WO2014043415A1

WO2014043415A1 - Layered rubber magnetic track

Info

Publication number: WO2014043415A1
Application number: PCT/US2013/059552
Authority: WO
Inventors: Fraser M. Smith; Glenn Colvin
Original assignee: Raytheon Company
Priority date: 2012-09-14
Filing date: 2013-09-12
Publication date: 2014-03-20
Also published as: WO2014043395A3; WO2014062317A3; WO2014043411A1; WO2014043414A9; WO2014043414A3; WO2014062316A2; WO2014062316A3; WO2014062317A2; WO2014043414A2; WO2014043395A2

Abstract

A method of manufacturing a magnetic track is described in accordance with an example of the present technology. The method can include rubberizing a first side of the track with a first plurality of indentations formed therein, and rubberizing a second side of the track with a second plurality of indentations formed therein. A plurality of magnets can be disposed between the first and second sides in positions corresponding to the first or second plurality of indentations. The first and second sides can be rubberized together such that the first plurality of indentations and the second plurality of indentations are facing and aligned with the plurality of magnets enclosed therein.

Description

LAYERED RUBBER MAGNETIC TRACK

RELATED APPLICATIONS

This application claims the benefit of United States patent application no.

13/769,346 filed on February 17, 2013 which claims the benefit of the following provisional patent applications, the contents of each of which are incorporated herein by reference in their entirety: United States provisional patent application serial number 61/701,512, filed on September 14, 2012; United States provisional patent application serial number 61/701,517, filed on September 14, 2012; United States provisional patent application serial number 61/701 ,523, filed on September 14, 2012; United States provisional patent application serial number 61/701,529, filed on September 14, 2012;

United States provisional patent application serial number 61/701 ,534, filed on September 14, 2012; and United States provisional patent application serial number 61/701 ,537, filed on September 14, 2012.

This application is related to copending United States patent applications

13/769,337, filed on February 17, 2013 (attorney docket no. 2865-11 -2182 -US-NP); 13/769,339, filed on February 17, 2013 (attorney docket no. 2865-1 1-2188-US-NP); 13/769,342, filed on February 17, 2013 (attorney docket no. 2865-11 -2183 -US-NP); 13/769,344, filed on February 17, 2013 (attorney docket no. 2865-1 1-2187-US-NP); and 13/769,345, filed on February 17, 2013 (attorney docket no. 2865-1 1-2189-US-NP), the contents of each of which is hereby incorporated by reference herein in their entirety.

This application is also related to the following copending United States patent applications: serial number 12/313,643, filed on November 21 , 2008; serial number 12/583,346, filed on August 19, 2009; serial number 12/586,248, filed on September 18, 2009; serial number 12/587,949, filed on October 14, 2009; and serial number 12/800,486 filed on May 17, 2010; the contents of each of which is hereby incorporated herein by reference in their entirety.

BACKGROUND

Robots have been proposed to clean and inspect vessels and underwater structures. Such robots typically include a drive subsystem for maneuvering the robot about the vessel or structure hull. Some drive subsystems include magnetic wheels or rollers. The motor and drive train driving these wheels generally provides sufficient torque to overcome the strong magnetic tractive force. Other drive subsystems include rollers and some means of adhering the robot to the hull via suction. Some use rollers or wheels and a magnet spaced from the hull. Others use an impeller driven by a motor urging the robot against the hull.

Magnetic tracks and tracks with magnetic shoes have also been proposed which use electromagnets that are selectively energized to control the drag force exerted by the magnets.

SUMMARY

A magnetic track is described in accordance with an example of the present technology. The magnetic track can include a rubber track and magnets embedded in the rubber track. The track can be operable with a drive system (e.g., a series of wheels or sprockets, at least some of which are powered or that function as drive wheels) for maintaining a position of the rubber track, wherein the drive system is configured to facilitate movement or driving of the rubber track.

A magnetic track system is described in accordance with another example of the present technology. The magnetic track system can comprise a magnetic track (e.g., an endless loop rubber track) operable with a drive system, wherein the magnetic track comprises a plurality of magnets embedded therein. The magnets can be displaceable to different positions or orientations with respect to one another based on a movement of the rubber track. The system can further comprise a lift-off device having at least one lift-off magnet supported therein for facilitating separation of the rubber track from a surface upon which it is operated.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a flow diagram of a method of manufacturing a magnetic track in accordance with an embodiment of the present technology;

FIGs. 2a-f diagrammatically illustrate a process for manufacturing a magnetic track in accordance with an embodiment of the present technology;

FIG. 3 illustrates a different process for manufacturing a magnetic track than the process of FIG. 2 in accordance with another embodiment of the present technology;

FIG. 4 is a side view of a rubberized magnetic track in accordance with an embodiment of the present technology; and

FIG. 5 is a cross-sectional side view of a device including a rubberized magnetic track and a lift-off magnet in accordance with an embodiment of the present technology.

DETAILED DESCRIPTION

Before the present disclosure is described herein, it is to be understood that this disclosure is not limited to the particular structures, process steps, or materials disclosed herein, but is extended to equivalents thereof as would be recognized by those ordinarily skilled in the relevant arts. It should also be understood that terminology employed herein is used for the purpose of describing particular embodiments only and is not intended to be limiting.

DEFINITIONS

The following terminology will be used in accordance with the definitions set forth below.

As used herein, "robot body" is intended as a broad term to define one or more structural components (e.g., a frame, chassis, etc.) capable of supporting one or more other components of a hull robot or its subsystems, and/or capable of providing covering and/or concealment of one or more components or subsystems of the hull robot. As used herein, the singular forms "a," and, "the" include plural referents unless the context clearly dictates otherwise.

As used herein, the term "substantially" refers to the complete or nearly complete extent or degree of an action, characteristic, property, state, structure, item, or result. For example, an object that is "substantially" enclosed would mean that the object is either completely enclosed or nearly completely enclosed. The exact allowable degree of deviation from absolute completeness may in some cases depend on the specific context. However, generally speaking the nearness of completion will be so as to have the same overall result as if absolute and total completion were obtained. The use of "substantially" is equally applicable when used in a negative connotation to refer to the complete or near complete lack of an action, characteristic, property, state, structure, item, or result. For example, a composition that is "substantially free of particles would either completely lack particles, or so nearly completely lack particles that the effect would be the same as if it completely lacked particles. In other words, a composition that is "substantially free of an ingredient or element may still actually contain such item as long as there is no measurable effect thereof.

As used herein, the term "about" is used to provide flexibility to a numerical range endpoint by providing that a given value may be "a little above" or "a little below" the endpoint.

As used herein, a plurality of items, structural elements, compositional elements, and/or materials may be presented in a common list for convenience. However, these lists should be construed as though each member of the list is individually identified as a separate and unique member. Thus, no individual member of such list should be construed as a de facto equivalent of any other member of the same list solely based on their presentation in a common group without indications to the contrary.

EXAMPLE EMBODIMENTS

Reference will now be made to the exemplary embodiments illustrated, and specific language will be used herein to describe the same. It will nevertheless be understood that no limitation of the scope of the technology is thereby intended.

Additional features and advantages of the technology will be apparent from the detailed description which follows, taken in conjunction with the accompanying drawings, which together illustrate, by way of example, features of the technology.

It is noted in the present disclosure that when describing the system, or the related devices or methods, individual or separate descriptions are considered applicable to one another, whether or not explicitly discussed in the context of a particular example or embodiment. For example, in discussing an energy harvester configuration per se, the device, system, and/or method embodiments are also included in such discussions, and vice versa.

Furthermore, various modifications and combinations can be derived from the present disclosure and illustrations, and as such, the following figures should not be considered limiting.

The present technology includes a method of manufacturing a magnetic track in accordance with an example of the present technology. A flow diagram of the method is illustrated in FIG. 1. The method can include rubberizing (i.e., forming an object from rubber or applying rubber to an object) 1 10 to form a first side of the track with a first plurality of indentations formed therein, and rubberizing 120 to form a second side of the track with a second plurality of indentations formed therein. A plurality of magnets can be disposed 130 between the first and second sides in positions corresponding to the first or second plurality of indentations. The first and second sides can be rubberized 140 together such that the first plurality of indentations and the second plurality of indentations are facing and aligned with the plurality of magnets enclosed therein.

To summarize the following discussion, an example method could employ use of a plastic holder for receiving the magnets (such as, for example, Neodymium magnets). One side of the track may be vulcanized around the magnets. The plastic holder can then be removed and the other side of the track can be vulcanized around the magnets. As another example, two track members can be formed with cavity portions formed therein to receive the magnets. Once the magnets are inserted, the tracks can be vulcanized together to further secure the magnets in place. Thus, the magnets can be completely, or at least partially, embedded within the tracks. The method can enable varying degrees of magnet separation and orientation and can specifically control such separation and orientation. Natural, uncured latex rubber, such as may be obtained from a rubber tree, can be used to embed magnets within a track. However, natural, uncured rubber generally is a much weaker rubber than cured or vulcanized rubber. Generally speaking, vulcanization can occur by adding sulfur, heat, and pressure to the rubber. The vulcanization process can cause the sulfur to bond to rubber molecules, cross-linking the sulfur and rubber molecules. This cross-linking connects gaps between the rubber molecules and pulls them into a more cohesive molecule, or matrix of molecules. The cross-linking can result in geometrically spaced, strong and resilient rubber molecules.

Any of a variety of different types of rubbers may be used to create the rubberized magnetic track. For example, the rubber may be a chloroprene rubber, a diene rubber, a butadiene rubber, a synthetic rubber, a natural rubber, or any other suitable rubber or combinations of rubber.

In addition to the rubber material, a tray for holding the magnets and/or a mold frame can be used, in addition to a heat press or vulcanizer device, as discussed below.

With regard to the vulcanization of the rubber material, a mold for the rubber tracks can be at least slightly larger than a desired finished product due to shrinkage, which is generally 8- 10%. The shrinkage is typically greatest in the direction of the pressure of the vulcanizer. In other words, the platens of the vulcanizer may push against sides of the mold, resulting in greater shrinkage in the direction towards the sides of the mold.

The vulcanization process may be performed at appropriate temperatures. In one example, the vulcanization process may be performed between temperatures of 300° and 350° F, and in a more specific example at approximately 3 15° F. Thus, consideration may be given to materials selected for use in the rubber composition or to the type of magnets to be embedded in the composition such that the materials and/or magnets may be able to sufficiently withstand the pressure and temperature applied during the vulcanization process. As described above, Neodymium magnets are one example of a magnet which may be suitable to undergo a vulcanization process.

Further details regarding the processing and/or vulcanization of rubbers and other materials will be apparent to those having skill in the art. Before the rubber is vulcanized in the mold, the mold can be prepared according to a predetermined set of specifications. After the mold is shaped and cut, an opening in the side can be pressed against a nozzle of a wax injector, which is a container full of pressurized, molten wax. Subsequently, the mold can be invested and cast, and a void left from the burned out wax can be filled with metal through spruing. The sprues can be pipes soldered onto the mold so that wax, and later on metal, can reach portions of the mold.

Mold frames are often machined out of a solid block of aluminum, as the pressures involved are fairly high. However, mold frames made from other materials, including composites, plastics, metals, and so forth may also be used. Pressure can be applied in the mold frame during the process, which pressure can be achieved through layers and/or packing of the materials in or around the mold.

The specific steps for cooking a mold after packing may vary depending on the type of rubber or a desired outcome. However, in one example, the vulcanizer can be set to vulcanize at approximately 3 15° F. An aluminum backing plate can be positioned on one or more sides of the packed mold frame, and the assembly of the mold frame with the backing plate(s) can be put into the vulcanizer and placed under pressure. A firm, steady pressure with a proper amount of heat can sufficiently cook the rubber track, including any layers included therein.

After cooking the mold, the mold assembly can be removed from the vulcanizer and can be allowed to gradually cool or can be more actively cooled, such as by placing the mold in water. The backing plates can be removed and the vulcanized rubber can be removed.

After the mold is cooked and cooled, excess rubber can be trimmed from the edges. There are as many techniques for mold cutting based on various aspects of the mold, which will not be discussed here.

Reference will now be made to FIGs. 2a-2f. With the general process described above in consideration, a mold can be formed for providing a tread portion of a rubber track. In one aspect, the mold can comprise a tray 205 (see FIG. 2a) configured to support or hold one or more magnets 210 (see FIG. 2b), such as those shown inserted into the tray 205. The magnets can be held by the tray or other holder designed to maintain a position of the magnets, such that when the rubber is introduced and vulcanized, the magnets can be substantially embedded within the rubber. The rubber can be packed around the tray and the magnets inserted into the tray.

FIG. 2c illustrates the magnets 210 inserted into the tray 205. At least a portion, for example approximately one half, of the magnets can extend from the tray to be exposed to the rubber material. In some embodiments, a bond can be formed between the rubber and the magnets during the vulcanization process. The vulcanization process can be carried out in a vulcanizer (not shown), as described above.

FIG. 2d illustrates a vulcanized rubber layer 215 formed over or about the magnets 210 and the tray 205. The rubber layer 215 can be formed about the exposed portion of the magnets 210 as extending from the tray 205. In one aspect, the rubber in the rubber layer and the magnets can be selected so as to form a bond during the vulcanization process. In another aspect, however, a bond need not be formed between the magnets and the rubber, so long as the rubber is vulcanized to conform to a shape of the magnets.

After the rubber is vulcanized to form the rubber layer 215, the mold, along with the magnets 210, can be removed from the vulcanizer. In addition, the rubber layer 215 and rubberized magnets 210 can be removed from the mold and the tray, as illustrated in FIG. 2e. FIG 2e illustrates the magnets 210 as being at least partially supported in the rubber layer 215 following the vulcanization process, with the portion previously in the tray (see FIG. 2c) now exposed (in FIG. 2e, an orientation of the rubberized magnets has been reversed from the depiction in FIG. 2d).

A rubber for the second side of the rubber tracks can be packed around the magnets. The rubber for the second side of the rubber tracks can be a same or different rubber as that used for the first side. The rubber can be vulcanized to enclose the magnets within the rubber and to form the track. FIG. 2f illustrates a completed rubber track where two layers of rubber 215, 220 have been vulcanized together around the magnets to form a rubberized magnetic track with a plurality of magnets embedded therein.

While the examples above describe the tray as being removed from the assembly after at least one side of the magnets are rubberized, in some examples, the tray may remain as a part of the rubberized track. For example, the tray may be made of rubber. The tray may include openings or holes therein for receiving the magnets at desired positions. The openings may have approximately a same diameter as the magnets or a smaller diameter to snugly receive the magnets therein such that the magnets may be held in the desired positions during the vulcanization process. In this example, the resultant track includes three rubber layers, including the outer layers and the tray layer. The tray layer may optionally be formed of a different type of rubber than the outer layers. The outer layers may optionally be formed of different materials than one another. Thus, the magnetic track may be formed of the same or multiple different rubber materials, as well as different layers. In one embodiment, for example, the tray layer may be formed of a softer or more pliable rubber for ease of inserting the magnets therein. A rubber used for an outer layer gripping surface or tread may be selected for its grip properties. A rubber used for an outer layer track surface, or rather a surface for contact with a wheel or the like for rotating the rubber track, may be selected for hardness and durability. Any other suitable selection may also be made to select an appropriate rubber composition for each of the layers. Once one or more magnets are disposed within the openings of the tray, the first and second layers are disposed about opposing sides of the tray and the contained magnets. The first and second layers may comprise indentations that correspond to the position of the magnets. Once all of the layers are positioned, the three layer arrangement may be vulcanized or rubberized to form a rubberized magnetic track with the plurality of magnets embedded therein. Additional layers beyond three are also contemplated.

In another example illustrated in FIG. 3a, two track members 305a, 305b can be formed independently prior to being caused to receive and support one or more magnets. In the embodiment shown, the track members 305a and 305b can comprise cavity portions 310a, 310b formed therein, which cavity portions are configured to receive the magnets. The magnets 315 can be inserted into the cavities and the track members can be vulcanized together to further secure the magnets in place and unify the track members. The magnets can be completely embedded within the tracks, or they can be partially embedded within the tracks (e.g., a majority thereof embedded within the tracks).

With reference to FIG. 3b, two track members 305c, 305d are shown which have been formed independently prior to being caused to receive and support one or more magnets. An access hole 320 can be formed through the rubber tracks for accessing the magnet. For example, the magnet may be embedded within a sheath 3 18 supported within the rubber, wherein the magnet is configured to be rotatable within the sheath. A rod or drive shaft 325 can be inserted through the access hole and configured to facilitate rotation of the magnet within the sheath to effectively "switch" the magnet between an "on" and an "off position, or in other words to rotate the magnet from a first position to a second position to vary a degree of magnetic attraction. The magnet can be configured, such that by rotating the magnetic North (N) or South (S) pole closer to or farther from a surface, the attraction force or magnetic attraction relative to the surface can be varied. In the previous figure (FIG. 3 a), the magnetic poles were at opposite ends of the magnet.

However, in this example (FIG. 3b) the magnetic polarity is divided along a length of the magnet. In this example, a first position of the magnet may result in an attraction between the magnet and a surface adjacent to, or upon which, the track is located. A second position may result in a neutral magnetic attraction between the magnet and the surface. A third position may result in a magnetic repulsion between the magnet and the surface. Enabling switching between positions can enable varying degrees of magnetic attraction to facilitate attraction of the track to the surface and separation of the track from the surface as desired.

Some tracks may benefit from the use of switchable magnets, which in some instances can be switched by a rotation of a magnetic with respect to an attracted surface to 'switch' the magnet on or off.

The method herein of forming magnetic tracks can enable varying degrees of magnet separation and orientation and can facilitate specific control of such separation and orientation within the tracks. Magnet separation and orientation can be specifically configured using the tray in connection with the mold during packing. In one aspect, the magnets can all be oriented in the same or a similar orientation within the track, and can be situated the same or a similar distance from one another. In another aspect, at least some of the magnets in the track can be oriented differently with respect to one another, or disposed at different orientations in the tray with respect to one another during formation of the track. Orientating the magnets at different orientations with respect to one another may be useful in some situations. For example, where the rubber track is intended to be used on an uneven surface to which secure magnetic attraction is desired, magnets oriented in the same particular orientation or direction may not facilitate or provide the most optimal attraction force due to irregularities of the surface. On the other hand, if at least some of the magnets are oriented differently, as the track rotates, there may be an increased percentage of magnets providing an optimal attraction force. For example, if a magnet is an elongate bar magnet and the track is driven over a bump, the bump may force one end of the magnet or the track associated with the one end of the magnet out of contact with the surface, where the other end of the same magnet remains in contact. This situation can be avoided, at least in some circumstances, by the use of differently oriented magnets, such as magnets oriented at 90° with respect to one another.

The magnets can be configured to comprise any number of suitable shapes and sizes which may vary depending upon a target application of the rubber track. For example, the magnets can have a cylindrical shape, a cubic shape, a spherical shape, or any other suitable shape. In one aspect, one or more of the edges of the magnets may be rounded or tapered to reduce stresses on the rubber from sharp edges during use of the track. Moreover, different types of magnets are contemplated for use, such as ceramic or ferrite, alnico, injection molded, flexible, rare-earth, and any combination of these. Other types of magnets may be used, as will be apparent to those skilled in the art.

Referring to FIG. 4, a magnetic track 400 is described in accordance with an example of the present technology. The magnetic track can include an endless loop rubber track 405 and magnets 410 embedded in the rubber track, wherein the magnets 410 are stationary or fixed in place relative to the track 400. The track can be configured to operate with various types of drive systems, such as those comprising wheels 415, for maintaining a position of the rubber track and for facilitating movement of the rubber track around the plurality of wheels. The track and the drive system can be operational within a vehicle.

FIG. 4 can also be used to further illustrate how the magnets 410 can be caused to be oriented differently with respect to one another. Indeed, the magnetic track 400 can include an endless loop rubber track 405 having magnets 410 embedded therein that can be displaceable to different positions or orientations with respect to one another based on a rotation of the rubber track 400. In other words, as the track 400 rotates, for example around wheels 415 configured to cause the rotation of the track, some of the magnets 410 may be caused to change in orientation relative to other magnets within the track. For instance, where an endless loop rubber track is used to drive a vehicle, magnets in a portion of the track in contact with the surface on which the vehicle is navigating may be parallel with one another. On an opposite side of the track, the magnets may also be parallel, but will be facing an opposite direction. Magnets going around wheel portions at ends of the track may be oriented perpendicular or some other non-parallel direction with respect to the magnets about the portion of the track in contact with the surface, or to those opposite this portion of the track. The flexibility in the rubber track can this allow the magnets to move relative to one another within the performance limitations of the rubberized material supporting the magnets.

In some aspects, a position of the magnets can correspond to treads formed in a contact surface portion of the track. Thus, for example, the magnets can be located in raised tread portions 420 of the track (e.g., see magnet 412 located or disposed in a raised tread portion of the track 400), or rather in land portions of the tread between tread grooves 425. In another example, the magnets can be located underneath tread grooves. In another example, magnets 412, 414 can be located within the raised tread portions and underneath the grooves, thus resulting in magnets being disposed at multiple different heights or elevations within the track. In another example, magnets may be disposed continuously at a same height (or elevation) within the track regardless of the positioning with respect to land or tread portions or grooves. In yet another example, the magnets can be positioned underneath land portions at a depth below a depth of grooves between the land portions (e.g., see magnet 410). As discussed herein, it is contemplated that the track 400 can comprise various treads or tread patterns formed in a surface thereof. In one exemplary embodiment, the tread or tread pattern on the track can be formed by providing suitable structural configurations within the mold used to embed the magnets and form the track.

Referring to FIG. 5, the magnetic track 505 described may be used in a variety of applications on a variety of surfaces. During operation, rotation of the track may involve application of a certain amount of force to be able to rotate the track and to force the magnets 510 at a trailing end of the track away from the attractive surface (e.g., see specifically magnet 512 located at the trailing end of the track due to the particular location of the track as rotated clockwise about the wheels). As has been described, switchable magnets can be used in some examples to reduce the force used to detach the magnet from the surface and rotate the magnet around the track away from the surface. However, switchable magnets, at least in some cases, can add additional complexity and cost as compared with non-switchable magnetic tracks with embedded magnets.

FIG. 5 further illustrates an exemplary system operable within a vehicle 515, wherein the vehicle 515 can comprise the magnetic track 505 having magnets 510 embedded therein, as discussed herein. The system can further comprise a lift-off device 525 near a trailing end of the rubber track 505, wherein the lift-off device can comprise a lift-off magnet 520 configured to be oriented opposite an orientation of the magnets 510 in the rotating rubber 505 track as positioned proximate the lift-off device. In other words, the lift-off magnet in the lift-off device is configured to be proximate the trailing end of the rubber track, and the lift-off magnet supported therein is configured to be oriented opposite the magnets in the track. The lift-off magnet is configured, or operates, to repel the magnets 510 in the track as the track 505 rotates. Specifically, the lift-off magnet can comprise a polarity configured to at least partially oppose a polarity of the plurality of magnets embedded in the rubber track. A portion of the magnetic track proximate the lift-off device can comprise a shunted state, wherein the lift-off magnet and at least one of the plurality of magnets are in close proximity to provide at least partial opposing polarities. This facilitates or assists in detachment of the track portion proximate the lift-off device and supporting the at least one of the plurality of magnets from a surface on which the track is operated.

Thus, the lift-off magnet can facilitate a reduction in the attractive force of the magnets in the track relative to the surface on which the vehicle is operating. Stated differently, the lift-off device with its lift-off magnet can facilitate separation of the track from the surface during operation, or as track rotates, by applying a separation force to the magnets within the track. In some embodiments, the lift-off magnet can be oriented and configured to provide a maximum amount of opposing force against the magnets in the track. In other embodiments, a plurality of lift-off magnets can be supported within the lift-off device, such that successive applications of force can be provided by the lift- off device to the rotating track. The plurality of lift-off magnets can be the same or different types of magnets, can comprise the same or different sizes, can be oriented the same or offset relative to one another.

In accordance with one example, the magnetic track described herein can be operated within in a hull robot for inspecting, cleaning, or otherwise maintaining a hull of a ship. In one aspect, a velocity threshold may exist for passing fluid to actuate drive subsystems, cleaning subsystems, and so forth for rotating the magnetic track relative to the hull robot. A velocity of passing fluid may be a result of the vessel to which the hull robot is attached being in motion at a velocity meeting or exceeding a pre-determined velocity or the velocity threshold. A robot body of the hull robot can house the track and can include a framework for supporting the track, lift-off device(s), and any drive systems deployed or utilized to facilitate operation of the track. The lift-off device, with its associated lift-off magnets, can counteract the magnets embedded within the track to minimize attraction of the magnets in the track at a lift off point as the track rotates and as the portion of the track at the lift off point is separated from the hull of the ship. In one aspect, the magnetic track lift-off device can be within the track assembly as an integral part of the track assembly. In another aspect, the magnetic track lift-off device can be formed as an integral part of the hull robot body or a structural frame within the hull robot body and can be positioned opposite a portion of the magnetic track.

Rubberized magnetic tracks as disclosed herein can be used in any of a variety of applications, such as but not limited to, tracked vehicles, assembly lines, and so forth. Some specific examples of tracked vehicles include crawler tractors, tanks, bulldozers, so-called "traxcavators", crawlers, crawler-transporters, screw-propelled vehicles, snowmobiles, snow tracs, four wheelers, snowcats, snow coaches, half-tracks, and so forth.

The use of rubberized magnetic tracks can provide various advantages or benefits over traditional rubber tracks or non-rubberized magnetic tracks in terms of potential applications, longevity of the tracks, and so forth. Further, the method of manufacturing the tracks as described herein can facilitate manufacture of a variety of different formats of tracks for many different uses. While the forgoing examples are illustrative of the principles of the present technology in one or more particular applications, it will be apparent to those of ordinary skill in the art that numerous modifications in form, usage and details of implementation can be made without the exercise of inventive faculty, and without departing from the principles and concepts of the technology. Accordingly, it is not intended that the technology be limited, except as by the claims set forth below.

Claims

1. A method of manufacturing a magnetic track, comprising:

rubberizing a first side of the track with a first plurality of indentations formed therein;

rubberizing a second side of the track with a second plurality of indentations formed therein;

disposing a plurality of magnets between the first and second sides in positions to correspond to the first or second plurality of indentations; and

rubberizing the first and second sides together such that the first plurality of indentations and the second plurality of indentations are facing and aligned with the plurality of magnets enclosed therein, the magnets being embedded.

2. The method of claim 1 , wherein disposing the plurality of magnets comprises disposing a plurality of magnets in a tray such that at least one side of each of the plurality of magnets and a portion of a corresponding side of the tray is exposed.

3. The method of claim 2, wherein rubberizing the first side of the track comprises rubberizing the at least one side of each of the plurality of magnets and the portion of the corresponding side of the tray; and removing the tray from the rubberized magnets, the plurality of magnets forming the first plurality of indentations in the first side of the track.

4. The method of claim 3, wherein rubberizing the second side comprises rubberizing an opposite side of the at least one side of each of the plurality of magnets, the plurality of magnets forming the second plurality of indentations in the second side of the track.

5. The method of claim 4, wherein rubberizing the second side completes the rubberizing the first and second sides together.

6. The method of claim 5, further comprising vulcanizing the first and second sides.

7. The method of claim 1, wherein rubberizing the first and second sides of the track comprises forming the first and second plurality of indentations using a tray.

8. The method of claim 7, wherein disposing the plurality of magnets between the first and second sides comprises inserting the plurality of magnets into the first plurality of indentations.

9. The method of claim 8, wherein disposing the plurality of magnets further comprises aligning the second plurality of indentations with the first plurality of indentations over the plurality of magnets disposed therein.

10. The method of claim 1, wherein the magnetic track is an endless magnetic belt.

11. The method of claim 1 , disposing the plurality of magnets comprises disposing the plurality of magnets at different orientations in the tray with respect to one another.

12. A magnetic track system operable about a surface, comprising,

a rubber track;

a plurality of magnets embedded in the rubber track; and

a drive system in support of the rubber track, and configured to facilitate movement of the rubber track.

13. The system of claim 12, further comprising a lift-off device having a liftoff magnet supported therein, the lift-off magnet having a polarity configured to at least partially oppose a polarity of the plurality of magnets embedded in the rubber track, a portion of the magnetic track comprising a shunted state wherein the lift-off magnet and at least one of the plurality of magnets are in close proximity to provide at least partial opposing polarities to facilitate detachment of the track portion supporting at least one of the plurality of magnets from a surface on which the track is operated.

14. A magnetic track, comprising:

an endless loop rubber track;

a plurality of magnets embedded in the rubber track,

wherein the plurality of magnets are displaceable to different positions with respect to one another based on a rotation of the rubber track.

15. The track of claim 14, further comprising a lift-off magnet associated with a robot body coupled to the magnetic track, the lift-off magnet having a polarity opposing a polarity of the plurality of magnets embedded in the rubber track; the magnetic track comprising shunted state in which the opposing polarities of the lift-off magnet and at least one of the plurality of magnets are in proximity to facilitate detachment of the at least one of the plurality of magnets from a hull on which the robot body is positioned.

16. A method of manufacturing a rubberized magnetic track, the method comprising:

obtaining a tray having a plurality of openings formed therein;

disposing one or more magnets within the plurality of openings;

disposing a first layer about a first side of the tray and the magnets;

disposing a second layer about a second opposing side of the tray and the

magnets; and

rubberizing the tray and the first and second layers together to form the rubberized magnetic track, the plurality of magnets being embedded therein, wherein the tray remains a part of the rubberized magnetic track.