One-dimensional climbing vehicle with resilient guide mechanism

摘要

This patent discloses a climbing vehicle capable of high payload to weight ratio and capable of climbing surfaces with geometric variations and traveling along a single dimension. More specifically, this invention applies to a vehicle well adapted to climbing non-planar surfaces such as pipes or other structural members while traveling along a single dimension, for example traveling parallel to the axis of the pipe. The climbing vehicle makes contact with the climbing surface through drive wheels and a trialing arm. The adhering members are aligned with the primary axis and are rigidly attached or contained in a suspension that is able to conform to a large range of surface irregularities while providing push and pulling forces between the adhering members and the climbing vehicle chassis to uniformly distribute the climbing loads on the adhering members. The result is a climbing machine that can accommodate large surface irregularities while maximizing the climbing payload with a minimum number and size of adhering members.

主权项

1. A one-dimensional climbing vehicle for traversing a flat or curved climbing surface that is able to accommodate variations in geometry of the climbing surface while efficiently transferring forces while providing a large payload to weight capacity comprising
a chassis arranged as a primary axis at least one resilient guide attached to the chassis and in sliding contact with the climbing surface, at least one permanent magnet rigidly attached to the at least one resilient guide, a trailing arm with the end of the trailing arm engaging the climbing surface with at least one propulsion element attached to the chassis and engaging the climbing surface.