Remote controlled inspection vehicle utilizing magnetic adhesion to traverse nonhorizontal, nonflat, ferromagnetic surfaces

• US 6,672,413 B2
• Filed: 11/27/2001
• Issued: 01/06/2004
• Est. Priority Date: 11/28/2000
• Status: Active Grant

• Current Assignee: Siemens Energy Incorporated (Siemens AG)
• Original Assignee: Siemens Westinghouse Power Corporation
• Inventors: Moore, Charles C., Bauer, James A., Fischer, Mark W., Sill, Harry L.
• Primary Examiner(s): Morris, Lesley D.
• Assistant Examiner(s): LUBY, MATTHEW D
• Application Number:
  US09/995,182
• Publication Number:
  US 20020104693A1
• Time in Patent Office: 770 Days
• Field of Search: 180/9, 180/9.1, 180/9.21, 180/9.4, 180/9.48, 180/9.46, 180/901, 280/5.22, 280/5.28, 901/1, 901/30, 901/41, 901/44, 901/46, 901/47, 305/6
• US Class Current: 180/9.21
• 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: G01R 31/34 Testing dynamo-electric machines
• CPC Class Codes: H02N 15/00 Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for electric or magnetic devices for holding work on machine tools B23Q3/15 ; monorail vehicle propulsion or suspension B60L13/00; sliding or levitation devices for railway systems B61B13/08; material handling devices associated with conveyors incorporating devices with electrostatic or magnetic grippers B65G47/92; separating thin or filamentary articles from piles using magnetic force B65H3/16; delivering thin or filamentary articles from magnetic holders by air blast or suction B65H29/24; bearings using magnetic or electric supporting means F16C32/04; relieving bearing loads using magnetic means F16C39/06; magnets H01F7/00; dynamo-electric clutches or brakes H02K49/00 ; electric furnaces with simultaneous levitation and heating H05B6/32

Abstract

A remote controlled inspection vehicle provides interchangeable modules, permitting the vehicle to be easily configured to perform a wide variety of tasks. The vehicle includes at least one frame module having a pair of drive modules on either side. Each drive module includes a continuous track surrounding a permanent magnet, and is dimensioned and configured to pivot around its longitudinal axis. The frame modules are dimensioned and configured to be hingedly secured to other frame modules, end effectors including various sensors for performing inspections, and tail units to assist in placing the vehicle in the desired environment.

Claims

1. A remote-controlled vehicle, comprising:

at least one frame;

a pair of drive modules removably secured to said at least one frame, each of said drive modules having a continuous track, and a motor dimensioned and configured to transmit locomotive force from said motor to said continuous track, said drive module further defining a longitudinal axis, said continuous track being dimensioned and configured to pivot around an axis parallel to said longitudinal axis.

2. The remote-controlled vehicle according to claim 1, wherein said at least one frame includes a longitudinal beam having a front and a rear, a front transverse beam at said front, and a rear transverse beam at said rear, said front and rear transverse beams being dimensioned and configured to removably secure said pair of drive modules between them.

3. The remote controlled vehicle according to claim 2, wherein said front and rear transverse beams are dimensioned and configured to permit selectively mounting said drive modules at one of a plurality of distances from said longitudinal beam.

4. The remote controlled vehicle according to claim 3, wherein each of said drive modules includes a pair of end brackets, each of said end brackets being dimensioned and configured to interchangeably mount on said front transverse beam and said rear transverse beam.

5. The remote controlled vehicle according to claim 4, wherein said each of end brackets include a pivot dimensioned and configured to permit said tracks to pivot around said axis parallel to drive module'"'"'s longitudinal axis.

6. The remote controlled vehicle according to claim 2, wherein said front and rear transverse beams include means for pivotally and removably securing a vehicle component selected from the group consisting of a second frame, a tail, and an effector.

7. The remote controlled vehicle according to claim 6, wherein said frame and said vehicle component are biased towards a coplanar orientation.

8. The remote controlled vehicle according to claim 2, wherein said longitudinal frame member defines a longitudinal channel dimensioned and configured to contain electrical wiring therein.

9. The remote controlled vehicle according to claim 1, wherein each of said continuous tracks further surrounds a magnet, said magnet being adapted to bias said vehicle towards a ferromagnetic surface.

10. The remote controlled vehicle according to claim 1, further comprising an encoder operatively connected with said motors of said drive modules, said encoders being adapted to transmit a number of rotations of said motor.

11. The remote controlled vehicle according to claim 1, wherein said vehicle is dimensioned and configured to travel through openings as small as approximately 0.75 inch in height.

12. A remote-controlled vehicle, comprising:

at least one frame;

a pair of drive modules removably secured to said at least one frame, each of said drive modules having a continuous track, means for providing locomotive force to said continuous track, said drive module further defining a longitudinal axis and including means for permitting said continuous track to pivot around an axis parallel to said longitudinal axis.

13. The remote controlled vehicle according to claim 12, further comprising means for selectively mounting said drive modules at one of a plurality of distances from each other.

14. The remote controlled vehicle according to claim 12, further comprising:

a front end and a rear end of said frame; and

means for hingedly and removably mounting a vehicle component selected from the group consisting of a second frame, a tail, and an effector to said front end and said rear end of said frame.

15. The remote controlled vehicle according to claim 14, further comprising means for biasing said frame and said vehicle component towards a coplanar orientation.

16. A remote-controlled vehicle, comprising:

at least one frame having a longitudinal beam;

a pair of drive modules removably secured to said at least one frame, each of said drive modules having a continuous track, and a motor dimensioned and configured to transmit locomotive force from said motor to said continuous track, each of said drive modules further being selectively mountable on said frame in an orientation selected from the group consisting of said motor adjacent to said longitudinal beam and said track adjacent to said longitudinal beam;

wherein each of said drive modules includes a pair of end braces, and said frame includes a pair of ledges, each of said ledges being dimensioned and configured to removably secure one of said end braces.

17. The remote-controlled vehicle according to claim 16, wherein:

said ledge includes a plurality of substantially uniformly-spaced holes;

said end brace includes at least one aperture dimensioned and configured to align with said holes of said ledge; and

said remote-controlled vehicle further including means for removably fastening said ledge and said end brace utilizing said holes in said ledge and said end brace.