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1. 发明授权

US5433236A Apparatus for moving a pipe inspection probe through piping 失效
标题翻译：用于通过管道移动管道检查探针的装置
公开(公告)号：US5433236A
公开(公告)日：1995-07-18
申请号：US89648
申请日：1993-07-12
申请人： W. Thor Zollinger , D. Keith Appel , Gregory W. Lewis
发明人： W. Thor Zollinger , D. Keith Appel , Gregory W. Lewis
IPC分类号： B08B9/04
CPC分类号： B08B9/0551 , F16L2101/30 , Y10T137/0318 , Y10T137/4891
摘要： A method and apparatus for controllably moving devices for cleaning or inspection through piping systems, including piping systems with numerous piping bends therein, by using hydrostatic pressure of a working fluid introduced into the piping system. The apparatus comprises a reservoir or other source for supplying the working fluid to the piping system, a launch tube for admitting the device into the launcher and a reversible, positive displacement pump for controlling the direction and flow rate of the working fluid. The device introduced into the piping system moves with the flow of the working fluid through the piping system. The launcher attaches to the valved ends of a piping system so that fluids in the piping system can recirculate in a closed loop. The method comprises attaching the launcher to the piping system, supplying the launcher with working fluid, admitting the device into the launcher, pumping the working fluid in the direction and at the rate desired so that the device moves through the piping system for pipe cleaning or inspection, removing the device from the launcher, and collecting the working fluid contained in the launcher.
摘要翻译：一种用于通过管道系统可控地移动用于清洁或检查的装置的方法和装置，包括通过引入到管道系统中的工作流体的静水压力，其中包括具有许多管道弯曲的管道系统。该装置包括用于将工作流体供应到管道系统的储存器或其他源，用于将装置进入发射器的发射管和用于控制工作流体的方向和流速的可逆的容积式泵。引入管道系统的设备随着工作流体通过管道系统的流动而移动。发射器连接到管道系统的阀端，使得管道系统中的流体可以在闭环中再循环。该方法包括将发射器连接到管道系统，向发射器提供工作流体，将装置接纳到发射器中，以所需的方向和速度泵送工作流体，使得装置移动通过用于管道清洁的管道系统或检查，从发射器中取出设备，并收集发射器中包含的工作液体。

2. 发明授权

US5285689A Piping inspection instrument carriage with precise and repeatable position control and location determination 失效
标题翻译：管道检查仪器托架，具有精确和可重复的位置控制和位置确定
公开(公告)号：US5285689A
公开(公告)日：1994-02-15
申请号：US730425
申请日：1991-07-16
申请人： Mark Hapstack , Ted R. Talarek , W. Thor Zollinger , Frank M. Heckendorn, II , Larry R. Park
发明人： Mark Hapstack , Ted R. Talarek , W. Thor Zollinger , Frank M. Heckendorn, II , Larry R. Park
IPC分类号： G01N29/265 , G01N29/10 , G01N29/24
CPC分类号： G01N29/265 , G01N2291/044 , G01N2291/2636
摘要： An instrument carriage for inspection of piping comprises front and rear leg assemblies for engaging the interior of the piping and supporting and centering the carriage therein, and an instrumentation arm carried by a shaft system running from the front to rear leg assemblies. The shaft system has a screw shaft for moving the arm axially and a spline gear for moving the arm azimuthally. The arm has a pair of air cylinders that raise and lower a plate in the radial direction. On the plate are probes including an eddy current probe and an ultrasonic testing probe. The ultrasonic testing probe is capable of spinning 360.degree. about its axis. The instrument carriage uses servo motors and pressurized air cylinders for precise actuation of instrument components and precise, repeatable actuation of position control mechanisms.
摘要翻译：用于检查管道的仪表托架包括用于接合管道内部并将托架定位在其中的前腿组件和后腿组件，以及由从前到后组件运行的轴系统承载的仪器臂。轴系具有用于轴向移动的螺纹轴和用于使方位角移动的花键齿轮。臂具有一对沿径向升高和降低板的气缸。板上有探头，包括涡流探针和超声波探伤。超声波测试探头能够绕其轴线旋转360度。仪器托架使用伺服电机和加压气缸精确地致动仪器部件，并精确地，可重复地启动位置控制机构。

3. 发明授权

US5819863A Vehicle for carrying an object of interest 失效
标题翻译：携带感兴趣物体的车辆
公开(公告)号：US5819863A
公开(公告)日：1998-10-13
申请号：US705495
申请日：1996-08-28
申请人： W. Thor Zollinger , Todd A. Ferrante
发明人： W. Thor Zollinger , Todd A. Ferrante
IPC分类号： B62D63/02 , B62D11/00
CPC分类号： B62D63/02 , Y10S180/901
摘要： A vehicle for carrying an object of interest across a supporting surface including a frame having opposite first and second ends; a first pair of wheels fixedly mounted on the first end of the frame; a second pair of wheels pivotally mounted on the second end of the frame; and a pair of motors borne by the frame, each motor disposed in driving relation relative to one of the pairs of wheels, the motors propelling the vehicle across the supporting surface.
摘要翻译：一种用于在包括具有相对的第一和第二端的框架的支撑表面上承载感兴趣对象的车辆; 固定地安装在所述框架的第一端上的第一对轮; 枢转地安装在所述框架的第二端上的第二对轮; 以及由框架承载的一对电动机，每个电动机相对于所述一对车轮中的一个车轮设置成驱动关系，所述电动机将所述车辆推向所述支撑表面。

4. 发明授权

US5794718A Maneuvering impact boring head 失效
标题翻译：机动冲击镗头
公开(公告)号：US5794718A
公开(公告)日：1998-08-18
申请号：US613301
申请日：1996-03-11
申请人： W. Thor Zollinger , Edward W. Reutzel
发明人： W. Thor Zollinger , Edward W. Reutzel
IPC分类号： E21B4/14 , E21B4/20
CPC分类号： E21B4/145 , E21B4/20
摘要： An impact boring head may comprise a main body having an internal cavity with a front end and a rear end. A striker having a head end and a tail end is slidably mounted in the internal cavity of the main body so that the striker can be reciprocated between a forward position and an aft position in response to hydraulic pressure. A compressible gas contained in the internal cavity between the head end of the striker and the front end of the internal cavity returns the striker to the aft position upon removal of the hydraulic pressure.
摘要翻译：冲击钻头可以包括具有前腔和后端的内腔的主体。具有头端和尾端的撞针可滑动地安装在主体的内腔中，使得撞针能够响应于液压而在前进位置和后部位置之间往复运动。包含在撞针的头端和内部腔的前端之间的内部空腔中的可压缩气体在去除液压时将撞针返回到后部位置。

5. 发明授权

US5758731A Method and apparatus for advancing tethers 失效
标题翻译：推进系绳的方法和装置
公开(公告)号：US5758731A
公开(公告)日：1998-06-02
申请号：US613563
申请日：1996-03-11
申请人： W. Thor Zollinger
发明人： W. Thor Zollinger
IPC分类号： E21B4/18 , E21B23/00 , E21B23/04 , E21B43/00
CPC分类号： E21B4/18 , E21B23/04 , E21B2023/008
摘要： A tether puller for advancing a tether through a channel may include a bellows assembly having a leading end fixedly attached to the tether at a first position and a trailing end fixedly attached to the tether at a second position so that the leading and trailing ends of the bellows assembly are located a substantially fixed distance apart. The bellows assembly includes a plurality of independently inflatable elements each of which may be separately inflated to an extended position and deflated to a retracted position. Each of the independently inflatable elements expands radially and axially upon inflation. An inflation system connected to the independently inflatable elements inflates and deflates selected ones of the independently inflatable elements to cause the bellows assembly to apply a tractive force to the tether and advance it in the channel.
摘要翻译：用于通过通道推进系绳的系绳牵引器可以包括波纹管组件，其具有在第一位置处固定地连接到系绳的前端，并且在第二位置处固定地连接到系绳的后端，使得第一位置的前端和后端波纹管组件位于基本固定的距离处。波纹管组件包括多个独立可充气的元件，每个元件可以单独地膨胀到延伸位置并且放气到缩回位置。每个可独立充气的元件在充气时径向和轴向膨胀。连接到可独立充气的元件的充气系统使可独立充气的元件中的所选择的元件膨胀和缩小，以使波纹管组件向系绳施加牵引力并将其推进到通道中。

6. 发明授权

US5148573A Apparatus for attaching a cleaning tool to a robotic manipulator 失效
标题翻译：用于将清洁工具附接到机器人操纵器的装置
公开(公告)号：US5148573A
公开(公告)日：1992-09-22
申请号：US754839
申请日：1991-09-04
申请人： Mark A. Killian , W. Thor Zollinger
发明人： Mark A. Killian , W. Thor Zollinger
IPC分类号： A47L9/00
CPC分类号： A47L9/00 , Y10T483/19
摘要： An apparatus for connecting a cleaning tool to a robotic manipulator so that the tool can be used in contaminated areas on horizontal, vertical and sloped surfaces. The apparatus comprises a frame and a handle, with casters on the frame to facilitate movement. The handle is pivotally and releasibly attached to the frame at a preselected position of a plurality of attachment positions. The apparatus is specifically configured for the KELLY VACUUM SYSTEM but can be modified for use with any standard mobile robot and cleaning tool.
摘要翻译：一种用于将清洁工具连接到机器人操纵器的装置，使得该工具可以在水平，垂直和倾斜表面上的污染区域中使用。该装置包括框架和手柄，框架上具有脚轮以便于移动。手柄在多个附接位置的预选位置处可枢转地和可释放地附接到框架。该设备专门为KELLY真空系统配置，但可以修改为与任何标准的移动机器人和清洁工具一起使用。

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