JP6687413B2 - 電気永久磁石による輸送体の物体に対する取り付け - Google Patents

電気永久磁石による輸送体の物体に対する取り付け Download PDF

Info

Publication number
JP6687413B2
JP6687413B2 JP2016024372A JP2016024372A JP6687413B2 JP 6687413 B2 JP6687413 B2 JP 6687413B2 JP 2016024372 A JP2016024372 A JP 2016024372A JP 2016024372 A JP2016024372 A JP 2016024372A JP 6687413 B2 JP6687413 B2 JP 6687413B2
Authority
JP
Japan
Prior art keywords
permanent magnet
electric permanent
vehicle
transporter
frame
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
JP2016024372A
Other languages
English (en)
Japanese (ja)
Other versions
JP2016193716A5 (https=
JP2016193716A (ja
Inventor
ジェームズ ジェー． トロイ，
ジェームズ ジェー． トロイ，
ギャリー アーネスト ジョージソン，
ギャリー アーネスト ジョージソン，
スコット ダブリュ． レア，
スコット ダブリュ． レア，
カール エドワード ネルソン，
カール エドワード ネルソン，
ダニエル ジェー． ライト，
ダニエル ジェー． ライト，
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Boeing Co
Original Assignee
Boeing Co
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Boeing Co filed Critical Boeing Co
Publication of JP2016193716A publication Critical patent/JP2016193716A/ja
Publication of JP2016193716A5 publication Critical patent/JP2016193716A5/ja
Application granted granted Critical
Publication of JP6687413B2 publication Critical patent/JP6687413B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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)
JP2016024372A 2015-02-17 2016-02-12 電気永久磁石による輸送体の物体に対する取り付け Active JP6687413B2 (ja)

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 (3)

Publication Number Publication Date
JP2016193716A JP2016193716A (ja) 2016-11-17
JP2016193716A5 JP2016193716A5 (https=) 2019-03-28
JP6687413B2 true JP6687413B2 (ja) 2020-04-22

Family

ID=56622238

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016024372A Active JP6687413B2 (ja) 2015-02-17 2016-02-12 電気永久磁石による輸送体の物体に対する取り付け

Country Status (3)

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

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN103038982B (zh) * 2009-01-27 2016-08-17 麻省理工学院 基于电永磁体的马达
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
US8713998B2 (en) 2011-06-14 2014-05-06 The Boeing Company Autonomous non-destructive evaluation system for aircraft structures
US8678121B2 (en) * 2011-07-18 2014-03-25 The Boeing Company Adaptive magnetic coupling system
US8738226B2 (en) * 2011-07-18 2014-05-27 The Boeing Company Holonomic motion vehicle for travel on non-level surfaces
US9168786B2 (en) * 2011-12-02 2015-10-27 Helical Robotics, Llc Mobile robot
US8350663B1 (en) * 2011-12-07 2013-01-08 Creative Engineering Solutions, Inc. Rotary switchable multi-core element permanent magnet-based apparatus
US9193402B2 (en) * 2013-11-26 2015-11-24 Elwha Llc Structural assessment, maintenance, and repair apparatuses and methods

Also Published As

Publication number Publication date
JP2016193716A (ja) 2016-11-17
CN105882777A (zh) 2016-08-24
US9533724B2 (en) 2017-01-03
US20160240298A1 (en) 2016-08-18
CN105882777B (zh) 2020-01-03

Similar Documents

Publication Publication Date Title
JP6687413B2 (ja) 電気永久磁石による輸送体の物体に対する取り付け
KR101455407B1 (ko) 자석식 휠
US11759943B2 (en) Robots and systems for automated storage and retrieval
KR101960123B1 (ko) 적응형 자기적 결합 시스템
JP6333315B2 (ja) 接続可能な在庫ホルダーを備える在庫システム
US9902447B2 (en) Adhesion system for a climbing vehicle
ATE456529T1 (de) Vorrichtung zum handhaben von gegenständen, wie kartons
ITBS20070154A1 (it) Robot mobile ad ancoraggio magnetico
US20200180439A1 (en) Method for controlling electric hand truck and apparatus therefor
JP2016193716A5 (https=)
US20180333842A1 (en) Autonomous Control of an Extendable Apparatus
KR102666970B1 (ko) 사물 인터넷 기반의 운송대차용 충돌방지 보조장치 및 이를 포함하는 운송대차
CN106863331A (zh) 智能装修机器人平台
US11548657B2 (en) Aerial vehicle securing system and method
CN210175019U (zh) 一种吊篮智能机器人装载平台
CN209141826U (zh) 一种拖拽式agv智能无人搬运车挂载装置
US11161253B2 (en) Retrieving magnetically attracted objects from substantially inaccessible cavities
CN111891017B (zh) 减震型焊接式跟随搬运机器人系统
Park Design and development of functional foot for agile and dynamic legged robots
KR20090127686A (ko) 이송대차 시스템

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190212

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20190212

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20200312

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20200317

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20200402

R150 Certificate of patent or registration of utility model

Ref document number: 6687413

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250