Material transportation system

• US 6,886,651 B1
• Filed: 01/06/2003
• Issued: 05/03/2005
• Est. Priority Date: 01/07/2002
• Status: Expired due to Fees

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Awtar, Shorya, Slocum, Alexander H., Hart, Anastasios John
• Primary Examiner(s): Ellis, Christopher R.
• Assistant Examiner(s): KLEBE, GERALD B
• Application Number:
  US10/337,097
• Time in Patent Office: 848 Days
• Field of Search: 180/7.1, 180/21, 180/235, 180/901, 180/167, 180/342, 180/221, 104/281, 104/282, 104/283, 104/284, 104/285, 104/286, 104/287, 104/288, 105/78, 301/6.5, 192/40, 192/84.1
• US Class Current: 180/167
• CPC Class Codes: B60L 13/04 Magnetic suspension or levitation for vehicles
• CPC Class Codes: B60T 7/16 operated by remote control, i.e. initiating means not mounted on vehicle
• CPC Class Codes: B61C 11/00 Locomotives or motor railcars characterised by the type of means applying the tractive effort; Arrangement or disposition of running gear other than normal driving wheel constructions wheels B60B

Abstract

A material transportation system includes one or more material transportation vehicles, each having magnetic wheels coupled to a magnetically attractive surface that can include a ceiling, a wall, a floor, and/or a transition region. The material transportation vehicles are adapted to carry material from place to place. Each material transportation vehicle has sensors and motor controls that reduce swing motion of the material transportation vehicle and the material coupled thereto. A collision avoidance and traffic control system prevents collisions between the one or more material transportation vehicles.

Claims

1. A material transportation vehicle for use on a surface of a magnetically attractive pathway, the material transportation vehicle comprising:

a friction drive, including;

a first axle having an axis;

a wheel having an outer surface, the wheel having a magnetic characteristic such that the wheel is provided as a magnetic wheel, wherein said magnetic wheel is supported by the first axle;

a second axle having an axis, wherein the first and second axles are disposed such that the axis of said first axle is generally parallel to the axis of said second axle; and

a drive cylinder supported by the second axle, the drive cylinder having a surface coupled to the outer surface of the magnetic wheel with the drive cylinder provided from a material such that there is a magnetic attraction between the surface of the drive cylinder and the outer surface of the magnetic wheel, and wherein the magnetic wheel is adapted to rotate about the taxis of the axle in response to a rotation of the drive cylinder about the axis of the second axle.

2. The material transportation vehicle of claim 1, wherein at least one of the first axle and the second axle is adapted to move in response to the magnetic attraction in a direction generally perpendicular to the axis of the first axle and to the axis of the second axle to bring an outer surface of the drive cylinder into contact with the outer surface of the magnetic wheel.

3. The material transportation vehicle of claim 1, further including a motor assembly coupled to the drive cylinder to generate the rotation of the drive cylinder about the axis of the second axle.

4. The material transportation vehicle of claim 1, wherein the magnetic wheel comprises one magnetic metal disk.

5. The material transportation vehicle of claim 1, wherein the magnetic wheel comprises two magnetic metal disks.

6. The material transportation vehicle of claim 1, wherein the outer surface of the magnetic wheel includes a traction surface to increase surface traction of the magnetic wheel.

7. The material transportation vehicle of claim 1, wherein the first axle is supported by a first bearing to a first structure and the second axle is supported by a second bearing to a second structure, wherein at least one of the first structure and the second structure is adapted to move in response to the magnetic attraction in a direction generally perpendicular to the axes of the first and second axles to bring the drive cylinder into contact with the outer surface of the magnetic wheel.

8. The material transportation vehicle of claim 1, wherein the magnetic wheel is provided having a magnetic field strength which is sufficient to hold the material transportation vehicle in contact with the surface of the magnetically attractive pathway.

9. The material transportation vehicle of claim 8, wherein the magnetic wheel is provided having a magnetic field strength which is sufficient to hold the material transportation vehicle in suspension beneath the surface of the magnetically attractive pathway.

10. The material transportation vehicle of claim 1, wherein the friction drive further comprises:

a second magnetic wheel supported by a third axle having an axis; and

a second drive cylinder having an axis, the axis of the third axle generally parallel to the axis of the fourth axle, the second drive cylinder having magnetic attraction to and in contact with the second magnetic wheel, wherein the second magnetic wheel is adapted to rotate about the taxis of the third axle in response to a rotation of the second drive cylinder about the axis of the fourth axle.

11. An apparatus comprising:

(a) a wheel having an outer surface and an axis about which said wheel rotates, said wheel comprising;

(1) first and second metal disks; and

(2) one or more magnets disposed between said first and second metal disks to provide said wheel having a magnetic attractive force;

(b) a first shaft disposed to support said wheel;

(c) a shaft support structure;

(d) one or more bearings disposed in said shaft support structure and coupled to support said first shaft;

(e) a second shaft;

(f) a cylinder having an axis about which said cylinder rotates, said cylinder supported by said second shaft and disposed such that the axis of said cylinder is substantially parallel to the axis of said wheel and such that the magnetic attractive force causes the outer surface of the wheel to be attracted to and in contact with the cylinder; and

(g) a substructure coupled to said support structure;

(h) one or more bearings disposed in said substructure and coupled to said second shaft such that the axis of the cylinder is free to move so the distance between the axis of rotation of the wheel and the axis of the cylinder can vary, thereby allowing the magnetic attractive force between the wheel and the cylinder to preload the wheel and the cylinder together.

12. The apparatus of claim 11 further comprising a motor disposed to drive the cylinder and the wheel to cause motion of the apparatus.

13. The apparatus of claim 11, wherein the outer surface of said wheel corresponds to a rolling surface of said wheel.

14. The apparatus of claim 13, wherein the rolling surface of said wheel includes a traction surface to increase surface traction of said wheel.