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1. 发明申请

US20080237400A1 Satellite refuelling system and method 有权
标题翻译：卫星加油系统及方法
公开(公告)号：US20080237400A1
公开(公告)日：2008-10-02
申请号：US12073795
申请日：2008-03-10
申请人： Lawrence Gryniewski , Derry Crymble
发明人： Lawrence Gryniewski , Derry Crymble
IPC分类号： B64G1/22 , B64D39/06 , B65B57/06 , B64G1/64
CPC分类号： B64G1/1078 , B64G1/14 , B64G1/402 , B64G4/00 , B64G5/00
摘要： The present invention provides a method, system and apparatus for robotic refueling of satellites. The system may include a dedicated refueling satellite launched directly from either earth, or alternatively it could be launched from another larger mother spacecraft or space station in which the refueling satellite is ferried into space in the case of the larger space craft or it may be stored on the space station until needed from which it can be launched. The system includes a robotic arm, suitable tools which can be affixed to the end effector of the robotic arm required for accessing, opening and closing the fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The system is under teleoperation by a remotely located operator, for example located on earth, in the mother station or in the space station. Cameras are included focussed on the robotic arm and end effector and images are transmitted to the operator to allow the operator to direct and control the refueling procedure. The system may also be configured to be operated autonomously under computer control.
摘要翻译：本发明提供了一种用于卫星的机器人加油的方法，系统和装置。该系统可以包括直接从地球发射的专用加油卫星，或者可以从另一个较大的母体航天器或空间站发射，在较大的宇宙飞船或空间站，在较大的太空飞船的情况下将加油卫星送入太空，或者可以存储在空间站，直到需要它可以启动。该系统包括一个机械手臂，适合的工具，可以固定在机器人手臂的末端执行器上，该机器人手臂用于访问，打开和关闭被维护的卫星上的燃料填充阀，储存和取回站，工具箱上装有工具并且存储各种燃料填充阀盖。该系统由远程操作者远程操作，例如位于地球上，在母站或空间站中。摄像机被集中在机器人手臂和末端执行器上，并且图像被传送到操作者，以允许操作者引导和控制加油程序。该系统还可以被配置为在计算机控制下自主操作。

2. 发明授权

US08196870B2 Robotic satellite refueling tool 有权
标题翻译：机器人卫星加油工具
公开(公告)号：US08196870B2
公开(公告)日：2012-06-12
申请号：US13323472
申请日：2011-12-12
申请人： Lawrence Gryniewski , Derry Crymble
发明人： Lawrence Gryniewski , Derry Crymble
IPC分类号： B64G1/64
CPC分类号： B25J11/00 , B64G1/1078 , B64G1/14 , B64G1/402 , B64G4/00 , B64G5/00 , B67D2007/0403 , B67D2007/0405 , B67D2007/0417 , B67D2007/0432
摘要： A tool for fuelling an unprepared or partially prepared client satellite required for accessing, opening and closing a fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The tool includes interchangeable socket modules, a support frame, a socket module holder mechanism, a socket drive mechanism, a clamping mechanism to secure the tool to a reaction area on the fuel fill valve and oxidizer fill valve, and a valve actuation mechanism. The interchangeable socket modules include a first module for removing and replacing the access valve cap, a second module for coupling the fuel fill line to the fuel tank, a third module for engaging the access valve cap on the oxidizer fill valve, and a fourth module for coupling the oxidizer fill line to the oxidizer tank.
摘要翻译：用于加油未经准备或部分准备的客户卫星的工具，用于存取，打开和关闭被保存的卫星上的燃料充注阀，储存和取出工具箱上的工具和各种燃料填充阀盖的储存和取回站。该工具包括可互换的插座模块，支撑框架，插座模块保持器机构，插座驱动机构，用于将工具固定到燃料填充阀和氧化剂填充阀上的反应区域的夹紧机构，以及阀致动机构。可互换插座模块包括用于移除和更换进入阀盖的第一模块，用于将燃料填充管线连接到燃料箱的第二模块，用于接合氧化剂填充阀上的进入阀盖的第三模块和第四模块用于将氧化剂填充线连接到氧化剂罐。

3. 发明授权

US08074935B2 Satellite refuelling system and method 有权
标题翻译：卫星加油系统及方法
公开(公告)号：US08074935B2
公开(公告)日：2011-12-13
申请号：US12073795
申请日：2008-03-10
申请人： Lawrence Gryniewski , Derry Crymble , John Cameron Ower
发明人： Lawrence Gryniewski , Derry Crymble , John Cameron Ower
IPC分类号： B64G1/64
CPC分类号： B64G1/1078 , B64G1/14 , B64G1/402 , B64G4/00 , B64G5/00
摘要： The present invention provides a method, system and apparatus for robotic refueling of satellites. The system may include a dedicated refueling satellite launched directly from either earth, or alternatively it could be launched from another larger mother spacecraft or space station in which the refueling satellite is ferried into space in the case of the larger space craft or it may be stored on the space station until needed from which it can be launched. The system includes a robotic arm, suitable tools which can be affixed to the end effector of the robotic arm required for accessing, opening and closing the fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The system is under teleoperation by a remotely located operator, for example located on earth, in the mother station or in the space station. Cameras are included focussed on the robotic arm and end effector and images are transmitted to the operator to allow the operator to direct and control the refueling procedure. The system may also be configured to be operated autonomously under computer control.
摘要翻译：本发明提供了一种用于卫星的机器人加油的方法，系统和装置。该系统可以包括直接从地球发射的专用加油卫星，或者可以从另一个较大的母体航天器或空间站发射，在较大的宇宙飞船或空间站，在较大的太空飞船的情况下将加油卫星送入太空，或者可以存储在空间站，直到需要它可以启动。该系统包括一个机械手臂，适合的工具，可以固定在机器人手臂的末端执行器上，该机器人手臂用于访问，打开和关闭被维护的卫星上的燃料填充阀，储存和取回站，工具箱上装有工具并且存储各种燃料填充阀盖。该系统由远程操作者远程操作，例如位于地球上，在母站或空间站中。摄像机被集中在机器人手臂和末端执行器上，并且图像被传送到操作者，以允许操作者引导和控制加油程序。该系统还可以被配置为在计算机控制下自主操作。

4. 发明授权

US08448904B2 Robotic satellite refuelling tool 有权
标题翻译：机器人卫星加油工具
公开(公告)号：US08448904B2
公开(公告)日：2013-05-28
申请号：US13470661
申请日：2012-05-14
申请人： Lawrence Gryniewski , Derry Crymble
发明人： Lawrence Gryniewski , Derry Crymble
IPC分类号： B64G1/64
CPC分类号： B25J11/00 , B64G1/1078 , B64G1/14 , B64G1/402 , B64G4/00 , B64G5/00 , B67D2007/0403 , B67D2007/0405 , B67D2007/0417 , B67D2007/0432
摘要： A tool mounted on a servicer satellite for fuelling an unprepared or partially prepared client satellite. The tool includes a robotic arm mounted on the servicer satellite and a valve tool configured to be releasibly gripped by the robotic arm. The valve tool includes a housing with a support frame and a wrench mechanism mounted on the support frame. The wrench mechanism is configured for removing and replacing the first access valve cap on the first fill-drain valve and coupling a first propellant fill line to the first propellant tank optionally removing and replacing the second access valve cap on the second fill-drain valve on the second propellant tank and coupling a second propellant fill line to the second propellant tank, and actuating the valve actuation nut on the first fill-drain valve, and optionally actuating the valve actuation nut on the second fill-drain valve.
摘要翻译：一个安装在服务卫星上的工具，用于加油未经准备或部分准备好的客户端卫星。该工具包括安装在服务器卫星上的机器人手臂和构造成可被机器臂可释放地夹持的阀工具。阀门工具包括具有支撑框架和安装在支撑框架上的扳手机构的壳体。扳手机构构造成用于移除和更换第一填充排放阀上的第一进入阀盖并将第一推进剂填充管线联接到第一推进剂罐，任选地移除和更换第二排水阀上的第二进气阀盖，所述第二推进剂罐并且将第二推进剂填充管线联接到所述第二推进剂罐，并且致动所述第一填充排放阀上的所述阀致动螺母，并且可选地致动所述第二填充排放阀上的所述阀致动螺母。

5. 发明授权

US08181911B1 Satellite refuelling system and method 有权
标题翻译：卫星加油系统及方法
公开(公告)号：US08181911B1
公开(公告)日：2012-05-22
申请号：US13196750
申请日：2011-08-02
申请人： Lawrence Gryniewski , Derry Crymble , John Cameron Ower
发明人： Lawrence Gryniewski , Derry Crymble , John Cameron Ower
IPC分类号： B64G1/64
CPC分类号： B25J11/00 , B64G1/1078 , B64G1/14 , B64G1/402 , B64G4/00 , B64G5/00 , B67D2007/0403 , B67D2007/0405 , B67D2007/0417 , B67D2007/0432
摘要： The present invention provides a method, system and apparatus for robotic refueling of satellites. The system may include a dedicated refueling satellite launched directly from either earth, or alternatively it could be launched from another larger mother spacecraft or space station in which the refueling satellite is ferried into space in the case of the larger space craft or it may be stored on the space station until needed from which it can be launched. The system includes a robotic arm, suitable tools which can be affixed to the end effector of the robotic arm required for accessing, opening and closing the fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The system is under teleoperation by a remotely located operator, for example located on earth, in the mother station or in the space station. Cameras are included focussed on the robotic arm and end effector and images are transmitted to the operator to allow the operator to direct and control the refueling procedure. The system may also be configured to be operated autonomously under computer control.
摘要翻译：本发明提供了一种用于卫星的机器人加油的方法，系统和装置。该系统可以包括直接从地球发射的专用加油卫星，或者可以从另一个较大的母体航天器或空间站发射，在较大的宇宙飞船或空间站，在较大的太空飞船的情况下将加油卫星送入太空，或者可以存储在空间站，直到需要它可以启动。该系统包括一个机械手臂，适合的工具，可以固定在机器人手臂的末端执行器上，该机器人手臂用于访问，打开和关闭被维护的卫星上的燃料填充阀，储存和取回站，工具箱上装有工具并且存储各种燃料填充阀盖。该系统由远程操作者远程操作，例如位于地球上，在母站或空间站中。摄像机被集中在机器人手臂和末端执行器上，并且图像被传送到操作者，以允许操作者引导和控制加油程序。该系统还可以被配置为在计算机控制下自主操作。

6. 发明申请

US20050004708A1 Mobile robot hybrid communication link 有权
标题翻译：移动机器人混合通信链路
公开(公告)号：US20050004708A1
公开(公告)日：2005-01-06
申请号：US10838913
申请日：2004-05-05
申请人： Andrew Goldenberg , Pawel Kuzan , Lawrence Gryniewski , Gordon Scott
发明人： Andrew Goldenberg , Pawel Kuzan , Lawrence Gryniewski , Gordon Scott
IPC分类号： G06F19/00 , G08C17/00
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。

7. 发明授权

US07346429B2 Mobile robot hybrid communication link 有权
标题翻译：移动机器人混合通信链路
公开(公告)号：US07346429B2
公开(公告)日：2008-03-18
申请号：US10838913
申请日：2004-05-05
申请人： Andrew A. Goldenberg , Pawel Kuzan , Lawrence Gryniewski , Gordon D. Scott
发明人： Andrew A. Goldenberg , Pawel Kuzan , Lawrence Gryniewski , Gordon D. Scott
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。

8. 发明授权

US6113343A Explosives disposal robot 失效
标题翻译：爆炸物处理机器人
公开(公告)号：US6113343A
公开(公告)日：2000-09-05
申请号：US9732
申请日：1998-01-21
申请人： Andrew Goldenberg , Nenad Kircanski , Sheldon K. Dickie , Gordon D. Scott , Lawrence Gryniewski
发明人： Andrew Goldenberg , Nenad Kircanski , Sheldon K. Dickie , Gordon D. Scott , Lawrence Gryniewski
IPC分类号： B25J5/00 , B25J13/06 , B25J15/04 , B25J18/02 , B25J19/00 , B25J19/02 , F41H11/16 , B66C1/00
CPC分类号： F41H11/28 , B25J11/0025 , B25J13/06 , B25J15/04 , B25J18/025 , B25J19/0025 , B25J19/005 , B25J19/023 , B25J5/005 , B25J5/007 , F41H11/16
摘要： A robot especially adapted for use in hazardous environments, and particularly adapted for explosives disposal, includes a wheeled platform carrying a winder mechanism which ensures that the remote control cable will not be fouled by the robot or its attachments. Coaxial with the winder mechanism is a turret mechanism that can rotate indefinitely and which carries thereon a manipulator arm section which, includes a first arm pivotable through about 110.degree. and which carries thereon a second arm which is pivotable through about 120.degree. and carries a bulkhead to which any of a plurality of end effectors can be connected by way of a quick connect and disconnect mechanism. The end effectors include a set of links having different lengths, one or two extension links, a wrist and gripper mechanism, an aiming and disruptor mechanism, and a relocatable surveillance camera. The robot is capable of controlled movement to or from a hazardous site; manoeuvring the wrist and gripper mechanism or the aiming and disruptor mechanism, by means of the manipulator arm, into close proximity with, to either move or destroy, a target. Rugged, zero-backlash joints blend precision and power for the end effectors to perform delicate, or not so delicate, operations. The wrist and gripper mechanism in combination with any or all of the extension links allows dextrous operations to be performed easily, even for an untrained operator. The robot is compact, highly manoeuvrable, relatively inexpensive, and meets the requirements of law enforcement, military and environmental agencies having a need for such a device.
摘要翻译：特别适用于危险环境，特别适用于炸药处理的机器人包括带有卷绕机构的轮式平台，其确保远程控制电缆不会被机器人或其附件污染。与卷绕机构同轴的是可以无限旋转的转台机构，其上带有操纵臂部分，操纵臂部分包括可枢转大约110°的第一臂，并且其上承载有可枢转大约120°的第二臂，可通过快速连接和断开机构连接任何多个端部执行器。末端执行器包括具有不同长度的一组链接，一个或两个延伸链接，手腕和夹持机构，瞄准和破坏机构以及可重新定位的监视摄像机。机器人能够受控地移动到或从危险场所移动; 通过操纵臂手动操纵手腕和夹持器机构或瞄准和干扰机构，使之与目标物移动或摧毁。坚固耐用的零间隙接头将精密和功率混合，使末端执行器执行精细或不精细的操作。手腕和夹持机构与任何或所有延伸链节相结合，即使对于未经训练的操作者也能轻松执行恶性操作。机器人结构紧凑，操作灵活，价格相对便宜，符合执法部门，军事和环保部门对这种装置需求的要求。

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