公开(公告)号：US5451135A

公开(公告)日：1995-09-19

申请号：US41563

申请日：1993-04-02

申请人： Hagen Schempf ,  William L. Whittaker

发明人： Hagen Schempf ,  William L. Whittaker

IPC分类号： B08B9/093 ,  B62D55/065 ,  B62D55/084 ,  B62D57/036 ,  E02F9/02 ,  B25J5/00

CPC分类号： B08B9/0933 ,  B62D55/065 ,  B62D55/084 ,  B62D57/036 ,  E02F9/024

摘要： A mobile vehicle having a substantially hexagonally-shaped frame member that is movable between a collapsed position to enable the vehicle to enter a vessel opening or an area having constrained access points and a more stable expanded position. Drive apparatuses are attached to the frame member for driving the vehicle on a surface. The vehicle is also equipped with a tether line that is used to supply control power to the vehicle drives and to deploy and retrieve the vehicle. Various collapsible tool members are operably attached to the vehicle for performing various tasks within an enclosed environment.

摘要翻译： 一种移动式车辆，其具有基本上六边形的框架构件，其可在折叠位置之间移动，以使得车辆能够进入容器开口或具有受限制的接近点的区域和更稳定的扩张位置。 驱动装置附接到框架构件，用于在表面上驱动车辆。 车辆还配备有系绳线，其用于向车辆驱动器提供控制电力并部署和取回车辆。 各种可折叠的工具构件可操作地附接到车辆，以在封闭环境内执行各种任务。

公开(公告)号：US5363935A

公开(公告)日：1994-11-15

申请号：US62797

申请日：1993-05-14

申请人： Hagen Schempf ,  Brian Albrecht

发明人： Hagen Schempf ,  Brian Albrecht

IPC分类号： B08B9/093 ,  B62D55/065 ,  B62D55/07 ,  B62D55/265

CPC分类号： B62D55/07 ,  B08B9/0933 ,  B62D55/0655 ,  B62D55/265 ,  Y10S180/901

摘要： A reconfigurable mobile vehicle having at least one endless driven member and a motor for driving the endless member on a surface capable of supporting a magnetic circuit. The vehicle is equipped with a magnetic system that comprises a magnet, a fixed magnetic circuit member, and a movable magnetic circuit member for establishing first and second magnetic circuits. A clutch is provided to selectively connect the movable magnetic circuit member to the motor to move the movable magnetic circuit member between a first position wherein the first magnetic circuit is established such that the endless driven member can magnetically engage the surface and a second position wherein the second magnetic circuit is established such that the endless member does not magnetically engage the surface. The vehicle is equipped with sensing apparatuses for analyzing the structural integrity of the surface upon which the vehicle is riding and is also equipped with acoustical positioning apparatus for assisting the operating personnel and computer in locating and controlling the vehicle's position within an enclosed environment. The vehicle is also equipped with a tether line that is used to facilitate the transfer of control power/data between the vehicle and the various operating components attached thereto and a control console located remote from the vehicle. The tether line is also used to deploy and retrieve the vehicle.

摘要翻译： 一种可重构移动车辆，其具有至少一个环形从动构件和用于在能够支撑磁路的表面上驱动环形构件的电动机。 车辆配备有包括磁体，固定磁路部件和用于建立第一和第二磁路的可移动磁路部件的磁性系统。 提供离合器以选择性地将可移动磁路部件连接到电动机，以将可移动磁路部件移动到第一位置之间，其中第一磁路被建立成使得环形从动部件能够磁性地接合表面，而第二位置， 建立第二磁路，使得环形构件不与表面磁性接合。 车辆配备有用于分析车辆所在的表面的结构完整性的感测装置，并且还配备有声学定位装置，用于辅助操作人员和计算机在封闭环境内定位和控制车辆的位置。 车辆还配备有系绳线，其用于促进车辆与附接到其之间的各种操作部件之间的控制电力/数据的传送以及远离车辆的控制台。 系绳也用于部署和检索车辆。

公开(公告)号：US06917176B2

公开(公告)日：2005-07-12

申请号：US10094353

申请日：2002-03-07

申请人： Hagen Schempf ,  Edward Mutschler ,  Vitaly Goltsberg

发明人： Hagen Schempf ,  Edward Mutschler ,  Vitaly Goltsberg

IPC分类号： B25J9/18 ,  G01M3/00 ,  G01N27/90 ,  G01N29/22 ,  G01N29/265

CPC分类号： G01N29/225 ,  F16L55/32 ,  F16L55/40 ,  F16L2101/30 ,  G01M3/005 ,  G01N27/902 ,  G01N29/265 ,  G01N2291/2636

摘要： The present invention provides a long-range, untethered, live, in-pipe inspection system that includes a self-propelled train having a plurality of modules; joint members for interconnecting adjacent modules, data collection components, and wireless communication components for transmitting collected data and receiving control messages. The module-train includes, generally, at least one, and preferably two drive modules, at least one power module and an electronics module. The train may additionally include at least one support module, which may be interposed between the power and electronics modules. In one embodiment of the invention, there are two drive modules, one at each terminal end of the train, two power modules, one adjacent to each drive module, two support modules, one adjacent to each power module, and one central electronics and computing module.

摘要翻译： 本发明提供了一种远距离，无阻塞的活的管内检查系统，其包括具有多个模块的自行列车; 用于互连相邻模块，数据收集组件和用于发送收集的数据和接收控制消息的无线通信组件的联合构件。 模块列车通常包括至少一个，优选地包括两个驱动模块，至少一个功率模块和电子模块。 列车还可以包括至少一个支撑模块，其可插入在电力模块和电子模块之间。 在本发明的一个实施例中，存在两个驱动模块，一个在列车的每个终端，两个功率模块，一个与每个驱动模块相邻的一个，两个支撑模块，一个与每个功率模块相邻的一个，以及一个中央电子设备和计算 模块。

公开(公告)号：US06820653B1

公开(公告)日：2004-11-23

申请号：US09547281

申请日：2000-04-12

申请人： Hagen Schempf ,  Edward Mutschler ,  Brian Chemel ,  Scott Boehmke ,  William Crowley

发明人： Hagen Schempf ,  Edward Mutschler ,  Brian Chemel ,  Scott Boehmke ,  William Crowley

IPC分类号： F16I5516

CPC分类号： G01N21/954 ,  B08B9/043 ,  B08B9/047 ,  F16L55/26 ,  G01N2021/9542 ,  G01N2201/024 ,  G01N2201/062

摘要： A multi-module pipe inspection and repair device. The device includes a base module, a camera module, a sensor module, an MFL module, a brush module, a patch set/test module, and a marker module. Each of the modules may be interconnected to construct one of an inspection device, a preparation device, a marking device, and a repair device.

摘要翻译： 多模块管道检修装置。 该装置包括基本模块，照相机模块，传感器模块，MFL模块，刷子模块，贴片组/测试模块和标记模块。 每个模块可以互连以构成检查装置，准备装置，标记装置和修复装置之一。

公开(公告)号：US20050135912A1

公开(公告)日：2005-06-23

申请号：US10959852

申请日：2004-10-06

申请人： Hagen Schempf ,  Todd Graham ,  Robert Fuchs ,  Christian Gasior

发明人： Hagen Schempf ,  Todd Graham ,  Robert Fuchs ,  Christian Gasior

IPC分类号： A01G9/08 ,  A01G9/10 ,  A01G9/14 ,  B66F1/00

CPC分类号： A01G9/088

摘要： An automated handling system for moving objects from one location to another location is provided with a self-mobile system having a grabber subsystem for grasping objects, including assemblies for movement in four directions, along X, Y and Z axes and through an angle θ. The system also has a translating carriage assembly for moving the grabber subsystem and power supply and drive systems. A sensing device, such as an imager, is provided to determine the geometric position of the objects and to move the grabber subsystem accordingly. Another embodiment of the system is provided as an accessory to a prime mover. It includes an alignment articulation system, a gross advance system, a tine storage system, a loading head system, and pot grabbers. This automated handling system can be used to move plant containers in nurseries from the ground to a trailer bed and/or from a trailer bed to the ground in a variety of container configurations.

摘要翻译： 提供了一种用于将物体从一个位置移动到另一个位置的自动处理系统，该自动移动系统具有用于抓握对象的抓取子系统，包括沿着X，Y和Z轴以及通过角度θ在四个方向上移动的组件。 该系统还具有用于移动抓取子系统和电源和驱动系统的平移托架组件。 提供诸如成像器的感测装置以确定对象的几何位置并相应地移动抓取子系统。 该系统的另一个实施例被提供作为原动机的附件。 它包括一个对齐关节系统，总体提前系统，一个存储系统，一个装载头系统和一个取罐器。 这种自动处理系统可用于将苗圃中的植物容器从地面移动到拖车床和/或从拖车床到各种容器配置的地面。

公开(公告)号：US06675888B2

公开(公告)日：2004-01-13

申请号：US10198354

申请日：2002-07-18

申请人： Hagen Schempf ,  Steve John Kimminau ,  Johannis Josephus Den Boer ,  John Foreman Stewart ,  Aarnoud Frederic Bijleveld

发明人： Hagen Schempf ,  Steve John Kimminau ,  Johannis Josephus Den Boer ,  John Foreman Stewart ,  Aarnoud Frederic Bijleveld

IPC分类号： E21B2902

CPC分类号： E21B4/18 ,  E21B19/002 ,  E21B19/143 ,  E21B19/146 ,  E21B23/00 ,  E21B23/10 ,  E21B33/076 ,  E21B2023/008

摘要： A method and system are disclosed for moving equipment into and through a conduit that is preferably an oil and/or gas production well, wherein use is made of an uphole equipment storage and handling unit via which equipment modules can be moved into a launch conduit and connected to a shuttle device which is able to locomote itself as a wireless tractor via the launch conduit into and from the underlying conduit.

摘要翻译： 公开了一种用于将设备移入和穿过优选为油和/或气体生产井的管道的方法和系统，其中使用由井下设备存储和处理单元构成，通过该井道设备存储和处理单元可将设备模块移动到发射管道中， 连接到穿梭装置，该穿梭装置能够通过发射导管自身作为无线拖拉机移入和移出底层导管。

公开(公告)号：US06517457B2

公开(公告)日：2003-02-11

申请号：US09800109

申请日：2001-03-06

申请人： Hagen Schempf ,  William A. Crowley ,  Robert A. Fuchs ,  Joshua N. Guyot ,  Edward C. Mutschler, Jr.

发明人： Hagen Schempf ,  William A. Crowley ,  Robert A. Fuchs ,  Joshua N. Guyot ,  Edward C. Mutschler, Jr.

IPC分类号： F16H5530

CPC分类号： B62D55/24 ,  B62D11/22

摘要： The present invention is a dynamically steerable mono belt apparatus and includes a first pivotable body element in communication with a second pivotable body element. A first pivot mechanism is attached to and positioned between the first pivotable body element and the second pivotable body element to allow the first pivotable body element to pivot in a first pivot plane of movement with respect to the second pivotable body element. The present invention also includes a continuous belt element formed as a loop and continuously rotatable in a first plane of rotation around the first pivotable body element, the first pivot mechanism and the second pivotable body element. The continuous belt element is flexible in the pivot plane of movement, such that when the first pivotable body element is pivoted, via the first pivot mechanism, in the pivot plane of movement, the continuous belt element is flexed.

摘要翻译： 本发明是一种动态可操纵的单声带装置，并且包括与第二可枢转主体元件连通的第一可枢转主体元件。 第一枢转机构附接到并定位在第一可枢转主体元件和第二可枢转主体元件之间，以允许第一可枢转主体元件相对于第二可枢转主体元件在第一枢转运动平面中枢转。 本发明还包括形成为环的连续带元件，并且围绕第一可枢转主体元件，第一枢转机构和第二可枢转元件在第一旋转平面中连续地旋转。 连续带元件在运动的枢转平面中是柔性的，使得当第一可枢转主体元件经由第一枢转机构枢转时，在运动的枢转平面中，连续的带元件被弯曲。

公开(公告)号：US20120303179A1

公开(公告)日：2012-11-29

申请号：US13134009

申请日：2011-05-26

申请人： Hagen Schempf

发明人： Hagen Schempf

IPC分类号： G05D1/00 ,  G06F19/00

CPC分类号： B64C39/022 ,  B25J11/002 ,  B64C27/20 ,  B64C39/024 ,  B64C2201/027 ,  B64C2201/042 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/148 ,  F41H7/005 ,  G05D1/0038 ,  G05D1/0866 ,  G05D2201/0209

摘要： A robot surveillance system includes a robot chassis, a drive subsystem for the chassis, a dock on the chassis, and a payout device associated with the chassis. A flying module is configured to be received in the dock and includes at least one rotor powered by a motor and a body portion including an imager. A tether is coupled to the payout device of the robot and to the flying module for allowing the flying module to climb out of the dock when powered to gain elevation for surveillance and imaging via the imager and for retracting the flying module to land on the robot and reside in the chassis dock after surveillance.

摘要翻译： 机器人监视系统包括机器人底盘，用于机箱的驱动子系统，底盘上的坞站以及与底盘相关联的支付设备。 飞行模块被配置为被接纳在码头中并且包括由马达供电的至少一个转子和包括成像器的主体部分。 系绳连接到机器人的支付装置和飞行模块，用于允许飞行模块在通电时获得升高以便通过成像器进行监视和成像并使飞行模块缩回到机器人上 并在监视后驻留在底盘底座。

公开(公告)号：US06454011B1

公开(公告)日：2002-09-24

申请号：US09329611

申请日：1999-06-10

申请人： Hagen Schempf ,  Steve J. Kimminau ,  Hans J. J. den Boer ,  John F. Stewart ,  A. F. Bijleveld

发明人： Hagen Schempf ,  Steve J. Kimminau ,  Hans J. J. den Boer ,  John F. Stewart ,  A. F. Bijleveld

IPC分类号： E21B33068

CPC分类号： E21B4/18 ,  E21B19/002 ,  E21B19/143 ,  E21B19/146 ,  E21B23/00 ,  E21B23/10 ,  E21B33/076 ,  E21B2023/008

摘要： A method and system are disclosed for moving equipment into and through a conduit that is preferably an oil and/or gas production well, wherein use is made of an uphole equipment storage and handling unit via which equipment modules can be moved into a launch conduit and connected to a shuttle device which is able to locomote itself as a wireless tractor via the launch conduit into and from the underlying conduit.

摘要翻译： 公开了一种用于将设备移入和穿过优选为油和/或气体生产井的管道的方法和系统，其中使用由井下设备存储和处理单元构成，通过该井道设备存储和处理单元可将设备模块移动到发射管道中， 连接到穿梭装置，该穿梭装置能够通过发射导管自身作为无线拖拉机移入和移出底层导管。

公开(公告)号：US5435405A

公开(公告)日：1995-07-25

申请号：US230964

申请日：1994-04-21

申请人： Hagen Schempf ,  Brian S. Albrecht

发明人： Hagen Schempf ,  Brian S. Albrecht

IPC分类号： B08B9/08 ,  B08B9/093 ,  B62D55/065 ,  B62D55/07 ,  B62D55/265

CPC分类号： B08B9/0933 ,  B08B9/08 ,  B62D55/0655 ,  B62D55/07 ,  B62D55/265 ,  Y10S180/901

摘要： A mobile vehicle having at least one endless driven member for driving the endless member on a surface capable of supporting a magnetic circuit. The vehicle is equipped with a magnetic system that is housed in a substantially hermetically sealed enclosure and comprises a magnet, a fixed magnetic circuit member, and a movable magnetic circuit member for establishing first and second magnetic circuits. A clutch is provided to selectively connect the movable magnetic circuit member to the motor to move the movable magnetic circuit member between a first position wherein the first magnetic circuit is established such that the endless driven member can magnetically engage the surface and a second position wherein the second magnetic circuit is established such that the endless member does not magnetically engage the surface. The enclosure is pressurized with a pressure medium at a predetermined pressure and temperature and is monitored by sensors within the enclosure. The pressure and temperature sensors interface with microprocessors which can trigger a shut down of the vehicle's components should anomalous pressure or temperature conditions occur within the enclosure. The vehicle also has permanent magnet tracks pivotally attached thereto to enable the vehicle to traverse between intersecting magnetic wall surfaces.

摘要翻译： 一种移动式车辆，其具有至少一个环形从动构件，用于在能够支撑磁路的表面上驱动环形构件。 该车辆配备有一个磁性系统，该系统被容纳在基本上密封的壳体中，并且包括一个磁体，一个固定磁路部件和一个用于建立第一和第二磁路的可移动磁路部件。 提供离合器以选择性地将可移动磁路部件连接到电动机，以将可移动磁路部件移动到第一位置之间，其中第一磁路被建立成使得环形从动部件能够磁性地接合表面，而第二位置， 建立第二磁路，使得环形构件不与表面磁性接合。 外壳用预定压力和温度的压力介质加压，并由外壳内的传感器监控。 压力和温度传感器与微处理器接口，如果外壳内出现异常压力或温度情况，则可触发车辆部件的关闭。 车辆还具有可枢转地附接到其上的永磁体轨道，以使得车辆能够在相交的磁壁表面之间穿过。