Modular rapid development system for building underwater robots and robotic vehicles
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B63G-008/00
B25J-009/08
B63G-008/08
B63B-003/13
B63B-009/06
출원번호
US-0495799
(2014-09-24)
등록번호
US-9315248
(2016-04-19)
발명자
/ 주소
Williams, Eddie Hugh
출원인 / 주소
Williams, Eddie Hugh
대리인 / 주소
Fitch, Even, Tabin & Flannery LLP
인용정보
피인용 횟수 :
2인용 특허 :
14
초록▼
A modular system for building underwater robotic vehicles (URVs), including a pressure vessel system, modular chassis elements, a propulsion system and compatible buoyancy modules. The pressure vessel system uses standardized, interchangeable modules to allow for ease of modification of the URV and
A modular system for building underwater robotic vehicles (URVs), including a pressure vessel system, modular chassis elements, a propulsion system and compatible buoyancy modules. The pressure vessel system uses standardized, interchangeable modules to allow for ease of modification of the URV and accommodation of different internal and external components such as sensors and computer systems. The system also includes standard, reconfigurable connections of the pressure vessel to the modular chassis system. A standardized, modular propulsion system includes a magnetic clutch, and a magnetic sleeve used to power the URV on or off.
대표청구항▼
1. An underwater pressure vessel system, comprising: a dry end cap comprising a generally cylindrical internal portion including at least one groove extending around a perimeter of the internal portion, the at least one groove located proximate to a first end of the dry end cap and configured for re
1. An underwater pressure vessel system, comprising: a dry end cap comprising a generally cylindrical internal portion including at least one groove extending around a perimeter of the internal portion, the at least one groove located proximate to a first end of the dry end cap and configured for receiving an o-ring seal;at least one o-ring seal coupled to the cylindrical body and seated in the at least one groove;a generally cylindrical external portion concentric to the internal portion and located distal to the first end, wherein a diameter of the external portion is greater than a diameter of the internal portion, and wherein an end of the external portion distal to the internal portion is a second end of the dry end cap;a plurality of component mounting holes included in the first end of the internal portion, the component mounting holes arrayed in a circle proximate to the perimeter of the internal portion and oriented parallel to a longitudinal axis of the dry end cap, the component mounting holes configured for coupling of a component to the dry end cap;a plurality of link strut mounting holes including in the external portion of the dry end cap, the link strut mounting holes arrayed around a perimeter of the external portion and oriented radially with respect to the external portion, the link strut mounting holes configured to couple to a link strut; anda plurality of tube mounting holes arrayed around the perimeter of the internal portion, oriented radially with respect to the internal portion, and located between the at least one o-ring and the external portion, wherein the plurality of tube mounting holes are configured for coupling to a pressure vessel tube. 2. The underwater pressure vessel system of claim 1, wherein the external portion is tubular. 3. The underwater pressure vessel system of claim 2, wherein the second end of the dry end cap further comprises a plurality of rim mounting holes arrayed in circle proximate to the perimeter of the external portion, the plurality of rim mounting holes oriented parallel to the longitudinal axis, the plurality of rim mounting holes configured to couple to a rim. 4. The underwater pressure vessel system of claim 3, further comprising a tubular rim concentrically coupled to the second end of the dry end cap, the tubular rim including the plurality of rim mounting holes, the rim including a diameter smaller than the diameter of the external portion and including the plurality of tube mounting holes arrayed in a circle around the perimeter of the rim. 5. The underwater pressure vessel system of claim 4, wherein the dry end cap is a first dry end cap, further comprising: a second dry end cap;a tubular end cap collar coupled to the second dry end cap, the end cap collar including an internal shoulder, wherein a first end of the end cap collar is above the shoulder and a second end of the end cap collar is below the shoulder, the end cap collar further comprising the plurality of tube mounting holes located in a perimeter of the end cap collar proximate to the first end, the end cap collar further comprising the plurality of rim mounting holes located in the shoulder of the end cap collar, wherein the second end of the end cap collar is coupled to a second end of the second dry end cap, and wherein the first dry end cap is coupled to the second dry end cap by coupling the end cap collar to the rim. 6. The underwater pressure vessel system of claim 2, the second end of the dry end cap further comprising a plurality of radially-oriented strain relief grooves across the second end. 7. The underwater pressure vessel system of claim 1, wherein the dry end cap includes at least one cable hole extending through the dry end cap and configured to allow a cable to pass through the dry end cap. 8. The underwater pressure vessel system of claim 1, wherein the external portion further comprises a plurality of cable port holes arrayed around the perimeter of the second end, the cable port holes configured to receive a waterproof electrical port insert, and wherein the internal portion is tubular such that a cable passing through the cable port hole exits through the first end of the dry end cap. 9. The underwater pressure vessel system of claim 1, wherein the internal portion is a first internal portion, further comprising: a second internal portion configured to match the first internal portion, the external portion interposed between the first internal portion and the second internal portion, the dry end cap further including a continuous longitudinal bore. 10. The underwater pressure vessel system of claim 9, the external portion further comprising a plurality of cable port holes arrayed around the perimeter of the external portion, the cable port holes configured to receive a waterproof electrical port insert. 11. The underwater pressure vessel system of claim 2, wherein the internal portion of the dry end cap includes a tubular portion forming an internal cavity configured to receive a clutch housing, and further comprising: the clutch housing coupled to the internal portion of the dry end cap, the clutch housing including an end cap shaft configured to rotationally couple to a motor, the end cap shaft coupled to the clutch housing to allow rotation of the end cap shaft within the clutch housing, an end cap magnetic disk concentrically coupled to an end of the end cap shaft proximate to the external portion, the end cap magnetic disk including at least four magnets embedded in the end cap magnetic disk proximate to the perimeter of the end cap magnetic disk, wherein the at least four magnets are aligned with opposite poles facing upwards. 12. The underwater pressure vessel system of claim 11, further comprising: a propeller module configured to couple to the external portion, the propeller module comprising:a propeller housing including a void and the plurality of tube mounting holes in the perimeter of the propeller housing such that the propeller housing is coupled to the external portion using a plurality of fasteners in the plurality of tube mounting holes;an external shaft passing through the void and rotationally coupled to the propeller housing;an external magnetic disk concentrically coupled to an end of a propeller shaft proximate to the external portion, the external magnetic disk including at least four magnets embedded in the external magnetic disk proximate to a perimeter of the end cap magnetic disk, wherein the at least four magnets are aligned with opposite poles facing upwards, whereby the end cap magnetic disk and the external magnetic disk are magnetically coupled such that rotation of the end cap shaft causes rotation of the external shaft. 13. The underwater pressure vessel system of claim 12, further including a propeller coupled to the external shaft. 14. The underwater pressure vessel system of claim 1, wherein the dry end cap is a first dry end cap, and further comprising: a pressure vessel comprising:a tube including the plurality of tube mounting holes proximate to each end of the tube, wherein a first dry end cap internal portion is inserted into a first end of the tube;a second dry end cap wherein a second dry end cap internal portion is inserted into a second end of the tube, whereby a watertight internal cavity is formed in the pressure vessel. 15. The underwater pressure vessel system of claim 14, further comprising: a chassis;a plurality of link struts coupled to the plurality of link strut mounting holes and to the chassis. 16. The underwater pressure vessel system of claim 14, further comprising: a power assembly including an electrical circuit including a power source and a reed switch, the power assembly coupled to the first end of the first dry end cap such that the power assembly is contained within the pressure vessel;a sleeve configured to fit over the tube proximate to the first dry end cap, the sleeve configured to move between a first position and a second position with respect to the power assembly, the sleeve including a magnet, such that when the sleeve is in the first position the magnet aligns with the reed switch and the reed switch is activated, and when the sleeve is in the second position the magnet does not align with the reed switch and the reed switch is unactivated. 17. The underwater pressure vessel system of claim 16, further comprising a first headed mounting screw and a second headed mounting screw coupled to the plurality of tube mounting holes proximate to the first dry end cap, and the magnetic sleeve further comprising a screw notch configured to couple to a screw selected from the group consisting of a first screw and a second screw, wherein coupling the magnetic sleeve to the first screw locates the magnetic sleeve in the first position, and wherein coupling the magnetic sleeve to the second screw locates the magnetic sleeve in the second position. 18. The underwater pressure vessel system of claim 14, wherein the tube is a first tube, further comprising: a second tube interposed between the first tube and the first dry end cap;a tubular wet link interposed between the first tube and the second tube, the wet link including a wet link internal portion, a wet link external portion, the plurality of tube mounting holes in the perimeter of the wet link internal portion, the plurality of link strut mounting holes in the perimeter of the wet link external portion, a plurality of wet link rim mounting holes in an end of the external portion and arrayed in a circle proximate to the perimeter of the external portion, the plurality of wet link rim mounting holes oriented parallel to the longitudinal axis;a tubular mounting rim interposed between the wet link and the first tube, the mounting rim including the plurality of tube mounting holes in a perimeter of the mounting rim and the plurality of rim mounting holes oriented in a longitudinal direction and passing through the mounting rim, whereby the mounting rim is coupled to the wet link using the rim mounting hole and the mounting rim is coupled to the first tube using the tube mounting holes. 19. The underwater pressure vessel system of claim 1, further comprising: a pressure vessel comprising:a tube including the plurality of tube mounting holes proximate to each end of the tube, wherein the internal portion of the dry end cap is inserted into a first end of the tube and coupled to the tube using a plurality of fasteners in the tube mounting holes;a tubular wet link coupled to a second end of the tube, the wet link including a wet link internal portion matching the configuration of the internal portion and including the at least one o-ring groove and at least one o-ring seal, and a wet link external portion matching the configuration of the external portion, the wet link internal portion including the plurality of tube mounting holes, the wet link external portion including the plurality of link strut mounting holes, the wet link further including a continuous longitudinal bore, the wet link internal portion inserted into a second end of the tube and coupled to the tube using the plurality of fasteners in the tube mounting holes. 20. The underwater pressure vessel system of claim 19, further comprising: a wet nosecone coupled to the external portion of the wet link, the wet nosecone including the plurality of tube mounting holes in an end of the wet nosecone proximate to the wet link, the wet nosecone further including a plurality of flooding holes in an end of the wet nosecone distal to the wet link, the flooding holes configured to allow fluid flow through the flooding holes. 21. The underwater pressure vessel system of claim 1, wherein the second end of the dry end cap is a parabolic nosecone shape.
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이 특허에 인용된 특허 (14)
Thomas John R. (Wichita KS), Air powered water propulsion method and apparatus.
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