Omnidirectional traction module for a robot
First Claim
Patent Images
1. A traction module for a robot, the traction module comprising:
- an outer frame;
a rotating frame rotatably mounted within the outer frame;
at least one drive system mounted within the rotating frame, the at least one drive system having a fixed orientation within the rotating frame, wherein the at least one drive system includes a set of positionable rollers movable between a flat mode and a clearance mode, wherein each of the set of positionable rollers has a respective axis of rotation and the flat mode aligns each axis of rotation of the set of positionable rollers in a plane and the clearance mode aligns each axis of rotation of the set of positionable rollers in at least two distinct planes; and
an actuator operatively connected to the rotating frame to controllably rotate the rotating frame to a desired orientation.
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Abstract
This disclosure provides systems and components for an omnidirectional traction module for use in a robot, such as a crawler robot used in in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine. The traction module may include an outer frame and a rotating frame rotatably mounted within the outer frame. At least one drive system may be mounted within the rotating frame. The at least one dive system may have a fixed orientation within the rotating frame. An actuator may be operatively connected to the rotating frame to controllably rotate the rotating frame to a desired orientation for robot travel.
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Citations
18 Claims
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1. A traction module for a robot, the traction module comprising:
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an outer frame; a rotating frame rotatably mounted within the outer frame; at least one drive system mounted within the rotating frame, the at least one drive system having a fixed orientation within the rotating frame, wherein the at least one drive system includes a set of positionable rollers movable between a flat mode and a clearance mode, wherein each of the set of positionable rollers has a respective axis of rotation and the flat mode aligns each axis of rotation of the set of positionable rollers in a plane and the clearance mode aligns each axis of rotation of the set of positionable rollers in at least two distinct planes; and an actuator operatively connected to the rotating frame to controllably rotate the rotating frame to a desired orientation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A robot system comprising:
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a robot body; a control system; at least one traction module attached to the body, the traction module including; an outer frame; a rotating frame rotatably mounted within the outer frame; at least one drive system mounted within the rotating frame, the at least one drive system having a fixed orientation within the rotating frame and for receiving a move control signal from the control system; and an actuator operatively connected to the rotating frame to controllably rotate the rotating frame to a desired orientation in response to a direction control signal from the control system; and at least one link member for positioning the at least one traction module against a surface being navigated by the robot system, wherein the at least one link member includes a shock absorber and a displacement transducer, and the displacement transducer measures the displacement of the shock absorber and provides a measurement signal to the control system to adjust an operating position of the at least one traction module to change a surface contact force between the at least one traction module and the surface being navigated.
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17. A modular robot system comprising:
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a plurality of modular frame members including at least one link member with a shock absorber; a plurality of traction modules removably attached to the plurality of modular frame members to position the plurality of traction modules against at least one surface of a machine, the plurality of traction modules including at least one drive system mounted within a rotating frame and rotatable to orient the at least one drive system around a 360 degree arc; a plurality of sensor interface adapters removably attached to the plurality of traction modules; and a plurality of sensor modules removably attached to the plurality of sensor interface adapters. - View Dependent Claims (18)
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Specification