Multi-segmented magnetic robot

• US 9,586,636 B1
• Filed: 06/24/2015
• Issued: 03/07/2017
• Est. Priority Date: 10/28/2014
• Status: Active Grant

• Current Assignee: the united states of america as represented by the secretary of the navy
• Original Assignee: the united states of america as represented by the secretary of the navy
• Inventors: Talke, Kurt, Ostovari, Saam, Kelley, Leah C., Burmeister, Aaron, Hart, Abraham, Pezeshkian, Narek
• Primary Examiner(s): Hurley, Kevin
• Assistant Examiner(s): Craciun, Gabriela C
• Application Number:
  US14/749,433
• Time in Patent Office: 622 Days
• Field of Search: 180/901
• US Class Current: 1/1
• CPC Class Codes: B62D 49/0621 comprising traction increasing arrangements, e.g. all-wheel traction devices, multiple-axle traction arrangements, auxiliary traction increasing devices anti-skid or anti-slip devices fitted onto the wheels B60B15/02, B60B39/12; arrangements of transmission for driving both front and rear wheels or tandem wheels of vehicles B60K17/34, B60K17/36
• CPC Class Codes: B62D 53/028 Having only coupling joints other than directional articulated frames B62D21/186 and B62D55/10
• 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: Y10S 901/01 Mobile robot

Abstract

A system includes a first drive module connected to a first end of a linkage arm and a second drive module connected to a second end of the linkage arm. Two magnetic wheels are connected to each of the first and second drive modules. The first and second drive modules may be independently controlled or controlled using a coordinated controller. The linkage arm may include a first linkage arm portion having at least one degree of freedom with respect to a connected second linkage arm portion, which may be connected via a hinged or ball-joint connection. One or both ends of the linkage arm may have at least one degree of freedom with respect to its respectively connected drive module. Additional linkage arms and drive modules may be connected to form a multi-segment system.

Claims

1. A system comprising:

a first drive module connected to a first end of a linkage arm and a second drive module connected to a second end of the linkage arm, wherein the first drive module and the second drive module each have a motor assembly and a motor controller therein; and

two magnetic wheels connected to each of the first drive module and the second drive module, wherein the motor assembly and motor controller for each respective drive module provide independent control for each of the two magnetic wheels connected to the respective drive module.

2. The system of claim 1, wherein the linkage arm is rigid.

3. The system of claim 1, wherein the first drive module and the second drive module are independently controlled using a coordinated controller.

4. The system of claim 1, wherein the linkage arm comprises a first linkage arm portion having at least one degree of freedom with respect to a connected second linkage arm portion.

5. The system of claim 4, wherein the at least one degree of freedom is provided by a hinged connection between the first linkage arm portion and the second linkage arm portion.

6. The system of claim 5, wherein the hinged connection allows the first and the second linkage arm portions to move laterally with respect to the orientation of the linkage arm in relation to the first and second drive modules.

7. The system of claim 5, wherein the hinged connection is made using a spring hinge.

8. The system of claim 4, wherein the at least one degree of freedom is provided by a ball joint connection between the first linkage arm portion and the second linkage arm portion.

9. The system of claim 1, wherein at least one end of the linkage arm has at least one degree of freedom with respect to its respectively connected drive module.

10. The system of claim 9, wherein the at least one degree of freedom is obtained by connection of at least one end of the linkage arm to its respectively connected drive module using a roll shaft.

11. The system of claim 1 further comprising:

a second linkage arm connected at a first end of the second linkage arm to one of the first and the second drive modules; and

a third drive module connected to a second end of the second linkage arm, wherein the third drive module is controlled independently of the first and the second drive modules.

12. The system of claim 11, wherein the second linkage arm has at least one degree of freedom with respect to the third drive module.

13. The system of claim 1, wherein the linkage arm has an arched shape.

14. The system of claim 1, wherein the linkage arm comprises a flexible material.

15. A system comprising:

a first drive module connected to a first end of a linkage arm and a second drive module connected to a second end of the linkage arm, wherein the first drive module and the second drive module each have a motor assembly and a motor controller therein, wherein the linkage arm comprises a first linkage arm portion having at least one degree of freedom with respect to a connected second linkage arm portion, wherein at least one end of the linkage arm has at least one degree of freedom with respect to its respectively connected drive module; and

two magnetic wheels connected to each of the first drive module and the second drive module, wherein the motor assembly and motor controller for each respective drive module provide independent control for each of the two magnetic wheels connected to the respective drive module.

16. The system of claim 15, wherein the at least one degree of freedom is provided by a hinged connection between the first linkage arm portion and the second linkage arm portion.

17. The system of claim 15, wherein the at least one degree of freedom is obtained by connection of at least one end of the linkage arm to its respectively connected drive module using a roll shaft.

18. The system of claim 15 further comprising:

a second linkage arm connected at a first end of the second linkage arm to one of the first and the second drive modules; and

a third drive module connected to a second end of the second linkage arm, wherein the third drive module is controlled independently of the first and the second drive modules, wherein the second linkage arm has at least one degree of freedom with respect to the third drive module.

19. A system comprising:

a first drive module connected to a first end of a first linkage arm and a second drive module connected to a second end of the first linkage arm;

a second linkage arm connected at a first end of the second linkage arm to the second drive module and connected at a second end of the second linkage arm to a third drive module, wherein the first, the second, and the third drive modules are independently controlled; and

two magnetic wheels connected to each of the first, the second, and the third drive modules.

20. The system of claim 19, wherein the at least one degree of freedom is obtained by connection of at least one end of the first linkage arm to its respectively connected drive modules using a roll shaft and at least one degree of freedom is obtained by connection of at least one end of the second linkage arm to its respectively connected drive modules using a roll shaft.