Mobile robot

• US 9,545,965 B2
• Filed: 10/26/2015
• Issued: 01/17/2017
• Est. Priority Date: 12/02/2011
• Status: Active Grant

• Current Assignee: Helical Robotics, LLC
• Original Assignee: Helical Robotics, LLC
• Inventors: Schlee, Keith L., Schlee, Bruce A.
• Primary Examiner(s): EVANS, BRYAN A
• Application Number:
  US14/922,863
• Publication Number:
  US 20160114843A1
• Time in Patent Office: 449 Days
• US Class Current: 1/1
• CPC Class Codes: B60B 2900/931 Magnetic effects
• CPC Class Codes: B60B 39/00 Increasing wheel adhesion wheels, wheel attachments or tyre attachments, designed for increasing traction B60B15/00, B60C; tyre constructions B60C; road surface conditioning to prevent slipperiness E01C
• 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 mobile robot configured to be widely versatile in its use. For example, the mobile robot can be configured for being used on a wide assortment of surfaces, regardless of the orientation and/or shape of the surfaces. Alternatively or in combination, the mobile robot can be configured for effective and efficient movement on the surfaces it traverses. In some cases, the mobile robot is configured with two or more component units. In some cases, the component units are configured with magnets and a control system for orientating the magnets. In some cases, one or more component couplings join the component units. In some cases, the mobile unit is configured with Mecanum wheels.

Claims

1. A mobile robot configured to be used on a ferromagnetic surface, regardless of orientation of the surface to ground or floor, the mobile robot comprising:

a framework; and

a plurality of magnets, the magnets being operably coupled to the framework and maintained at a set height relative to the framework and a corresponding distance above the ferromagnetic surface during movement of the mobile robot and at which field strengths of the magnets are sufficient to hold the robot and payload thereof against the surface, the plurality of magnets including at least a first set of magnets operably coupled to outer ends of the framework.

2. The mobile robot of claim 1 wherein the ferromagnetic surface is of an object having one or more portions angled from the ground or floor.

3. The mobile robot of claim 2 wherein the object is a wind turbine tower.

4. The mobile robot of claim 1 wherein the magnets are selectively adjustable in two or more dimensions in relation to the ferromagnetic surface.

5. The mobile robot of claim 4 wherein the magnets are selectively adjustable with regard to angle and clearance in relation to the ferromagnetic surface.

6. The mobile robot of claim 1 wherein certain of the first set of magnets are operably coupled to one end of the framework, and remainder of the first set of magnets are operably coupled to an opposing end of the framework.

7. The mobile robot of claim 6 wherein the magnets are operably coupled to the framework via orientation control structure, the orientation control structure comprising a plurality of pivot members.

8. The mobile robot of claim 7, wherein each pivot member is formed as an “

L”

bracket, wherein each “

L”

bracket has a leg segment that is pivotally adjustable to the ferromagnetic surface, and each “

L”

bracket has a base member that operably supports one of the magnets while permitting vertical adjustment of the one magnet to the ferromagnetic surface.

9. The mobile robot of claim 7, wherein each pivot member is formed as a block that is pivotally adjustable to the ferromagnetic surface, and defined with one or more vertical openings there through and plates thereon for operably supporting a same one or more of the magnets while permitting vertical adjustment of the magnets to the ferromagnetic surface.

10. The mobile robot of claim 1 wherein the framework comprises one or more pairs of component units, wherein each of the component units is an integral assembly and has a frame surrounding the assembly, and wherein the component units of each pair are operably joined in a side-by-side manner.

11. The mobile robot of claim 10 wherein the plurality of magnets includes a second set of magnets, wherein the second set of magnets is operably coupled between at least one of the component unit pairs.

12. The mobile robot of claim 10 wherein the framework comprises one pair of component units.

13. The mobile robot of claim 12 wherein certain of the magnets are operably coupled to a first component unit of the one pair and remainder of the magnets are operably coupled to a second component unit of the one pair, the magnets being on opposing sides of the first and second component units.

14. The mobile robot of claim 10 wherein the frames of the component units of the one pair are operably joined via one or more component couplings.

15. The mobile robot of claim 14 wherein the joined component units are locked in relation to each other via the component couplings.

16. The mobile robot of claim 14 wherein one or more of the component couplings comprise linkages, wherein the linkages are configured to permit the joined component units to shift in relation to each other so that contact between the robot and the ferromagnetic surface is maintained.

17. The mobile robot of claim 16 wherein the joined component units are enabled to shift in relation to each other in more than one degree of freedom.

18. The mobile robot of claim 17 wherein one of the degrees of freedom involves the joined component units being able to pivot in relation to each other.

19. The mobile robot of claim 1 wherein orientation of the plurality of magnets relative to the ferromagnetic surface is self-regulated by the magnets during movement of the robot.

20. The mobile robot of claim 1 whereby the height and corresponding distance of the plurality of magnets result in keeping to a minimum one or more of (i) clearance of the framework from the ferromagnetic surface, (ii) center of gravity of the robot, and (iii) overall profile of the robot.