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公开(公告)号：US10317372B2
公开(公告)日：2019-06-11
申请号：US15996102
申请日：2018-06-01
发明人： Pablo Carrasco Zanini , Fadl Abdellatif , Sahejad Patel , Shigeo Hirose , Michele Guarnieri , Paulo Debenest
IPC分类号： G01N29/24 , G01N29/22 , G01N29/265 , B62D63/02
摘要： The present apparatus is configured to carry an instrument or probe and optionally deploy it against a surface, such as a metal pipeline or storage tank. The apparatus can include a sensor probe for inspecting the integrity of the surface and a first linkage that is operatively coupled to the sensor probe and configured to move the sensor probe according to a first path (in a first direction/first degree of freedom). An actuator can be operatively connected to the first linkage for moving the first linkage so as to move the sensor probe along the first path. A second linkage is operatively connected to the sensor probe and configured to passively move the sensor probe according to a second degree of freedom to cause the sensor probe to become normal to the surface when at least a portion of the apparatus contacts the surface.
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公开(公告)号：US10239347B2
公开(公告)日：2019-03-26
申请号：US15158287
申请日：2016-05-18
发明人： Fadl Abdellatif , Shigeo Hirose , Michele Guarnieri , Paulo Debenest , Ali Outa , Brian Parrott
摘要： 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.
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公开(公告)号：US10012618B2
公开(公告)日：2018-07-03
申请号：US14624726
申请日：2015-02-18
发明人： Pablo Carrasco Zanini , Fadl Abdellatif , Sahejad Patel , Shigeo Hirose , Michele Guarnieri , Paulo Debenest
IPC分类号： G01N29/24 , G01N29/22 , G01N29/265 , B62D63/02
CPC分类号： G01N29/2487 , B62D63/02 , G01N29/225 , G01N29/226 , G01N29/265 , G01N2291/02854 , G01N2291/263 , G01N2291/2634
摘要： The present apparatus is configured to carry an instrument or probe and optionally deploy it against a surface, such as a metal pipeline or storage tank. The apparatus can include a sensor probe for inspecting the integrity of the surface and a first linkage that is operatively coupled to the sensor probe and configured to move the sensor probe according to a first path (in a first direction/first degree of freedom). An actuator can be operatively connected to the first linkage for moving the first linkage so as to move the sensor probe along the first path. A second linkage is operatively connected to the sensor probe and configured to passively move the sensor probe according to a second degree of freedom to cause the sensor probe to become normal to the surface when at least a portion of the apparatus contacts the surface.
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公开(公告)号：US20180275102A1
公开(公告)日：2018-09-27
申请号：US15996102
申请日：2018-06-01
发明人： Pablo Carrasco Zanini , Fadl Abdellatif , Sahejad Patel , Shigeo Hirose , Michele Guarnieri , Paulo Debenest
IPC分类号： G01N29/24 , G01N29/265 , G01N29/22 , B62D63/02
CPC分类号： G01N29/2487 , B62D63/02 , G01N29/225 , G01N29/226 , G01N29/265 , G01N2291/02854 , G01N2291/263 , G01N2291/2634
摘要： The present apparatus is configured to carry an instrument or probe and optionally deploy it against a surface, such as a metal pipeline or storage tank. The apparatus can include a sensor probe for inspecting the integrity of the surface and a first linkage that is operatively coupled to the sensor probe and configured to move the sensor probe according to a first path (in a first direction/first degree of freedom). An actuator can be operatively connected to the first linkage for moving the first linkage so as to move the sensor probe along the first path. A second linkage is operatively connected to the sensor probe and configured to passively move the sensor probe according to a second degree of freedom to cause the sensor probe to become normal to the surface when at least a portion of the apparatus contacts the surface.
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公开(公告)号：US20170334241A1
公开(公告)日：2017-11-23
申请号：US15158287
申请日：2016-05-18
发明人： Pablo Eduardo Carrasco Zanini Gonzalez , Fadl Abdel Latif , Sahejad Patel , Shigeo Hirose , Michele Guarnieri , Paulo Debenest
IPC分类号： B60B19/00
CPC分类号： B60B19/003 , B08B9/049 , B60B19/006 , B60B2900/112 , B60B2900/351 , B60B2900/551 , B60Y2200/47 , F16L55/28
摘要： 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.
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6.发明申请DEPLOYMENT MECHANISM FOR PASSIVE NORMALIZATION OF A PROBE RELATIVE TO A SURFACE 有权与表面相关的探测器被动正规化的部署机制公开(公告)号：US20160238565A1
公开(公告)日：2016-08-18
申请号：US14624726
申请日：2015-02-18
发明人： Pablo Eduardo Carrasco Zanini Gonzalez , Fadl Abdel Latif , Sahejad Patel , Shigeo Hirose , Michele Guarnieri , Paulo Debenest
CPC分类号： G01N29/2487 , B62D63/02 , G01N29/225 , G01N29/226 , G01N29/265 , G01N2291/02854 , G01N2291/263 , G01N2291/2634
摘要： The present apparatus is configured to carry an instrument or probe and optionally deploy it against a surface, such as a metal pipeline or storage tank. The apparatus can include a sensor probe for inspecting the integrity of the surface and a first linkage that is operatively coupled to the sensor probe and configured to move the sensor probe according to a first path (in a first direction/first degree of freedom). An actuator can be operatively connected to the first linkage for moving the first linkage so as to move the sensor probe along the first path. A second linkage is operatively connected to the sensor probe and configured to passively move the sensor probe according to a second degree of freedom to cause the sensor probe to become normal to the surface when at least a portion of the apparatus contacts the surface.
摘要翻译： 本装置被配置为携带仪器或探头并且可选地将其部署在诸如金属管道或储罐的表面上。 该装置可以包括用于检查表面的完整性的传感器探针和可操作地耦合到传感器探针并被配置为根据第一路径（在第一方向/第一自由度）移动传感器探针的第一联动装置。 致动器可以可操作地连接到第一连杆机构，用于移动第一连杆机构，以沿着第一路径移动传感器探头。 第二联动装置可操作地连接到传感器探头并且被配置为根据第二自由度被动地移动传感器探针，以使当传感器探头的至少一部分接触表面时使传感器探针变得垂直于表面。
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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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