Spring-Based Magnetic Attachment Method for Crawling Vehicle

• US 20190241223A1
• Filed: 06/25/2018
• Published: 08/08/2019
• Est. Priority Date: 02/06/2018
• Status: Active Grant

• Current Assignee: Saudi Arabian Oil Company (Government of Saudi Arabia)
• Original Assignee: Saudi Arabian Oil Company (Government of Saudi Arabia)
• Inventors: Parrott, Brian M.
• Granted Patent: US 10,829,171 B2
• Time in Patent Office: Days
• CPC Class Codes: B62D 57/024 specially adapted for moving on inclined or vertical surfaces endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02
• CPC Class Codes: H01F 7/0252 PM holding devices H01F7/021, H01F7/0215, H01F7/0226 take precedence

Abstract

A vehicle for traversing a surface using magnetic attachment is provided. The vehicle includes a chassis body and wheels attached to the chassis body. At least one magnetic module is attached via a resilient member to the chassis body. Each magnetic module includes a magnet and an offset member that provides an approximately constant offset between the surface and the magnet. The resilient member transfers a magnetic attractive force that is normal to the surface between the magnetic attracting module and the chassis body. The vehicle can traverse uneven surfaces without magnetically decoupling.

Claims

1. A vehicle for traversing a surface using magnetic attachment, comprising:

a chassis body;

wheels attached to the chassis body; and

a magnetic module attached via a resilient member to the chassis body;

wherein the magnetic module includes;

a magnet

an offset member that provides an approximately constant offset between the surface and the magnet;

wherein the resilient member transfers a magnetic attractive force that is normal to the surface between the magnetic attracting module and the chassis body.

2. The vehicle according to claim 1, wherein the offset member is at least one of a wheel, roller, or skid.

3. The vehicle according to claim 1, wherein the vehicle is configured to perform inspection operations.

4. The vehicle according to claim 1, wherein the magnetic module includes a sensor.

5. The vehicle according to claim 1, wherein the magnetic module is configured to further provide locomotive force.

6. The vehicle according to claim 1, wherein the magnetic module is configured to provide a low-friction contact with the surface as the vehicle traverses the surface.

7. The vehicle according to claim 1, wherein the resilient connection is configured to provide an increasing force as the vertical distance increases following a non-linear profile provided via a linkage structure.

8. The vehicle according to claim 1, further including an actuator, wherein the actuator is configured to exert a regulator force upon the resilient connection to control of a force or a force profile between the chassis and the magnetic module.

9. The vehicle according to claim 1, wherein the magnetic module includes a sensor that measure a force of attraction between the magnetic modules and the surface.

10. The vehicle according to claim 1, wherein the resilient connection includes a sensor that monitors a force between the chassis and the magnetic module.

11. The vehicle according to claim 1, wherein the resilient connection includes a sensor that monitors a position of the chassis relative to the magnetic module.

12. The vehicle according to claim 1, wherein the magnetic module is sized and shaped to have a sloped leading edge to provide a low friction arrangement.

13. The vehicle according to claim 1, wherein the magnetic module includes at least one of a roller or wheel such that a low friction arrangement is provided.

14. The vehicle according to claim 1, wherein the vehicle includes force threshold limiters to prevent unintentional detachment between the vehicle and the surface as a force threshold is approached.

15. The vehicle according to claim 1, wherein the vehicle is configured to navigate curved surfaces while providing sufficient mobility and attractive force to permit traversal of the surface while preventing vehicle detachment from the surface.

16. The vehicle according to claim 1, wherein each magnetic module includes at least two units, wherein in one unit is position at a front area of the vehicle and the other unit is positioned at a rear area of the vehicle.

17. The vehicle according to claim 1, wherein the resilient member has an adjustable position with respect to the chassis body.