US 11,673,272 B2
Inspection robot with stability assist device
Mark J. Loosararian, Pittsburgh, PA (US); Michael A. Binger, Pittsburgh, PA (US); Edward A. Bryner, Pittsburgh, PA (US); Edwin H. Cho, Pittsburgh, PA (US); Mark Cho, Pittsburgh, PA (US); Alexander R. Cuti, Pittsburgh, PA (US); Ignacio J. Cordova, Pittsburgh, PA (US); Benjamin A. Guise, Pittsburgh, PA (US); Dillon R. Jourde, Pittsburgh, PA (US); Kevin Y. Low, Pittsburgh, PA (US); Logan A. MacKenzie, Penn Hills, PA (US); Joshua D. Moore, Pittsburgh, PA (US); Jeffrey J. Mrkonich, Pittsburgh, PA (US); William J. Pridgen, Pittsburgh, PA (US); Domenic P. Rodriguez, Pittsburgh, PA (US); Francesco H. Trogu, Pittsburgh, PA (US); Alex C. Watt, North Huntingdon, PA (US); Yizhu Gu, Pittsburgh, PA (US); Ian Miller, Aspinwall, PA (US); Todd Joslin, Wexford, PA (US); Katherine Virginia Denner, Pittsburgh, PA (US); Michael Stephen Auda, Pittsburgh, PA (US); and Samuel Theodore Westenberg, Pittsburgh, PA (US)
Assigned to Gecko Robotics, Inc., Pittsburgh, PA (US)
Filed by Gecko Robotics, Inc., Pittsburgh, PA (US)
Filed on Mar. 9, 2020, as Appl. No. 16/813,701.
Application 16/813,701 is a continuation in part of application No. 15/853,391, filed on Dec. 22, 2017, granted, now 10,698,412.
Claims priority of provisional application 62/815,724, filed on Mar. 8, 2019.
Claims priority of provisional application 62/596,737, filed on Dec. 8, 2017.
Claims priority of provisional application 62/438,788, filed on Dec. 23, 2016.
Prior Publication US 2020/0262261 A1, Aug. 20, 2020
Int. Cl. B25J 5/00 (2006.01); B25J 9/16 (2006.01); B25J 9/00 (2006.01); B25J 9/10 (2006.01); B25J 13/08 (2006.01); B25J 19/00 (2006.01); B25J 19/02 (2006.01); G01B 11/06 (2006.01); G01B 11/24 (2006.01); G01B 11/30 (2006.01); G01B 17/02 (2006.01); G01B 17/06 (2006.01); G01B 17/08 (2006.01); G01J 3/50 (2006.01); G01K 13/00 (2021.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); B60G 17/015 (2006.01); B60G 17/02 (2006.01); B60G 21/00 (2006.01); B62D 37/04 (2006.01); B62D 57/024 (2006.01); G01M 3/04 (2006.01); G01N 21/88 (2006.01); G01N 27/82 (2006.01); G01N 29/04 (2006.01); G05B 15/02 (2006.01)
CPC B25J 9/1669 (2013.01) [B25J 5/007 (2013.01); B25J 9/0009 (2013.01); B25J 9/0015 (2013.01); B25J 9/102 (2013.01); B25J 9/1602 (2013.01); B25J 9/162 (2013.01); B25J 9/1617 (2013.01); B25J 9/1633 (2013.01); B25J 9/1664 (2013.01); B25J 9/1666 (2013.01); B25J 9/1679 (2013.01); B25J 9/1697 (2013.01); B25J 13/088 (2013.01); B25J 19/0029 (2013.01); B25J 19/02 (2013.01); B60G 17/015 (2013.01); B60G 17/02 (2013.01); B60G 21/002 (2013.01); B60G 21/007 (2013.01); B62D 37/04 (2013.01); B62D 57/024 (2013.01); G01B 11/0616 (2013.01); G01B 11/24 (2013.01); G01B 11/303 (2013.01); G01B 17/025 (2013.01); G01B 17/06 (2013.01); G01B 17/08 (2013.01); G01J 3/50 (2013.01); G01K 13/00 (2013.01); G05D 1/0016 (2013.01); G05D 1/0094 (2013.01); G05D 1/0272 (2013.01); G05D 1/0274 (2013.01); G01M 3/04 (2013.01); G01N 21/88 (2013.01); G01N 27/82 (2013.01); G01N 29/04 (2013.01); G01N 2291/0289 (2013.01); G05B 15/02 (2013.01); G05D 2201/0207 (2013.01)] 24 Claims
OG exemplary drawing
 
1. An inspection robot, comprising:
a robot body;
at least two sensors positioned to interrogate an inspection surface, wherein the at least two sensors are communicatively coupled to the robot body;
a drive module comprising at least two wheels that engage the inspection surface, wherein the drive module is coupled to the robot body;
a stability assist device coupled to at least one of the robot body or the drive module;
an actuator coupled to the stability assist device at a first end, and coupled to one of the drive module or the robot body at a second end, wherein the actuator is structured to selectively move the stability assist device between a first position and a second position,
wherein the first position comprises a stored position,
wherein the stability assist device is positioned away from the inspection surface in the stored position, and
wherein the second position comprises a deployed position,
wherein the actuator includes a linear actuator structured to extend to pivot the stability assist device toward the inspection surface into the deployed position, and to retract to pivot the stability assist device away from the inspection surface into the stored position.