Modular observation crawler and sensing instrument and method for operating same
US6450104B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 28, 2000 |
| Grant date | Sep 17, 2002 |
| Priority date | — |
| Expiry date | Apr 28, 2020 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T74/18992
- WIPO fieldMeasurement
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.