MAGNETIC CRAWLER VEHICLE WITH PASSIVE REAR-FACING APPARATUS
First Claim
1. A robotic vehicle for traversing a surface, comprising:
- a first chassis section;
a drive wheel mounted to the first chassis section and configured to drive along the surface;
a front support point mounted to a bottom side of the first chassis section near a front end thereof;
a second chassis section;
a follower wheel assembly mounted to the second chassis section, the follower wheel assembly including a follower wheel configured to passively roll generally in a direction of travel of the vehicle along the surface;
a hinge joint connecting the first and second chassis sections such that the second chassis section is capable of rotation with respect to the first chassis section along a first path in at least a first direction, wherein the hinge joint is passive in nature and rotates in response to a curvature of the surface upon contact between at least a portion of the trailing wheel assembly;
a four-bar linkage connecting the first and second chassis sections and configured to move the second chassis section with respect to the first chassis section along a second path in at least a second direction, wherein the four-bar linkage is passive in nature and automatically moves the second chassis section along the second path and wherein the combination of movement in the first direction and the second direction cause the trailing wheel to remain 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 front chassis section including a magnetic drive wheel for driving and steering the vehicle and a front support point configured to contact the surface. The vehicle also includes a rear chassis section supporting a follower wheel. The front and rear chassis sections are connected by joints including a hinge joint and a four-bar linkage. The hinge is configured to allow the trailing assembly to move side-to-side while the four-bar linkage allows the trailing assembly to move up and down relative to the front chassis. Collectively, the rear facing mechanism is configured to maintain the follower wheel in contact with and normal to the surface and also maintains the front support in contact with the surface and provides stability and maneuverability to the vehicle while traversing surfaces regardless of surface curvature and vehicle orientation.
22 Citations
18 Claims
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1. A robotic vehicle for traversing a surface, comprising:
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a first chassis section; a drive wheel mounted to the first chassis section and configured to drive along the surface; a front support point mounted to a bottom side of the first chassis section near a front end thereof; a second chassis section; a follower wheel assembly mounted to the second chassis section, the follower wheel assembly including a follower wheel configured to passively roll generally in a direction of travel of the vehicle along the surface; a hinge joint connecting the first and second chassis sections such that the second chassis section is capable of rotation with respect to the first chassis section along a first path in at least a first direction, wherein the hinge joint is passive in nature and rotates in response to a curvature of the surface upon contact between at least a portion of the trailing wheel assembly; a four-bar linkage connecting the first and second chassis sections and configured to move the second chassis section with respect to the first chassis section along a second path in at least a second direction, wherein the four-bar linkage is passive in nature and automatically moves the second chassis section along the second path and wherein the combination of movement in the first direction and the second direction cause the trailing wheel to remain 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)
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Specification