Compact magnetic crawler vehicle with anti-rocking supports

Patent metadata

Field	Value
Publication number	US-10343276-B2
Application number	US-201715647332-A
Country	US
Kind code	B2
Filing date	Jul 12, 2017
Priority date	Jul 12, 2017
Publication date	Jul 9, 2019
Grant date	Jul 9, 2019

Abstract

A robotic vehicle for traversing surfaces is provided. The vehicle is comprised of a chassis supporting a magnetic drive wheel for driving and steering the vehicle and a stabilization mechanism. The magnetic wheel comprises two flux concentrator yokes and an axially magnetized hub extending therebetween. The hub includes a central housing configured to house a sensor probe and enhance the magnetic pull force of the wheel by providing a continuous pathway of high magnetic permeability material for magnetic flux to flow axially through the drive wheel. The stabilization mechanism comprises a front and rear facing support element moveably coupled to the chassis and configured to contact the surface and move symmetrically relative to the chassis thereby maintaining the vehicle and probe normal to the surface and providing stability to the vehicle while traversing surfaces regardless of surface curvature and vehicle orientation.

First claim

What is claimed is:

1. A magnetic robotic crawler vehicle for traversing a surface, comprising:
a chassis;
a magnetic drive wheel mounted to the chassis, wherein the drive wheel extends in a lateral direction and comprises:
two spaced apart flux concentrating yokes that rotate about a rotational axis and are configured to be driven independently thereby driving and steering the vehicle along the surface, wherein a longitudinal axis of the vehicle extends perpendicularly to the lateral, rotational axis in a front and back direction and through the midpoint between the two yokes; and
an axially magnetized hub extending laterally between the two yokes; and

a stabilization mechanism coupled to the chassis, the stabilization mechanism comprising:
a first and a second support element configured to contact and move along the surface during normal operation of the vehicle, the first and second support elements being positioned on opposite sides of the drive wheel relative to the rotational axis, and wherein the first and second support elements are positioned symmetrically with respect to the longitudinal axis; and
a support mechanism moveably coupling the first and second support elements to the chassis, wherein the support mechanism is configured to move the first and second support elements relative to the chassis in at least an up and down direction, wherein the up and down direction is generally perpendicular to both the longitudinal axis and the rotational axis,
wherein the support mechanism is passive in nature and moves the first and second support elements in the up and down direction in response to a curvature of the surface thereby maintaining the first and second support elements in contact with the surface.

2. The magnetic robotic crawler vehicle of claim 1 , wherein the axially magnetized hub comprises:
one or more axially magnetized magnets; and
a housing extending along the rotational axis,
wherein the housing is shaped to define open chamber therein and at least one opening, wherein the chamber is provided at the midpoint between the two yokes and wherein the housing has a fixed position relative to the yokes such that the at least one opening faces downward toward the surface during normal operation of the vehicle.

3. The magnetic robotic crawler vehicle of claim 2 , wherein the a housing comprises a ferromagnetic material and includes a left wall, an opposing right wall and a one or more lateral walls extending therebetween along the rotational axis, the walls of the housing being shaped to define the chamber and the one or more lateral walls being shaped to define the at least one opening therethrough.

4. The robotic vehicle of claim 3 , further comprising:
a sensor probe assembly disposed at least partially within the chamber; and
a sensor support moveably coupling the sensor probe assembly to one or more of the housing and the chassis, wherein the sensor support assembly is configured to passively move the probe assembly relative to the housing in at least the up and down direction in response to the curvature of the surface thereby maintaining the probe assembly in contact with the surface.

5. The magnetic robotic crawler vehicle of claim 4 , wherein the sensor probe assembly comprises:
a dry coupled wheel probe configured to passively roll generally in a direction of travel of the vehicle along the surface.

6. The magnetic robotic crawler vehicle of claim 5 , wherein the sensor support comprises one or more shafts supporting an axle of the wheel probe and being coupled to one or more of the housing and the chassis by at least one mount, wherein the at least one mount is configured to allow the one or more shafts to move relative to the housing in at least the up and down direction; and
one or more spring elements configured exert a force between at least the sensor probe assembly and one or more of the chassis and the housing, and wherein the force urges the wheel probe downward through the at least one opening of the housing and into contact with the surface.

7. The magnetic robotic crawler vehicle of claim 1 , wherein the first and second support elements are equidistant from the rotational axis of the drive wheel, and wherein the first and second support elements are one or more of: positioned in line with the longitudinal axis of the vehicle, and evenly spaced apart from the longitudinal axis on opposite sides thereof.

8. The magnetic robotic crawler vehicle of claim 1 , wherein the stabilization mechanism includes one or more linkages mechanically coupling the first and second support elements, wherein the one or more linkages are configured to move the first and second support elements symmetrically relative to the drive wheel in at least the up and down direction thereby maintaining the first and second support elements in contact with the surface and the vehicle substantially normal to the surface.

9. The magnetic robotic crawler vehicle of claim 8 , wherein the one or more linkages are configured to move the first and second support elements symmetrically relative to the drive wheel in the front and back direction and in the up and down direction such that the first and second stabilization elements move along a respective curved path.

10. The magnetic robotic crawler vehicle of claim 8 , the further comprising:
one or more spring elements configured to exert a force between at least one of the one or more linkages and one or more of the chassis, the drive wheel and another linkage, wherein the force urges the front and rear support elements into contact with the surface thereby urging the first chassis sections into a normal position relative to the surface.

11. The magnetic robotic crawler vehicle of claim 4 , wherein the stabilization mechanism includes one or more linkages mechanically coupling the first and second support elements and is configured to move the first and second support elements symmetrically relative to the drive wheel in one or more directions, wherein the stabilization mechanism is configured to maintain a prescribed relationship between the motion of the first and second support elements and the motion of the probe assembly in the up and down direction.

12. The magnetic robotic crawler vehicle of claim 1 , wherein the support mechanism comprises a first linkage supporting the first support element and a second linkage supporting the second support element, wherein the first and second linkages are moveably coupled to the chassis by one or more mounts, and wherein the first and second linkages are mechanically coupled so as to synchronize the motion of the first and the second support elements in at least one direction relative to the chassis thereby maintaining the first and second support elements in contact with the surface and the vehicle substantially normal to the surface.

13. The magnetic robotic crawler vehicle of claim 12 , wherein the one or more mounts are selected from the group consisting of:
a linear bearing configured to allow one of the first and second linkages to slide linearly with respect to the chassis in one or more directions, and
a pivot configured to allow the one of the first and second linkages to rotate about the pivot.

14. The magnetic robotic crawler vehicle of claim 13 , wherein the first and second linkages are rigidly joined together such that the first and second support elements move in parallel.

15. The magnetic robotic crawler vehicle of claim 13 , wherein the first and second linkages are mechanically coupled using one or more spur gears configured to synchronize the motion of the first and second support elements in

Assignees

• Saudi Arabian Oil Co

Inventors

• Carrasco Zanini Pablo
• Abdellatif Fadl
• Arab Abdullah
• Parrott Brian

Classifications

• B60B19/006

  Magnetic wheels · CPC title

• B62D53/028

  Having only coupling joints other than directional (articulated frames B62D21/186 and B62D55/10) · CPC title

• B62D57/028

  having wheels and mechanical legs (B62D57/024 takes precedence; ground-engaging vehicle fittings for supporting, lifting or manoeuvring the vehicle, wholly or in part B60S9/00) · CPC title

• G01N29/34

  Generating the ultrasonic, sonic or infrasonic waves {, e.g. electronic circuits specially adapted therefor} · CPC title

• B62D57/024 Primary

  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 title