Robotic inspection tool and method usable in confined spaces

Abstract

The robot (100) capable of being used in confined spaces includes a torso (102) and an array of six legs (104). Each leg (104) is connected to the torso (102) and includes a plurality of linkages arranged to define a first axis (302), a second axis (304), a third axis (306), a fourth axis (308), and a fifth axis (310). The first axis (302) is perpendicular to and coplanar with the second axis (304) regardless of the orientation of the linkages. The robot (100) includes a plurality of actuators, each attached to a leg (104) and configured to rotate a portion of the plurality of linkages about one of the first axis (302), the second axis (304), the third axis (306), the fourth axis (308), and the fifth axis (310). The robot (100) includes a power source mounted to the torso (102) and operative to distribute power to each of the actuators, and a controller (204) coupled to the power source and operative to distribute power to each of the actuators in each of the legs (104) to move the robot (100).

Description

[Technical Field]

[0001] The present invention relates to robotic inspection tools and methods that can be used in confined spaces. [Background technology]

[0002] Inspecting components or parts in remote locations or enclosed spaces can be expensive and even dangerous. In some applications, aerial drones can be used for remote inspection.

[0003] However, such drones do not have the ability to operate in confined spaces, and flight requirements related to battery charge and the weight of the inspection tool the drone can carry significantly limit the amount of time the drone can operate. Summary of the Invention

[0004] It is an object of the present invention to overcome the above problems. This problem is solved by a tool according to claim 1 or claim 11 and a method according to claim 15.

[0005] Further advantages are recited in the dependent claims, which may optionally be combined with one another to yield further advantages.

[0006] [1] A robot (100) usable in a confined space, · Torso (102) and a power source attached to and supported by said fuselage (102); A plurality of legs (104); Each of the legs (104) a mounting member (312) that is fixedly attached to the body (102); a pivot member (314) coupled to the mounting member (312) to allow rotation about a first axis (302); a shoulder joint portion (316) coupled to the mounting member (312) to allow rotation about a second axis (304); The second axis (304) is perpendicular to and in the same plane as the first axis (302) in all operating positions of the shoulder joint portion (316) and the pivot shaft member (314); a shoulder member (318) coupled to the shoulder joint portion (316) to permit rotation about a third axis (306); the third axis (306) is perpendicular to the first axis (302) and the second axis (304) in all operating positions of the shoulder joint portion (316) and the shoulder member (318); an arm member (320) coupled to the shoulder member (318) to permit rotation about a fourth axis (308) parallel to the third axis (306); a foot (322) coupled to the arm member (320) to allow rotation about a fifth axis (310) parallel to the third axis (306); a controller (204) disposed within the torso (102) and operable to control the movement of each of the foot (322), the arm (320), the shoulder (318), the shoulder joint (316), and the pivot member (314) for each of the plurality of legs (104); A robot (100) comprising: [2] The robot (100) according to [1] above, wherein the power source includes a rechargeable battery (202). [3] The robot (100) according to the above [1] or [2], wherein the plurality of legs (104) consists of six legs (104). [4] The robot (100) according to any one of [1], [2], or [3] above, The robot (100) further includes a first actuator (336) disposed within the mounting member (312) and operable to control the rotational position of the pivot member (314) about the first axis (302) relative to the mounting member (312). [5] The robot (100) according to [4] above, The robot (100) further includes a second actuator (338) disposed within the pivot shaft member (314) and operable to control the rotational position of the shoulder joint portion (316) about the second axis (304) relative to the pivot shaft member (314). [6] The robot (100) according to [5] above, The robot (100) further includes a third actuator (340) disposed within the shoulder joint portion (316) and operable to control the rotational position of the shoulder member (318) about the third axis (306) relative to the shoulder joint portion (316). [7] The robot (100) according to [6] above, The robot (100) further includes a fourth actuator (342) disposed within the arm member (320) and operable to control the rotational position of the arm member (320) about the fourth axis (308) relative to the shoulder member (318). [8] The robot (100) according to [7] above, The robot (100) further includes a fifth actuator (344) disposed within the arm member (320) and operable to control the rotational position of the foot (322) about the fifth axis (310) relative to the arm member (320). [9] The robot (100) according to [4] above, The robot (100), wherein the first actuator (336) includes an electric motor.

[10] The robot (100) according to any one of [1] to [9] above, A robot (100), wherein each of the legs (104) of the plurality of legs (104) includes a magnet (402) attached to the foot (322) of the leg (104).

[11] The robot (100) according to any one of [1] to

[10] above, The robot (100) further includes a non-destructive inspection tool set on the foot (322) of a first leg (300) (104) of the plurality of legs (104).

[12] The robot (100) according to any one of [1] to

[11] above, The robot (100) further includes an optical sensor (106) attached to the torso (102) and operable to capture visual images.

[13] The robot (100) according to any one of the above [1] to

[12] , The robot (100) further includes a transceiver attached to the body (102) and operable to transmit and receive signals.

[14] The robot (100) according to

[13] above, The transceiver is connected to the controller, and the transceiver receives control signals from an operator of the robot.

[15] A robot (100) usable in a confined space, · Torso (102) and - Six arranged legs (104) Each of the legs (104) is connected to the body (102); Each of the legs (104) includes a plurality of link mechanisms and a plurality of actuators; the plurality of linkages are arranged to define a first axis (302), a second axis (304), a third axis (306), a fourth axis (308), and a fifth axis (310); The first axis (302) is perpendicular to and coplanar with the second axis (304) regardless of the orientation of the plurality of link mechanisms; Each of the plurality of actuators is attached to the leg (104); each of the plurality of actuators is arranged to rotate a portion of the plurality of linkages about one of the first axis (302), the second axis (304), the third axis (306), the fourth axis (308), and the fifth axis (310); a power source attached to the fuselage (102) and operative to provide power to each actuator of the plurality of actuators; a controller (204) connected to the power source and operative to selectively distribute power to each of the actuators in each of the legs (104) to move the robot (100); A robot (100) comprising:

[16] The robot (100) according to

[15] above, The robot (100), wherein each actuator of the plurality of actuators includes an electric motor.

[17] The robot (100) according to

[15] or

[16] above, The robot (100), wherein the power source includes a rechargeable battery (202).

[18] The robot (100) according to any one of

[15] ,

[16] , or

[17] above, The robot (100) further includes an optical sensor (106) attached to the torso (102) and operable to capture visual images.

[19] The robot (100) according to any one of the above

[15] to

[18] , The robot (100) further includes a transceiver attached to the body (102) and operable to transmit and receive signals.

[20] The robot (100) according to any one of the above

[15] to

[19] , The transceiver is connected to the controller, and the transceiver receives control signals from an operator of the robot. [twenty one] The robot (100) according to any one of the above

[15] to

[20] , A robot (100) wherein four of the legs (104) include magnets (402) attached to feet (322) located at a first end of each of the legs (104). [twenty two] The robot (100) according to any one of the above

[15] to

[21] , The robot (100) further includes a non-destructive inspection tool set on a foot (322) located at a first end of a first leg (300) (104) of the six legs (104). [twenty three] A method (500) for operating a robot, comprising: The robot (100) includes any one of the robots [1] to

[22] above. And especially, placing the robot (100) including a plurality of legs (104) into an enclosed space; sequentially moving the legs (104) to advance the robot (100) from an initial position to an inspection position; visually verifying that the robot (100) is in the inspection position using an optical sensor (106); placing a non-destructive inspection tool on a first leg (300) of the plurality of legs (104); placing the non-destructive inspection tool at the inspection position; performing non-destructive testing of the component (500). [twenty four] The method (500) of

[23] above, The method (500) further includes magnetically attaching the robot (100) to a portion within the enclosed space. [twenty five] The method (500) according to

[23] or

[24] above, The method (500) further includes performing an ultrasonic inspection of the component.

[0007] In one aspect, a robot usable in a confined space includes a torso and a power source attached to and supported by the torso. The robot also includes a plurality of legs, each of which includes a mounting member fixedly attached to the torso, a pivot member connected to the mounting member to enable rotation about a first axis, and a shoulder joint connected to the mounting member to enable rotation about a second axis, the second axis being perpendicular to and coplanar with the first axis in all operating positions of the shoulder joint and the pivot member, a shoulder member connected to the shoulder joint to enable rotation about a third axis, the third axis being perpendicular to the first and second axes in all operating positions of the shoulder joint and the shoulder member, an arm member connected to the shoulder member to enable rotation about a fourth axis parallel to the third axis, and a foot connected to the arm member to enable rotation about a fifth axis parallel to the third axis. The robot also includes a controller disposed within the torso, the controller operable to control the movement of each of the foot, arm member, shoulder member, shoulder joint member, and pivot member for each of the plurality of legs.

[0008] In one aspect, a robot usable in confined spaces includes a torso and an array of six legs. Each of the legs is connected to the torso and includes a plurality of linkages arranged to define a first axis, a second axis, a third axis, a fourth axis, and a fifth axis. The first axis is perpendicular to and coplanar with the second axis regardless of the orientation of the plurality of linkages. The robot also includes a plurality of actuators, each of which is attached to a leg and arranged to rotate a portion of the plurality of linkages about one of the first axis, the second axis, the third axis, the fourth axis, and the fifth axis. The robot further includes a power source attached to the torso and operative to provide power to each of the plurality of actuators, and a controller connected to the power source and operative to selectively distribute power to each of the actuators in each of the legs to operate the robot.

[0009] In one aspect, a method of operating a robot includes placing the robot, including a plurality of legs, into an enclosed space. The method includes sequentially moving the legs to advance the robot from an initial position to an inspection position, visually confirming that the robot is in the inspection position using an optical sensor, and placing a non-destructive inspection tool on a first leg of the plurality of legs. The method further includes positioning the non-destructive inspection tool at the inspection position and performing non-destructive testing of the component.

[0010] The foregoing has outlined rather broadly the technical features of the present disclosure so that those skilled in the art may better understand the detailed description that follows. Additional features and advantages of the present disclosure will be described hereinafter which form the subject of the claims. It will be apparent to those skilled in the art that they may readily use the conception and specific embodiments disclosed as a basis for modifying or designing other structures for carrying out the same purposes of the present disclosure. It will also be apparent to those skilled in the art that such equivalent constructions do not depart from the spirit and scope of the present disclosure in its broadest aspects. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a perspective view of a robot including a torso and multiple legs. [Figure 2] Bottom view of the robot in Figure 1. [Figure 3] 2 is a perspective view of a first leg of the robot of FIG. 1, the leg including a foot. [Figure 4] 4 is a side view of a portion of the leg of FIG. 3, better showing the foot with the magnet attached. [Figure 5] 1 illustrates a method for operating a robot according to one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Before proceeding with the detailed description below, it should be noted that various definitions of certain words and phrases are provided throughout this specification, and that those of ordinary skill in the art will recognize that such definitions apply in many, if not most, cases to past and future uses of the words and phrases to which they relate. While some terms / phrases may encompass a wide range of embodiments, the claims may explicitly limit those terms / phrases to specific embodiments.

[0013] Before describing in detail certain embodiments of the invention, it is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components disclosed herein and illustrated in the drawings. The invention is capable of other embodiments and of being practiced or carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting.

[0014] Various techniques relating to systems and methods are described below with reference to the drawings, wherein like reference numerals refer to like elements throughout. The drawings described below and the various embodiments used to illustrate the principles of the disclosure herein are for illustrative purposes only and should not be construed as limiting the scope of the disclosure in any way. Those skilled in the art will appreciate that the principles of the disclosure may also be embodied in appropriately arranged devices. It will be understood that functionality described as being performed by a particular system element / element may also be performed by multiple elements / elements. Similarly, for example, one element / element may be configured to perform functions described as being performed by multiple elements / elements. Many of the innovative teachings of the present application are described with reference to exemplary, non-limiting embodiments.

[0015] It should be understood that words and phrases used herein should be interpreted broadly unless expressly limited, such as in some instances. For example, "including," "having," "comprising," and their derivatives mean inclusion without limitation. The singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. As used herein, "and / or" refers to and includes any and all possible combinations of one or more of the associated listed items. "Or" includes the meaning of "and / or" unless the context clearly dictates otherwise. "Associated with" and "associated therewith," along with their derivatives, may mean including, included in, interconnected with, containing, included in, connected to, coupled to, in communication with, cooperating with, interleaved, juxtaposed, adjacent to, bound by, having, having a characteristic of, etc. Although multiple embodiments and configurations are described herein, any feature, method, step, component, etc. described with respect to one embodiment is applicable to other embodiments as well, unless stated to the contrary.

[0016] Although the modifiers "first," "second," and "third" are used herein to refer to various elements, information, functions, or acts, these elements, information, functions, or acts are not limited by such modifiers. Rather, these numerical adjectives are used to distinguish different elements, information, functions, or acts from one another. For example, a first element, information, function, or act could also be referred to as a second element, information, function, or act, and similarly, a second element, information, function, or act could also be referred to as the first element, information, function, or act, without departing from the scope of the present disclosure.

[0017] "Adjacent to" can mean that an element is relatively close to, but not touching, another element, or that an element is touching another part, unless the context clearly indicates otherwise. "Based on" is intended to mean "based at least in part on," unless otherwise specified. "About" and "substantially" or similar terms are intended to cover variations in value that are within normal industry manufacturing tolerances for that dimension. Where an industry standard is not available, a 20% variation falls within the meaning of these terms, unless otherwise specified.

[0018] FIG. 1 illustrates a robot 100 that is suitable for use in many locations, but is particularly suited for performing inspections in confined spaces. As used herein, "confined space" refers to a space or area that is difficult for humans to reach (access) or where there are hazards in the area to reach. Difficult spaces can include confined spaces within machines, components, or equipment. Hazardous spaces include spaces where the air inside is hazardous, radiation exposure may be present, elevated or exposed locations, or other hazards may exist. In addition to confined spaces, the robot 100 is also suited for use in remote areas where travel and other conditions make on-site inspections expensive.

[0019] The robot 100 includes a torso 102 and a number of legs 104 extending from the torso 102. In the configuration shown, the robot 100 includes six legs 104. However, other configurations may include fewer legs 104 or more than six legs 104, as desired.

[0020] The robot 100 illustratively includes two sensors in the form of optical sensors 106 connected to the torso 102. The optical sensors 106 are operable to capture video images that may be stored on the robot 100 and / or transmitted from the robot 100 to another location. If desired, a single optical sensor 106 may be used instead of two optical sensors 106. However, providing two optical sensors 106 spaced apart from one another provides two different angles of the situation in front of the optical sensor 106. Combining the two views may provide a stereo or 3D image of the situation in front of the optical sensor 106. In other configurations, different sensors may be included instead of or in addition to the optical sensors 106, if desired. For example, an infrared sensor may be used as or in conjunction with the optical sensors 106.

[0021] 2 is a bottom view of the robot 100 to better illustrate the fuselage 102. In the configuration shown, the fuselage 102 includes a frame 206 that defines and protects the interior of the fuselage. The frame 206 includes a plurality of hexagonal openings that reduce the weight of the frame 206 without significantly reducing the strength and rigidity of the frame 206. Of course, other configurations, such as frames with solid walls or openings of different sizes and placements, may be employed as desired.

[0022] The frame 206 is elongated in one direction and defines a major axis that extends along the centerline of the fuselage 102. The frame 206 includes a plurality of attachment points 208, each of which is arranged to receive and support one of the plurality of legs 104. Four of the attachment points 208 are located near the corners of the frame 206, and the remaining two attachment points 208 are located approximately midway along the major axis of the frame 206.

[0023] The fuselage interior is sized and shaped to accommodate, support, and protect the components, including a power source such as a battery, preferably a rechargeable battery 202, and a controller 204. The rechargeable battery 202 is selected and sized to provide power for all necessary operations of the robot 100 for a desired period of time. For example, one example rechargeable battery 202 may provide one hour of operation, while other examples may provide more or less, depending on the power requirements of the robot 100 and the tools used with the robot 100.

[0024] The controller 204 is preferably a microprocessor-based controller including a processor, memory, and data storage, configured to allow the processor to control all aspects of the operation of the robot 100, either with user intervention and control (e.g., steering or guiding the robot 100) or autonomously. In some configurations, the data storage is sized to provide sufficient data capacity to program the operation of the robot 100, while other configurations include additional data storage to allow for storage of data that may be collected by the robot 100 (e.g., data from the optical sensors 106, inspection data, path data, etc.).

[0025] In addition to the rechargeable battery 202 and the controller 204, the frame 206 may also support and protect other components such as transmitters, receivers, transceivers, antennas, other communication devices, other power sources such as AC power connectors, etc. Thus, the frame 206 is sized to support all components necessary for the intended application, while also protecting those components that require additional protection.

[0026] 3 is a perspective view of the first leg 300, better illustrating its details. It should be understood that each of the legs 104 is similar to the first leg 300 with only minor differences between them. The first leg 300 includes multiple linkages or components arranged to allow adjacent linkages to move or pivot relative to each other about one or more of a first axis 302, a second axis 304, a third axis 306, a fourth axis 308, and a fifth axis 310.

[0027] A mounting member 312 is provided to attach and secure the first leg 300 to one of the attachment points 208 on the frame 206, thereby attaching the first leg 300 to the body 102 of the robot 100. In the configuration shown, the mounting member 312 includes four apertures that are provided to receive fasteners that attach and secure the mounting member 312 to the frame 206. A first actuator 336 is attached and secured to the mounting member 312, and does not move relative to the mounting member 312 during actuation of the first actuator 336. Of course, other configurations and fastening arrangements for the mounting member 312 are possible.

[0028] A pivot member 314 is hingedly connected to the mounting member 312 for pivotal movement relative to the mounting member 312 about the first axis 302. A first actuator 336 is connected to the pivot member 314 such that actuation of the first actuator 336 rotates the pivot member 314 about the first axis 302 relative to the mounting member 312. A second actuator 338 is fixedly attached to the pivot member 314 and does not move relative to the pivot member 314 during actuation of the second actuator 338. Other arrangements of the pivot member 314 than that shown in Figure 3 are possible.

[0029] A shoulder joint unit 316 is hingedly connected to the pivot member 314 such that it can pivot relative to the pivot member 314 about the second axis 304. A second actuator 338 is connected to the shoulder joint unit 316 such that actuation of the second actuator 338 rotates the shoulder joint unit 316 about the second axis 304 relative to the pivot member 314. A third actuator 340 is fixedly attached to the shoulder joint unit 316 such that the third actuator 340 does not move relative to the shoulder joint unit 316 during actuation of the third actuator 340. Other arrangements of the shoulder joint unit 316 than that shown in Figure 3 are also possible.

[0030] A shoulder member 318 is hingedly connected to the shoulder joint portion 316 for pivotal movement about the third axis 306 relative to the shoulder joint portion 316. A third actuator 340 is connected to the shoulder member 318 such that actuation of the third actuator 340 causes the shoulder member 318 to pivot about the third axis 306 relative to the shoulder joint portion 316. Other arrangements of the shoulder member 318 than that shown in Figure 3 are possible.

[0031] An arm member 320 is hingedly connected to the shoulder member 318 for pivotal movement relative to the shoulder member 318 about a fourth axis 308. A fourth actuator 342 is fixedly attached to the arm member 320, and the fourth actuator 342 does not move relative to the arm member 320 during actuation of the fourth actuator 342. The fourth actuator 342 is connected to the shoulder member 318 such that actuation of the fourth actuator 342 causes the arm member 320 to pivot about the fourth axis 308 relative to the shoulder member 318. A fifth actuator 344 is also fixedly attached to the arm member 320, and the fifth actuator 344 does not move relative to the arm member 320 during actuation of the fifth actuator 344. Other arrangements of the arm member 320 than that shown in FIG. 3 are possible.

[0032] Arm member 320 includes a first end through which fourth axis 308 extends and a second end through which fifth axis 310 extends. A foot 322 is hingedly connected to arm member 320 for pivotal movement about fifth axis 310. A foot linkage 324 connects foot 322 to arm member 320 at a second pivot axis 346 between the first and second ends of arm member 320. A fifth actuator 344 is connected to foot linkage 324 for pivotal movement of foot linkage 324 about second pivot axis 346.

[0033] The foot linkage 324 includes an upper link 326, an intermediate link 328, and a lower link 330. The upper link 326 includes a first end connected to a fifth actuator 344, and actuation of the fifth actuator 344 causes the upper link 326 to pivot about a second pivot axis 346. The intermediate link 328 includes a first end hingedly connected to the second end of the upper link 326 and a second end hingedly connected to the first end of the lower link 330. The second end of the lower link 330 is fixedly attached to the foot 322. In some configurations, the lower link 330 is integrally formed with the foot 322.

[0034] Foot 322 includes a foot pad 332 and a fixing member 334. Foot pad 332 is positioned to receive one or more tools that may fit into fixing member 334, which is positioned to facilitate attachment of the desired tool.

[0035] In one example shown in FIG. 4 , the tool includes a magnet 402 attached to the first leg 300. The magnet 402 is disc-shaped with a central opening that accepts the fastener 334. The fastener 334 includes a threaded portion that receives a nut that locks the magnet 402 in place. In some configurations, the magnet 402 can move in either direction (e.g., + / - 15 degrees), allowing for slight misalignment. In these configurations, the magnet 402 can be locked in place when the magnet 402 is in use and biased (e.g., spring-loaded) to return to a center position when not in use. Other possible tools include sensors, such as non-destructive testing tools. For example, an ultrasonic probe or magnetic detector can be coupled to the foot 322 of the first leg 300 for use in inspecting components. There are many other tools suitable for use with the first leg 300. Therefore, tools for the first leg 300 should not be limited to the few examples provided herein.

[0036] The placement of the various axes is selected to simplify the movement of the first leg 300, and more specifically, the programming of the movement. The first axis 302 extends in a first or "X" direction, and the second axis 304 is positioned perpendicular to the first axis 302, such that the second axis 304 extends in a second or "Y" direction. The first axis 302 and the second axis 304 are positioned to intersect each other at a single point, which does not change during the movement of the first leg 300. More specifically, the relationship and intersection point between the first axis 302 and the second axis 304 does not change regardless of the attitude or configuration of the first leg 300. This design allows the two joints to be considered as one omnidirectional joint rather than two unidirectional joints, thus greatly simplifying the kinematic layout, which also greatly simplifies the programming of the movement of the first leg 300.

[0037] The third axis 306, the fourth axis 308, and the fifth axis 310 are parallel to one another and perpendicular to the first axis 302 and the second axis 304. That is, the third axis 306, the fourth axis 308, and the fifth axis 310 extend in a third or "Z" direction relative to the first axis 302 and the second axis 304. The second pivot axis 346 is also parallel to the third axis 306, the fourth axis 308, and the fifth axis 310.

[0038] The attitude of the foot 322, and more specifically the position of the fifth actuator 344, mirrors the positions of the third and fourth actuators 340 and 342 so that the foot 322 remains parallel to the ground or component on which the torso 102 and robot 100 rest. However, this design can be offset to accommodate movement on convex / concave surfaces or as needed during a transition from a surface in a first plane to a second surface in a different plane (e.g., horizontal to vertical).

[0039] As described, first leg 300 is exemplary of the remaining legs 104 shown in robot 100 of Figures 1 and 2. Fewer than six legs 104 can be used, but having six legs 104 ensures that at least four legs 104 are in magnetic contact with a wall at all times, allowing for reliable climbing on vertical surfaces. Magnets 402 are preferably selected so that two magnets 402 can carry the entire weight of robot 100.

[0040] As mentioned above, the robot 100 includes five actuators 336, 338, 340, 342, and 344. Each of the actuators 336, 338, 340, 342, and 344 includes an electric motor, such as a DC motor, a geared motor, a servo motor, a stepper motor, or any other type of actuator operable to produce precise rotational movements to position each of the various linkages as required.

[0041] FIG. 5 illustrates a method for operating the robot 500. At block (step) 502, the method places the robot, including multiple legs, into an enclosed space. At block (step) 504, the method sequentially moves the legs to advance the robot from an initial position to an inspection position. At block (step) 506, the method uses an optical sensor to visually confirm that the robot is in the inspection position. At block (step) 508, the method loads a non-destructive inspection tool onto a first leg of the multiple legs. At block (step) 510, the method positions the non-destructive inspection tool at the inspection position. At block (step) 512, the method performs non-destructive testing on the component.

[0042] In use, the robot 100 is programmed to perform a predetermined task in a predetermined enclosed space or other location. In one use example, the robot 100 is remotely controlled by a user who operates the robot 100. The robot 100 transmits data collected by the optical sensors 106 to the user, allowing the user to see the robot's surroundings and enhance their ability to control the robot 100. The robot 100 is preprogrammed with the ability to move in specific directions so that a user can guide the robot 100 by simply manipulating a joystick or other input device. Specifically, the movement of each leg 104 is preprogrammed to allow simple user inputs to be translated into complex, coordinated movements of each leg 104. Once the robot 100 is in a predetermined position, data can be collected using tools, sensors, or instruments. For example, in one configuration, the robot 100 is positioned adjacent to a component and an ultrasound probe is placed on the component to inspect the component for damage.

[0043] In another use case, the robot 100 is programmed to move between waypoints and perform inspections at specific points. In this configuration, the user requires little input during the operation of the robot 100.

[0044] Although exemplary embodiments of the present disclosure have been described in detail, it will be appreciated by those of ordinary skill in the art that various changes, substitutions, derivations, and improvements thereon may be made without departing from the spirit and scope of the present disclosure in its broadest form.

[0045] Nothing in this application should be read as suggesting that any particular element, step, act, or function is an essential element required for inclusion in any claim, and the scope of patented subject matter is defined solely by the scope of the claims as granted. Moreover, none of the claims herein are intended to invoke means-plus-function claim construction, except in the case of the express word "means for" following a participle.

Claims

1. A robot (100) usable in a confined space, A fuselage (102), a power source attached to and supported by said fuselage (102); In particular, the power source includes a rechargeable battery (202); A plurality of legs (104); In particular, the plurality of legs (104) includes six legs (104); Each of said legs (104) a mounting member (312) that is fixed to the fuselage (102); a pivot member (314) coupled to the mounting member (312) to permit rotation about a first axis (302); a shoulder joint portion (316) coupled to the mounting member (312) to permit rotational movement about a second axis (304); The second axis (304) is perpendicular to and in the same plane as the first axis (302) in all operating positions of the shoulder joint portion (316) and the pivot shaft member (314); a shoulder member (318) coupled to said shoulder joint portion (316) to permit rotation about a third axis (306); the third axis (306) is perpendicular to the first axis (302) and the second axis (304) in all positions of motion of the shoulder joint portion (316) and the shoulder member (318); an arm member (320) coupled to said shoulder member (318) to permit rotation about a fourth axis (308) parallel to said third axis (306); a foot (322) coupled to the arm member (320) to permit rotation about a fifth axis (310) parallel to the third axis (306); a controller (204) disposed within the torso (102) and operable to control movement of each of the feet (322), the arms (320), the shoulders (318), the shoulder joints (316), and the pivot members (314) for each of the plurality of legs (104); A robot (100) comprising:

2. 2. The robot (100) of claim 1, further comprising a first actuator (336) disposed within the mounting member (312) and operative to control a pivotal position of the pivot member (314) about the first axis (302) relative to the mounting member (312).

3. 3. The robot (100) of claim 2, further comprising a second actuator (338) disposed within the pivot shaft member (314) and operative to control a pivotal position of the shoulder joint portion (316) about the second axis (304) relative to the pivot shaft member (314).

4. 4. The robot (100) of claim 3, further comprising a third actuator (340) disposed within the shoulder joint portion (316) and operative to control a pivotal position of the shoulder member (318) about the third axis (306) relative to the shoulder joint portion (316).

5. 5. The robot (100) of claim 4, further comprising a fourth actuator (342) disposed within the arm member (320) and operative to control a pivotal position of the arm member (320) about the fourth axis (308) relative to the shoulder member (318).

6. 6. The robot (100) of claim 5, further comprising a fifth actuator (344) disposed within the arm member (320) and operative to control a pivotal position of the foot (322) about the fifth axis (310) relative to the arm member (320).

7. The robot (100) of claim 2, wherein the first actuator (336) comprises an electric motor.

8. The robot (100) of any one of claims 1 to 7, wherein each of the legs (104) of the plurality of legs (104) includes a magnet (402) attached to the foot (322) of the leg (104).

9. and / or a non-destructive inspection tool mounted on the foot (322) of a first leg (300) (104) of the plurality of legs (104). and an optical sensor (106) mounted on the fuselage (102) and operable to capture visual images. A robot (100) according to any one of the preceding claims.

10. a transceiver mounted on the fuselage (102) and operable to transmit and receive signals; In particular, the transceiver is connected to the controller (204), the transceiver receiving control signals from an operator. The robot (100) according to any one of the preceding claims.

11. A robot usable in a closed space, A fuselage (102), - six legs arranged (104); Each of the legs (104) is connected to the torso (102); Each of the legs (104) includes a plurality of linkages and a plurality of actuators; The plurality of linkages are arranged to define a first axis (302), a second axis (304), a third axis (306), a fourth axis (308), and a fifth axis (310); The first axis (302) is perpendicular to and coplanar with the second axis (304) regardless of the orientation of the plurality of link mechanisms; In particular, each of the plurality of actuators includes an electric motor; Each of the plurality of actuators is attached to the leg (104); each of the plurality of actuators is arranged to rotate a portion of the plurality of linkages about one of the first axis (302), the second axis (304), the third axis (306), the fourth axis (308), and the fifth axis (310); a power source mounted to said fuselage (102) and operative to provide power to each actuator of said plurality of actuators; In particular, the power source includes a rechargeable battery (202); a controller (204) connected to the power source and operative to selectively distribute power to each of the actuators in each of the legs (104) to move the robot; A robot comprising:

12. and / or an optical sensor (106) mounted on the fuselage (102) and operative to capture visual images. a non-destructive inspection tool set on a foot (322) located at a first end of a first leg (300) (104) of the six legs (104); The robot according to claim 11.

13. a transceiver mounted on the fuselage (102) and operable to transmit and receive signals; In particular, the transceiver is connected to the controller (204), the transceiver receiving control signals from an operator.

13. The robot according to claim 11 or 12.

14. The robot of any one of claims 11 to 13, wherein four of the legs (104) include magnets (402) attached to feet (322) located at a first end of each of the legs (104).

15. A method of operating a robot, comprising: The use of a robot (100) according to any one of claims 1 to 14, especially, Entering the robot (100), including a plurality of legs (104), into an enclosed space; moving said legs (104) successively to advance said robot (100) from an initial position to an inspection position; visually verifying that the robot (100) is in the inspection position using an optical sensor (106); placing a non-destructive inspection tool on a first leg (300) of the plurality of legs (104); placing the non-destructive inspection tool at the inspection position; performing non-destructive testing of the components; In particular, carrying out an ultrasonic inspection of said component; The method includes:

16. The method of claim 15, further comprising magnetically attaching the robot (100) to a portion within the enclosed space.

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