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1. 发明授权

US11292138B2 Attachment mechanisms for stabilization of subsea vehicles 有权
公开(公告)号：US11292138B2
公开(公告)日：2022-04-05
申请号：US17032923
申请日：2020-09-25
申请人： Saudi Arabian Oil Company
发明人： Sahejad Patel , Fadl Abdellatif , Hassane Trigui , Ali Outa , Abdullah Arab
IPC分类号： B25J15/00 , B08B1/00 , B08B3/02 , B08B9/023 , B63C11/52 , F16L1/26 , B63G8/00 , B63H19/08 , F16H19/08 , B63G8/14 , B23K31/12 , B63G8/42 , G01B17/02 , G01N29/22 , G01N29/04 , B25J9/00 , B63C11/42 , E21B41/04 , F16H35/18 , F16H1/22 , F16L55/00 , B62D57/00 , F16H1/16 , F16H37/04
摘要： Systems and methods for securing a remotely operated vehicle (ROV) to a subsea structure during cleaning, maintenance, or inspection of the structure surface are provided. In one or more embodiments, an attachment mechanism includes a pair of grasping hooks that are raised and lowered when driven by a motorized drive. In one or more embodiments, an attachment mechanism includes a rigid holder having a mechanical stop and connected to a swing arm, the swing arm configured to rotate inward, but not outward beyond the mechanical stop. In one or more embodiments, an attachment mechanism includes a plurality of linked segments in series, each connected at a plurality of pivot points. A pair of wires passes through the plurality of linked segments and connects to a pair of pulleys that extend or retract the wires, thereby rotating the plurality of linked segments.

2. 发明授权

US11097428B2 Underwater pipeline inspection crawler 有权
公开(公告)号：US11097428B2
公开(公告)日：2021-08-24
申请号：US16810498
申请日：2020-03-05
申请人： Saudi Arabian Oil Company
发明人： Ammar Al Nahwi , Fadl Abdellatif , Ali Outa , Ihsan Al-Taie
IPC分类号： B25J15/00 , B08B1/00 , B08B3/02 , B08B9/023 , B63C11/52 , F16L1/26 , B63G8/00 , B63H19/08 , F16H19/08 , B63G8/14 , B23K31/12 , B63G8/42 , G01B17/02 , G01N29/22 , G01N29/04 , B25J9/00 , B63C11/42 , E21B41/04 , F16H35/18 , F16H1/22 , F16L55/00 , B62D57/00 , F16H1/16 , F16H37/04
摘要： A system for underwater inspection including an inspection crawler are provided. The inspection crawler includes a housing having first and second sides, a power source, a controller, an inspection tool, at least two driving wheels, and a moveable center of gravity. A method for traversing a weld joint with the inspection crawler having a moving mass is also provided. In the method, the crawler is parked proximate to the joint, and the mass is slid along a slide rail to the second end of the crawler distal to the joint. The first end of the crawler is then propelled over the joint and the mass is slid to the center of the crawler. A center portion of the crawler is then propelled over the joint and the mass is slid to the first end of the crawler. The second end of the crawler is then propelled over the joint.

3. 发明授权

US10589433B2 Underwater pipeline inspection crawler 有权
公开(公告)号：US10589433B2
公开(公告)日：2020-03-17
申请号：US15677575
申请日：2017-08-15
申请人： Saudi Arabian Oil Company
发明人： Ammar Al Nahwi , Fadl Abdellatif , Ali Outa , Ihsan Al-Taie
IPC分类号： B08B9/023 , G01B17/02 , G01N29/22 , G01N29/04 , B25J15/00 , B08B1/00 , B08B3/02 , B63C11/52 , F16L1/26 , B63G8/00 , B63H19/08 , F16H19/08 , B63G8/14 , B23K31/12 , B63G8/42 , B25J9/00 , B63C11/42 , E21B41/04 , F16H35/18 , F16H1/22 , F16L55/00 , B62D57/00 , F16H1/16 , F16H37/04
摘要： An inspection crawler, and systems and methods for inspecting underwater pipelines are provided. The system includes the inspection crawler having a housing with a first side, an opposing second side, a power source, and a controller. The crawler includes an inspection tool, at least two pairs of latching arms, each latching arm including a rolling element, and at least two pairs of driving wheels. The system also includes at least one communication unit configured to communicate with the inspection crawler and to communicate aerially with one or more remote devices and, and at one sea surface unit. The inspection crawler can further include a connecting structure connecting the front and back portions of the crawler, and configured to elongate and shorten the inspection crawler.

4. 发明授权

US10022643B2 Magnetically coupled accessory for a self-propelled device 有权
公开(公告)号：US10022643B2
公开(公告)日：2018-07-17
申请号：US15281478
申请日：2016-09-30
申请人： Sphero, Inc.
发明人： Ian H. Bernstein , Adam Wilson , Chun Kong
IPC分类号： B62D57/00 , A63H33/00 , B60R11/00 , B62D61/00 , B62D39/00 , B62D11/00 , A63H30/04 , G05D1/00 , G05D1/02 , A63H33/26 , A63H23/04 , A63H27/00 , A63H27/10
摘要： A system comprising a self-propelled device and an accessory device. The self-propelled device includes a spherical housing, and a drive system provided within the spherical housing to cause the self-propelled device to roll. When the self-propelled device rolls, the self-propelled device and the accessory device magnetically interact to maintain the accessory device in contact with a top position of the spherical housing relative to an underlying surface on which the spherical housing is rolling on.

5. 发明授权

US09902446B2 Locomotion of amorphous surface robots 有权
公开(公告)号：US09902446B2
公开(公告)日：2018-02-27
申请号：US14986797
申请日：2016-01-04
申请人： The United States of America as represented by the Administrator of the National Aeronautics and Space Administration
发明人： Arthur T. Bradley
IPC分类号： G01C22/00 , G05D1/00 , B62D57/02 , B62D57/00 , B64G1/16 , G05D1/02
CPC分类号： B62D57/02 , B62D57/00 , B62D57/021 , B64G1/16 , G05D1/021 , Y10S901/01
摘要： An amorphous robot includes a compartmented bladder containing fluid, a valve assembly, and an outer layer encapsulating the bladder and valve assembly. The valve assembly draws fluid from a compartment(s) and discharges the drawn fluid into a designated compartment to displace the designated compartment with respect to the surface. Another embodiment includes elements each having a variable property, an outer layer that encapsulates the elements, and a control unit. The control unit energizes a designated element to change its variable property, thereby moving the designated element. The elements may be electromagnetic spheres with a variable polarity or shape memory polymers with changing shape and/or size. Yet another embodiment includes an elongated flexible tube filled with ferrofluid, a moveable electromagnet, an actuator, and a control unit. The control unit energizes the electromagnet and moves the electromagnet via the actuator to magnetize the ferrofluid and lengthen the flexible tube.

6. 发明授权

US09817406B1 Spherical pneumatic actuated robotic commuter 有权
公开(公告)号：US09817406B1
公开(公告)日：2017-11-14
申请号：US14877952
申请日：2015-10-08
申请人： Gerhard W. Thielman
发明人： Gerhard W. Thielman
IPC分类号： G05D1/08 , F03G3/00 , B62D57/00 , F03G3/08 , G05D1/00
CPC分类号： G05D1/0891 , B62D57/00 , F03G3/00 , F03G3/08 , G05D1/0011 , Y10S901/01
摘要： A spherical modular autonomous robotic traveler (SMART) is provided for rolling along a surface from a first position to a second position. The SMART includes an outer spherical shell; an inner spherical chamber disposed within the outer shell; a plurality of weight-shifters arranged within the inner chamber; and a controller therein. The chamber maintains its orientation relative to the surface by a gyroscopically homing stabilizer. Each weight-shifter includes a mass disposed in a default position, and movable to an active position in response to activation. The controller selectively activates a weight-shifter among the plurality to shift the mass from the default position to the active position. The outer shell rolls in a direction that corresponds to the weight-shifter activated by the controller. The weight-shifters for the SMART employ pneumatic actuation as a spherical pneumatic actuated robotic commuter (SPARC). Each weight-shifter in the SPARC includes a conduit containing a liquid armature and a pressure source with valves activated by the controller, with the conduits arranged in a cruciform configuration.

7. 发明授权

US09481410B2 Magnetically coupled accessory for a self-propelled device 有权
公开(公告)号：US09481410B2
公开(公告)日：2016-11-01
申请号：US14968594
申请日：2015-12-14
申请人： Sphero, Inc.
发明人： Ian H. Bernstein , Adam Wilson , Chun Kong
IPC分类号： B62D57/00 , B62D39/00 , B60R11/00 , B62D61/00 , B62D11/00 , A63H30/04 , A63H33/00 , G05D1/00 , A63H33/26 , G05D1/02
CPC分类号： A63H33/005 , A63H23/04 , A63H27/02 , A63H27/10 , A63H27/12 , A63H30/04 , A63H33/26 , B60R11/00 , B60R2011/007 , B62D11/003 , B62D39/00 , B62D61/00 , G05D1/0011 , G05D1/0016 , G05D1/0044 , G05D1/0259 , G05D1/027 , G05D1/0278 , G05D2201/0214 , Y10S901/01
摘要： A system comprising a self-propelled device and an accessory device. The self-propelled device includes a spherical housing, and a drive system provided within the spherical housing to cause the self-propelled device to roll. When the self-propelled device rolls, the self-propelled device and the accessory device magnetically interact to maintain the accessory device in contact with a top position of the spherical housing relative to an underlying surface on which the spherical housing is rolling on.

8. 发明申请

US20160176255A1 Multi Purpose Passenger Vehicle 审中-公开
标题翻译：多用途客车
公开(公告)号：US20160176255A1
公开(公告)日：2016-06-23
申请号：US14575253
申请日：2014-12-18
申请人： Thomas Guiboche
发明人： Thomas Guiboche
IPC分类号： B60F3/00 , B62D57/00
CPC分类号： B60F3/0069 , B60F3/0007 , B60F3/0038 , B62B13/08 , B62B13/18 , B62D7/026 , B62D7/142 , B62D57/02 , B62K5/01 , B62K13/00 , B62M27/00 , B62M2027/025
摘要： A passenger vehicle which can be converted from snow to road to water use includes a generally rectangular frame with fabric panels on the frame defining a seat for the passenger. A generally horizontal front platform is connected to the front cross member and can tilt front to rear and side to side and a symmetrical rear platform is connected to the rear cross member. Front and rear ski assemblies are arranged for attachment to the front and rear platforms for movement therewith and for steering movement relative thereto operated by steering levers. The skis can have wheels attached for road use and the skis can be removed and replaced by annular float tubes for water use. Cross links communicated steering movement of the front support to the rear or the rear can be locked.
摘要翻译：可以从雪转换为道路到水的乘客车辆包括大体上矩形的框架，框架上的织物面板限定了乘客座位。大致水平的前平台连接到前横梁，并且可以前后至一侧倾斜，并且对称的后平台连接到后横梁。前滑雪组件和后滑雪组件布置成用于附接到前平台和后平台，用于与其一起运动，并且用于与其相对的转向运动通过转向杆操作。滑雪板可以安装用于道路使用的轮子，并且滑雪板可以被移除并被环形浮子管替代以供用水。交叉连杆将前支撑件的转向运动传递到后部或后部可以锁定。

9. 发明授权

US09254878B2 Mobile robot 有权
标题翻译：移动机器人
公开(公告)号：US09254878B2
公开(公告)日：2016-02-09
申请号：US13773912
申请日：2013-02-22
申请人： KUKA Roboter GmbH
发明人： Alois Buchstab
IPC分类号： B62D57/00 , B25J5/00 , B25J5/04 , B25J9/02
CPC分类号： B62D57/00 , B25J5/007 , B25J5/02 , B25J5/04 , B25J9/026
摘要： The invention relates to a mobile robot, exhibiting an omnidirectional wheeled support vehicle (1) having numerous omnidirectional wheels (13) and drives for driving the omnidirectional wheels (13), a robot arm (2), exhibiting numerous, successively disposed links (3-7) and drives for moving the links (3-7), and a positioning device (17), designed to position the robot arm (2), which can be automatically moved on the support vehicle (1), in relation to the support vehicle (1), and a drive dedicated to the positioning device (17) for moving the robot arm (2) in relation to the support vehicle (1).
摘要翻译：本发明涉及一种可移动机器人，其具有全方向轮式支撑车辆（1），其具有多个全向轮（13）和用于驱动全方位轮（13）的驱动器，机器人手臂（2），其展示多个连续设置的链节（3 -7）和用于移动链节（3-7）的驱动器和定位装置（17），其被设计成将机器人手臂（2）定位成可相对于支撑车辆（1）自动地移动支撑车辆（1）和专用于定位装置（17）的驱动装置，用于相对于支撑车辆（1）移动机器人手臂（2）。

10. 发明授权

US09211920B1 Magnetically coupled accessory for a self-propelled device 有权
标题翻译：用于自推进装置的磁耦合附件
公开(公告)号：US09211920B1
公开(公告)日：2015-12-15
申请号：US14663446
申请日：2015-03-19
申请人： Orbotix, Inc.
发明人： Ian H. Bernstein , Adam Wilson , Chun Kong
IPC分类号： B62D57/00 , B62D39/00 , B62D11/00 , G05D1/00 , B60R11/00 , B62D61/00
CPC分类号： A63H33/005 , A63H23/04 , A63H27/02 , A63H27/10 , A63H27/12 , A63H30/04 , A63H33/26 , B60R11/00 , B60R2011/007 , B62D11/003 , B62D39/00 , B62D61/00 , G05D1/0011 , G05D1/0016 , G05D1/0044 , G05D1/0259 , G05D1/027 , G05D1/0278 , G05D2201/0214 , Y10S901/01
摘要： A system comprising a self-propelled device and an accessory device. The self-propelled device includes a spherical housing, and a drive system provided within the spherical housing to cause the self-propelled device to roll. When the self-propelled device rolls, the self-propelled device and the accessory device magnetically interact to maintain the accessory device in contact with a top position of the spherical housing relative to an underlying surface on which the spherical housing is rolling on.
摘要翻译：一种包括自推进装置和附件装置的系统。自推进装置包括球形壳体和设置在球形壳体内的驱动系统，以使自推进装置滚动。当自推进装置滚动时，自推进装置和附件装置磁性相互作用，以保持附件装置相对于球形壳体滚动的下表面与球形壳体的顶部位置接触。

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