Reconfigurable mobile vehicle with magnetic tracks

• US 5,435,405 A
• Filed: 04/21/1994
• Issued: 07/25/1995
• Est. Priority Date: 05/14/1993
• Status: Expired due to Fees

• Current Assignee: Carnegie Mellon University
• Original Assignee: Carnegie Mellon University
• Inventors: Albrecht, Brian S., Schempf, Hagen
• Primary Examiner(s): Culbreth, Eric D.
• Assistant Examiner(s): Hurley, Kevin
• Application Number:
  US08/230,964
• Time in Patent Office: 460 Days
• Field of Search: 180/9, 180/9.1, 180/9.44, 180/9.62, 180/313, 180/901, 901/1, 901/40, 901/44, 114/222
• US Class Current: 180/9.1
• CPC Class Codes: B08B 9/08 Cleaning containers, e.g. tanks
• CPC Class Codes: B08B 9/0933 Removing sludge or the like from tank bottoms
• CPC Class Codes: B62D 55/0655 Articulated endless track vehicles steering specially adapted for trailers B62D13/00; articulated buses B62D47/025; tractor-trailer combinations or road trains comprising a uni-axle unit and a uni-axle trailer B62D53/02
• CPC Class Codes: B62D 55/07 Mono-track vehicles
• CPC Class Codes: B62D 55/265 having magnetic or pneumatic adhesion
• CPC Class Codes: Y10S 180/901 Devices for traversing vertical surfaces

Abstract

A mobile vehicle having at least one endless driven member for driving the endless member on a surface capable of supporting a magnetic circuit. The vehicle is equipped with a magnetic system that is housed in a substantially hermetically sealed enclosure and comprises a magnet, a fixed magnetic circuit member, and a movable magnetic circuit member for establishing first and second magnetic circuits. A clutch is provided to selectively connect the movable magnetic circuit member to the motor to move the movable magnetic circuit member between a first position wherein the first magnetic circuit is established such that the endless driven member can magnetically engage the surface and a second position wherein the second magnetic circuit is established such that the endless member does not magnetically engage the surface. The enclosure is pressurized with a pressure medium at a predetermined pressure and temperature and is monitored by sensors within the enclosure. The pressure and temperature sensors interface with microprocessors which can trigger a shut down of the vehicle'"'"'s components should anomalous pressure or temperature conditions occur within the enclosure. The vehicle also has permanent magnet tracks pivotally attached thereto to enable the vehicle to traverse between intersecting magnetic wall surfaces.

Claims

1. A vehicle for use in a vessel having walls with interior surfaces capable of supporting a magnetic circuit, comprising:

a vehicle frame member;

a first endless driven member received on said vehicle frame member and adapted for travel on the interior surfaces of the vessel walls;

means for driving said first endless driven member;

a magnetic system attached to said vehicle frame member and comprising a magnet, fixed magnetic circuit means, and movable magnetic circuit means for establishing first and second magnetic circuits;

means for selectively connecting said movable magnetic circuit means to said means for driving to move said movable magnetic circuit means between a first position wherein said first magnetic circuit is established between said endless driven member, said magnet, said fixed magnetic circuit means and said movable magnetic circuit means such that said endless driven member is caused to magnetically engage one of the interior surfaces of the vessel, and a second position wherein said second magnetic circuit is established between said magnet, said fixed magnetic circuit means, and said movable magnetic circuit means such that said endless driven member does not magnetically engage one of the interior surfaces of the vessel; and

permanent magnet means pivotally attached to said vehicle frame member adapted to selectively pivotally engage the interior surfaces of the walls of the vessel to enable the vehicle to move from a first vessel surface to a second vessel surface that intersects the first vessel surface as said first endless driven member is driven.

2. The vehicle of claim 1 wherein said permanent magnet means comprises:

an outrigger frame pivotally attached to said vehicle frame;

a second endless member rotatably received on said outrigger frame; and

a plurality of permanent magnets attached to said second endless member.

3. The vehicle of claim 2 wherein said second endless member is drivingly attached to said means for driving said first endless member.

4. The vehicle of claim 2 wherein said outrigger frame comprises means for adjusting the tension of said second endless member.

5. A mobile vehicle for use in an enclosed vessel having walls with interior surfaces capable of supporting a magnetic circuit comprising:

a vehicle frame member;

at least two drive members, each said drive member having a housing connected to said vehicle frame member such that said drive members are parallel to one another, each said drive member further having a first endless driven member received on said housing and adapted for travel on one of the interior surfaces of one of the vessel walls, and means for driving said first endless driven member, and a magnetic system attached to said housing comprising a magnet, fixed magnetic circuit means, and movable magnetic circuit means for establishing first and second magnetic circuits, and means for selectively connecting said movable magnetic circuit means to said means for driving to move said movable magnetic circuit means between a first position wherein said first magnetic circuit is established between one of said endless driven members, said magnet, said fixed magnetic circuit means and said movable magnetic circuit means such that one of said first endless driven members is caused to magnetically engage one of the interior surfaces of the vessel, and a second position wherein said second magnetic circuit is established between said magnet, said fixed magnetic circuit means and said movable magnetic circuit means such that said one of said first endless driven member does not magnetically engage one of the interior surfaces of the vessel; and

at least one permanent magnet means pivotally attached to each said drive member housing, said permanent magnet means adapted to selectively pivotally engage the interior surfaces of the walls of the vessel to enable the vehicle to move from a first interior surface to a second interior surface that intersects the first interior surface as said one of said first endless driven member is driven.

6. The vehicle of claim 5 wherein each said permanent magnet means comprises:

an outrigger frame pivotally attached to said corresponding drive member housing;

a second endless member rotatably received on said outrigger frame; and

a plurality of permanent magnets attached to said second endless member.

7. The vehicle of claim 6 wherein said second endless member is drivingly attached to said means for driving said first endless member.

8. The vehicle of claim 6 wherein said outrigger frame comprises means for adjusting the tension of said second endless member thereon.

9. A mobile vehicle for use in an enclosed vessel having walls with interior surfaces capable of supporting a magnetic circuit comprising:

a vehicle frame member;

at least one drive member attached to said frame member, each said drive member having a substantially hermetically sealed drive housing having a predetermined pressure established therein, each said drive member further having a first endless driven member received on said housing and adapted for travel on the interior surfaces of the vessel walls, means for driving said first endless driven member, and a magnetic system attached to each housing comprising a magnet, fixed magnetic circuit means, and movable magnetic circuit means for establishing first and second magnetic circuits, and means for selectively connecting said movable magnetic circuit means to said means for driving to move said movable magnetic circuit means between a first position wherein said first magnetic circuit is established between said first endless driven member, said magnet, said fixed magnetic circuit means and said movable magnetic circuit means such that said first endless driven member is caused to magnetically engage one of the interior surfaces of the vessel, and a second position wherein said second magnetic circuit is established between said magnet, said fixed magnetic circuit means and said movable magnetic circuit means such that said first endless driven member does not magnetically engage one of the interior surfaces of the vessel;

tether means;

power supply means located exterior to the vessel and attached to each said means for driving said corresponding endless driven members and each said means for selectively connecting said corresponding movable magnetic circuit means to said corresponding means for driving by said tether means;

means for monitoring said predetermined pressure; and

means for controlling said power supply means, said means for controlling said power supply means communicating with said monitoring means to cause said power supply means to discontinue supplying power to each said means for driving and said means for selectively connecting said movable magnetic circuit means when said predetermined pressure changes by a predetermined amount.

10. The mobile vehicle of claim 9 wherein each said drive housing has a predetermined temperature associated therewith, and wherein said mobile vehicle further comprises a temperature monitoring means for monitoring said predetermined temperature, said temperature monitoring means communicating with said means for controlling said power supply means to cause said power supply means to discontinue supplying power to each said means for driving and said means for selectively connecting said movable magnetic circuit means when said predetermined temperature increases by a predetermined amount.

11. The mobile vehicle of claim 9 further comprising:

winch means located outside of said vessel for selectively collecting and paying out said tether.

12. The mobile vehicle of claim 11 wherein said winch means comprises:

a winch stand;

a substantially hermetically sealed drum rotatably supported on said winch stand for selectively storing said tether thereon;

motor means for selectively rotating said drum, said motor means contained within a substantially hermetically sealed motor housing that is attached to said substantially hermetically sealed drum such that a substantially hermetical seal is established therebetween, said motor means being powered by said power supply means, said drum and said motor housing having a second predetermined pressure established therein; and

second pressure monitoring means within said motor housing for monitoring said second predetermined pressure in said drum and said motor housing, said second pressure monitoring means communicating with said means for controlling said power supply means to cause said power supply means to discontinue supplying power to said motor means when said second predetermined pressure changes by a predetermined amount.

13. The mobile vehicle of claim 12 wherein said drum and said motor housing have a second predetermined temperature associated therewith and wherein said mobile vehicle further comprises secondary temperature monitoring means in said motor housing for monitoring said second predetermined temperature, said secondary temperature monitoring means communicating with said means for controlling said power supply means to cause said power supply means to discontinue supplying power to said motor means when said second predetermined temperature increases by a predetermined amount.

14. The mobile vehicle of claim 9 further comprising:

a hollow, substantially hermetically sealed end plate assembly attached to said frame member.

15. The mobile vehicle of claim 14 further comprising:

at least one substantially hermetically sealed electronics enclosure, for housing said pressure and temperature monitoring means, attached to said end plate assembly;

first sealing means attached to each said electronics enclosure for establishing said substantially hermetic seal between said end plate assembly and each said enclosures; and

tube means attached to each said electronics enclosure and a corresponding drive housing for establishing a substantially hermetically sealed wireway between said electronics enclosure and said corresponding drive housing such that said temperature and pressure monitoring means monitors the temperature and pressure within each said drive housing;

second seal means attached to each said electronics enclosure for establishing said substantially hermetic seal between each said electronics enclosure and said tube means attached thereto; and

third seal means attached to said drive housing for establishing said substantially hermetic seal between said tube means attached thereto.

16. The mobile vehicle of claim 14 further comprising ultrasonic sensing apparatus for ultrasonically analyzing the integrity of the walls of the vessel upon which the vehicle is driven, said ultrasonic sensing apparatus being housed within a substantially hermetically sealed sensing enclosure, said sensing enclosure being hermetically sealed to said end plate assembly such that said pressure and temperature monitoring means also monitors the pressure and temperature within said sensing housing.

17. The mobile vehicle of claim 14 further comprising a video camera housed within a substantially hermetically sealed camera enclosure attached and hermetically sealed to said end plate assembly such that said pressure and temperature monitoring means monitors the temperature and pressure within said camera housing.

18. The mobile vehicle of claim 14 further comprising means for tracking said vehicle within the vessel such that said vehicle can be tracked by personnel located outside of said vessel, said location establishing means being housed within a substantially hermetically sealed telemetry enclosure sealingly attached to said end plate assembly such that said pressure and temperature monitoring means monitors the temperature and pressure within said telemetry enclosure.