Magnet robot crawler

• US 9,540,061 B2
• Filed: 05/27/2015
• Issued: 01/10/2017
• Est. Priority Date: 11/26/2012
• Status: Active Grant

• Current Assignee: Foster-Miller Incorporated (Thermo Fisher Scientific Incorporated)
• Original Assignee: Foster-Miller Incorporated (Thermo Fisher Scientific Incorporated)
• Inventors: Albin, Scott R., Chesna, Anthony, Lansberry, Geoffrey Blake, Shane, David J.
• Primary Examiner(s): Hurley, Kevin
• Assistant Examiner(s): STABLEY, MICHAEL R
• Application Number:
  US14/722,822
• Publication Number:
  US 20160001829A1
• Time in Patent Office: 594 Days
• Field of Search: 180/9.1, 180/6.7, 180/901, 305/185, 305/46
• US Class Current: 1/1
• 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 track assembly comprising:

a frame;

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

a track about the linear series of non-circulating magnet modules and including a guided portion traveling with respect to the magnet modules and guided by the magnet module guide portions.

2. The assembly of claim 1 in which the guided portion of the track includes a chain.

3. The assembly of claim 1 in which the frame further includes another guide portion.

4. The assembly of claim 1 in which each magnet module guide portion includes a rail.

5. The assembly of claim 1 in which each magnet module includes at least one permanent magnet sandwiched between a flux return backer and an intensifier pole piece.

6. The assembly of claim 5 in which there are two adjacent permanent magnets having opposite polarity.

7. The assembly of claim 5 in which an intensifier pole piece converges from a broad portion to a narrower distal portion.

8. The assembly of claim 7 further including a protective shoe over the intensifier pole piece distal narrower portion.

9. The assembly of claim 1 in which the frame is slotted.

10. The assembly of claim 9 in which each magnet module includes a head portion received in the slotted frame.

11. The assembly of claim 10 in further including a spring between the slotted frame and the head portion.

12. The assembly of claim 1 in which the track includes slats coupled to a chain.

13. The assembly of claim 12 in which the slats include discontinuities to prevent shunting.

14. The assembly of claim 12 in which the slats include spaced ribs for traction.

15. The assembly of claim 14 in which said ribs are angled.

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

17. The assembly of claim 13 in which the slat bottom ends angled outwardly and upwardly.

18. The assembly of claim 1 in which one or more of said magnet modules include at least one force sensor.

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;

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; and

each magnet module including at least one permanent magnet sandwiched between a flux return backer and an intensifier pole piece.

20. A track assembly comprising:

a slotted frame;

a linear series of non-circulating magnet modules displaceably mounted with respect to the slotted frame, each magnet module including a guide portion and a head portion received in the slotted frame; 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.