COMPACT MAGNETIC CRAWLER VEHICLE WITH ANTI-ROCKING SUPPORTS
First Claim
1. A magnetic robotic crawler vehicle for traversing a surface, comprising:
- a chassis;
a magnetic drive wheel mounted to the chassis, wherein the drive wheel extends in a lateral direction and comprises;
two spaced apart flux concentrating yokes that rotate about a rotational axis and are configured to be driven independently thereby driving and steering the vehicle along the surface, wherein a longitudinal axis of the vehicle extends perpendicularly to the lateral, rotational axis in a front and back direction and through the midpoint between the two yokes; and
an axially magnetized hub extending laterally between the two yokes; and
a stabilization mechanism coupled to the chassis, the stabilization mechanism comprising;
a first and a second support element configured to contact and move along the surface during normal operation of the vehicle, the first and second support elements being positioned on opposite sides of the drive wheel relative to the rotational axis, and wherein the first and second support elements are positioned symmetrically with respect to the longitudinal axis; and
a support mechanism moveably coupling the first and second support elements to the chassis, wherein the support mechanism is configured to move the first and second support elements relative to the chassis in at least an up and down direction, wherein the up and down direction is generally perpendicular to both the longitudinal axis and the rotational axis,wherein the support mechanism is passive in nature and moves the first and second support elements in the up and down direction in response to a curvature of the surface thereby maintaining the first and second support elements in contact with the surface.
1 Assignment
0 Petitions
Accused Products
Abstract
A robotic vehicle for traversing surfaces is provided. The vehicle is comprised of a chassis supporting a magnetic drive wheel for driving and steering the vehicle and a stabilization mechanism. The magnetic wheel comprises two flux concentrator yokes and an axially magnetized hub extending therebetween. The hub includes a central housing configured to house a sensor probe and enhance the magnetic pull force of the wheel by providing a continuous pathway of high magnetic permeability material for magnetic flux to flow axially through the drive wheel. The stabilization mechanism comprises a front and rear facing support element moveably coupled to the chassis and configured to contact the surface and move symmetrically relative to the chassis thereby maintaining the vehicle and probe normal to the surface and providing stability to the vehicle while traversing surfaces regardless of surface curvature and vehicle orientation.
-
Citations
24 Claims
-
1. A magnetic robotic crawler vehicle for traversing a surface, comprising:
-
a chassis; a magnetic drive wheel mounted to the chassis, wherein the drive wheel extends in a lateral direction and comprises; two spaced apart flux concentrating yokes that rotate about a rotational axis and are configured to be driven independently thereby driving and steering the vehicle along the surface, wherein a longitudinal axis of the vehicle extends perpendicularly to the lateral, rotational axis in a front and back direction and through the midpoint between the two yokes; and an axially magnetized hub extending laterally between the two yokes; and a stabilization mechanism coupled to the chassis, the stabilization mechanism comprising; a first and a second support element configured to contact and move along the surface during normal operation of the vehicle, the first and second support elements being positioned on opposite sides of the drive wheel relative to the rotational axis, and wherein the first and second support elements are positioned symmetrically with respect to the longitudinal axis; and a support mechanism moveably coupling the first and second support elements to the chassis, wherein the support mechanism is configured to move the first and second support elements relative to the chassis in at least an up and down direction, wherein the up and down direction is generally perpendicular to both the longitudinal axis and the rotational axis, wherein the support mechanism is passive in nature and moves the first and second support elements in the up and down direction in response to a curvature of the surface thereby maintaining the first and second support elements in contact with the surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
-
-
18. A magnetic robotic crawler vehicle for traversing a surface, comprising:
-
a chassis; a magnetic drive wheel mounted to the chassis, wherein the drive wheel extends in a lateral direction and comprises; two spaced apart flux concentrating yokes that rotate about a rotational axis and are configured to be driven independently thereby driving and steering the vehicle along the surface, wherein a longitudinal axis of the vehicle extends perpendicularly to the rotational axis in a front and back direction and through the midpoint between the two yokes; and an axially magnetized hub extending laterally between the two yokes; and a stabilization mechanism coupled to the chassis, the stabilization mechanism comprising; a first and a second support element configured to contact and move along the surface during normal operation of the vehicle, the first and second support elements being positioned on opposite sides of the drive wheel relative to the rotational axis, wherein the first and second support elements are positioned symmetrically across the rotational axis of the drive wheel and are positioned symmetrically with respect to the longitudinal axis; a support mechanism moveably coupling the first and second support elements to the chassis, wherein the support mechanism is configured to move the first and second support element relative to the chassis in at least an up and down direction, wherein the support mechanism is configured to move the first and second support elements in a passive manner in the up and down direction in response to a curvature of the surface thereby maintaining the support elements in contact with the surface. - View Dependent Claims (19, 20)
-
-
21. A magnetic robotic crawler vehicle for traversing a surface, comprising:
-
a chassis; a magnetic drive wheel mounted to the chassis, wherein the drive wheel extends in a lateral direction and comprises; two spaced apart flux concentrating yokes that rotate about a rotational axis and which are configured to be driven independently thereby driving and steering the vehicle along the surface, wherein a longitudinal axis of the vehicle extends perpendicularly to the rotational axis in a front and back direction and through the midpoint between the two yokes, an axially magnetized hub extending laterally between the two yokes including, one or more axially magnetized magnets, and a housing composed of a ferromagnetic material and including a left wall, an opposing right wall and a one or more lateral walls extending therebetween along the rotational axis, the walls of the housing being shaped to define an open chamber therein and the one or more lateral walls being shaped to define at least one opening therethrough, wherein the chamber is provided at the midpoint between the two yokes and wherein the housing has a fixed position relative to the yokes such that the at least one opening faces downward toward the surface during normal operation of the vehicle; and a sensor probe assembly disposed at least partially within the chamber, the sensor probe assembly comprising; a dry coupled wheel probe configured to passively roll generally in a direction of travel of the vehicle along the surface, and a sensor support moveably coupling the wheel probe to one or more of the housing and the chassis, wherein the sensor support assembly is configured to passively move the wheel probe relative to the housing in at least an up and down direction in response to the curvature of the surface thereby maintaining the probe in contact with the surface during normal operation of the vehicle; and a stabilization mechanism coupled to the chassis, the stabilization mechanism comprising; a first and a second support element configured to contact and move along the surface during normal operation of the vehicle, the first and second support elements being positioned on opposite sides of the drive wheel relative to the rotational axis, wherein the first and second support elements are positioned symmetrically across the rotational axis of the drive wheel and are positioned symmetrically with respect to the longitudinal axis, and a support mechanism moveably coupling the first and second support elements to the chassis, wherein the support mechanism is configured to move the first and second support element relative to the chassis in at least the up and down direction, wherein the support mechanism is passive in nature and moves the first and second support elements in at least the up and down direction in response to a curvature of the surface thereby maintaining the first and second support elements in contact with the surface. - View Dependent Claims (22, 23, 24)
-
Specification