Patent SG-11202000116V-A (SG)
Title: Magnetic crawler vehicle with passive rear-facing apparatus
Inventor: Carrasco Zanini Pablo
IPC: B62D57/024
Filed: 2018-07-06
Abstract: INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) lVIII ion vitivio oviolo En Hs (10) International Publication Number WO 2019/014060 Al (19) World Intellectual Property Organization International Bureau (43) International Publication Date 17 January 2019 (17.01.2019) WIPO I PCT (71) Applicant (for US only): ARAMCO SERVICES COM- PANY [US/US]; 9009 West Loop South, Houston, TX 77096 (US). (72) Inventors: CARRASCO ZANINI, Pablo; 1-355, Bldg. 24, RPIC-3, Research Park KAUST, Thuwal, 23955-6900 (SA). ABDELLATIF, Fadl; 1-355, Bldg. 24, RPIC-3, Re- search Park KAUST, Thuwal, 23955-6900 (SA). PAR- ROTT, Brian; 1-355, Bldg. 24, RPIC-3, Research Park KAUST, Thuwal, 23955-6900 (SA). OUTA, Ali; 1-355, Bldg. 24, RPIC-3, Research Park KAUST, Thuwal, 23955-6900 (SA). (74) Agent: GABATHULER, Henry et al.; Leason Ellis LLP, One Barker Avenue, Fifth Floor, White Plains, NY 10601 (US). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, (51) International Patent Classification: B62D 53/02 (2006.01) B62D 61/02 (2006.01) B62D 57/024 (2006.01) G21C 1 7/013 (2006.01) (21) International Application Number: PCT/US2018/041058 (22) International Filing Date: 06 July 2018 (06.07.2018) English English (25) Filing Language: (26) Publication Language: (30) Priority Data: 15/647,372 12 July 2017 (12.07.2017) US (71) Applicant: SAUDI ARABIAN OIL COMPANY [SA/SA]; 1 Eastern Avenue, Dhahran, 31311 (SA). (54) Title: MAGNETIC CRAWLER VEHICLE WITH PASSIVE REAR-FACING APPARATUS 100 --152 130 IR 1 W O 20 19/0 14060 Al (57) : A robotic vehicle (100) for traversing surfaces (111) is provided. The vehicle (100) is comprised of a front chassis section (112) including a magnetic drive wheel (116) for driving and steering the vehicle (100) and a front support point (140) configured to contact the surface (111). The vehicle (100) also includes a rear chassis section (114) supporting a follower wheel (138). The front and rear chassis sections (112,114) are connected by joints including a hinge joint (120) and a four-bar linkage (122). The hinge (120) is configured to allow the trailing assembly (114) to move side-to-side while the four-bar linkage (122) allows the trailing assembly (114) to move up and down relative to the front chassis (112). Collectively, the rear facing mechanism is configured to maintain the follower wheel (138) in contact with and normal to the surface (111) and also maintains the front support (140) in contact with the surface (111) and provides stability and maneuverability to the vehicle (100) while traversing surfaces regardless of surface curvature [Continued on next page] WO 2019/014060 Al MUNRO DOI 01011MOHE I 01011MHOHOIMINHOMOVOIMIE AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Published: — with international search report (Art. 21(3)) and vehicle orientation.