MAGNET ROBOT CRAWLER

• US 20140144715A1
• Filed: 11/26/2012
• Published: 05/29/2014
• Est. Priority Date: 11/26/2012
• Status: Active Grant

• Current Assignee: Foster-Miller Incorporated (Thermo Fisher Scientific Incorporated)
• Original Assignee: QinetiQ North America Incorporated (QinetiQ Group PLC)
• Inventors: Albin, Scott R., Chesna, Anthony, Lansberry, Geoffrey Blake, Shane, David J.
• Granted Patent: US 9,096,283 B2
• Time in Patent Office: Days
• US Class Current: 180/9.1
• CPC Class Codes: B62D 55/202 Wheel engaging parts; Wheel guides on links
• CPC Class Codes: B62D 55/265 having magnetic or pneumatic adhesion
• CPC Class Codes: H01F 7/0231 Magnetic circuits with PM for power or force generation

Abstract

A magnetic robot includes a chassis and at least one track assembly associated with the chassis. The track assembly has a linear series of non-circulating magnet modules displaceably mounted with respect to the chassis. A driven track circulates about the magnet modules and travels on guide portions of the magnet modules.

Claims

1. A magnetic robot comprising:

a chassis;

at least one track assembly associated with the chassis, the track assembly including;

a plurality of magnet modules displaceably mounted with respect to the chassis and including a track guide portion, and

a driven track about the magnet modules travelling on said magnet module guide portions.

2. The robot of claim 1 in which the magnet modules further include guide walls for the track.

3. The robot of claim 1 in which the magnet modules include at least one permanent magnet sandwiched between a flux return backer and an intensifier pole piece.

4. The robot of claim 3 in which there are two adjacent permanent magnets having opposite polarity.

5. The robot of claim 4 in which the intensifier pole piece converges from a broad portion to a narrower distal portion.

6. The robot of claim 5 further including a protective shoe over the intensifier pole piece distal narrower portion.

7. The robot of claim 1 in which the chassis includes a slotted frame for the magnet modules.

8. The robot of claim 7 in which the magnet module includes a head portion received in the slotted frame.

9. The robot of claim 8 in which further including a spring between the slotted frame and the head portion.

10. The robot of claim 7 in which the slotted frame includes a top guide rail for the track.

11. The robot of claim 1 in which the track includes slats coupled to a chain.

12. The robot of claim 11 in which the slats include discontinuities to prevent shunting.

13. The robot of claim 11 in which the slats include spaced bottom ribs for traction.

14. The robot of claim 13 in which said ribs are angled.

15. The robot of claim 14 in which adjacent slats have oppositely angled ribs in a repeating herringbone pattern.

16. The robot of claim 11 in which the slat bottom ends are angled upwardly and outwardly.

17. The robot of claim 1 in which one or more magnet module guide portions include at least one force sensor.

18. The robot of claim 1 further including a fairing having a lift reducing profile fore and aft of the robot.

19. A track assembly comprising:

a linear series of non-circulating magnet modules displaceably mounted with respect to a frame, each magnet module including a guide portion; and

a track about the magnet modules and including a guided portion traveling with respect to the magnet modules and guided by the magnet module guide portions.

20. The assembly of claim 19 in which the guided portion of the track includes a chain.

21. The assembly of claim 19 in which the frame further includes another guide portion.

22. The assembly of claim 19 in which a magnet module guide portion includes a rail.

23. The assembly of claim 19 in which a magnet module includes at least one permanent magnet sandwiched between a flux return backer and an intensifier pole piece.

24. The assembly of claim 23 in which there are two adjacent permanent magnets having opposite polarity.

25. The assembly of claim 23 in which an intensifier pole piece converges from a broad portion to a narrower distal portion.

26. The assembly of claim 25 further including a protective shoe over the intensifier pole piece distal narrower portion.

27. The assembly of claim 19 in which the frame is slotted.

28. The assembly of claim 27 in which a magnet module includes a head portion received in the slotted frame.

29. The assembly of claim 28 in further including a spring between the slotted frame and the head portion.

30. The assembly of claim 19 in which the track includes slats coupled to a chain.

31. The assembly of claim 30 in which the slats include discontinuities to prevent shunting.

32. The assembly of claim 30 in which the slats include spaced ribs for traction.

33. The assembly of claim 32 in which said ribs are angled.

34. The assembly of claim 33 in which adjacent slats have oppositely angled ribs in a repeating herringbone pattern.

35. The assembly of claim 30 in which the slat bottom ends angled outwardly and upwardly.

36. The assembly of claim 19 in which one or more magnet modules include at least one force sensor.

37. A magnet track assembly comprising:

a series of non-circulating adjacent magnet modules extending in a first direction and displaceably mounted in a frame in a second direction; and

a track extending about and circulating with respect to the series of magnet modules.

38. The assembly of claim 37 in which each magnet module is biased towards the track.

39. The assembly of claim 38 in which each module includes a rail spacing the module from the track.

40. A magnet module comprising:

a head portion displacedly mounted with respect to a frame;

a backer attached to the head portion;

an intensifier;

at least one permanent magnet between the backer and the intensifier; and

a guide portion for a track circulating about the magnet module.

41. The module of claim 40 in which the intensifier defines an opening therethrough.

42. The module of claim 41 in which the guide portion is a rail located in the opening.

43. A method of operating a robot, the method comprising:

displaceably mounting a plurality of non-circulating magnet modules with respect to a robot chassis; and

driving an endless track about the magnet modules and guided by the magnet modules.