WO2009047666A3 - Magnetic coupling mobile robot - Google Patents

Magnetic coupling mobile robot Download PDF

Info

Publication number
WO2009047666A3
WO2009047666A3 PCT/IB2008/053960 IB2008053960W WO2009047666A3 WO 2009047666 A3 WO2009047666 A3 WO 2009047666A3 IB 2008053960 W IB2008053960 W IB 2008053960W WO 2009047666 A3 WO2009047666 A3 WO 2009047666A3
Authority
WO
WIPO (PCT)
Prior art keywords
mobile robot
magnetic coupling
coupling mobile
permanent magnet
robot
Prior art date
Application number
PCT/IB2008/053960
Other languages
French (fr)
Other versions
WO2009047666A2 (en
Inventor
Arturo Lama
Original Assignee
Tecnomac S.R.L.
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 Tecnomac S.R.L. filed Critical Tecnomac S.R.L.
Priority to ES08807846T priority Critical patent/ES2374595T3/en
Priority to RU2010118473/11A priority patent/RU2481997C2/en
Priority to US12/681,405 priority patent/US8522905B2/en
Priority to AU2008309227A priority patent/AU2008309227B2/en
Priority to EP08807846A priority patent/EP2197731B1/en
Priority to AT08807846T priority patent/ATE526229T1/en
Priority to CA2701133A priority patent/CA2701133C/en
Publication of WO2009047666A2 publication Critical patent/WO2009047666A2/en
Publication of WO2009047666A3 publication Critical patent/WO2009047666A3/en
Priority to US14/014,745 priority patent/US9033087B2/en

Links

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

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Toys (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A robot including a frame (10) with wheels (12, 14) able to move over a highly magnetically permeable support surface and at least one permanent magnet (30) able to interact magnetically with, and couple the robot to, the surface. The permanent magnet (30) is positioned so that one pole grazes the surface and is free to oscillate so that the pole always faces the surface and is a minimum distance from it.
PCT/IB2008/053960 2007-10-11 2008-09-29 Magnetic coupling mobile robot WO2009047666A2 (en)

Priority Applications (8)

Application Number Priority Date Filing Date Title
ES08807846T ES2374595T3 (en) 2007-10-11 2008-09-29 MOBILE ROBOT WITH MAGNETIC COUPLING.
RU2010118473/11A RU2481997C2 (en) 2007-10-11 2008-09-29 Mobile robot of magnetic interaction
US12/681,405 US8522905B2 (en) 2007-10-11 2008-09-29 Magnetic coupling mobile robot
AU2008309227A AU2008309227B2 (en) 2007-10-11 2008-09-29 Magnetic coupling mobile robot
EP08807846A EP2197731B1 (en) 2007-10-11 2008-09-29 Magnetic coupling mobile robot
AT08807846T ATE526229T1 (en) 2007-10-11 2008-09-29 MOVABLE ROBOT WITH MAGNETIC COUPLING
CA2701133A CA2701133C (en) 2007-10-11 2008-09-29 Magnetic coupling mobile robot
US14/014,745 US9033087B2 (en) 2007-10-11 2013-08-30 Magnetic coupling mobile robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITBS2007A000154 2007-10-11
IT000154A ITBS20070154A1 (en) 2007-10-11 2007-10-11 MOBILE ROBOT WITH MAGNETIC ANCHORING

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US12/681,405 A-371-Of-International US8522905B2 (en) 2007-10-11 2008-09-29 Magnetic coupling mobile robot
US14/014,745 Continuation-In-Part US9033087B2 (en) 2007-10-11 2013-08-30 Magnetic coupling mobile robot

Publications (2)

Publication Number Publication Date
WO2009047666A2 WO2009047666A2 (en) 2009-04-16
WO2009047666A3 true WO2009047666A3 (en) 2009-10-29

Family

ID=40313638

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2008/053960 WO2009047666A2 (en) 2007-10-11 2008-09-29 Magnetic coupling mobile robot

Country Status (9)

Country Link
US (1) US8522905B2 (en)
EP (1) EP2197731B1 (en)
AT (1) ATE526229T1 (en)
AU (1) AU2008309227B2 (en)
CA (1) CA2701133C (en)
ES (1) ES2374595T3 (en)
IT (1) ITBS20070154A1 (en)
RU (1) RU2481997C2 (en)
WO (1) WO2009047666A2 (en)

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US9033087B2 (en) * 2007-10-11 2015-05-19 Tecnomac S.R.L. Magnetic coupling mobile robot
CN102343588B (en) * 2010-08-03 2015-07-15 顿向明 Magnetic-disc-adsorptive wall climbing robot
EP2428650B1 (en) 2010-09-09 2017-12-20 General Electric Technology GmbH Inspection vehicle for the inspection of substantially cylindrical objects
US8544163B2 (en) * 2011-04-30 2013-10-01 The Boeing Company Robot having obstacle avoidance mechanism
CN104144845A (en) 2011-12-02 2014-11-12 螺旋机器人有限责任公司 Mobile robot
CN102673673A (en) * 2012-06-07 2012-09-19 中国东方电气集团有限公司 Novel universal rolling magnet-wheel device for magnetic adsorption climbing robot
FR2994320B1 (en) * 2012-07-31 2014-09-05 Electricite De France CRACKING CRACKING IN A NUCLEAR FACILITY SWIMMING POOL, USING A ROBOT.
CN103009917B (en) * 2012-11-27 2015-07-01 南昌大学 Compound wheel of movable welding robot
US8874283B1 (en) 2012-12-04 2014-10-28 United Dynamics Advanced Technologies Corporation Drone for inspection of enclosed space and method thereof
CN103171640A (en) * 2013-04-15 2013-06-26 山东科技大学 Wall-climbing robot based on permanent magnet adsorption structure
CN103481276B (en) * 2013-09-18 2016-04-06 吉首沃华德机器人科技有限责任公司 A kind of absorption affinity adjustable permanent magnetism gap adsorbent equipment
EP3412540B1 (en) 2013-11-30 2020-07-29 Saudi Arabian Oil Company Hinged vehicle chassis
WO2015081020A1 (en) 2013-11-30 2015-06-04 Saudi Arabian Oil Company Magnetic omni-wheel
US10086516B2 (en) 2014-04-02 2018-10-02 President And Fellows Of Harvard College Color- or grayscale-sensing, magnetic, mobile, marking robot
WO2015153812A1 (en) * 2014-04-02 2015-10-08 President And Fellows Of Harvard College Color- or grayscale-sensing, magnetic, mobile, marking robot
JP6071977B2 (en) * 2014-11-07 2017-02-01 シャープ株式会社 Electric vehicle
RU2585396C1 (en) * 2014-12-23 2016-05-27 Рустэм Анварович Мунасыпов Mobile robot with magnetic propulsors
CN104597133A (en) * 2015-01-08 2015-05-06 中国东方电气集团有限公司 Ultrasonic nondestructive testing driving platform applicable to steam turbine welding rotor
NL2014104B1 (en) * 2015-01-09 2016-09-30 Stichting Quick Docking Vehicle forced against a magnetizable wall by magnetic forces.
CA3007112A1 (en) * 2015-11-30 2017-06-08 Applus Servicios Tecnologicos, S.L. Magnetic wheel
JP1551868S (en) * 2015-12-01 2016-06-13
CN105690401B (en) * 2015-12-07 2019-01-18 山东科技大学 A kind of flexible steel wall surface Work robot
CN105644645B (en) * 2015-12-29 2017-08-29 燕山大学 Dual drive rotation-swing type permanent magnetic chuck climbing robot
CN105774933B (en) * 2016-03-22 2018-01-26 京东方科技集团股份有限公司 The method of work of mobile platform and mobile platform
CN105882779A (en) * 2016-05-14 2016-08-24 上海大学 Wall-climbing flaw detection robot
TWI602774B (en) * 2016-05-30 2017-10-21 Xin-Yuan Tong Climb high machine
CN106003039B (en) * 2016-06-20 2018-01-23 南京航空航天大学 Can orthogonal bidirectional-movement structure changes mobile robot and its control method
CN106428282B (en) * 2016-11-30 2019-02-22 西南大学 A kind of spray painting/glue climbs wall trolley
US11307063B2 (en) 2016-12-23 2022-04-19 Gtc Law Group Pc & Affiliates Inspection robot for horizontal tube inspection having vertically positionable sensor carriage
EP3559654B1 (en) 2016-12-23 2021-10-27 Gecko Robotics, Inc. Inspection robot
US10166672B1 (en) * 2017-06-21 2019-01-01 Deep Trekker Inc. Magnetic robot crawler
US10451222B2 (en) 2017-07-12 2019-10-22 Saudi Arabian Oil Company Magnetic crawler vehicle with passive rear-facing apparatus
CN107323558A (en) * 2017-08-16 2017-11-07 潘长偌 One kind is magnetic-type to climb wall nailing device
KR101895484B1 (en) * 2017-11-30 2018-09-05 재단법인 한국재난연구원 Guide panel for nondestructive inspection of structure
KR101895496B1 (en) * 2017-11-30 2018-09-05 재단법인 한국재난연구원 Guide panel for nondestructive inspection of structure
US11110593B2 (en) * 2017-12-23 2021-09-07 Ferromotion Technologies Inc. Robots and systems for automated storage and retrieval
US11312435B2 (en) 2018-07-18 2022-04-26 General Electric Company Motorized apparatus including articulated body
CN109436121B (en) * 2018-12-19 2023-09-22 河北工业大学 Curved surface self-adaptive omnibearing wall climbing robot based on sliding driving
USD879854S1 (en) * 2019-02-26 2020-03-31 Suzhou Radiant Photovoltaic Technology Co., Ltd Transportation robot
EP3934861A4 (en) 2019-03-08 2022-12-07 Gecko Robotics, Inc. Inspection robot
CN109987165B (en) * 2019-04-11 2023-10-24 上海海洋大学 Chassis structure of magnetic adsorption underwater crawling robot with universal wheel support
CN110758586B (en) * 2019-11-18 2020-09-08 施越 Convertible wall device of crawling
CN112505151B (en) * 2021-02-03 2021-04-16 西南交通大学 Orthotropic steel bridge deck fatigue crack detection equipment and use method thereof
CA3173116A1 (en) 2021-04-20 2022-10-20 Edward A. Bryner Flexible inspection robot
FR3123441A1 (en) * 2021-05-25 2022-12-02 Intact PILOTED ROBOT DEDICATED TO ULTRASONIC WELD INSPECTION
RU206977U1 (en) * 2021-07-05 2021-10-05 Владимир Валерьевич Серебренный ROBOT FOR PERFORMING TECHNOLOGICAL OPERATIONS ON FERROMAGNETIC SURFACES

Citations (9)

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FR2145115A5 (en) * 1971-07-06 1973-02-16 Cemat
US3922991A (en) * 1973-06-25 1975-12-02 John W Woods Apparatus for cleaning metallic surfaces
JPS61200070A (en) * 1985-02-28 1986-09-04 Michito Hiraoka Wall surface tractor
JPS6234865A (en) * 1985-08-08 1987-02-14 Ishikawajima Harima Heavy Ind Co Ltd Magnet wheel type traveling trolley
FR2689479A1 (en) * 1992-04-02 1993-10-08 Barras Provence Remote-control inspection vehicle - has magnetised wheels to hold and drive on any magnetic surface with toothed belt drive to grooved wheels from reduction gears
US5536199A (en) * 1993-05-31 1996-07-16 Urakami Research & Development Co., Ltd. Traveling device
JPH09286360A (en) * 1996-04-19 1997-11-04 Osaka Gas Co Ltd Grounded state determination device and magnetic attraction type moving device
JP2001151170A (en) * 1999-11-25 2001-06-05 Mitsubishi Heavy Ind Ltd Magnetic wall surface traveling device
DE20210484U1 (en) * 2002-07-06 2002-09-12 Woma Appbau Gmbh Transport device that is held along a steel surface by means of magnetic force

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US2690626A (en) * 1949-03-02 1954-10-05 Godwin R F Gay Magnetically guided toy
US3690393A (en) * 1971-03-19 1972-09-12 Donna Kramer Magnetic wheel
JPS62152983A (en) * 1985-12-26 1987-07-07 Ishikawajima Kensa Keisoku Kk Self-moving truck
JPH09281273A (en) * 1996-04-12 1997-10-31 Hitachi Ltd Operation device for pressure container

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2145115A5 (en) * 1971-07-06 1973-02-16 Cemat
US3922991A (en) * 1973-06-25 1975-12-02 John W Woods Apparatus for cleaning metallic surfaces
JPS61200070A (en) * 1985-02-28 1986-09-04 Michito Hiraoka Wall surface tractor
JPS6234865A (en) * 1985-08-08 1987-02-14 Ishikawajima Harima Heavy Ind Co Ltd Magnet wheel type traveling trolley
FR2689479A1 (en) * 1992-04-02 1993-10-08 Barras Provence Remote-control inspection vehicle - has magnetised wheels to hold and drive on any magnetic surface with toothed belt drive to grooved wheels from reduction gears
US5536199A (en) * 1993-05-31 1996-07-16 Urakami Research & Development Co., Ltd. Traveling device
JPH09286360A (en) * 1996-04-19 1997-11-04 Osaka Gas Co Ltd Grounded state determination device and magnetic attraction type moving device
JP2001151170A (en) * 1999-11-25 2001-06-05 Mitsubishi Heavy Ind Ltd Magnetic wall surface traveling device
DE20210484U1 (en) * 2002-07-06 2002-09-12 Woma Appbau Gmbh Transport device that is held along a steel surface by means of magnetic force

Also Published As

Publication number Publication date
CA2701133C (en) 2016-05-03
AU2008309227A1 (en) 2009-04-16
EP2197731A2 (en) 2010-06-23
ITBS20070154A1 (en) 2009-04-12
WO2009047666A2 (en) 2009-04-16
US8522905B2 (en) 2013-09-03
EP2197731B1 (en) 2011-09-28
AU2008309227B2 (en) 2014-03-13
US20100212983A1 (en) 2010-08-26
RU2481997C2 (en) 2013-05-20
CA2701133A1 (en) 2009-04-16
RU2010118473A (en) 2011-11-20
ES2374595T3 (en) 2012-02-20
ATE526229T1 (en) 2011-10-15

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