Hull robot steering system
First Claim
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1. A robot drive system comprising:
- a frame including;
a first frame portion rotatably supporting a first axle with a first wheel thereon;
a second frame portion rotatably supporting a second axle with a second wheel thereon, anda joint comprising a flexible member between the first frame portion to the second frame portion and defining an expandable and contractible portion between the first frame portion and second frame portion; and
an actuator subsystem configured to expand and contract the expandable and contractible portion to move the first frame portion relative to the second frame portion at the joint to angle the first axle relative to the second axle to steer the robot.
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Abstract
A robot drive system preferably used for a vessel hull cleaning and/or inspection robot includes a first frame portion rotatably supporting a first axle with a first wheel thereon, and a second frame portion rotatably supporting a second axle with a second wheel thereon. A joint connects the first frame portion to the second frame portion and defines an expendable and contractible portion between the first frame portion and second frame portion. An actuator subsystem is configured expand and contract the expandable and contractible portion to move the first frame portion relative to the second frame portion at the joint to angle the first axle relative to the second axle to steer the robot.
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Citations
43 Claims
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1. A robot drive system comprising:
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a frame including; a first frame portion rotatably supporting a first axle with a first wheel thereon; a second frame portion rotatably supporting a second axle with a second wheel thereon, and a joint comprising a flexible member between the first frame portion to the second frame portion and defining an expandable and contractible portion between the first frame portion and second frame portion; and an actuator subsystem configured to expand and contract the expandable and contractible portion to move the first frame portion relative to the second frame portion at the joint to angle the first axle relative to the second axle to steer the robot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A robot drive system comprising:
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a frame including spaced side walls; a first axle rotatably disposed between the spaced side walls; a second axle, spaced from the first axle, and rotatably disposed between the spaced side walls; an expandable and contractible portion in the frame between the first and second axles; and an actuator subsystem configured to expand and contract the expandable and contractible portion to angle the first axle relative to the second axle to steer the robot. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39)
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40. A robot drive comprising:
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a frame including; a first frame portion housing a first magnetic rolling means, a second frame portion housing a second magnetic rolling means, and at least one expandable and contractable portion defined by a joint between the first and second frame portions; an actuator subsystem configured to expand and contract the expandable portion and to flex the joint to angle the first magnetic roller means relative to the second magnetic roller means to steer the robot; and a propulsion subsystem for at least one of the first and second magnetic roller means to drive the robot. - View Dependent Claims (41, 42)
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43. A robot drive system comprising:
a frame including; a first frame portion rotatably supporting a first axle with a first wheel thereon; a second frame portion rotatably supporting a second axle with a second wheel thereon, and a joint comprising a hinged portion between the first frame portion to the second frame portion and defining an expandable and contractible portion between the first frame portion and second frame portion; and an actuator subsystem configured to expand and contract the expandable and contractible portion to move the first frame portion relative to the second frame portion at the joint to angle the first axle relative to the second axle to steer the robot.
Specification