IPC분류정보
국가/구분 |
United States(US) Patent
등록
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국제특허분류(IPC7판) |
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출원번호 |
US-0872796
(2010-08-31)
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등록번호 |
US-8297214
(2012-10-30)
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발명자
/ 주소 |
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출원인 / 주소 |
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대리인 / 주소 |
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인용정보 |
피인용 횟수 :
1 인용 특허 :
3 |
초록
▼
A remotely controlled submersible with a circular profile. A shaft crosses the submersible at the center on the pitch axis that is fixed to the external shell holding the thrusters. From this shaft the framework of the submersible hangs with all of the essential components and any additional weight
A remotely controlled submersible with a circular profile. A shaft crosses the submersible at the center on the pitch axis that is fixed to the external shell holding the thrusters. From this shaft the framework of the submersible hangs with all of the essential components and any additional weight required gaining the desired buoyancy. A motor such as a servo motor is mounted to the framework and is coupled to a gear, sprocket or pulley that is fixed on the center shaft. When activated the motor rotates the shell of the submersible along with the thrusters to the desired pitch while the internal frame remains low. The design of the submersible external body in relation with the internal body allows the submersible to pitch and maintain stability with a fixed center of buoyancy and center of gravity.
대표청구항
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1. A Remotely Operated Submersible Vehicle comprises, an external body comprising a charge port, a center shaft, a control tether port, shell bodies, thrusters, a viewing window, a tether support, and window sealing o-rings;an internal body comprising of an internal frame, a pitch servo motor, a pit
1. A Remotely Operated Submersible Vehicle comprises, an external body comprising a charge port, a center shaft, a control tether port, shell bodies, thrusters, a viewing window, a tether support, and window sealing o-rings;an internal body comprising of an internal frame, a pitch servo motor, a pitch shaft train, a camera servo motor, a camera train, a camera arm, a camera shaft mount, a flood light, a video camera, a camera arm mount, a control circuit, battery packs, and weight sets;the remotely operated submersible vehicle having a center of buoyancy;the external body having a first center of gravity positioned at a same location as the center of buoyancy;the internal body having a second center of gravity fixed and vertically downward in relation to the center of buoyancy regardless of pitch orientation of the external body; andthe remotely operated submersible vehicle having a center of gravity determined by the first center of gravity and the second center of gravity on basis of weights of the external body and the internal body. 2. The Remotely Operated Submersible Vehicle as claimed in claim 1 comprises, the shell bodies having a circular profile and comprising of a thruster mount, a propeller guarding collar, propeller guards, and sealing fastener ports;each of the thrusters comprising of a magnetic couple, a propeller, a driving motor, and a shaft coupling cover;the thruster mount being laterally protruded, vertically centered and arranged in horizontal relationship to the shell bodies;the thrusters being inserted into the thruster mount;the propeller protruding from the thruster mount by a propeller shaft and being enveloped by the propeller guarding collar;the magnetic couple comprising of a driver, a follower, a barrier, and a thruster sealing o-ring;the thruster being secured onto the thruster mount at the barrier by thruster fasteners; andthe thruster sealing o-ring being positioned between the thruster mount and the barrier preventing water leakage into the remotely operated submersible. 3. The Remotely Operated Submersible Vehicle as claimed in claim 1 comprises, the internal frame comprises of a circuit board mount, a camera servo mount, a pitch servo mount, a battery mount, a mechanical stop, and a shaft frame mount;the internal frame hanging downwardly from and being able to pivot about the center shaft by the shaft frame mount;the center shaft connected and positioned in concentric relationship to the shell bodies;the pitch servo motor being secured onto the pitch servo mount by pitch servo fasteners; andthe pitch servo motor being connected to the center shaft by the pitch shaft train. 4. The Remotely Operated Submersible Vehicle as claimed in claim 2 comprises, the viewing window being a transparent tubular structure of equal radius relative to the shell bodies;the viewing window being positioned between the shell bodies;the window sealing ring being positioned between and sealing the shell bodies with the viewing window; andthe shell bodies and the viewing window being fastened together at the sealing fastener ports by sealing fasteners. 5. The Remotely Operated Submersible Vehicle as claimed in claim 2 comprises, the driver being connected to the driving motor and sealed within the thruster mount by the barrier and the thruster sealing o-ring;the driver being enveloped by the barrier;the driving motor being connected to the control circuit and sealed within the thruster mount;the follower comprises of a propeller water bearing housing and a static o-ring seal;the follower enveloping the barrier;the propeller shaft being fastened onto the propeller water bearing housing;the static o-ring seal being positioned between the propeller shaft and propeller water bearing housing;the shaft coupling cover enveloping the follower and the propeller shaft; andthe propeller guards being ribbed structures enclosing the propeller in the propeller guarding collar. 6. The Remotely Operated Submersible Vehicle as claimed in claim 4 comprises, the charge port being positioned adjacent to propeller guarding collar and the viewing window;the control tether port being positioned adjacent to the propeller guarding collar and the viewing window; andthe tether support being fastened to shell bodies by tether support fasteners and positioned between the charge port and the control tether port. 7. The Remotely Operated Submersible Vehicle as claimed in claim 3 comprises, the control circuit being fastened to the circuit board mount by circuit board fasteners;the battery pack and the weight set being secured onto the battery mount;the thrusters being connected to the control circuit;the video camera being connected to the control circuit;the flood light being connected to the control circuit;the pitch servo motor being connected to the control circuit;the camera servo motor being connected to the control circuit;the charge port being connected to the control circuit;the control tether port being connected to the control circuit; andthe battery pack being connected and providing power to the control circuit. 8. The Remotely Operated Submersible Vehicle as claimed in claim 3 comprises, the camera servo motor being fastened onto the camera servo mount by camera servo fasteners;the camera shaft mount connected to and being able to pivot about the center shaft;the camera arm being connected to the camera mount;the camera servo motor being connected to the camera shaft mount by the camera train;the flood light and the video camera being fastened onto the camera arm by the camera arm mount; andthe camera train being an angular motion transferring mechanism selected from the group consisting of a gear set, a belt and pulley system, or a chain and sprocket system. 9. The Remotely Operated Submersible Vehicle as claimed in claim 6 comprises, a buoyancy weight set;a charging device;a control tether;a game pad controller;a pair of video glasses; anda video receiver. 10. A Remotely Operated Submersible Vehicle comprises, an external body comprising a charge port, a center shaft, a control tether port, shell bodies, thrusters, a viewing window, a tether support, and window sealing o-rings;an internal body comprising of an internal frame, a pitch servo motor, a pitch shaft train, a camera servo motor, a camera train, a camera arm, a camera shaft mount, a flood light, a video camera, a camera arm mount, a control circuit, battery packs, and weight sets;the remotely operated submersible vehicle having a center of buoyancy;the external body having a first center of gravity positioned at a same location as the center of buoyancy;the internal body having a second center of gravity fixed and vertically downward in relation to the center of buoyancy regardless of pitch orientation of the external body;the remotely operated submersible vehicle having a center of gravity determined by the first center of gravity and the second center of gravity on basis of weights of the external body and the internal body;the shell bodies having a circular profile and comprising of a thruster mount, a propeller guarding collar, propeller guards, and sealing fastener ports;each of the thrusters comprising of a magnetic couple, a propeller, a driving motor, and a shaft coupling cover;the thruster mount being laterally protruded, vertically centered and arranged in horizontal relationship to the shell bodies;the thrusters being inserted into the thruster mount;the propeller protruding from the thruster mount by a propeller shaft and being enveloped by the propeller guarding collar;the magnetic couple comprising of a driver, a follower, a barrier, and a thruster sealing o-ring;the thrusters being secured onto the thruster mount at the barrier by thruster fasteners;the thruster sealing o-ring being positioned between the thruster mount and the barrier preventing water leakage into the remotely operated submersible;the internal frame comprises of a circuit board mount, a camera servo mount, a pitch servo mount, a battery mount, a mechanical stop, and a shaft frame mount;the internal frame hanging downwardly from and being able to pivot about the center shaft by the shaft frame mount;the center shaft connected and positioned in concentric relationship to the shell bodies;the pitch servo motor being secured onto the pitch servo mount by pitch servo fasteners; andthe pitch servo motor being connected to the center shaft by the pitch shaft train. 11. The Remotely Operated Submersible Vehicle as claimed in claim 10 comprises, the viewing window being a transparent tubular structure of equal radius relative to the shell bodies;the viewing window being positioned between the shell bodies;the window sealing ring being positioned between and sealing the shell bodies with the viewing window; andthe shell bodies and the viewing window being fastened together at the sealing fastener ports by sealing fasteners. 12. The Remotely Operated Submersible Vehicle as claimed in claim 10 comprises, the driver being connected to the driving motor and sealed within the thruster mount by the barrier and the thruster sealing o-ring;the driver being enveloped by the barrier;the driving motor being connected to the control circuit and sealed within the thruster mount;the follower comprises of a propeller water bearing housing and a static o-ring seal;the follower enveloping the barrier;the propeller shaft being fastened onto the propeller water bearing housing;the static o-ring seal being positioned between the propeller shaft and propeller water bearing housing;the shaft coupling cover enveloping the follower and the propeller shaft; andthe propeller guards being ribbed structures enclosing the propeller in the propeller guarding collar. 13. The remotely operated submersible vehicle as claimed in claim 10 comprises, the control circuit being fastened to the circuit board mount by circuit board fasteners;the battery pack and the weight set being secured onto the battery mount;the thrusters being connected to the control circuit;the video camera being connected to the control circuit;the flood light being connected to the control circuit;the pitch servo motor being connected to the control circuit;the camera servo motor being connected to the control circuit;the charge port being connected to the control circuit;the control tether port being connected to the control circuit; andthe battery pack being connected and providing power to the control circuit. 14. The Remotely Operated Submersible Vehicle as claimed in claim 10 comprises, the camera servo motor being fastened onto the camera servo mount by camera servo fasteners;the camera shaft mount connected to and being able to pivot about the center shaft;the camera arm being connected to the camera mount;the camera servo motor being connected to the camera shaft mount by the camera train;the flood light and the video camera being fastened onto the camera arm by the camera arm mount; andthe camera train being a pivoting motion transferring mechanism selected from the group consisting of a gear set, a belt and pulley system, or a chain and sprocket system. 15. The remotely operated submersible vehicle as claimed in claim 11 comprises, the charge port being positioned adjacent to propeller guarding collar and the viewing window;the control tether port being positioned adjacent to the propeller guarding collar and the viewing window;the tether support being fastened to shell bodies by tether support fasteners and positioned between the charge port and the control tether port;a buoyancy weight set;a charging device;a control tether;a game pad controller;a pair of video glasses; anda video receiver. 16. A Remotely Operated Submersible Vehicle comprises, an external body comprising a charge port, a center shaft, a control tether port, shell bodies, thrusters, a viewing window, a tether support, and window sealing o-rings;an internal body comprising of an internal frame, a pitch servo motor, a pitch shaft train, a camera servo motor, a camera train, a camera arm, a camera shaft mount, a flood light, a video camera, a camera arm mount, a control circuit, battery packs, and weight sets;the remotely operated submersible vehicle having a center of buoyancy;the external body having a first center of gravity positioned at a same location as the center of buoyancy;the internal body having a second center of gravity fixed and vertically downward in relation to the center of buoyancy regardless of pitch orientation of the external body;the remotely operated submersible vehicle having a center of gravity determined by the first center of gravity and the second center of gravity on basis of weights of the external body and the internal body;the shell bodies having a circular profile and comprising of a thruster mount, a propeller guarding collar, propeller guards, and sealing fastener ports;each of the thrusters comprising of a magnetic couple, a propeller, a driving motor, and a shaft coupling cover;the thruster mount being laterally protruded, vertically centered and arranged in horizontal relationship to the shell bodies;the thrusters being inserted into the thruster mount;the propeller protruding from the thruster mount by a propeller shaft and being enveloped by the propeller guarding collar;the magnetic couple comprising of a driver, a follower, a barrier, and a thruster sealing o-ring;the thrusters being secured onto the thruster mount at the barrier by thruster fasteners;the thruster sealing o-ring being positioned between the thruster mount and the barrier preventing water leakage into the remotely operated submersible;the internal frame comprises of a circuit board mount, a camera servo mount, a pitch servo mount, a battery mount, a mechanical stop, and a shaft frame mount;the internal frame hanging downwardly from and being able to pivot about the center shaft by the shaft frame mount;the center shaft connected and positioned in concentric relationship to the shell bodies;the pitch servo motor being secured onto the pitch servo mount by pitch servo fasteners;the pitch servo motor being connected to the center shaft by the pitch shaft train;the viewing window being a transparent tubular structure of equal radius relative to the shell bodies;the viewing window being positioned between the shell bodies;the window sealing ring being positioned between and sealing the shell bodies with the viewing window;the shell bodies and the viewing window being fastened together at the sealing fastener ports by sealing fasteners;the camera servo motor being fastened onto the camera servo mount by camera servo fasteners;the camera shaft mount connected to and being able to pivot about the center shaft;the camera arm being connected to the camera mount; andthe camera servo motor being connected to the camera shaft mount by the camera train. 17. The Remotely Operated Submersible Vehicle as claimed in claim 16 comprises, the charge port being positioned adjacent to propeller guarding collar and the viewing window;the control tether port being positioned adjacent to the propeller guarding collar and the viewing window;the tether support being fastened to shell bodies by tether support fasteners and positioned between the charge port and the control tether port;a buoyancy weight set;a charging device;a control tether;a game pad controller;a pair of video glasses; anda video receiver. 18. The Remotely Operated Submersible Vehicle as claimed in claim 16 comprises, the driver being connected to the driving motor and sealed within the thruster mount by the barrier and the thruster sealing o-ring;the driver being enveloped by the barrier;the driving motor being connected to the control circuit and sealed within the thruster mount;the follower comprises of a propeller water bearing housing and a static o-ring seal;the follower enveloping the barrier;the propeller shaft being fastened onto the propeller water bearing housing;the static o-ring seal being positioned between the propeller shaft and propeller water bearing housing;the shaft coupling cover enveloping the follower and the propeller shaft; andthe propeller guards being ribbed structures enclosing the propeller in the propeller guarding collar. 19. The Remotely Operated Submersible Vehicle as claimed in claim 16 comprises, the control circuit being fastened to the circuit board mount by circuit board fasteners;the battery pack and the cast weight set being secured onto the battery mount;the thrusters being connected to the control circuit;the video camera being connected to the control circuit;the flood light being connected to the control circuit;the pitch servo motor being connected to the control circuit;the camera servo motor being connected to the control circuit;the charge port being connected to the control circuit;the control tether port being connected to the control circuit; andthe battery pack being connected and providing power to the control circuit. 20. The Remotely Operated Submersible Vehicle as claimed in claim 16 comprises, the flood light and the video camera being fastened onto the camera arm by the camera arm mount; andthe camera train being an angular motion transferring mechanism selected from the group consisting of a gear set, a belt and pulley system, or a chain and sprocket system.
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