Two-wheel compact inspection crawler with automatic probe normalization

US11760127B2 · kind B2 · utility

Assignees

• SAUDI ARABIAN OIL COMPANY · SA
• King Abdullah University of Science and Technology · SA

Inventors

• Fadl Abdellatif · Thuwal, SA
• Abdoulelah Al-Hannabi · Thuwal, SA
• Sahejad Patel · Thuwal, SA
• Mohamed Abdelkader · Thuwal, SA
• Jeff S. Shamma · Thuwal, SA

Key dates

• Filing date: Dec 3, 2020
• Grant date: Sep 19, 2023
• Expiry date: Sep 29, 2041

Classification

• Technology area (CPC F): Mechanical Engineering; Lighting; Heating
• CPC primary: F16L2101/30
• WIPO field: Measurement
• WIPO sector: Instruments

Abstract

A two-wheel compact magnetic crawler vehicle for traversing and inspecting surfaces. The crawler comprises a chassis. Two independently actuated magnetic drive wheels are spaced apart in a lateral direction and mounted to the chassis by a hinged joint enabling each wheel to tilt in response to the surface curvature. A probe wheel is provided at the midpoint between the two drive wheels and laterally in line therewith. A spring-assisted probe carrier passively moves the probe wheel vertically relative to the chassis in response to changes in the surface curvature. Additionally, the vehicle includes a probe angle normalization mechanism comprising spring-loaded, vertically moveable, ball casters positioned symmetrically about the probe wheel. The combined utilization of the probe carrier and the caster carrier passively maintain the probe contacting the surface, the chassis level, and the probe normal to the surface irrespective of changes in the surface curvature with vehicle movement.