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公开(公告)号：US5681131A
公开(公告)日：1997-10-28
申请号：US503888
申请日：1995-07-18
摘要： A system for feeding a cable into a pipeline or other conduit comprises a rotating turret and a local cable feeding mechanism for drawing the cable off of the turret reel and loading it thereon. A remote cable feeding mechanism for inserting the cable into or withdrawing it from the pipeline is attached to a launch saddle secured to the pipeline, and its feeding rate is synchronized with that of the local cable feeding mechanism. Where the cable acts as an umbilical cable carrying fluids and electrical power to a tool inside the pipeline, the fluid and power supplies may be located on the floor of the reel, connected to an operator station by an electrical cable which winds onto and off of the turret shaft and is kept taut by a spring-biased tensioning arm. A flexible fibreglass rod extends through the cable to prevent coiling or bunching up within the pipeline while permitting the cable to traverse bends and corners.
摘要翻译： 用于将电缆馈送到管道或其他导管中的系统包括旋转转台和用于将电缆从转盘卷轴拉出并在其上装载的局部电缆馈送机构。 用于将电缆插入管线或将其从管道中取出的远程电缆馈送机构附接到固定到管道的发射鞍座，并且其馈送速率与本地电缆馈送机构的馈送速率同步。 当电缆用作将流体和电力携带到管道内的工具的脐带缆时，流体和电源可以位于卷轴的地板上，通过电缆连接到操作员站，电缆通过电缆 转塔轴，并通过弹簧偏压张紧臂保持紧固。 柔性玻璃纤维杆延伸穿过电缆，以防止在管道内缠绕或聚束，同时允许电缆穿过弯头和拐角。
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2.发明授权
公开(公告)号：US5255948A
公开(公告)日：1993-10-26
申请号：US774506
申请日：1991-10-10
申请人： Jacek Wiercienski , Pawel Kuzan , Krzysztof F. Szymczyk , Andrew A. Goldenberg , Bruce L. Godkin
发明人： Jacek Wiercienski , Pawel Kuzan , Krzysztof F. Szymczyk , Andrew A. Goldenberg , Bruce L. Godkin
CPC分类号： B23P19/10 , B25J15/0253 , B25J17/0208 , H05K13/0404 , H05K13/0413
摘要： A device for use in placing surface mount components upon PCBs having article gripping elements carried by a support. The article gripping elements are movable between an upper position and a lower position for engaging and gripping surface mount components. The article gripping elements are dependent from a vertical flexible shaft so that the elements may become inclined upon contacting with a surface mount component so that a correct engagement and gripping action takes place. A seat is provided upon the support to ensure correct orientation of the elements upon their return to the upper position.
摘要翻译： 用于将表面安装部件放置在具有由支撑件承载的物品夹持元件的PCB上的装置。 物品夹持元件可以在上部位置和下部位置之间移动，用于接合和夹持表面安装部件。 物品夹持元件从竖直的柔性轴中取决于元件可能在与表面安装部件接触时变得倾斜，使得发生正确的接合和夹持动作。 在支撑件上设置座椅，以确保元件在返回到上部位置时的正确定位。
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公开(公告)号：US6142187A
公开(公告)日：2000-11-07
申请号：US172998
申请日：1998-10-15
CPC分类号： F16L55/28
摘要： A device for repairing a pipe internally includes a body and a drill assembly mounted on the body. The drill assembly has upper and lower arms, pivotable between a closed position in which the arms occupy a radial area not substantially greater than a diameter of the body and an open position in which the arms bear against substantially opposing points of the pipe wall to stabilize the drill assembly within the pipe. In the preferred embodiment for repairing pipe joints a hydraulic drill head bears against the pipe wall when the arms are in the open position and drills a hole for a sealant nozzle mechanism mounted on the upper arm, which swings into position in front of the drill head to inject a sealant into the pipe joint through the drill hole and seal the joint.
摘要翻译： 用于在内部修理管道的装置包括安装在主体上的主体和钻头组件。 钻头组件具有上臂和下臂，其可在闭合位置之间枢转，在该位置中，臂占据基本上不大于主体直径的径向区域，在该位置上臂可抵靠管壁的大致相对的点保持稳定 钻头组件在管道内。 在用于修理管接头的优选实施例中，当臂处于打开位置时，液压钻头头靠在管壁上，并钻出一个用于安装在上臂上的密封剂喷嘴机构的孔，该机构在钻头前面摆动 通过钻孔将密封剂注入管接头并密封接头。
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公开(公告)号：US5527169A
公开(公告)日：1996-06-18
申请号：US193412
申请日：1994-02-07
摘要： A device for repairing cast iron pipe joints comprises a head having a motor for actuating a tool and a body, the head being pivotally connected to the body so that it can be pivoted from an axial position to a radial position within the pipe. In a preferred embodiment, the head includes a motor driving a drill bit. A retractable foot is extended to force the head against the pipe wall to be pierced by the drill bit, following which sealant is injected into a hollow drill shaft and flows up the helical grooves of the drill bit into the pipe joint cavity. Preferably a pair of guide wings maintains the device centered in the pipe and raised off of the pipe floor, and the operator monitors progress of the device through a video monitor.
摘要翻译： 用于修理铸铁管接头的装置包括具有用于致动工具和主体的马达的头部，所述头部枢转地连接到主体，使得其能够从管轴内的轴向位置枢转到径向位置。 在优选实施例中，头包括驱动钻头的马达。 可伸缩的脚伸展以迫使头部靠在管壁上被钻头刺穿，然后将密封剂注入空心钻杆轴中，并将钻头的螺旋槽向上流入管接头腔。 优选地，一对引导翼将设备保持在管道中心并从管道地板上离开，并且操作者通过视频监视器监视设备的进展。
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公开(公告)号：US6142166A
公开(公告)日：2000-11-07
申请号：US282439
申请日：1999-03-31
申请人： Pawel Kuzan , Jacek Wiercienski
发明人： Pawel Kuzan , Jacek Wiercienski
CPC分类号： F16L41/04 , Y10T137/0469 , Y10T137/6109 , Y10T137/6123 , Y10T29/53596 , Y10T408/55 , Y10T408/559
摘要： A tool and method for plugging a service connection to a gas main in preparation for removal of the service tee removes the perforator, mills the hole in the main to provide a smooth seat for a sealing plug, and inserts a gas-tight sealing plug into the hole. The tool of the invention is operable through a narrow "keyhole" excavation, which decreases the risk to service personnel and significantly reduces costs of repairing the excavation. In the preferred embodiment the tool is loaded with a milling bit and a sealing plug before attachment to the service tee. The tool head is engaged to the service tee in a gas-tight fit to prevent the escape of gas during the procedure, and an adapter plate is pivoted between three working positions to perform the three steps of the service connection plugging method. In the preferred embodiment a pneumatic gear motor drives a hexagonal driver bit actuated by a linear actuator located in the shaft of the tool, the driving bit providing the required mechanical interface with each of the accessories involved in each step of the procedure. A separate pneumatic motor pivots the adapter plate between working positions, and specialized adapter is provided at each working position of the adapter plate allowing the same actuators to be used for the perforator removal, milling and plugging operations.
摘要翻译： 用于将服务连接插入气体主体以准备去除服务三通的工具和方法去除穿孔器，研磨主体中的孔以为密封塞提供光滑的座，并将气密密封塞插入 那个洞。 本发明的工具可通过狭窄的“钥匙孔”挖掘操作，这降低了维修人员的风险，并显着降低了修理挖掘的成本。 在优选实施例中，在附接到服务三通之前，该工具装载有铣头和密封塞。 工具头以气密配合的方式与服务三通接合，以防止在过程中气体逸出，并且适配板在三个工作位置之间枢转，以执行服务连接堵塞方法的三个步骤。 在优选实施例中，气动齿轮马达驱动由位于工具的轴中的线性致动器致动的六边形螺丝刀头，驱动钻头与步骤的每个步骤中涉及的每个附件提供所需的机械接口。 单独的气动马达使适配板在工作位置之间枢转，并且在适配器板的每个工作位置设置专用适配器，允许将相同的致动器用于穿孔器移除，铣削和堵塞操作。
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公开(公告)号：US5523662A
公开(公告)日：1996-06-04
申请号：US235953
申请日：1994-05-02
申请人： Andrew A. Goldenberg , Nenad M. Kircanski , Pawel Kuzan , Jacek A. Wiercienski , Raymond Hui , Chin Zhou
发明人： Andrew A. Goldenberg , Nenad M. Kircanski , Pawel Kuzan , Jacek A. Wiercienski , Raymond Hui , Chin Zhou
CPC分类号： B25J9/06 , B25J17/025 , B25J9/08 , B25J9/161 , G05B2219/33053 , G05B2219/34023 , G05B2219/34403 , G05B2219/37274 , G05B2219/39109 , G05B2219/40304 , G05B2219/40599 , G05B2219/41321 , G05B2219/49292
摘要： The subject invention provides a modular, expandable and reconfigurable robotic system. In one aspect of the invention there is provided a robot having at least two manipulators each having several compact rotary joints. The rotary joints have one input coupling and either one or two output couplings. Each joint is modular including a d.c. brushless motor coupled with a harmonic cup drive and includes position, velocity and torque sensors. Each manipulator may be disassembled and reassembled to assume a multitude of configurations. In another aspect of the invention there is provided an expandable and modular real-time computer control system for controlling the robot. The computer architecture achieves between 5 to 10 MFLOPS with reduced instruction set computing (RISC) processor nodes and a fast point-to-point communication network. Each node includes a host computer and parallel input/output (I/O) modules as well. The nodes are controlled by nearly zero-overhead real-time operating system (OS) kernels responsible for task scheduling, communication and user-interface. Each node is capable of controlling 8 joints at 1 kHz while executing over 1000 floating point operations per joint in each sampling interval.
摘要翻译： 本发明提供了一种模块化，可扩展和可重新配置的机器人系统。 在本发明的一个方面，提供了一种具有至少两个操纵器的机器人，每个操纵器具有几个紧凑的旋转接头。 旋转接头有一个输入接头和一个或两个输出接头。 每个关节都是模块化的，包括直径 无刷电机配有谐波杯驱动器，包括位置，速度和扭矩传感器。 每个操纵器可以拆卸并重新组装以呈现多种构型。 在本发明的另一方面，提供了一种用于控制机器人的可扩展和模块化的实时计算机控制系统。 计算机架构通过精简指令集计算（RISC）处理器节点和快速点对点通信网络实现5到10个MFLOPS。 每个节点还包括主机和并行输入/输出（I / O）模块。 节点由负责任务调度，通信和用户界面的几乎零开销实时操作系统（OS）内核控制。 每个节点能够以1 kHz的速度控制8个关节，同时在每个采样间隔内每个关节执行超过1000个浮点运算。
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公开(公告)号：US07346429B2
公开(公告)日：2008-03-18
申请号：US10838913
申请日：2004-05-05
IPC分类号： G06F19/00
CPC分类号： G08C17/00 , G05D1/0022 , G05D2201/0209 , G08C2201/40
摘要： A mobile robot communication system includes a remote unit, a repeater module and a control station. A cable connects the repeater module to the control station. The remote unit has a wireless receiver/transmitter for sending and receiving commands. The repeater module has a wireless receiver/transmitter for sending and receiving commands from the mobile unit. The control station is operable in communication with the repeater module for remotely sending and receiving signals. The cable is attached between the repeater module and control station for transmitting signals therebetween.
摘要翻译： 移动机器人通信系统包括远程单元，中继器模块和控制站。 电缆将中继器模块连接到控制站。 远程单元具有用于发送和接收命令的无线接收器/发送器。 中继器模块具有用于从移动单元发送和接收命令的无线接收器/发送器。 控制站可操作地与中继器模块进行通信，用于远程发送和接收信号。 电缆连接在中继器模块和控制站之间，用于在它们之间传输信号。
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公开(公告)号：US20050218318A1
公开(公告)日：2005-10-06
申请号：US10813571
申请日：2004-03-31
申请人： Pawel Kuzan , Andrew Emili
发明人： Pawel Kuzan , Andrew Emili
CPC分类号： H01J49/0413 , H01J49/0431
摘要： An automatic sample loader is for use in association with a mass spectrometer and at least one vial containing a sample. The loader includes a vial block, an insertion head, an insertion tube, a mechanism for pushing the sample out of the vial and a mechanism for moving the insertion head relative to the vial. The vial block has at least one vial cavity and each vial cavity is adapted to receive a vial. The insertion head is adapted to be sealingly engageable in the vial cavity. The insertion tube is operably connected to the mass spectrometer through the insertion head, such that the tube extends into the vial when the insertion head is sealingly engaged in the vial cavity. The pushing mechanism is adapted to push the sample out of the vial and into the tube. The moving mechanism is adapted to move the insertion head relative to the vial block from an engaged position to a disengaged position.
摘要翻译： 自动样品装载机与质谱仪和至少一个装有样品的小瓶一起使用。 装载机包括一个小瓶块，一个插入头，一个插入管，一个用于将样品从小瓶中推出的机构，以及一个使插入头相对于小瓶运动的机构。 小瓶块具有至少一个小瓶腔，并且每个小瓶腔适于接纳小瓶。 插入头适于密封地接合在小瓶腔中。 插入管通过插入头可操作地连接到质谱仪，使得当插入头密封地接合在小瓶腔中时，管延伸到小瓶中。 推动机构适于将样品推出小瓶并进入管中。 移动机构适于将插入头相对于小瓶块从接合位置移动到脱离位置。
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公开(公告)号：US20050004708A1
公开(公告)日：2005-01-06
申请号：US10838913
申请日：2004-05-05
CPC分类号： G08C17/00 , G05D1/0022 , G05D2201/0209 , G08C2201/40
摘要： A mobile robot communication system includes a remote unit, a repeater module and a control station. A cable connects the repeater module to the control station. The remote unit has a wireless receiver/transmitter for sending and receiving commands. The repeater module has a wireless receiver/transmitter for sending and receiving commands from the mobile unit. The control station is operable in communication with the repeater module for remotely sending and receiving signals. The cable is attached between the repeater module and control station for transmitting signals therebetween.
摘要翻译： 移动机器人通信系统包括远程单元，中继器模块和控制站。 电缆将中继器模块连接到控制站。 远程单元具有用于发送和接收命令的无线接收器/发送器。 中继器模块具有用于从移动单元发送和接收命令的无线接收器/发送器。 控制站可操作地与中继器模块进行通信，用于远程发送和接收信号。 电缆连接在中继器模块和控制站之间，用于在它们之间传输信号。
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公开(公告)号：US5284000A
公开(公告)日：1994-02-08
申请号：US983221
申请日：1992-11-30
CPC分类号： E04G21/22
摘要： Bricklaying equipment includes a guideway extending along brick masonry being erected. A bricklaying machine displaces along the guideway. It has a robotic arm with an upper arm and a forearm. The upper arm pivots about a shoulder joint, and the forearm pivots relative to the upper arm at an elbow joint. A wrist joint permits a tool assembly, including a mortar-dispensing mechanism and a brick-gripping mechanism, to pivot relative to the forearm. The mortar-dispensing mechanism includes a form that receives and shapes a mortar charge, and a sliding gate mechanism that discharges the shaped charge. The arm is operated with a single motor that pivots the upper arm. Linkage constrains the tool assembly to move along a horizontal axis as the upper arm pivots and to remain in a fixed angular orientation relative to vertical. The arm is operated in response to sensors that detect vertical and horizontal distances to a mason's line. Brick and mortar carriers are also mounted to the guideway, and travel between loading areas and brick-and mortar-transferring positions relative to the bricklaying machine.
摘要翻译： 砌砖设备包括沿竖立的砖石延伸的导轨。 砌砖机沿导轨移动。 它有一个机械臂与上臂和前臂。 上臂围绕肩关节枢转，并且前臂相对于上臂在肘关节处枢转。 手腕关节允许包括砂浆分配机构和砖抓握机构的工具组件相对于前臂枢转。 砂浆分配机构包括接收和形成砂浆装料的形式，以及排出成形装料的滑动门机构。 手臂用一个使上臂枢转的电动机操作。 当上臂枢转并且相对于垂直方向保持固定的角度方向时，连杆限制工具组件沿着水平轴线移动。 手臂响应于检测到梅森线的垂直和水平距离的传感器操作。 砖和砂浆载体也安装在导轨上，并且在装载区域和相对于砌砖机的砖和砂浆转移位置之间行进。
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