Hull robot drive system
First Claim
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1. A hull robot comprising:
- a robot body;
at least one drive module for maneuvering the robot about a hull;
an on-board power source;
a motive subsystem for the drive module powered by the on-board power source; and
a plurality of permanent magnet elements associated with the drive module each switchable between a non-shunted state when adjacent the hull and a shunted state when not adjacent the hull.
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Abstract
A hull robot includes a robot body, at least one drive module for maneuvering the robot about the hull, an on-board power source, and a motive subsystem for the drive module powered by the on-board power source. A plurality of permanent magnet elements are associated with the drive module and each are switchable between a non-shunted state when adjacent the hull and a shunted state when not adjacent the hull.
97 Citations
25 Claims
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1. A hull robot comprising:
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a robot body; at least one drive module for maneuvering the robot about a hull; an on-board power source; a motive subsystem for the drive module powered by the on-board power source; and a plurality of permanent magnet elements associated with the drive module each switchable between a non-shunted state when adjacent the hull and a shunted state when not adjacent the hull. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A drive module comprising:
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a plurality of magnet elements each including; a housing with non-magnetic material sandwiched between ferromagnetic material and a bore extending into the housing, a magnet rotatably disposed in the bore, and a switch assembly for rotating the magnet; a carriage for each magnet including at least one bearing and a connector; a tunnel body including at least one track for the bearings of the carriages; a drive train for the tunnel body attached to the connectors of the carriages; and at least one support for the tunnel body. - View Dependent Claims (20, 21)
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22. A drive module comprising:
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a plurality of permanent magnet elements each switchable between a non-shunted state and a shunted state; a switch assembly for each magnet element rotating each permanent magnet element to change the state thereof; a tunnel body constraining the permanent magnet elements; and a drive train for driving the tunnel body with respect to the permanent magnet elements. - View Dependent Claims (23, 24, 25)
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Specification