Robot with magnetic wheels for cleaning ship hulls
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United States of America Patent
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Aug 6, 2024
Grant Date -
Feb 18, 2021
app pub date -
Mar 8, 2019
filing date -
Mar 8, 2018
priority date (Note) -
In Force
status (Latency Note)
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Abstract
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.
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