Spring-Mounted Magnetic Modules for Crawling Vehicle Surface Adaptation

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Solution Overview

Problem

Magnetic vehicles face issues with surface damage and clearance constraints while traversing surfaces with ferromagnetic materials, as the magnetic wheels can scratch the surface and struggle with obstacles due to a fixed geometric relationship.

Innovation Solution

A vehicle design featuring magnetic modules attached via resilient members to a chassis, allowing for a constant offset and degree of freedom to traverse surfaces with minimal damage, using low-friction housings and actuators to control force profiles, enabling navigation of uneven surfaces and obstacles.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Force

If magnetic wheels are used to provide traction, then the vehicle can traverse vertical and inverted surfaces, but the magnetic wheels can damage the surface due to pressure and geometry

Engineering Contradiction:

Improvetraction forceVSAvoidsurface damage

Core Design Contradiction:

ForceVSObject-affected harmful factors

Solution Approach 1:

The magnetic attachment system is divided into separate magnetic modules that are independently mounted on the vehicle chassis. These modules can be distributed across multiple locations, allowing the magnetic force to be applied through smaller contact areas rather than large wheels, reducing surface pressure and damage while maintaining total traction force.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

A resilient member (spring or elastic element) is introduced as an intermediary between the magnetic module and the vehicle chassis. This resilient member acts as a mediator that absorbs and distributes the magnetic attractive force, preventing direct transmission of high pressure to the surface and reducing harmful effects while maintaining effective traction.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Device complexity

If the wheels have a fixed geometric relationship to the vehicle body, then the structure is simple, but the vehicle cannot overcome obstacles such as weld beads due to clearance constraints

Engineering Contradiction:

Improvestructural simplicityVSAvoidobstacle clearance capability

Core Design Contradiction:

Device complexityVSAdaptability or versatility

Solution Approach 1:

The magnetic modules are made movable relative to the vehicle chassis through resilient mounting. This dynamic configuration allows the magnetic modules to adjust their position and orientation independently in response to surface variations and obstacles, enabling the vehicle to traverse uneven surfaces and overcome obstacles like weld beads while maintaining simple overall vehicle structure.

Inventive Principle:

Principle #15Dynamics

3Stability of the object's composition

If the magnetic modules are directly attached to the chassis, then the structure is rigid and stable, but the vehicle cannot adapt to surface variations and maintain constant attraction

Engineering Contradiction:

Improvestructural stabilityVSAvoidsurface adaptation capability

Core Design Contradiction:

Stability of the object's compositionVSAdaptability or versatility

Solution Approach 1:

The resilient member allows the magnetic modules to change their position parameters (distance, orientation) relative to the chassis in response to surface variations. This parameter adjustment capability enables the magnetic modules to maintain optimal attraction distance and constant magnetic force despite changes in surface topology, while the overall vehicle structure remains stable.

Inventive Principle:

Principle #35Parameter changes

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 vehicle maintains traction and prevents surface damage by decoupling magnet spacing from vehicle clearance, allowing for smooth traversal of uneven surfaces and obstacles while maintaining constant attraction, reducing the risk of detachment and preserving sensor geometry.

Implementation Method 1

The magnetic module includes a magnet and provides an attractive force with respect to a ferromagnetic surface being traversed

Methodology Applied

Scientific EffectMagnetic attraction: Magnetism

Implementation Method 2

The resilient member transfers a magnetic attractive force that is normal to the surface between the magnetic attracting module and the chassis body

Methodology Applied

Scientific EffectElastic deformation: Elasticity

Data Source

PatentUS10829171B2Spring-based magnetic attachment method for crawling vehicle

Publication Date: 2020.11.10 SAUDI ARABIAN OIL CO

AI summary

A vehicle for traversing a surface using magnetic attachment is provided. The vehicle includes a chassis body and wheels attached to the chassis body. At least one magnetic module is attached via a resilient member to the chassis body. Each magnetic module includes a magnet and an offset member that provides an approximately constant offset between the surface and the magnet. The resilient member transfers a magnetic attractive force that is normal to the surface between the magnetic attracting module and the chassis body. The vehicle can traverse uneven surfaces without magnetically decoupling.