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
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.)
Ceased
Application number
PCT/IB2008/053960
Other languages
French (fr)
Other versions
WO2009047666A2 (en
Inventor
Arturo Lama
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.)
Tecnomac Srl
Original Assignee
Tecnomac Srl
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
Priority to CA2701133A priority Critical patent/CA2701133C/en
Priority to EP08807846A priority patent/EP2197731B1/en
Priority to RU2010118473/11A priority patent/RU2481997C2/en
Priority to AT08807846T priority patent/ATE526229T1/en
Priority to ES08807846T priority patent/ES2374595T3/en
Priority to US12/681,405 priority patent/US8522905B2/en
Application filed by Tecnomac Srl filed Critical Tecnomac Srl
Priority to AU2008309227A priority patent/AU2008309227B2/en
Publication of WO2009047666A2 publication Critical patent/WO2009047666A2/en
Publication of WO2009047666A3 publication Critical patent/WO2009047666A3/en
Anticipated expiration legal-status Critical
Priority to US14/014,745 priority patent/US9033087B2/en
Ceased legal-status Critical Current

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 Ceased WO2009047666A2 (en)

Priority Applications (8)

Application Number Priority Date Filing Date Title
EP08807846A EP2197731B1 (en) 2007-10-11 2008-09-29 Magnetic coupling mobile robot
RU2010118473/11A RU2481997C2 (en) 2007-10-11 2008-09-29 Mobile robot of magnetic interaction
AT08807846T ATE526229T1 (en) 2007-10-11 2008-09-29 MOVABLE ROBOT WITH MAGNETIC COUPLING
ES08807846T ES2374595T3 (en) 2007-10-11 2008-09-29 MOBILE ROBOT WITH MAGNETIC COUPLING.
US12/681,405 US8522905B2 (en) 2007-10-11 2008-09-29 Magnetic coupling mobile robot
CA2701133A CA2701133C (en) 2007-10-11 2008-09-29 Magnetic coupling mobile robot
AU2008309227A AU2008309227B2 (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
IT000154A ITBS20070154A1 (en) 2007-10-11 2007-10-11 MOBILE ROBOT WITH MAGNETIC ANCHORING
ITBS2007A000154 2007-10-11

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 Ceased 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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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
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CN109249751A (en) 2013-11-30 2019-01-22 沙特阿拉伯石油公司 Magnetic omni-directional wheel
US10086516B2 (en) * 2014-04-02 2018-10-02 President And Fellows Of Harvard College Color- or grayscale-sensing, magnetic, mobile, marking robot
AU2015240773B2 (en) * 2014-04-02 2019-04-18 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
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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
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CN106428282B (en) * 2016-11-30 2019-02-22 西南大学 A paint/glue climbing trolley
US12358141B2 (en) 2016-12-23 2025-07-15 Gecko Robotics, Inc. Systems, methods, and apparatus for providing interactive inspection map for inspection robot
US11673272B2 (en) 2016-12-23 2023-06-13 Gecko Robotics, Inc. Inspection robot with stability assist device
US12162160B2 (en) 2016-12-23 2024-12-10 Gecko Robotics, Inc. System, apparatus and method for improved location identification with prism
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
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
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KR101895484B1 (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 A surface-adaptive omnidirectional wall-climbing robot based on slip drive
USD879854S1 (en) * 2019-02-26 2020-03-31 Suzhou Radiant Photovoltaic Technology Co., Ltd Transportation 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
CN110143268A (en) * 2019-05-06 2019-08-20 中国科学院深圳先进技术研究院 Underwater wall-climbing detection robot
CN110758586B (en) * 2019-11-18 2020-09-08 施越 A flip-up wall crawling device
CN112505151B (en) * 2021-02-03 2021-04-16 西南交通大学 An orthotropic steel bridge deck fatigue crack detection equipment and its use method
US11865698B2 (en) 2021-04-20 2024-01-09 Gecko Robotics, Inc. Inspection robot with removeable interface plates and method for configuring payload interfaces
US12566158B2 (en) 2021-04-22 2026-03-03 Gecko Robotics, Inc. Robotic systems for ultrasonic surface inspection using shaped elements
WO2022226222A1 (en) 2021-04-22 2022-10-27 Gecko Robotics, Inc. Systems, methods, and apparatus for ultra-sonic inspection of a surface
FR3123441A1 (en) * 2021-05-25 2022-12-02 Intact PILOTED ROBOT DEDICATED TO ULTRASONIC WELD INSPECTION
CN113135068A (en) * 2021-06-03 2021-07-20 河北工业大学 Array type permanent magnetic adsorption wheel for magnetic conduction wall surface
RU206977U1 (en) * 2021-07-05 2021-10-05 Владимир Валерьевич Серебренный ROBOT FOR PERFORMING TECHNOLOGICAL OPERATIONS ON FERROMAGNETIC SURFACES
US12459293B2 (en) 2022-04-25 2025-11-04 Saudi Arabian Oil Company System and method for actuation to control magnetic wheel adhesion
US12485699B2 (en) 2022-05-10 2025-12-02 Saudi Arabian Oil Company System and method using sliding magnets to control magnetic wheel adhesion
US12350962B2 (en) 2022-05-16 2025-07-08 Saudi Arabian Oil Company Electromagnets to control magnetic wheel adhesion
JP1760664S (en) * 2022-06-17 2024-01-05 self-propelled robot
JP1738168S (en) * 2022-10-14 2023-03-03 transport robot
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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 Apparatebau GmbH, 47226 Duisburg Transport device that is held along a steel surface by means of magnetic force

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Patent Citations (9)

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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 Apparatebau GmbH, 47226 Duisburg Transport device that is held along a steel surface by means of magnetic force

Also Published As

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

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