Modular observation crawler and sensing instrument and method for operating same
First Claim
1. A robotic apparatus adapted for locomotion in an enclosed space comprising:
- (a) a front segment including a front work-energy transfer device mounted thereto in operative communication with a power supply source, a plurality of front radial displacement members extending radially outwardly with respect to the front segment, and a front mechanical linkage interconnecting the front work-energy transfer device and each front radial displacement member to translate axial motion of the front work-energy transfer device into radial motion of each front radial displacement member;
(b) a medial segment including first and second medial work-energy transfer devices mounted thereto in operative communication with the power supply source, the first medial work-energy transfer device including a first axial translation member and the second medial work-energy transfer device including a second axial translation member disposed in opposing axia relation to the first axial translation member to enable expansion and contraction of an overall length of the medial segment;
(c) a first flexible coupling interconnecting the front segment and the first axi;
translation member;
(d) a rear segment including a rear work-energy transfer device mounted thereto in operative communication with the power supply source, a plurality of rear radial displacement members extending radially outwardly with respect to the rear segment, and a rear mechanical linkage interconnecting the rear work-energy transfer device and each rear radial displacement member to translate axial motion of the rear work-energy transfer device into radial motion of each rear radial displacement member; and
(e) a second flexible coupling interconnecting the second axial translation member and the rear segment.
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Accused Products
Abstract
A robotic apparatus adapted for locomotion in an enclosed space such as a pipe includes a combination of articulated gripping and locomotive modules. Each gripping module includes an actuator mechanically linked to gripping members such that axial forces produced by the actuator are translated to radial forces in the gripping members, whereby the gripping members are caused to alternately hold and release the engagement of the robotic apparatus with surfaces of the enclosed space. Each locomotive module includes one or more actuators adapted to alternatively expand and contract the length of the locomotive module. The sequence of operations of the gripping and locomotive modules can be controlled such that the robotic apparatus can crawl through the enclosed space in an inchworm-like fashion and is capable of navigating turns and traversing inclines.
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Citations
49 Claims
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1. A robotic apparatus adapted for locomotion in an enclosed space comprising:
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(a) a front segment including a front work-energy transfer device mounted thereto in operative communication with a power supply source, a plurality of front radial displacement members extending radially outwardly with respect to the front segment, and a front mechanical linkage interconnecting the front work-energy transfer device and each front radial displacement member to translate axial motion of the front work-energy transfer device into radial motion of each front radial displacement member;
(b) a medial segment including first and second medial work-energy transfer devices mounted thereto in operative communication with the power supply source, the first medial work-energy transfer device including a first axial translation member and the second medial work-energy transfer device including a second axial translation member disposed in opposing axia relation to the first axial translation member to enable expansion and contraction of an overall length of the medial segment;
(c) a first flexible coupling interconnecting the front segment and the first axi;
translation member;
(d) a rear segment including a rear work-energy transfer device mounted thereto in operative communication with the power supply source, a plurality of rear radial displacement members extending radially outwardly with respect to the rear segment, and a rear mechanical linkage interconnecting the rear work-energy transfer device and each rear radial displacement member to translate axial motion of the rear work-energy transfer device into radial motion of each rear radial displacement member; and
(e) a second flexible coupling interconnecting the second axial translation member and the rear segment. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
(a) the front segment includes a plurality of front gripping members, each front gripping member attached to a corresponding one of the plurality of front radial displacement members; and
(b) the rear segment includes a plurality of rear gripping members, each rear gripping member attached to a corresponding one of the plurality of rear radial displacement members.
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11. A robotic apparatus adapted for locomotion in an enclosed space comprising:
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(a) a plurality of leveraging segments, wherein each leveraging segment includes a leveraging segment work-energy transfer device mounted thereto in operative communication with a power supply source, a plurality of radial displacement members extending radially outwardly with respect to each leveraging segment, and a mechanical linkage interconnecting the leveraging segment work-energy transfer device and each radial displacement member to translate axial motion of the leveraging segment work-energy transfer device into radial motion of each radial displacement member;
(b) a plurality of locomotive segments, wherein each locomotive segment includes first and second locomotive segment work-energy transfer devices mounted thereto in operative communication with the power supply source, the first locomotive segment work-energy transfer device including a first displacement member and the second locomotive segment work-energy transfer device including a second displacement member disposed in opposing axial relation to the first displacement member to enable expansion and contraction of an overall length of the medial segment; and
(c) a plurality of flexible couplings interconnecting the leveraging segments and the first and second displacement members of the locomotive segments. - View Dependent Claims (12)
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13. A robotic apparatus adapted for locomotion in an enclosed space comprising:
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(a) a front segment including a front frame, a front work-energy transfer device mounted to the front frame in operative communication with a power supply source and including a front displacement member, a plurality of front leg members extending radially outwardly with respect to a central longitudinal axis of the front segment, and a front mechanical linkage interconnecting the front displacement member and each front leg member to translate axial motion of the front displacement member into radial motion of each front leg member;
(b) a medial segment including a medial frame, a first medial work-energy transfer device mounted to the medial frame in operative communication with the power supply source and including a first medial displacement member, and a second medial work-energy transfer device mounted to the medial frame in operative communication with the power supply source and including a second medial displacement member;
(c) a first flexible coupling interconnecting the front segment and the medial segment;
(d) a rear segment including a rear frame, a rear work-energy transfer device mounted to the rear frame in operative communication with the power supply source and including a rear displacement member, a plurality of rear leg members extending radially outwardly with respect to a central longitudinal axis of the rear segment, and a rear mechanical linkage interconnecting the rear displacement member and each rear leg member to translate axial motion of the rear displacement member into radial motion of each rear leg member; and
(e) a second flexible coupling interconnecting the medial segment and the rear segment. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
(a) the front segment comprises a plurality of front foot members, each front foot member including a frictional surface and attached to a corresponding one of the plurality of front leg members; and
(b) the rear segment comprises a plurality of rear foot members, each rearfoot member including a frictional surface and attached to a corresponding one of the plurality of rear leg members.
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30. A robotic apparatus adapted for locomotion in an enclosed space comprising:
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(a) a plurality of leveraging segments, wherein each leveraging segment includes a frame, a leveraging segment work-energy transfer device mounted to the frame in operative communication with a power supply source and including a leveraging segment displacement member, a plurality of leg members extending radially outwardly with respect to a central longitudinal axis of each leveraging segment, and a mechanical linkage interconnecting the leveraging segment displacement member and each leg member to translate axial motion of the leveraging segment displacement member into radial motion of each leg member;
(b) a plurality of locomotive segments, wherein each locomotive segment includes a frame, a first locomotive segment work-energy transfer device mounted to the frame in operative communication with the power supply source and including a first locomotive segment displacement member, and a second locomotive segment work-energy transfer device mounted to the frame in operative communication with the power supply source and including a medial locomotive segment displacement member; and
(c) a plurality of flexible couplings interconnecting the leveraging and locomotive segments. - View Dependent Claims (31)
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32. A modular device adapted to enable forcible contact and stabilization of a robotic apparatus with respect to an enclosure through which the robotic apparatus crawls, the modular device comprising:
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(a) a structural frame;
(b) a linearly actuating device mounted to the structural frame in operative communication with a power supply source and with a axially reciprocative displacement member;
(c) a plurality of leg members extending radially outwardly with respect to a central longitudinal axis of the structural frame;
(d) a plurality of foot members, each foot member including a frictional surface and attached to a corresponding one of the plurality of leg members; and
(e) a mechanical linkage assembly interconnecting the displacement member and each leg member to translate axial motion of the displacement member into radial motion of each leg member. - View Dependent Claims (33, 34, 35, 36, 37, 38, 39, 40)
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41. A robotic apparatus adapted for locomotion in an enclosed space comprising:
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(a) a front segment including a front work-energy transfer device mounted thereto in operative communication with a power supply source, a plurality of front radial displacement members extending radially outwardly with respect to the front segment, a plurality of front gripping members, each front gripping member attached to a corresponding one of the plurality of front radial displacement members, and a front mechanical linkage interconnecting the front work-energy transfer device and each front radial displacement member to translate axial motion of the front work-energy transfer device into radial motion of each front radial displacement member;
(b) a medial segment including first and second medial work-energy transfer devices mounted thereto in operative communication with the power supply source, the first medial work-energy transfer device including a first axial translation member and the second medial work-energy transfer device including a second axial translation member disposed in opposing axial relation to the first axial translation member to enable expansion and contraction of an overall length of the medial segment;
(c) a first flexible coupling interconnecting the front segment and the first axial translation member;
(d) a rear segment including a rear work-energy transfer device mounted thereto in operative communication with the power supply source, a plurality of rear radial displacement members extending radially outwardly with respect to the rear segment, a plurality of rear gripping members, each rear gripping member attached to a corresponding one of the plurality of rear radial displacement members, and a rear mechanical linkage interconnecting the rear work-energy transfer device and each rear radial displacement member to translate axial motion of the rear work-energy transfer device into radial motion of each rear radial displacement member; and
(e) a second flexible coupling interconnecting the second axial translation member and the rear segment. - View Dependent Claims (42, 43, 44, 45, 46)
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47. A robotic apparatus adapted for locomotion in an enclosed space comprising:
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(a) a plurality of leveraging segments, wherein each leveraging segment includes a leveraging segment work-energy transfer device mounted thereto in operative communication with a power supply source, a plurality of radial displacement members extending radially outwardly with respect to each leveraging segment, a plurality of gripping members, each gripping member attached to a corresponding one of the radial displacement members, and a mechanical linkage interconnecting the leveraging segment work-energy transfer device and each radial displacement member to translate axial motion of the leveraging segment work-energy transfer device into radial motion of each radial displacement member;
(b) a plurality of locomotive segments, wherein each locomotive segment includes first and second locomotive segment work-energy transfer devices mounted thereto in operative communication with the power supply source, the first locomotive segment work-energy transfer device including a first displacement member and the second locomotive segment work-energy transfer device including a second displacement member disposed in opposing axial relation to the first displacement member to enable expansion and contraction of an overall length of the medial segment; and
(c) a plurality of flexible couplings interconnecting the leveraging segments and the first and second displacement members of the locomotive segments.
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48. A robotic apparatus adapted for locomotion in an enclosed space comprising:
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(a) a front segment including a front frame, a front work-energy transfer device mounted to the front frame in operative communication with a power supply source and including a front displacement member, a plurality of front leg members extending radially outwardly with respect to a central longitudinal axis of the front segment, a plurality of front foot members, each front foot member including a frictional surface and attached to a corresponding one of the plurality of front leg members, and a front mechanical linkage interconnecting the front displacement member and each front leg member to translate axial motion of the front displacement member into radial motion of each front leg member;
(b) a medial segment including a medial frame, a first medial work-energy transfer device mounted to the medial frame in operative communication with the power supply source and including a first medial displacement member, and a second medial work-energy transfer device mounted to the medial frame in operative communication with the power supply source and including a second medial displacement member;
(c) a first flexible coupling interconnecting the front segment and the medial segment;
(d) a rear segment including a rear frame, a rear work-energy transfer device mounted to the rear frame in operative communication with the power supply source and including a rear displacement member, a plurality of rear leg members extending radially outwardly with respect to a central longitudinal axis of the rear segment, a plurality of rear foot members, each rear foot member including a frictional surface and attached to a corresponding one of the plurality of rear leg members, and a rear mechanical linkage interconnecting the rear displacement member and each rear leg member to translate axial motion of the rear displacement member into radial motion of each rear leg member; and
(e) a second flexible coupling interconnecting the medial segment and the rear segment.
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49. A robotic apparatus adapted for locomotion in an enclosed space comprising:
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(a) a plurality of leveraging segments, wherein each leveraging segment includes a frame, a leveraging segment work-energy transfer device mounted to the frame in operative communication with a power supply source and including a leveraging segment displacement member, a plurality of leg members extending radially outwardly with respect to a central longitudinal axis of each leveraging segment, a plurality of foot members, each foot member including a frictional surface and attached to a corresponding one of the plurality of leg members, and a mechanical linkage interconnecting the leveraging segment displacement member and each leg member to translate axial motion of the leveraging segment displacement member into radial motion of each leg member;
(b) a plurality of locomotive segments, wherein each locomotive segment includes a frame, a first locomotive segment work-energy transfer device mounted to the frame in operative communication with the power supply source and including a first locomotive segment displacement member, and a second locomotive segment work-energy transfer device mounted to the frame in operative communication with the power supply source and including a medial locomotive segment displacement member; and
(c) a plurality of flexible couplings interconnecting the leveraging and locomotive segments.
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Specification