CN105882777B - 车辆到物体的电永磁附连 - Google Patents

车辆到物体的电永磁附连 Download PDF

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Publication number
CN105882777B
CN105882777B CN201610087659.4A CN201610087659A CN105882777B CN 105882777 B CN105882777 B CN 105882777B CN 201610087659 A CN201610087659 A CN 201610087659A CN 105882777 B CN105882777 B CN 105882777B
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CN
China
Prior art keywords
vehicle
electropermanent magnet
frame
magnet
electropermanent
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610087659.4A
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English (en)
Chinese (zh)
Other versions
CN105882777A (zh
Inventor
J·J·特洛伊
G·E·乔治森
S·W·莉
K·E·纳尔逊
D·J·莱特
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Boeing Co
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Boeing Co
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Publication date
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Publication of CN105882777A publication Critical patent/CN105882777A/zh
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Publication of CN105882777B publication Critical patent/CN105882777B/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/26—Ground engaging parts or elements
    • B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/40—Maintaining or repairing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/60—Testing or inspecting aircraft components or systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/02—Permanent magnets [PM]
    • H01F7/0231—Magnetic circuits with PM for power or force generation
    • H01F7/0252—PM holding devices
    • H01F7/0257—Lifting, pick-up magnetic objects
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/20—Electromagnets; Actuators including electromagnets without armatures
    • H01F7/206—Electromagnets for lifting, handling or transporting of magnetic pieces or material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/20—Electromagnets; Actuators including electromagnets without armatures
    • H01F7/206—Electromagnets for lifting, handling or transporting of magnetic pieces or material
    • H01F2007/208—Electromagnets for lifting, handling or transporting of magnetic pieces or material combined with permanent magnets
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Manufacturing & Machinery (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Manipulator (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
CN201610087659.4A 2015-02-17 2016-02-17 车辆到物体的电永磁附连 Active CN105882777B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US14/623,888 US9533724B2 (en) 2015-02-17 2015-02-17 Electro-permanent magnetic attachment of a vehicle to an object
US14/623,888 2015-02-17

Publications (2)

Publication Number Publication Date
CN105882777A CN105882777A (zh) 2016-08-24
CN105882777B true CN105882777B (zh) 2020-01-03

Family

ID=56622238

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610087659.4A Active CN105882777B (zh) 2015-02-17 2016-02-17 车辆到物体的电永磁附连

Country Status (3)

Country Link
US (1) US9533724B2 (https=)
JP (1) JP6687413B2 (https=)
CN (1) CN105882777B (https=)

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US10347109B2 (en) * 2016-11-08 2019-07-09 The Boeing Company Automated human personnel fall arresting system and method
US11766774B2 (en) * 2017-01-23 2023-09-26 Mitsubishi Electric Corporation Endless-track traveling apparatus and traveling body
US10625427B2 (en) * 2017-06-14 2020-04-21 The Boeing Company Method for controlling location of end effector of robot using location alignment feedback
US10598737B2 (en) * 2017-10-03 2020-03-24 DENSO Intetnational America, Inc. DC-DC switching power supply load tester
US11110593B2 (en) * 2017-12-23 2021-09-07 Ferromotion Technologies Inc. Robots and systems for automated storage and retrieval
US10641008B2 (en) 2018-02-21 2020-05-05 Axtuator OY Electromagnetic actuator
US10253528B1 (en) 2018-02-21 2019-04-09 Axtuator OY Digital lock
IL258310B (en) * 2018-03-22 2022-04-01 Israel Aerospace Ind Ltd System and method for securing an aerial vehicle
US11007635B2 (en) * 2018-07-25 2021-05-18 The Boeing Company Gravity compensation for self-propelled robotic vehicles crawling on non-level surfaces
US12044657B2 (en) * 2021-10-08 2024-07-23 Saudi Arabian Oil Company System and method for position tracking of a crawler on a structure
US20250305388A1 (en) * 2024-03-26 2025-10-02 Halliburton Energy Services, Inc. Subsurface safety valve including an electropermanent magnet and target

Citations (4)

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Publication number Priority date Publication date Assignee Title
CN103038982A (zh) * 2009-01-27 2013-04-10 麻省理工学院 基于电永磁体的马达
WO2013085612A1 (en) * 2011-12-07 2013-06-13 The Boeing Company Adaptive magnetic coupling system
CN103988267A (zh) * 2011-12-07 2014-08-13 创新工程解决方案公司 具有多个旋转可开关磁芯元件的基于永磁体的装置
EP2785579A2 (en) * 2011-12-02 2014-10-08 Helical Robotics, LLC Mobile robot

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DE4445055A1 (de) 1994-12-07 1996-06-13 Gesta Stahlrohrgerueste Verfahren und Raupenfahrzeug zum Befahren magnetischer Oberflächen
US7155307B2 (en) * 2001-09-09 2006-12-26 Seemann Henry R Surface adhering tool carrying robot
US6722202B1 (en) 2003-07-16 2004-04-20 The Boeing Company Method and apparatus for inspecting a structure utilizing magnetically attracted probes
US7765032B2 (en) * 2004-03-15 2010-07-27 The University Of Vermont And State Agricultural College Systems comprising a mechanically actuated magnetic on-off attachment device
US7320249B2 (en) 2004-09-16 2008-01-22 The Boeing Company Magnetically attracted inspecting apparatus and method using a fluid bearing
US7165637B2 (en) 2004-11-04 2007-01-23 The Boeing Company Robotic all terrain surveyor
US7934575B2 (en) * 2007-12-20 2011-05-03 Markus Waibel Robotic locomotion method and mobile robot
US8393421B2 (en) * 2009-10-14 2013-03-12 Raytheon Company Hull robot drive system
CH702282A1 (de) * 2009-11-27 2011-05-31 Alstom Technology Ltd Fahrzeug zur selbständigen Inspektion von schwer zugänglichen Innenräumen.
US9643313B2 (en) 2010-01-19 2017-05-09 The Boeing Company Apparatus for automated maintenance of aircraft structural elements
US8695190B2 (en) * 2010-07-19 2014-04-15 The Boeing Company Electromagnetic crawler assembly system
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US8738226B2 (en) * 2011-07-18 2014-05-27 The Boeing Company Holonomic motion vehicle for travel on non-level surfaces
US9193402B2 (en) * 2013-11-26 2015-11-24 Elwha Llc Structural assessment, maintenance, and repair apparatuses and methods

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103038982A (zh) * 2009-01-27 2013-04-10 麻省理工学院 基于电永磁体的马达
EP2785579A2 (en) * 2011-12-02 2014-10-08 Helical Robotics, LLC Mobile robot
WO2013085612A1 (en) * 2011-12-07 2013-06-13 The Boeing Company Adaptive magnetic coupling system
CN103988267A (zh) * 2011-12-07 2014-08-13 创新工程解决方案公司 具有多个旋转可开关磁芯元件的基于永磁体的装置

Also Published As

Publication number Publication date
JP6687413B2 (ja) 2020-04-22
JP2016193716A (ja) 2016-11-17
CN105882777A (zh) 2016-08-24
US9533724B2 (en) 2017-01-03
US20160240298A1 (en) 2016-08-18

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