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公开(公告)号：US10427734B2
公开(公告)日：2019-10-01
申请号：US15652859
申请日：2017-07-18
发明人： Selim Akin , Thomas James Batzinger , Selami Haydar Icli , Christopher Paul Markman , Paulo Cesar Debenest , Michele Guarnieri , Giorgio Valsecchi , Giacomo Cimarelli , Shigeo Hirose
IPC分类号： B62D55/10 , B62D55/065 , B62D55/116
摘要： This disclosure provides systems and components for an omnidirectional traction module for use in a robot, such as a crawler robot used in in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine. The traction module may include an outer frame and a rotating frame rotatably mounted within the outer frame. At least one drive system may be mounted within the rotating frame. The at least one dive system may have a fixed orientation within the rotating frame. An actuator may be operatively connected to the rotating frame to controllably rotate the rotating frame to a desired orientation for robot travel.
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公开(公告)号：US20190023334A1
公开(公告)日：2019-01-24
申请号：US15652859
申请日：2017-07-18
发明人： Selim Akin , Thomas James Batzinger , Selami Haydar Icli, JR. , Christopher Paul Markman , Paulo Cesar Debenest , Michele Guarnieri , Giorgio Valsecchi , Giacomo Cimarelli , Shigeo Hirose
IPC分类号： B62D55/10 , B62D55/065 , B62D55/116
CPC分类号： B62D55/10 , B62D55/065 , B62D55/116 , B62D57/02 , B62D57/024 , G01R31/34
摘要： This disclosure provides systems and components for an omnidirectional traction module for use in a robot, such as a crawler robot used in in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine. The traction module may include an outer frame and a rotating frame rotatably mounted within the outer frame. At least one drive system may be mounted within the rotating frame. The at least one dive system may have a fixed orientation within the rotating frame. An actuator may be operatively connected to the rotating frame to controllably rotate the rotating frame to a desired orientation for robot travel.
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公开(公告)号：US20190022876A1
公开(公告)日：2019-01-24
申请号：US15652771
申请日：2017-07-18
发明人： Selim Akin , Thomas James Batzinger , Airton Rosa da Silva, JR. , Selami Haydar Icli , Christopher Paul Markman , Paulo Cesar Debenest , Michele Guarnieri , Giorgio Valsecchi , Shigeo Hirose
IPC分类号： B25J19/02 , G01N21/954 , B25J5/00 , H04N5/225 , H04N5/232
摘要： This disclosure provides systems and methods for in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine, with an end region. A robotic crawler is configured to navigate an annular gap of the machine. A visual inspection module is connected to the robotic crawler and includes an extension member for extending a camera into the end region to collect visual inspection data.
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公开(公告)号：US10603802B2
公开(公告)日：2020-03-31
申请号：US15652771
申请日：2017-07-18
发明人： Selim Akin , Thomas James Batzinger , Airton Rosa da Silva, Jr. , Selami Haydar Icli , Christopher Paul Markman , Paulo Cesar Debenest , Michele Guarnieri , Giorgio Valsecchi , Shigeo Hirose
IPC分类号： B25J5/00 , B62D57/00 , G01N21/954 , B25J19/02 , H04N5/225 , H04N5/232 , B62D57/02 , G01R31/34 , B62D57/024
摘要： This disclosure provides systems and methods for in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine, with an end region. A robotic crawler is configured to navigate an annular gap of the machine. A visual inspection module is connected to the robotic crawler and includes an extension member for extending a camera into the end region to collect visual inspection data.
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公开(公告)号：US20190022848A1
公开(公告)日：2019-01-24
申请号：US15652730
申请日：2017-07-18
发明人： Selim Akin , Thomas James Batzinger , Airton Rosa da Silva , Selami Haydar Icli , Christopher Paul Markman , Paulo Cesar Debenest , Michele Guarnieri , Shigeo Hirose
CPC分类号： B25J5/00 , B25J5/005 , B25J9/08 , B62D57/02 , B62D57/024 , G01M5/0075 , G01N21/00 , G01R31/346 , Y10S901/44
摘要： This disclosure provides systems and methods for in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine. A robotic crawler includes an expandable body, multidirectional traction modules, and sensor modules. The expandable body is movable between a collapsed state and an expanded state. The multidirectional traction modules are removably connected to and positioned by the expandable body and configured to engage opposed surfaces within an annular gap of the machine. The sensor modules are removably connected to and supported by the expandable body and include a plurality of sensor types to inspect the annular gap of the machine.
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公开(公告)号：US10434641B2
公开(公告)日：2019-10-08
申请号：US15652680
申请日：2017-07-18
发明人： Selim Akin , Thomas James Batzinger , Airton Rosa da Silva, Jr. , Selami Haydar Icli , Christopher Paul Markman , Paulo Cesar Debenest , Michele Guarnieri , Shigeo Hirose
摘要： Systems and methods for in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine are described. A robotic crawler has multidirectional traction modules, an expandable body, and sensor modules. A control system communicates with the robotic crawler to provide a control signal to navigate an inspection path within an annular gap of the machine. The inspection path includes axial and radial movements to inspect the annular gap using the sensor modules.
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公开(公告)号：US10427290B2
公开(公告)日：2019-10-01
申请号：US15652730
申请日：2017-07-18
发明人： Selim Akin , Thomas James Batzinger , Airton Rosa da Silva , Selami Haydar Icli , Christopher Paul Markman , Paulo Cesar Debenest , Michele Guarnieri , Shigeo Hirose
摘要： This disclosure provides systems and methods for in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine. A robotic crawler includes an expandable body, multidirectional traction modules, and sensor modules. The expandable body is movable between a collapsed state and an expanded state. The multidirectional traction modules are removably connected to and positioned by the expandable body and configured to engage opposed surfaces within an annular gap of the machine. The sensor modules are removably connected to and supported by the expandable body and include a plurality of sensor types to inspect the annular gap of the machine.
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公开(公告)号：US20190022849A1
公开(公告)日：2019-01-24
申请号：US15652680
申请日：2017-07-18
发明人： Selim Akin , Thomas James Batzinger , Airton Rosa da Silva, JR. , Selami Haydar Icli , Christopher Paul Markman , Paulo Cesar Debenest , Michele Guarnieri , Shigeo Hirose
IPC分类号： B25J5/00
摘要： This disclosure provides systems and methods for in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine. A robotic crawler has multidirectional traction modules, an expandable body, and sensor modules. A control system communicates with the robotic crawler to provide a control signal to navigate an inspection path within an annular gap of the machine. The inspection path includes axial and radial movements to inspect the annular gap using the sensor modules.
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