Magnetic crawler with 3 articulated wheels for navigation on pipes
US11584158B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Nov 30, 2020 |
| Grant date | Feb 21, 2023 |
| Priority date | — |
| Expiry date | Jun 30, 2041 |
Classification
- Technology area (CPC F)Mechanical Engineering; Lighting; Heating
- CPC primaryF16L9/02
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A magnetic crawler configured to navigate on and inspect a ferromagnetic cylindrical surface is provided. The crawler includes a chassis, a controller configured to control the crawler, a probe configured to inspect the cylindrical surface under the control of the controller, and only three articulated magnetic wheels configured to tangentially contact and magnetically adhere to the cylindrical surface. The wheels include two drive wheels respectively coupled to the chassis by two articulation joints and configured to drive the crawler in a desired direction on the cylindrical surface by actively rotating the two drive wheels independently about respective drive axes of rotation by respective drive motors under the control of the controller; and a rear wheel coupled to the chassis by a rear articulation joint and configured to passively rotate about a rear drive axis of rotation in response to the active rotations of the two drive wheels.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.