US5451135A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Collapsible mobile vehicle
Assignee: Carnegie Mellon University
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Filing: 1993-04-02
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Granted: 1995-09-19
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Expires: 2013-04-02
Abstract
Abstract A mobile vehicle having a substantially hexagonally-shaped frame member that is movable between a collapsed position to enable the vehicle to enter a vessel opening or an area having constrained access points and a more stable expanded position. Drive apparatuses are attached to the frame member for driving the vehicle on a surface. The vehicle is also equipped with a tether line that is used to supply control power to the vehicle drives and to deploy and retrieve the vehicle. Various collapsible tool members are operably attached to the vehicle for performing various tasks within an enclosed environment.
Inventors
- 👤 Hagen Schempf
- 👤 William L. Whittaker
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 14:49
CPC Classifications
B; B08; B08B; B08B9/00; B08B9/08; B08B9/093; B08B9/0933; B62; B62D; B62D55/00; B62D55/06; B62D55/065; B62D55/08; B62D55/084; B62D57/00; B62D57/02; B62D57/036; E; E02; E02F; E02F9/00; E02F9/02; E02F9/024
Claims Analysis
Total Claims: 35
Claim 1
Independent Claim
171 words
A mobile vehicle for use in an enclosed vessel having an opening therein comprising: a frame member movable between a first collapsed position wherein said frame member can enter the vessel through the opening therein and a second expanded position, said frame member comprising first and second side members and a pair of collapsible frame assemblies, each said collapsible frame assembly comprising two pivotally interconnected linkage members, one linkage member having one end thereof pivotally attached to said first side member and the other of said linkage members having one end thereof pivotally attached to said second side member such that each said collapsible frame assembly extends between said first and second side members; drive means attached to said frame member for propelling said frame member; rotary actuator means pivotally interconnecting the linkage members of at least one of said collapsible frame assemblies for selectively moving said frame member between said first and second positions; and tool means operably attached to said frame member for performing a task in the vessel.
Claim 2
Dependent Claim
171 words
A mobile vehicle for use in an enclosed vessel having an opening therein comprising: a frame member movable between a first collapsed position wherein said frame member can enter the vessel through the opening therein and a second expanded position, said frame member comprising first and second side members and a pair of collapsible frame assemblies, each said collapsible frame assembly comprising two pivotally interconnected linkage members, one linkage member having one end thereof pivotally attached to said first side member and the other of said linkage members having one end thereof pivotally attached to said second side member such that each said collapsible frame assembly extends between said first and second side members; drive means attached to said frame member for propelling said frame member; rotary actuator means pivotally interconnecting the linkage members of at least one of said collapsible frame assemblies for selectively moving said frame member between said first and second positions; and tool means operably attached to said frame member for performing a task in the vessel.
Claim 3
Dependent Claim
36 words
The mobile vehicle of claim 1 further comprising control means located outside of said vessel and communicating with said mobile vehicle to enable said mobile vehicle to be controlled by personnel located outside of said vessel.
Claim 4
Dependent Claim
51 words
The mobile vehicle of claim 2 further comprising a tether means attached to said frame member, said tether means supplying power to said vehicle from a remote power source and providing a means whereby said vehicle may be deployed and retrieved by a vehicle retrieval means located outside of the vessel.
Claim 5
Dependent Claim
32 words
The mobile vehicle of claim 1 wherein said drive means comprises a plurality of surface engaging endless driven members attached to said frame member for driving said frame member on a surface.
Claim 6
Dependent Claim
16 words
The mobile vehicle of claim 4 wherein said endless driven members are driven by hydraulic motors.
Claim 7
Dependent Claim
16 words
The mobile vehicle of claim 4 wherein said endless driven members are driven by electric motors.
Claim 8
Dependent Claim
16 words
The mobile vehicle of claim 4 wherein said endless driven members are driven by pneumatic motors.
Claim 9
Dependent Claim
31 words
The mobile vehicle of claim 1 wherein said drive means comprises a plurality of driven elliptically-shaped cylinders each having a helically wound, surface engaging member attached to the outer surface thereof.
Claim 10
Dependent Claim
16 words
The mobile vehicle of claim 8 wherein said plurality of elliptically shaped cylinders are hydraulically driven.
Claim 11
Dependent Claim
16 words
The mobile vehicle of claim 8 wherein said plurality of elliptically shaped cylinders are electrically driven.
Claim 12
Dependent Claim
16 words
The mobile vehicle of claim 10 wherein said plurality of elliptical shaped cylinders are pneumatically driven.
Claim 13
Dependent Claim
22 words
The mobile vehicle of claim 1 wherein said drive means comprises a plurality of driven wheels operably attached to said frame member.
Claim 14
Dependent Claim
15 words
The mobile vehicle of claim 12 wherein said plurality of driven wheels are hydraulically driven.
Claim 15
Dependent Claim
15 words
The mobile vehicle of claim 12 wherein said plurality of driven wheels are electrically driven.
Claim 16
Dependent Claim
16 words
The mobile vehicle of claim 12 wherein said plurality of endless driven wheels are pneumatically driven.
Claim 17
Dependent Claim
64 words
The mobile vehicle of claim 1 wherein said rotary actuator means comprises: a first rotary actuator pivotally interconnecting the linkage members of one said collapsible frame assembly for selectively extending and collapsing said collapsible frame assembly; and a second rotary actuator pivotally interconnecting the linkage members of the other said collapsible frame assembly for selectively extending and collapsing the other said collapsible frame assembly.
Claim 18
Dependent Claim
17 words
The mobile vehicle of claim 16 wherein said first and second actuators are hydraulically powered rotary actuators.
Claim 19
Dependent Claim
17 words
The mobile vehicle of claim 16 wherein said first and second actuators comprise electrically powered rotary actuators.
Claim 20
Dependent Claim
17 words
The mobile vehicle of claim 16 wherein said first and second actuators comprise pneumatically powered rotary actuators.
Claim 21
Dependent Claim
46 words
The mobile vehicle of claim 1 wherein said tool means is operably attached to said frame member by a pivotable manipulator arm operably attached to said frame member, said pivotable manipulator arm having tool gripping means attached thereto for gripping and manipulating said tool means thereby.
Claim 22
Dependent Claim
25 words
The mobile vehicle of claim 20 wherein said tool means is selected from the group containing a hook member, a prybar, and a bucket member.
Claim 23
Dependent Claim
20 words
The mobile vehicle of claim 20 further comprising video camera means and light means attached to said pivotable manipulator arm.
Claim 24
Dependent Claim
31 words
The mobile vehicle of claim 1 wherein said tool means comprises an articulated backhoe boom operably attached to said frame member, said backhoe boom having a bucket member operably attached thereto.
Claim 25
Dependent Claim
18 words
The mobile vehicle of claim 1 wherein said tool means comprises plowing means attached to said frame member.
Claim 26
Dependent Claim
20 words
The mobile vehicle of claim 24 wherein said plowing means comprises a collapsible plow member attached to said frame member.
Claim 27
Dependent Claim
101 words
The mobile vehicle of claim 25 wherein said collapsible plow member comprises: a support member pivotally attached to said frame member; first and second blade members pivotally attached to said support member, said first and second blade members being pivotal between an open position wherein said blade members are aligned to form a continuous plow and a collapsed position wherein said first and second blade members are positioned in a substantially confronting relationship to one another; and first blade actuator means attached to said support member for selectively pivoting said first and second blade members between said open and collapsed positions.
Claim 28
Dependent Claim
66 words
The mobile vehicle of claim 26 wherein said first blade actuator means comprises a first rotary actuator attached to said support member and said first blade member for pivoting said first blade member between said open and collapsed positions and a second rotary actuator attached to said support member and said second blade member for pivoting said second blade member between said open and collapsed positions.
Claim 29
Dependent Claim
54 words
The mobile vehicle of claim 26 further comprising second blade actuator means, said second blade actuator means being attached to said support member for selectively raising and lowering said support member with respect to said frame member to simultaneously raise and lower said first and second blade members with respect to said frame member.
Claim 30
Dependent Claim
25 words
The mobile vehicle of claim 26 further comprising means for pivoting said collapsible plow member at an angular orientation with respect to said frame member.
Claim 31
Dependent Claim
133 words
A collapsible plow attachable to the frame of a mobile vehicle comprising: a support member pivotally attachable to the frame of the vehicle; first and second blade members pivotally attached to said support member, said first and second blade members being pivotal between an open position wherein said blade members are aligned to form a continuous plow and a collapsed position wherein said first and second blade members are positioned in a substantially confronting relationship to one another; and a first rotary actuator attached to said support member and said first blade member for selectively pivoting said first blade member between said open and collapsed positions and a second rotary actuator attached to said support member and said second blade member for pivoting said second blade member between said open and collapsed positions.
Claim 32
Dependent Claim
133 words
A collapsible plow attachable to the frame of a mobile vehicle comprising: a support member pivotally attachable to the frame of the vehicle; first and second blade members pivotally attached to said support member, said first and second blade members being pivotal between an open position wherein said blade members are aligned to form a continuous plow and a collapsed position wherein said first and second blade members are positioned in a substantially confronting relationship to one another; and a first rotary actuator attached to said support member and said first blade member for selectively pivoting said first blade member between said open and collapsed positions and a second rotary actuator attached to said support member and said second blade member for pivoting said second blade member between said open and collapsed positions.
Claim 33
Dependent Claim
35 words
The collapsible plow of claim 30 further comprising second blade actuator means attached to said support member and the vehicle frame for selectively raising and lowering said support member with respect to the vehicle frame.
Claim 34
Dependent Claim
39 words
The collapsible plow of claim 30 further comprising means connected at the pivotal connection of the support member and the frame for moving said collapsible plow to an angular orientation with respect to said frame of said mobile vehicle.
Claim 35
Dependent Claim
19 words
The mobile vehicle of claim 1 wherein said tool means comprises camera means operably attached to said frame member.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1998-09-18 | 1999-03-20 | 1999-09-19 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2002-09-18 | 2003-03-20 | 2003-09-19 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2006-09-18 | 2007-03-20 | 2007-09-19 | $7700.00 | Window Closed / Lapsed |