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公开(公告)号：US09481414B1
公开(公告)日：2016-11-01
申请号：US14841246
申请日：2015-08-31
CPC分类号： B62D57/00 , F41A23/28 , F41A23/34 , F41H7/005 , F41H7/02 , F41H7/03 , G05D1/0011 , Y10S901/01
摘要： A spherical tractor operating mobile platform (STOMP) is provided for internally propelling and steering along an external surface. The STOMP includes a spherical shell having interior and exterior surfaces, an internal chassis containing an electrical power supply and a propulsion controller; a tractor drive system and an overhead wheel assembly. The tractor drive system provides propulsion and steering of the shell along the surface. The drive system includes a frame that connects to the chassis from below and contains a motor unit. The frame includes port and starboard sides that support respective wheel sets surrounded by corresponding continuous tracks. These tracks engage the shell's interior surface. Each wheel set includes a drive wheel, an idler wheel and a tension wheel for engaging a corresponding track. The overhead wheel assembly connects to the chassis from above to maintain the chassis and the drive system in compression with the shell. To propel the shell, the propulsion controller commands the motor unit to provide torque to both the port and starboard drive wheels. For steering the shell towards starboard, the motor provides torque to the port drive wheel. For steering the shell towards port, the motor provides torque to the starboard drive wheel.
摘要翻译： 提供了一个球面拖拉机操作移动平台（STOMP），用于沿外部表面进行内部推进和转向。 STOMP包括具有内表面和外表面的球形壳体，包含电源和推进控制器的内部底盘; 拖拉机驱动系统和架空轮组件。 拖拉机驱动系统提供壳体沿着表面的推进和转向。 驱动系统包括从下方连接到机箱并包含电动机单元的框架。 该框架包括端口和右舷侧，其支撑由相应的连续轨道包围的相应轮组。 这些轨道与壳体的内表面接合。 每个轮组包括驱动轮，惰轮和用于接合相应轨道的张力轮。 架空轮组件从上方连接到机箱，以保持机箱和驱动系统与外壳压缩。 为了推进外壳，推进控制器命令电机单元向端口和右舷驱动轮提供扭矩。 为了将外壳转向右舷，电机向端口驱动轮提供扭矩。 为了将壳体转向端口，电机向右舷驱动轮提供扭矩。
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公开(公告)号：US07963350B1
公开(公告)日：2011-06-21
申请号：US12386179
申请日：2009-04-10
IPC分类号： B62D55/04
摘要： A spherical armored mobile platform (SAMP) is provided for at least one operator to enable protected entry and egress from a militarily hostile environment. The SAMP includes a spherical shell, an armored cockpit and a set of wheels. The spherical shell has inner and outer surfaces and features a plurality of cavities that extend therethrough. The cockpit houses a seat, a guidance controller, a display console, and an electric motor connected to a power supply. The cockpit is contained within said shell. The seat is designed to receive the operator. The wheels are driven by the motor and structurally supported by the cockpit. The wheels engage the inner surface and turn in response to the motor. The cavities are disposed within three-sided boundaries of a geodesic dome. The SAMP can further include a plurality of optical sensors disposed on the cockpit, and a signal integrator to present temporally concatenated visual signals into a mosaic at the display console. The SAMP can also include a projectile-firing gun mounted to the cockpit, and a trigger control to enable actuation of the gun in response to the projectile exiting the sphere at an instance that coincides with a cavity of the plurality of cavities. The SAMP includes a steering mechanism that turns orientation direction of the fore lower and aft upper wheels. The SAMP includes a door on the cockpit that slides between first open and closed positions, and a hatch on the sphere that hinges between second open and closed positions.
摘要翻译： 为至少一个操作者提供了一个球形装甲移动平台（SAMP），以使得能够受到来自军事敌对环境的进入和离开。 SAMP包括一个球形外壳，一个装甲驾驶舱和一组车轮。 球形壳体具有内表面和外表面，并且具有延伸穿过其中的多个空腔。 驾驶舱装有座椅，引导控制器，显示控制台和连接到电源的电动马达。 驾驶舱被包含在所述壳体内。 座椅设计用于接收操作员。 车轮由电机驱动，结构上由驾驶舱支撑。 车轮接合内表面并响应于电动机转动。 空腔设置在测地圆顶的三边界内。 SAMP还可以包括设置在驾驶舱上的多个光学传感器，以及信号积分器，以在显示控制台上将时间上连接的视觉信号呈现为马赛克。 SAMP还可以包括安装在驾驶舱上的弹射枪，以及触发控制装置，以在与多个空腔的腔体重合的情况下响应于射弹离开球体而启动枪。 SAMP包括转动机构，该转向机构转动前后上轮的定向方向。 SAMP包括在驾驶舱上的门，其在第一打开和关闭位置之间滑动，并且在第二打开位置和关闭位置之间铰接的球体上的舱口。
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公开(公告)号：US09933788B1
公开(公告)日：2018-04-03
申请号：US15661389
申请日：2017-07-27
申请人： Gerhard W. Thielman
发明人： Gerhard W. Thielman
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. For the spherical electromagnetically initiated traveling excursor (SEMITE), each weight-shifter includes a channel containing an armature and an electromagnet activated by the controller. For the symmetrical configuration, the channel is oriented from bottom periphery to lateral radial periphery of the inner chamber. The electromagnet is disposed proximal to the channel at the lateral radial periphery. The armature travels from the bottom periphery within the channel to the lateral radial periphery upon activation of the electromagnet.
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公开(公告)号：US09921587B1
公开(公告)日：2018-03-20
申请号：US15661466
申请日：2017-07-27
申请人： Gerhard W. Thielman
发明人： Gerhard W. Thielman
CPC分类号： G05D1/0891 , B62D57/00 , F03G3/00 , F03G3/08 , G05D1/0011 , Y10S901/01
摘要： A spherical weight-shifting integral free-rolling tumbler (SWIFT) is provided for rolling along a surface in a command direction. The SWIFT includes a spherical shell, a cubic box within the shell held by spars, and a controller. The box has six panels, and each panel connects to a weight-shifter. Each weight-shifter includes an actuator and a movable mass. The controller for selectively activates the weight-shifter among the panels to translate the mass from the default position to the active position. The controller operates a first switch that corresponds to panels facing away from the surface, and in combination operates a second switch that corresponds to a weight-shifter approximately facing the command direction to roll the shell accordingly.
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公开(公告)号：US09272743B2
公开(公告)日：2016-03-01
申请号：US14509350
申请日：2014-10-08
申请人： Gerhard W. Thielman
发明人： Gerhard W. Thielman
CPC分类号： B62D57/00 , F03G3/00 , G05D1/0891 , Y10S901/01
摘要： A spherical modular autonomous robotic traveler (SMART) is provided for delivering a payload along a surface from a first position to a second position. The SMART includes an outer spherical shell for rolling along the surface, an inner spherical chamber within the outer shell to carry the payload, a plurality of weight-shifters arranged in the inner chamber, and a controller to activate a select weight-shifter among the plurality. The weight-shifters can be arranged symmetrically or asymmetrically. The outer shell rolls in a direction that corresponds to the activated weight-shifter by torque induced thereby. The inner chamber maintains its orientation relative to the surface, even while the outer shell rolls along the surface. Each weight-shifter includes a channel containing an armature and an electromagnet activated by the controller. For the symmetrical arrangement, the channel is oriented from bottom periphery to lateral radial periphery of the inner chamber. The electromagnet is disposed proximal to the channel at the lateral radial periphery. The armature travels from the bottom periphery within the channel to the lateral radial periphery upon activation of the electromagnet.
摘要翻译： 提供了一种球形模块化自动机器人旅行器（SMART），用于沿着表面从第一位置向第二位置递送有效载荷。 SMART包括用于沿着表面滚动的外球形壳体，外壳内的内球形室，以承载有效载荷，布置在内腔中的多个加权移动器，以及控制器，用于激活选择重量移位器 复数。 重量调节器可以对称或不对称地布置。 外壳通过由此引起的转矩而与活化的重量移位器对应的方向滚动。 即使在外壳沿着表面滚动时，内腔保持其相对于表面的取向。 每个减重器包括一个包含电枢的通道和由控制器激活的电磁体。 对于对称布置，通道从内腔的底部周边到侧向径向周边定向。 电磁体在侧向径向周边处设置在通道附近。 当电磁铁激活时，电枢从通道内的底部周边行进到侧向径向周边。
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公开(公告)号：US20120316701A1
公开(公告)日：2012-12-13
申请号：US13068913
申请日：2011-05-04
申请人： Gerhard W. Thielman
发明人： Gerhard W. Thielman
摘要： A spherical infrared robotic vehicle (SIRV) is provided for remote reconnaissance. The SIRV includes a spherical shell, a chassis within the shell, an infrared sensor within the chassis and a set of wheels between the shell and chassis. The spherical shell has inner and outer surfaces. The chassis contains a platform, an electric motor and a power supply, and includes an infrared aperture. The infrared sensor mounts to the platform and disposed to receive an infrared signal through the aperture as infrared images. The sensor can be a plurality of infrared cameras mounted in separate directions. The set of wheels are driven by the motor and supported by the chassis. The wheels engage the inner surface and turn in response to the motor. Turning the wheels rolls the shell to propel the SIRV.
摘要翻译： 提供球面红外机器人车辆（SIRV）用于远程侦察。 SIRV包括球壳，壳内的底盘，底盘内的红外传感器和壳体与底盘之间的一组轮。 球壳具有内表面和外表面。 底盘包含平台，电动马达和电源，并包括红外孔。 红外传感器安装在平台上，并设置为通过孔径接收红外信号作为红外图像。 传感器可以是安装在分开的方向上的多个红外摄像机。 这组车轮由电机驱动并由底盘支撑。 车轮接合内表面并响应于电动机转动。 转动车轮滚动外壳以推动SIRV。
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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
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.
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公开(公告)号：US6121882A
公开(公告)日：2000-09-19
申请号：US246199
申请日：1999-01-04
CPC分类号： F42B39/20
摘要： A process for indicating the likelihood of cook-off for energetic materials by calculating the heat flux and chemical venting relative to known crial parameters for the energetic materials. The process further may include an alarm.
摘要翻译： 通过计算相对于高能材料的已知关键参数的热通量和化学排放来指示排出高能材料的可能性的过程。 该过程还可以包括警报。
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公开(公告)号：US6118088A
公开(公告)日：2000-09-12
申请号：US469568
申请日：1999-12-22
申请人： Gerhard W. Thielman
发明人： Gerhard W. Thielman
CPC分类号： H01H9/286
摘要： A switch cover provides an obstacle for the switch-toggle, the obstacle having a switch-obstacle position and a switch-release position. The obstacle may be held to the switch-obstacle position by a spring, which may be overcome by applying force to a release mechanism. The switch cover may be removably attached to the electric-switch.
摘要翻译： 开关盖为开关切换提供障碍物，障碍物具有开关障碍位置和开关释放位置。 障碍物可以通过弹簧保持在开关障碍物位置，这可以通过向释放机构施加力来克服。 开关盖可以可移除地附接到电开关。
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公开(公告)号：US11187505B1
公开(公告)日：2021-11-30
申请号：US16503208
申请日：2019-07-03
申请人： Gerhard W. Thielman
发明人： Gerhard W. Thielman
IPC分类号： F42B10/14
摘要： A concatenated annular swing-wing tandem lift enhancer (CASTLE) is provided for augmenting aeronautical lift to a canister-launched missile. The CASTLE includes fore and aft housing sections and pluralities of mainstays, airfoils, wing grapples and tension supports. The fore and aft housing sections are disposed circumferentially around the missile along a longitudinal axis of symmetry. The front and rear mainstays are disposed angularly along each housing section. The airfoils stowed circumferentially around each the housing section. Each airfoil has an outer camber surface and an inner arc surface that provides leading and trailing edges ending at port and starboard tips. The wing grapples disposed on the inner arc surface. The supports connect the mainstays with corresponding the grapples such that the airfoils deploy radially outward and swing such that each leading edge faces forward in relation to the longitudinal axis. The supports can be flexible lanyards or else rigid struts.
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