公开(公告)号：US20100101346A1

公开(公告)日：2010-04-29

申请号：US12260895

申请日：2008-10-29

Applicant: Sam Johnson ,  Taylor D. Ritchie ,  Gerald V. Castillo, JR. ,  Eric D. Schroder ,  Eric J. Versluys

Inventor： Sam Johnson ,  Taylor D. Ritchie ,  Gerald V. Castillo, JR. ,  Eric D. Schroder ,  Eric J. Versluys

IPC: B25J17/00 ,  G05B19/00 ,  F16D43/20 ,  F16D7/00 ,  F16H57/00 ,  G05B1/01

CPC classification number: B25J13/088 ,  B25J9/1641 ,  F16D7/00 ,  F16D7/028 ,  F16D2300/18 ,  G05B19/404 ,  G05B2219/39507 ,  Y10T74/19614 ,  Y10T74/20329

Abstract: In one embodiment, a robotic manipulator arm includes a robotic joint, a rotational position sensor, and a control system. The rotational position sensor is coupled to the main housing of the robotic joint. The control system is connected to the rotational position sensor. During normal rotational motion toward a commanded motor position of joint output, the control system determines that normal joint un-slipped motion is occurring with respect to the joint output in response to the motor input commands. Responsive to joint slip during commanded motor motion, the control system compares position data from the rotational position sensor to commanded motor position to generate an error value and, based on the error value, compensates for the joint slip.

Abstract translation: 在一个实施例中，机器人操纵臂包括机器人接头，旋转位置传感器和控制系统。 旋转位置传感器联接到机器人接头的主壳体。 控制系统连接到旋转位置传感器。 在正常旋转运动中，朝向接合输出的指令电动机位置，控制系统根据电动机输入命令确定相对于联合输出正在发生正常关节无滑动运动。 响应于指令电机运动期间的关节滑移，控制系统将来自旋转位置传感器的位置数据与指令的电机位置进行比较，以产生误差值，并根据误差值补偿关节滑移。

公开(公告)号：US07204208B2

公开(公告)日：2007-04-17

申请号：US10464362

申请日：2003-06-17

Applicant: Samuel A. Johnson ,  Daniel S. Johnson

Inventor： Samuel A. Johnson ,  Daniel S. Johnson

IPC: F22B37/20

CPC classification number: F22B37/48 ,  F28G1/166 ,  F28G15/003

Abstract: A robotic apparatus for the cleaning and maintenance of coal fired boilers, which is designed to operate in the high temperature environment of the combustion gasses to effectively clean and remove slag deposits of the boiler heat transfer surfaces by use of a precision directed, low pressure, low flow rate water stream. The robotic cleaning apparatus is comprised of lightweight carbon fiber structural elements, attached to the exterior of the boiler, and cooled by annular pressurized water sheaths impingent on a thin metal skin covering the lightweight structural elements. Multiple articulated joints allow for complete access to the heat transfer surfaces of the boiler. A variety of payloads can be delivered to specific points within the boiler, including imaging systems, cutting, and welding apparatuses. A mathematical state space control matrix allows for optimal positioning and feedback control of motions.

Abstract translation: 一种用于清洁和维护燃煤锅炉的机器人设备，其设计用于在燃烧气体的高温环境中操作，以通过使用精确定向的低压，有效地清洁和去除锅炉传热表面的渣沉积物， 低流量水流。 机器人清洁装置由轻质的碳纤维结构元件组成，附着在锅炉的外部，并且被环绕的加压水鞘所冷却，这些环形加压的水鞘撞在覆盖轻质结构元件的薄金属皮上。 多个铰接接头允许完全进入锅炉的传热表面。 各种有效载荷可以传送到锅炉内的特定点，包括成像系统，切割和焊接设备。 数学状态空间控制矩阵允许运动的最佳定位和反馈控制。

公开(公告)号：US20060016329A1

公开(公告)日：2006-01-26

申请号：US10899342

申请日：2004-07-26

Applicant: Samuel Johnson

Inventor： Samuel Johnson

IPC: F16J10/00

CPC classification number: F15B15/1428 ,  F15B15/1438 ,  F15B2215/305

Abstract: A fluid actuator having a honed metallic sleeved inner liner assembled with fitted end caps. The inner liner and end caps are wound with carbon reinforced fiber filaments in both longitudinal and hoop orientations so as to withstand increased fluid pressure over traditional metallic designs. The fluid actuator of the present invention is lightweight and had an extremely stiff piston and rod assembly, which may also be fabricated from high flexural modulus composite materials so as to allow for a very stiff, lightweight, hydraulic cylinder which is particularly resistant to column buckling at long extensions and comprises an economical, non-rebuildable design.

Abstract translation: 流体致动器具有装配有安装的端盖的珩磨金属套筒内衬。 内衬层和端盖在纵向和环向取向都用碳纤维长丝缠绕，以承受比传统金属设计更高的流体压力。 本发明的流体致动器是轻质的并且具有非常硬的活塞和杆组件，其也可以由高弯曲模量复合材料制成，以便允许非常刚性，重量轻的液压缸，其特别是耐柱弯曲 在长的延伸和包括经济，不可重建的设计。

公开(公告)号：US07185581B2

公开(公告)日：2007-03-06

申请号：US10899342

申请日：2004-07-26

Applicant: Samuel A. Johnson

Inventor： Samuel A. Johnson

IPC: F16J10/00

CPC classification number: F15B15/1428 ,  F15B15/1438 ,  F15B2215/305

Abstract: A fluid actuator having a honed metallic sleeved inner liner assembled with fitted end caps. The inner liner and end caps are wound with carbon reinforced fiber filaments in both longitudinal and hoop orientations so as to withstand increased fluid pressure over traditional metallic designs. The fluid actuator of the present invention is lightweight and had an extremely stiff piston and rod assembly, which may also be fabricated from high flexural modulus composite materials so as to allow for a very stiff, lightweight, hydraulic cylinder which is particularly resistant to column buckling at long extensions and comprises an economical, non-rebuildable design.

Abstract translation: 流体致动器具有装配有安装的端盖的珩磨金属套筒内衬。 内衬层和端盖在纵向和环向取向都用碳纤维长丝缠绕，以承受比传统金属设计更高的流体压力。 本发明的流体致动器是轻质的并且具有非常硬的活塞和杆组件，其也可以由高弯曲模量复合材料制成，以便允许非常刚性，重量轻的液压缸，其特别是耐柱弯曲 在长的延伸和包括经济，不可重建的设计。

公开(公告)号：US07111884B2

公开(公告)日：2006-09-26

申请号：US10229255

申请日：2002-08-28

Applicant: Daniel Sutton Johnson

Inventor： Daniel Sutton Johnson

IPC: B60P1/32

CPC classification number: B60R11/00 ,  B60P3/14 ,  B60R11/06 ,  B60R2011/004 ,  B60R2011/0082 ,  B60R2011/0084 ,  B60R2011/0085 ,  B60R2011/0092

Abstract: A storage compartment and integrated tailgate worksurface is disclosed. The storage compartment is easily retrofitable to any standard or light duty pick-up truck bed. A parallel linkage mechanism and integrated power unit can raise and lower the storage compartment without rotation, thereby keeping objects in an initial desired orientation and placement within the compartment. The parallel linkage system also facilitates adjustment of the integrated tailgate work surface to convenient working heights.

Abstract translation: 公开了一种存储隔间和综合后挡板工作面。 储物箱对任何标准或轻型皮卡车床都很容易改装。 平行联动机构和集成动力单元可以不旋转地升高和降低储藏室，从而将物体保持在初始期望的取向和放置在隔室内。 平行联动系统还有助于整合尾门工作面的调整，方便工作高度。

公开(公告)号：US20060089090A1

公开(公告)日：2006-04-27

申请号：US10970214

申请日：2004-10-21

Applicant: Samuel Johnson ,  Joseph Dixon

Inventor： Samuel Johnson ,  Joseph Dixon

IPC: B24C1/00 ,  B24C3/00 ,  B24B1/00

CPC classification number: B24C1/003 ,  B24C3/06

Abstract: Abrasive cleaning and decontamination methods and systems are disclosed. The methods and systems use a high pressure liquefied gas, such as carbon dioxide, which produces insignificant quantities of secondary waste. These principles of the invention exploit the properties of the relatively high triple point of CO2 in order to first pressurize it to 35,000 to 60,000 PSI from a pressurized liquid. In the pressurized state, such a fluid can be at or above room temperature, allowing for transport over long distances in a flexible high pressure hose. At a point of use, a heat exchanger may subsequently chill the liquid, so that after expansion through a small high pressure orifice, a significant fraction of the liquid is converted to solid phase crystals exiting at high velocity to effectively clean and decontaminate. For more aggressive cleaning, abrasive particles and/or small diameter solid CO2 pellets can be entrained into the high pressure CO2 slipstream.

Abstract translation: 公开了磨料清洁和去污方法和系统。 该方法和系统使用高压液化气体，例如二氧化碳，其产生不大量的二次废物。 本发明的这些原理利用CO 3相对高的三重点的性质，以首先将其从加压液体加压至35,000至60000PSI。 在加压状态下，这种流体可处于或高于室温，允许在柔性高压软管中长距离运输。 在使用时，热交换器可以随后冷却液体，使得在通过小的高压孔膨胀之后，大部分液体被转化成以高速度离开的固相晶体以有效地清洁和净化。 为了更积极的清洁，磨料颗粒和/或小直径的固体CO 2颗粒可以被夹带到高压CO 2 2滑流中。

公开(公告)号：US08333129B2

公开(公告)日：2012-12-18

申请号：US12260895

申请日：2008-10-29

Applicant: Sam Johnson ,  Taylor Drew Ritchie ,  Gerald Vincent Castillo, Jr. ,  Eric D. Schroder ,  Eric James Versluys

Inventor： Sam Johnson ,  Taylor Drew Ritchie ,  Gerald Vincent Castillo, Jr. ,  Eric D. Schroder ,  Eric James Versluys

IPC: B25J17/00

CPC classification number: B25J13/088 ,  B25J9/1641 ,  F16D7/00 ,  F16D7/028 ,  F16D2300/18 ,  G05B19/404 ,  G05B2219/39507 ,  Y10T74/19614 ,  Y10T74/20329

Abstract: In one embodiment, a robotic manipulator arm includes a robotic joint, a rotational position sensor, and a control system. The rotational position sensor is coupled to the main housing of the robotic joint. The control system is connected to the rotational position sensor. During normal rotational motion toward a commanded motor position of joint output, the control system determines that normal joint un-slipped motion is occurring with respect to the joint output in response to the motor input commands. Responsive to joint slip during commanded motor motion, the control system compares position data from the rotational position sensor to commanded motor position to generate an error value and, based on the error value, compensates for the joint slip.

Abstract translation: 在一个实施例中，机器人操纵臂包括机器人接头，旋转位置传感器和控制系统。 旋转位置传感器联接到机器人接头的主壳体。 控制系统连接到旋转位置传感器。 在正常旋转运动中，朝向接合输出的指令电动机位置，控制系统根据电动机输入命令确定相对于联合输出正在发生正常关节无滑动运动。 响应于指令电机运动期间的关节滑移，控制系统将来自旋转位置传感器的位置数据与指令的电机位置进行比较，以产生误差值，并根据误差值补偿关节滑移。

公开(公告)号：US07743576B2

公开(公告)日：2010-06-29

申请号：US10771935

申请日：2004-02-05

Applicant: Samuel Alan Johnson

Inventor： Samuel Alan Johnson

IPC: E04H12/18

CPC classification number: B64G1/66 ,  B64G1/222 ,  B64G9/00 ,  G02B7/183 ,  G02B23/16 ,  H01Q1/08

Abstract: A deployable and retractable space frame structure which requires no assembly, and can be either manually or automatically activated. It comprises rigid end rings or the like which attach to a multitude of spaced trusses of generally slender aspect ratio. The trusses are fabricated of two or more generally rigid, beam like strips which are hinged so as to become very flexible and non rigid when hinged strip elements lie planarly flattened, thus allowing the structure to collapse into a minimum volume state. In this configuration truss beams assume a curvature approximating the curvature of the structure end rings. Upon deployment, the truss beams become straight, and hinged beam-like strips fold to create a triangular cross sectional moment of inertia to become very rigid and straight. The structure is deployable and stow-able an infinite number of times, and is suitable for a wide variety of applications including telescope structures, portable building and antennae masts, planetary vehicles, space stations, and the like.

Abstract translation: 可部署和可缩回的空间框架结构，不需要组装，也可以手动或自动启动。 它包括刚性端环等，其连接到具有通常细长的纵横比的多个隔开的桁架。 桁架由两个或更多个通常刚性的梁状条制成，其被铰接以便当铰接的带状元件平面平坦化时变得非常柔性并且非刚性，从而允许结构塌陷成最小体积状态。 在这种配置中，桁架梁呈现接近结构端环曲率的曲率。 在展开时，桁架梁变得直线，并且铰接的梁状条折叠以产生三角形横截面的惯性矩，变得非常刚性和直线。 该结构可部署和可收放无数次，适用于各种应用，包括望远镜结构，便携式建筑物和天线桅杆，行星式车辆，空间站等。