WO2004074011A1 - Rueda magnética para vehículos - Google Patents
Rueda magnética para vehículos Download PDFInfo
- Publication number
- WO2004074011A1 WO2004074011A1 PCT/ES2004/000068 ES2004000068W WO2004074011A1 WO 2004074011 A1 WO2004074011 A1 WO 2004074011A1 ES 2004000068 W ES2004000068 W ES 2004000068W WO 2004074011 A1 WO2004074011 A1 WO 2004074011A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- wheel
- chamber
- magnetic
- vehicles
- magnetic ring
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B3/00—Disc wheels, i.e. wheels with load-supporting disc body
- B60B3/04—Disc wheels, i.e. wheels with load-supporting disc body with a single disc body not integral with rim, i.e. disc body and rim being manufactured independently and then permanently attached to each other in a second step, e.g. by welding
- B60B3/048—Disc wheels, i.e. wheels with load-supporting disc body with a single disc body not integral with rim, i.e. disc body and rim being manufactured independently and then permanently attached to each other in a second step, e.g. by welding the rim being rotatably mounted to the wheel disc
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/006—Magnetic wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2360/00—Materials; Physical forms thereof
- B60B2360/50—Rubbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2900/00—Purpose of invention
- B60B2900/50—Improvement of
- B60B2900/551—Handling of obstacles or difficult terrains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/47—Climbing vehicles, e.g. facade climbing devices
-
- 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
- Y10S180/00—Motor vehicles
- Y10S180/901—Devices for traversing vertical surfaces
Definitions
- the present invention relates to a magnetic wheel that has been specially designed for vehicles traveling on a surface of ferromagnetic material such as iron or steel.
- the invention is especially applicable to inspection or reconnaissance vehicles that move, duly commanded, on the vertical surface of large warehouses, ships and other similar elements.
- the stiffness of its rolling surface also derived in its metallic nature, generates problems in the movement of the vehicle, specifically when it is welded or any other type of irregularities that usually exist in the walls of the tank or element on which it has of moving said vehicle, losing grip and not allowing its overcoming.
- the wheel of the invention is structured by means of a hollow rim, which it configures a cylindrical chamber with the collaboration of a cover made of an elastomeric or similar material, which determines an optimum grip on the sliding surface, by its very nature, being lodged in the cylindrical chamber defined by the rim and the cover a magnetic ring, materialized in a permanent magnet of adequate power, with the particular feature that said ring is radially under-sized with respect to the said chamber, undergoing a hypocycloid movement therein, so that by means of this reduction in diameter in the magnetic ring a substantial approximation of its geometric axis to the rolling surface is achieved and, consequently, an increase in the intensity of the magnetic field in the area of contact with said surface, which allows using magnetic rings of less weight to achieve the same grip, consequently reducing the weight of the wheel itself as a whole.
- a light wheel which has a strong adhesion to ferromagnetic materials, which offers a high resistance to sliding on smooth surfaces, such as painted surfaces, and which also has a passive adhesion, that is, without the need for power supply, which allows to increase the degree of safety of the vehicle, and all this with a greater capacity to overcome obstacles, such as the mentioned irregularities in the surface on which it has to roll.
- Figure 1 shows an exploded perspective view of a magnetic wheel for vehicles made in accordance with the object of the present invention.
- Figure 2. Shows another exploded view of the wheel, now viewed laterally with respect to the axle thereof.
- Figure 3. Shows a perimeter section of the same wheel.
- Figure 4.- It shows, finally, a section along a plane perpendicular to the wheel axis.
- the magnetic wheel that the invention proposes is constituted from a rim in which two discs or circular plates (1-1 ') participate, equipped with respective cylindrical and axial necks (2- 2 ') through which said tire is fixed to the axle (3) of the engine, said tire (1-1') receiving a cover (4), preferably of an elastomeric material, such as rubber, with its edges (5) folded and tongue and groove coupled in annular grooves (6) of perimeter and exterior expansions (7) of said discs (1- 1 '), as also seen in Figure 3, configuring rim (1-1') and cover (4) an annular and closed chamber (8), in which a magnetic ring (9) plays, materialized in a permanent magnet, which as observed especially in Figure 4 has a diameter considerably smaller than the diameter of said chamber (8), in which it is able to move planetary or hypocycloidal when the rotation of the wheel by the advance of the vehicle to which it is associated, for which the axial dimension of the ring (9) is slightly under-sized
- the elastomeric cover (4) ensures optimum grip conditions of the wheel as a whole to the surface on which the vehicle has to move, with the possibility of easily saving any type of irregularities on said surface, while the magnetic ring (9 ), which on the one hand increases the safety of the vehicle as it is a permanent magnet that does not need power, on the other hand it has a minimum weight due to its removable character inside the chamber (8), specifically due to its hypocycloid movement allows maintaining a maximum adhesion force at all times in correspondence with the contact point (10) between the cover (4) and the surface (19) on which the vehicle is to move, adhesion force close to which would be generated by a magnetic ring (9) of greater dimensions, consequently of greater weight, but coaxial with the wheel itself.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/546,355 US7233221B2 (en) | 2003-02-19 | 2004-02-17 | Magnetic wheel for vehicles |
DE602004011024T DE602004011024T2 (de) | 2003-02-19 | 2004-02-17 | Magnetrad für fahrzeuge |
DK04711621T DK1595720T3 (da) | 2003-02-19 | 2004-02-17 | Magnethjul til köretöjer |
EP04711621A EP1595720B1 (en) | 2003-02-19 | 2004-02-17 | Magnetic wheel for vehicles |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ESP200300402 | 2003-02-19 | ||
ES200300402A ES2219169B1 (es) | 2003-02-19 | 2003-02-19 | Rueda magnetica para vehiculos. |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004074011A1 true WO2004074011A1 (es) | 2004-09-02 |
Family
ID=32893054
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/ES2004/000068 WO2004074011A1 (es) | 2003-02-19 | 2004-02-17 | Rueda magnética para vehículos |
Country Status (7)
Country | Link |
---|---|
US (1) | US7233221B2 (es) |
EP (1) | EP1595720B1 (es) |
AT (1) | ATE382490T1 (es) |
DE (1) | DE602004011024T2 (es) |
DK (1) | DK1595720T3 (es) |
ES (2) | ES2219169B1 (es) |
WO (1) | WO2004074011A1 (es) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10166672B1 (en) * | 2017-06-21 | 2019-01-01 | Deep Trekker Inc. | Magnetic robot crawler |
CN109292678A (zh) * | 2018-11-29 | 2019-02-01 | 陈芝色 | 一种基于电磁铁技术的叉车 |
Families Citing this family (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ATE462640T1 (de) * | 2007-06-14 | 2010-04-15 | Alstom Technology Ltd | Selbstfahrendes inspektionsfahrzeug |
US8418662B2 (en) * | 2008-07-18 | 2013-04-16 | Korea Plant Service & Engineering Co., Ltd. | Apparatus for visually inspecting and removing foreign substance from gap of heat tube bundle in upper part of tube sheet of second side of steam generator |
US8126596B1 (en) * | 2009-01-06 | 2012-02-28 | Sandia Corporation | Apparatus for inspecting a group of containers and method of using same |
CH702282A1 (de) * | 2009-11-27 | 2011-05-31 | Alstom Technology Ltd | Fahrzeug zur selbständigen Inspektion von schwer zugänglichen Innenräumen. |
CH702955A1 (de) * | 2010-04-14 | 2011-10-14 | Alstom Technology Ltd | Antriebseinheit für ein in rohrsystemen, hohlräumen oder dergleichen nach art eines roboters einsetzbares fahrzeug sowie fahrzeug mit einer solchen antriebseinheit. |
WO2015081020A1 (en) * | 2013-11-30 | 2015-06-04 | Saudi Arabian Oil Company | Magnetic omni-wheel |
US9586636B1 (en) * | 2014-10-28 | 2017-03-07 | The United States Of America As Represented By The Secretary Of The Navy | Multi-segmented magnetic robot |
KR101548604B1 (ko) * | 2014-11-10 | 2015-09-01 | 주식회사 타스글로벌 | 자석휠의 하중 분산 장치 |
KR101548609B1 (ko) * | 2014-12-23 | 2015-09-01 | 주식회사 타스글로벌 | 자석휠 |
JP6518521B2 (ja) * | 2015-06-09 | 2019-05-22 | 日鉄パイプライン&エンジニアリング株式会社 | 車輪、走行装置、x線検査システム、及びx線検査方法 |
AU2015415930A1 (en) * | 2015-11-30 | 2018-06-21 | Applus Servicios Tecnologicos, S.L. | Magnetic wheel |
US10239347B2 (en) * | 2016-05-18 | 2019-03-26 | Saudi Arabian Oil Company | Magnetic omni-wheel with roller bracket |
US10717166B2 (en) * | 2016-12-02 | 2020-07-21 | General Electric Company | Motorized apparatus for use with rotary machines |
EP3974823B1 (en) | 2016-12-23 | 2024-03-06 | Gecko Robotics, Inc. | Inspection robot |
US11307063B2 (en) | 2016-12-23 | 2022-04-19 | Gtc Law Group Pc & Affiliates | Inspection robot for horizontal tube inspection having vertically positionable sensor carriage |
US10308134B2 (en) | 2017-03-02 | 2019-06-04 | The Goodyear Tire & Rubber Company | Spherical wheel/tire assembly |
US11312435B2 (en) * | 2018-07-18 | 2022-04-26 | General Electric Company | Motorized apparatus including articulated body |
CN109229226A (zh) * | 2018-11-06 | 2019-01-18 | 上海华威焊割机械有限公司 | 一种磁力小车用磁性滚轮结构 |
CN109404233A (zh) * | 2018-12-12 | 2019-03-01 | 同方计算机有限公司 | 一种适用于恶劣环境的驱动装置及其驱动方法 |
MX2021007801A (es) * | 2018-12-28 | 2021-10-13 | Petroleo Brasileiro Sa Petrobras | Ruedas mecanum aplicadas al sistema para mover una plataforma movil suspendida en superficies planas verticales y horizontales. |
CN109484507A (zh) * | 2018-12-29 | 2019-03-19 | 衡昇科技有限公司 | 用于复杂导磁壁面的定向吸附永磁磁轮双轮爬壁机器人 |
EP3934861A4 (en) | 2019-03-08 | 2022-12-07 | Gecko Robotics, Inc. | INSPECTION ROBOT |
CN110435352A (zh) * | 2019-09-17 | 2019-11-12 | 衡昇科技有限公司 | 一种越障磁轮 |
CA3173116A1 (en) | 2021-04-20 | 2022-10-20 | Edward A. Bryner | Flexible inspection robot |
US11971389B2 (en) | 2021-04-22 | 2024-04-30 | Gecko Robotics, Inc. | Systems, methods, and apparatus for ultra-sonic inspection of a surface |
CN113173213B (zh) * | 2021-06-30 | 2021-09-03 | 中国科学院地质与地球物理研究所 | 小天体表面磁力移动机器人及其移动方法 |
CN114212161A (zh) * | 2021-12-31 | 2022-03-22 | 上海智楹机器人科技有限公司 | 一种用于壁面移动机器人的永磁吸附轮 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR686860A (fr) * | 1929-03-08 | 1930-07-31 | Perfectionnements aux roues | |
FR724958A (fr) * | 1931-10-22 | 1932-05-06 | Cie Generale De Transports Et | Roue de véhicule automobile équipée avec un bandage métallique extérieur au bandage pneumatique |
US2694164A (en) * | 1952-02-07 | 1954-11-09 | Walter A Geppelt | Magnetic wheel |
GB2123704A (en) * | 1982-07-21 | 1984-02-08 | Nomura Toys | Toy motor car having magnetic rear wheels |
EP0200837A2 (en) * | 1985-05-09 | 1986-11-12 | Sankei Kabushiki Kaisha | Vehicle |
JPS6416402A (en) * | 1987-07-10 | 1989-01-19 | Hitachi Ltd | Wheel for adsorbing magnetism |
US5220869A (en) * | 1991-08-07 | 1993-06-22 | Osaka Gas Company, Ltd. | Vehicle adapted to freely travel three-dimensionally and up vertical walls by magnetic force and wheel for the vehicle |
JP2000043503A (ja) * | 1998-07-31 | 2000-02-15 | Kazumoto Hashizume | 磁石車 |
US6125955A (en) * | 1999-03-11 | 2000-10-03 | Aqua Dynamics, Inc. | Magnetic wheel |
-
2003
- 2003-02-19 ES ES200300402A patent/ES2219169B1/es not_active Expired - Fee Related
-
2004
- 2004-02-17 US US10/546,355 patent/US7233221B2/en not_active Expired - Fee Related
- 2004-02-17 ES ES04711621T patent/ES2299818T3/es not_active Expired - Lifetime
- 2004-02-17 AT AT04711621T patent/ATE382490T1/de not_active IP Right Cessation
- 2004-02-17 DK DK04711621T patent/DK1595720T3/da active
- 2004-02-17 DE DE602004011024T patent/DE602004011024T2/de not_active Expired - Lifetime
- 2004-02-17 WO PCT/ES2004/000068 patent/WO2004074011A1/es active IP Right Grant
- 2004-02-17 EP EP04711621A patent/EP1595720B1/en not_active Expired - Lifetime
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR686860A (fr) * | 1929-03-08 | 1930-07-31 | Perfectionnements aux roues | |
FR724958A (fr) * | 1931-10-22 | 1932-05-06 | Cie Generale De Transports Et | Roue de véhicule automobile équipée avec un bandage métallique extérieur au bandage pneumatique |
US2694164A (en) * | 1952-02-07 | 1954-11-09 | Walter A Geppelt | Magnetic wheel |
GB2123704A (en) * | 1982-07-21 | 1984-02-08 | Nomura Toys | Toy motor car having magnetic rear wheels |
EP0200837A2 (en) * | 1985-05-09 | 1986-11-12 | Sankei Kabushiki Kaisha | Vehicle |
JPS6416402A (en) * | 1987-07-10 | 1989-01-19 | Hitachi Ltd | Wheel for adsorbing magnetism |
US5220869A (en) * | 1991-08-07 | 1993-06-22 | Osaka Gas Company, Ltd. | Vehicle adapted to freely travel three-dimensionally and up vertical walls by magnetic force and wheel for the vehicle |
JP2000043503A (ja) * | 1998-07-31 | 2000-02-15 | Kazumoto Hashizume | 磁石車 |
US6125955A (en) * | 1999-03-11 | 2000-10-03 | Aqua Dynamics, Inc. | Magnetic wheel |
Non-Patent Citations (2)
Title |
---|
PATENT ABSTRACTS OF JAPAN vol. 13, no. 189 8 May 1989 (1989-05-08) * |
PATENT ABSTRACTS OF JAPAN vol. 2000, no. 5 14 September 2000 (2000-09-14) * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10166672B1 (en) * | 2017-06-21 | 2019-01-01 | Deep Trekker Inc. | Magnetic robot crawler |
CN109292678A (zh) * | 2018-11-29 | 2019-02-01 | 陈芝色 | 一种基于电磁铁技术的叉车 |
Also Published As
Publication number | Publication date |
---|---|
ATE382490T1 (de) | 2008-01-15 |
US7233221B2 (en) | 2007-06-19 |
DE602004011024D1 (de) | 2008-02-14 |
ES2299818T3 (es) | 2008-06-01 |
DE602004011024T2 (de) | 2008-12-18 |
US20060162610A1 (en) | 2006-07-27 |
EP1595720A1 (en) | 2005-11-16 |
EP1595720B1 (en) | 2008-01-02 |
DK1595720T3 (da) | 2008-05-19 |
ES2219169B1 (es) | 2005-10-01 |
ES2219169A1 (es) | 2004-11-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2004074011A1 (es) | Rueda magnética para vehículos | |
US9849722B2 (en) | Magnetic omni-wheel and method for traversing surface therewith | |
JP5849907B2 (ja) | 磁性体移動車用車輪および磁性体移動車 | |
WO2012011461A1 (ja) | インホイールモータ駆動装置 | |
TWD176063S (zh) | 輪箍 | |
BRPI0708888A2 (pt) | circuito magnético, veìculo capaz de se fixar magneticamente a um substrato magneticamente atrativo e componente de suporte | |
WO2017093580A1 (es) | Rueda magnética | |
WO2007146014A3 (en) | Hub for wheel of human powered vehicle | |
EP3458282A1 (en) | Magnetic omni-wheel with roller bracket | |
KR20220016877A (ko) | 내충격 옴니 휠 | |
US7958955B2 (en) | Automotive inspection device | |
CN104309744A (zh) | 低磨损摩擦驱动机构及对应的独轮驱动车 | |
US7284628B2 (en) | Multipurpose motor vehicle with two coaxial parallel wheels and more electromagnetic holonomic wheels in tandem | |
US6356000B1 (en) | Magnetically augmented rotation system | |
US1110156A (en) | Wheel. | |
CO4780033A1 (es) | Conjunto de rueda y llanta | |
US1144373A (en) | Traction-wheel. | |
KR101337648B1 (ko) | 주행 장치 | |
CN204749730U (zh) | 平衡车轮毂 | |
US1102406A (en) | Vehicle-wheel. | |
US861424A (en) | Cushioning-hub for vehicles. | |
US1224360A (en) | Resilient wheel. | |
CN116749679A (zh) | 一种可变形轮子 | |
US1352769A (en) | Resilient wheel | |
US20120295752A1 (en) | Stabilizing structure of model car |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
DPEN | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed from 20040101) | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2004711621 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 2004711621 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref document number: 2006162610 Country of ref document: US Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 10546355 Country of ref document: US |
|
WWP | Wipo information: published in national office |
Ref document number: 10546355 Country of ref document: US |
|
WWG | Wipo information: grant in national office |
Ref document number: 2004711621 Country of ref document: EP |