Magnet Robot Crawler Compliant Track Assembly
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Solution Overview
Problem
Magnetic robot crawlers face challenges in traversing discontinuities and maintaining secure attachment to ferrous surfaces under high drag and lift forces, particularly when submerged and exposed to currents, leading to potential loss or reduced battery life due to energy consumption in lifting treads.
Innovation Solution
The design incorporates compliant permanent magnet track assemblies with non-circulating magnet modules, including guide walls and a spring mechanism, allowing the robot to adapt to surface discontinuities while maintaining attachment, and features a track system with slats and angled ribs for traction and flux management.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If rotating magnetic treads are used to traverse discontinuities, then the robot can overcome surface obstacles, but energy consumption increases due to lifting treads during revolution
Solution Approach 1:
The track assembly is divided into multiple independent magnet modules that can move relative to the chassis. Each module can independently displace to accommodate discontinuities without requiring the entire tread system to lift and rotate, thereby reducing energy consumption while maintaining the ability to traverse obstacles
Solution Approach 2:
The magnet modules are made displaceable with respect to the chassis through spring mechanisms, allowing dynamic adaptation to surface discontinuities. This dynamic compliance enables the robot to maintain contact with the surface without energy-intensive lifting operations
2Productivity
If the robot drives over discontinuities at high speed, then productivity increases, but the robot may pitch outwardly and be lifted off the surface due to drag and lift forces
Solution Approach 1:
The track assembly is segmented into multiple independent magnet modules that can independently respond to discontinuities. This segmentation prevents pitch-induced detachment by allowing each module to adapt locally rather than the entire robot body pitching outwardly
Solution Approach 2:
Spring mechanisms are incorporated between the magnet modules and chassis to provide cushioning and compliance. This beforehand cushioning absorbs the impacts and forces encountered when traversing discontinuities at speed, preventing the robot from being lifted off the surface
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables the robot to securely traverse discontinuities and withstand significant drag and lift forces, extending battery life by minimizing energy consumption and ensuring consistent surface contact, even in currents up to 15 knots, while maintaining a low profile and high traction.
Implementation Method 1
permanent magnets as disclosed in U.S. Pat. Nos. 3,682,265; 3,777,834; 5,285,601; and 5,894,901
Implementation Method 2
a spring between the slotted frame and the head portion
Implementation Method 3
spaced bottom angled ribs for traction
Data Source
AI summary
A magnetic robot includes a chassis and at least one track assembly associated with the chassis. The track assembly has a linear series of non-circulating magnet modules displaceably mounted with respect to the chassis. A driven track circulates about the magnet modules and travels on guide portions of the magnet modules.