Magnetic Wheel Suspension for Stable Ship Hull Cleaning Robots
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Solution Overview
Problem
Existing ship hull cleaning and inspection robots face stability issues on uneven and curved surfaces due to inadequate magnetic adhesion and uneven force distribution, leading to reduced traction and increased susceptibility to tipping or falling.
Innovation Solution
A robot design featuring magnetic wheels with a suspension arrangement that includes a suspension pivot mechanism and camber pivot mechanism, allowing wheels to adjust position and camber in response to magnetic forces for secure contact on uneven surfaces, combined with hub motors and a resilient layer for enhanced friction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a three-wheeled arrangement is used to contact curved surfaces, then the robot can adapt to curved surfaces without resilient means, but the distance from the centre of gravity to the tipping over axis is short, reducing stability
Solution Approach 1:
The robot divides its wheel contact points into three separate locations arranged in a triangular pattern on the hull surface, allowing each wheel to independently contact curved surfaces while the triangular configuration provides a stable base that increases the distance from the centre of gravity to the tipping axis
Solution Approach 2:
The patent transitions from a linear or planar wheel arrangement to a three-dimensional triangular configuration on the curved hull surface, utilizing spatial distribution in multiple dimensions to simultaneously achieve surface adaptation and stability through increased base width and optimized centre of gravity positioning
2Stability of the object's composition
If four magnetic wheels are used in a diagonal arrangement, then the robot is more stable, but the steering radius becomes large, impairing manoeuvrability
Solution Approach 1:
The patent employs independently steerable magnetic wheels that can dynamically adjust their orientation and rotation speed, allowing the robot to change steering radius on demand rather than being constrained to a fixed large radius, thus improving manoeuvrability while maintaining stability through active control
Solution Approach 2:
The robot changes operational parameters including wheel steering angles, rotation speeds, and magnetic field strengths to optimize the balance between stability and manoeuvrability, allowing it to achieve tight turning circles when needed while maintaining stable positioning during cleaning operations
3Force
If wide magnetic wheels are used to ensure sufficient adhesive force, then the magnetic adhesion is improved, but the wheels cannot maintain contact surfaces aligned to the hull surface on curved surfaces, decreasing adhesive force
Solution Approach 1:
The patent uses dynamically adjustable wheel orientations where each magnetic wheel can independently tilt and rotate to maintain its contact surface perpendicular to the local hull surface, ensuring optimal magnetic adhesion on curved surfaces while preserving the benefits of wide wheel contact area
Solution Approach 2:
Each magnetic wheel is equipped with local adjustment mechanisms that allow it to independently adapt its orientation to the specific curvature at its contact point, ensuring that every part of the wide wheel maintains optimal alignment with the hull surface for maximum adhesive force
4Adaptability or versatility
If the robot traverses the side of the hull, then cleaning operations can be performed on vertical surfaces, but the distance between the adhering force and the tipping axis is small, increasing susceptibility to tipping
Solution Approach 1:
The patent positions the centre of gravity and distributes the magnetic adhesive forces across three wheels arranged in a triangular configuration that creates counterbalancing moments, generating stabilizing torques that counteract the tipping force when traversing vertical hull surfaces
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 robot maintains secure magnetic contact and equal force distribution across wheels, ensuring effective adhesion and stability on diverse hull surfaces, improving traction and preventing tipping, while allowing for efficient maneuverability and easy maintenance.
Implementation Method 1
magnetic wheels enabling the robot to adhere to ferrous hulls via magnetic forces
Implementation Method 2
The wheels may each have a resilient layer to increase the friction between the wheel and the hull
Data Source
AI summary
The application describes a device in the form of a robot for performing operations on ship hulls. The robot comprises magnetic wheels enabling the robot to adhere to ferrous hulls via magnetic forces and a suspension arrangement for supporting the wheels on a body of the robot and for allowing the robot to travel over uneven surfaces. The wheels include a first pair of wheels and a second pair of wheels, with the pairs of wheels spaced apart from one another along a length of the robot. The suspension arrangement comprises a suspension pivot mechanism allowing a line extending between the centers of the first pair of wheels to rotate relative to a line extending between the centers of the second pair of wheels, along with a camber pivot mechanism for each wheel, with the camber pivot mechanism allowing the axis of rotation of the wheel to rotate relative to the axes of rotation of the other wheels in order that the wheel can align its axis of rotation with the surface of the hull. The magnetic forces for attaching the wheel to the hull act to rotate the suspension pivot mechanism and camber pivot mechanisms. The robot can therefore maintain a secure contact with the hull as it travels over the hull.