Hibot Corporation

General Electric Company

Saudi Arabian Oil Company

Ge Infrastructure Technology, LLC

General Electric Technology Gmbh

Michele Guarnieri

Paulo Cesar Debenest

Shigeo Hirose

Selim Akin

Thomas James Batzinger

Selami Haydar Icli

Christopher Paul Markman

Airton Rosa Da Silva, Jr

Fadl Abdellatif

Giacomo Cimarelli

Giorgio Valsecchi

Sahejad Patel

Pablo Carrasco Zanini

Brian Parrott

Ali Outa

Airton Rosa Da Silva

A traction module for a robot system and a robot system using the traction module having, an outer frame and a rotating frame rotatably mounted within the outer frame. A drive system is operatively coupled to the rotating frame and configured to drive a traction drive component to propel the robot. An actuator is operatively connected to the rotating frame to controllably rotate the rotating frame. During a first portion of a rotating movement of the rotating frame, the drive system moves between a flat mode position relative to the outer frame and a clearance mode position in which the drive system extends outwardly from the outer frame to a greater extent than in the first position. During a second portion of the rotating movement of the rotating frame, the drive system may be positioned in a desired orientation to propel the robot.

Traction module for robot with variable extension positions

This disclosure provides systems and methods for in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine, with an end region. A robotic crawler is configured to navigate an annular gap of the machine. A visual inspection module is connected to the robotic crawler and includes an extension member for extending a camera into the end region to collect visual inspection data.

End region inspection module and method for in situ gap inspection robot system

This disclosure provides systems and methods for an actuated sensor module for in situ gap inspection robots. A mounting interface attaches to the sensor module to the robot system. A least one arm is operatively connected to the mounting interface and has a joint. A sensor head is operatively connected to the arm at the joint and an actuator operatively connected to the arm moves the sensor head around the second joint.

Actuated sensor module and method for in situ gap inspection robots

Systems and methods for in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine are described. A robotic crawler has multidirectional traction modules, an expandable body, and sensor modules. A control system communicates with the robotic crawler to provide a control signal to navigate an inspection path within an annular gap of the machine. The inspection path includes axial and radial movements to inspect the annular gap using the sensor modules.

In situ gap inspection robot system and method

This disclosure provides systems and methods for in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine. A robotic crawler includes an expandable body, multidirectional traction modules, and sensor modules. The expandable body is movable between a collapsed state and an expanded state. The multidirectional traction modules are removably connected to and positioned by the expandable body and configured to engage opposed surfaces within an annular gap of the machine. The sensor modules are removably connected to and supported by the expandable body and include a plurality of sensor types to inspect the annular gap of the machine.

Crawler robot for in situ gap inspection

This disclosure provides systems and components for an omnidirectional traction module for use in a robot, such as a crawler robot used in in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine. The traction module may include an outer frame and a rotating frame rotatably mounted within the outer frame. At least one drive system may be mounted within the rotating frame. The at least one dive system may have a fixed orientation within the rotating frame. An actuator may be operatively connected to the rotating frame to controllably rotate the rotating frame to a desired orientation for robot travel.

Omnidirectional traction module for a robot

The present apparatus is configured to carry an instrument or probe and optionally deploy it against a surface, such as a metal pipeline or storage tank. The apparatus can include a sensor probe for inspecting the integrity of the surface and a first linkage that is operatively coupled to the sensor probe and configured to move the sensor probe according to a first path (in a first direction/first degree of freedom). An actuator can be operatively connected to the first linkage for moving the first linkage so as to move the sensor probe along the first path. A second linkage is operatively connected to the sensor probe and configured to passively move the sensor probe according to a second degree of freedom to cause the sensor probe to become normal to the surface when at least a portion of the apparatus contacts the surface.

Deployment mechanism for passive normalization of a probe relative to a surface

A multidirectional wheel for traversing a surface is provided that includes a magnet and a plurality of rollers disposed around an outer periphery of each of the hubs of the wheels. The rollers are mounted for rotation in a second axial direction that is perpendicular to a first axial direction of the wheel. The rollers are supported by a plurality of magnetically-inducible brackets attached to the hub. The brackets are optimally sized and shaped to reduce the space between the magnetized materials of the wheel and the surface upon which the wheel travels.

Magnetic omni-wheel with roller bracket

An in-pipe moving apparatus for passing through a pipe bent in any direction without control of the attitude of the apparatus is provided. The in-pipe moving apparatus may include at least three sets of tire-integrated wheel units arranged in series in a traveling direction and at least two sets of joint sections that pivotably link the at least three sets of tire-integrated wheel units to each other. Each of the at least three sets of tire-integrated wheel units includes a tire-integrated wheel, a drive section, a first frame fixed to the drive section, and at least one second frame pivotably attached to the drive section. A bending generator is provided between one of the first frames and one of the second frames in the at least three sets of tire-integrated wheel units and imparts tension for causing the first frames and the second frames to have a V-like bent shape.

In-pipe moving apparatus

An object of the invention is to provide an in-pipe traveling apparatus and a traveling module is provided, having a simple structure but capable of operating with a short overall traveling path and setting a large drive force for forward and backward traveling operation. The In one embodiment, the in-pipe traveling apparatus includes at least three traveling modules capable of passing through a pipe. Each of the traveling modules includes a traveling module body, a pair of traveling wheels provided in the traveling module body on one side thereof in a traveling direction, a drive member that drives the pair of traveling wheels in such a way that the traveling wheels rotate, a connection member that connects the traveling module to another traveling module in a bendable manner in a pitching direction, and a swing member that causes the adjacent traveling module to swing in a yawing direction.

Growing community of inventors

Tokyo, Japan

Michele Guarnieri