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

• US 6,889,783 B1
• Filed: 09/04/2003
• Issued: 05/10/2005
• 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): DePumpo, Daniel G.
• Assistant Examiner(s): Luby, Matthew
• Application Number:
  US10/654,753
• Time in Patent Office: 614 Days
• Field of Search: 180/9, 180/9.1, 180/9.21, 180/9.4, 180/9.48, 180/9.46, 180/901, 901/1, 901/30, 901/40, 901/41, 280/5.22, 280/5.48, 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 generator inspection vehicle, comprising:

a frame;

at least one drive module attached to the frame and having a track that utilizes magnetic adhesion to traverse an interior ferromagnetic surface of the generator;

a motor operatively connected to the drive module and responsive to a signal from the remote-controller, the motor providing a motive force to the track; and

an effectuator attached to the frame adapted to perform an intended generator inspection task,

wherein the generator inspection vehicle is sized and configured to fit between a stator of the generator and a rotor of the generator.

2. The generator inspection vehicle of claim 1, wherein the frame has a hollow section sized and configured to house a power supply.

3. The generator inspection vehicle of claim 2, wherein the hollow section further houses a wiring operatively connected to the remote-controller.

4. The generator inspection vehicle of claim 1, wherein a first drive module is attached to one side of the frame and a second drive module is attached to the opposite side of the frame.

5. The generator inspection vehicle of claim 1, wherein the drive module is directly attached to the frame.

6. The generator inspection vehicle of claim 5, wherein the drive module is removably attached to the frame.

7. The generator inspection vehicle of claim 1, wherein the track is continuous.

8. The generator inspection vehicle of claim 1, wherein the magnetic adhesion device is a permanent magnet.

9. The generator inspection vehicle of claim 1, wherein the effectuator is directly attached to the frame.

10. The generator inspection vehicle of claim 9, wherein the effectuator is removably attached to the frame.

11. The generator inspection vehicle of claim 1, wherein the effectuator is selected from the group consisting of:

a hammer, a capacitive measurement probe, a camera, a magnetic field generator, a magnetic field detector, an ultrasonic sensor, an acoustic navigation system, a vapor sensor, and a radiation detector.

12. A remote-controlled inspection vehicle, comprising:

a frame;

at least one drive module attached to the frame and having a track that utilizes magnetic adhesion to traverse an interior ferromagnetic surface of an object;

a motor operatively connected to the drive module and responsive to a signal from the remote-controller, the motor providing a motive force to the track; and

an effectuator attached to the frame adapted to perform an intended inspection task,

wherein the inspection vehicle is sized and configured move along a passage having a smallest height of less than one inch.

13. A remote-controlled generator inspection vehicle, comprising:

a frame;

a pair of drive modules attached to opposing sides of the frame, each drive module having a track adapted to traverse an interior surface of the generator;

a motor operatively connected to at least one of the drive modules and responsive to a signal from the remote-controller, the motor providing a motive force to the track; and

an effectuator attached to the frame selected from the group consisting of;

a hammer, a capacitive measurement probe, a camera, a magnetic field generator, a magnetic field detector, an ultrasonic sensor, an acoustic navigation system, a vapor sensor, and a radiation detector,

wherein the generator inspection vehicle is sized and configured to fit between a stator of the generator and a rotor of the generator and pass through an opening having a height of less than one inch.

14. The generator inspection vehicle of claim 13, wherein the track utilizes a permanent magnet to traverse an interior ferromagnetic surface of the generator.

15. The generator inspection vehicle of claim 13, wherein the track is continuous.

16. A modular remote-controlled confined space inspection vehicle kit, comprising:

a frame;

a plurality of drive modules having different dimensions, each drive module capable of being attached to the frame at at least one location and having a track that utilizes magnetic adhesion to traverse an interior ferromagnetic surface within the confined space;

a motor operatively connected to the drive module and responsive to the remote-control adapted to transmit a locomotive force to the track; and

an effectuator attached to the frame to perform an intended task.

17. The confined space inspection vehicle of claim 16, wherein the confined space is located within a generator.

18. The confined space inspection vehicle of claim 17, wherein the confined space is between a stator of the generator and a rotor of the generator.

19. The confined space inspection vehicle of claim 18, wherein the confined space inspection vehicle is sized and configured to pass through an opening having a height of less than one inch.