하는구동모터; 상기베이스에수평으로회전결합하는상단회전축; 상기상단회전축에대하여하방향으로일정거리이격되어상기베이스에회전결합하는하단회전축; 상기베이스에부착되어상기하단회전축의일단에연결되어상기하단회전축을구동하는회전액추에이터; 상기하단회전축의외면에고정되는마그넷셋; 내부에형성된공간에상기마그넷셋을수용하며, 상기하단회전축에회전결합하고측면에형성된휠기어를포함하는휠셋; 및상기구동모터의구동력을상기휠셋으로전달하는기어모듈;을포함하는것을특징으로한다. | ||||||
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