US 11,872,707 B2
Systems and methods for driving an inspection robot with motor having magnetic shielding
Edward A. Bryner, Pittsburgh, PA (US); Kevin Y. Low, Pittsburgh, PA (US); Joshua D. Moore, Pittsburgh, PA (US); Dillon R. Jourde, Pittsburgh, PA (US); Edwin H. Cho, Pittsburgh, PA (US); Mark Cho, Pittsburgh, PA (US); Yizhu Gu, Pittsburgh, PA (US); Jeffrey J. Mrkonich, Pittsburgh, PA (US); Francesco H. Trogu, Pittsburgh, PA (US); Domenic P. Rodriguez, Pittsburgh, PA (US); Michael A. Binger, Pittsburgh, PA (US); and William J. Pridgen, Pittsburgh, PA (US)
Assigned to Gecko Robotics, Inc., Pittsburgh, PA (US)
Filed by Gecko Robotics, Inc., Pittsburgh, PA (US)
Filed on May 8, 2020, as Appl. No. 16/869,675.
Application 16/869,675 is a continuation of application No. 16/863,594, filed on Apr. 30, 2020, granted, now 11,511,426.
Application 16/863,594 is a continuation of application No. PCT/US2020/021779, filed on Mar. 9, 2020.
Application PCT/US2020/021779 is a continuation in part of application No. 15/853,391, filed on Dec. 22, 2017, granted, now 10,698,412.
Claims priority of provisional application 62/815,724, filed on Mar. 8, 2019.
Claims priority of provisional application 62/596,737, filed on Dec. 8, 2017.
Claims priority of provisional application 62/438,788, filed on Dec. 23, 2016.
Prior Publication US 2020/0262052 A1, Aug. 20, 2020
Int. Cl. B25J 5/00 (2006.01); B25J 9/10 (2006.01); B25J 19/02 (2006.01); B62D 57/024 (2006.01); B25J 9/16 (2006.01); B25J 9/00 (2006.01); B25J 13/08 (2006.01); B25J 19/00 (2006.01); G01B 11/06 (2006.01); G01B 11/24 (2006.01); G01B 11/30 (2006.01); G01B 17/02 (2006.01); G01B 17/06 (2006.01); G01B 17/08 (2006.01); G01J 3/50 (2006.01); G01K 13/00 (2021.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); B60G 17/015 (2006.01); B60G 17/02 (2006.01); B60G 21/00 (2006.01); B62D 37/04 (2006.01); G01M 3/04 (2006.01); G01N 21/88 (2006.01); G01N 27/82 (2006.01); G01N 29/04 (2006.01); G05B 15/02 (2006.01)
CPC B25J 9/1669 (2013.01) [B25J 5/007 (2013.01); B25J 9/0009 (2013.01); B25J 9/0015 (2013.01); B25J 9/102 (2013.01); B25J 9/1025 (2013.01); B25J 9/1602 (2013.01); B25J 9/162 (2013.01); B25J 9/1617 (2013.01); B25J 9/1633 (2013.01); B25J 9/1664 (2013.01); B25J 9/1666 (2013.01); B25J 9/1679 (2013.01); B25J 9/1697 (2013.01); B25J 13/088 (2013.01); B25J 19/0029 (2013.01); B25J 19/02 (2013.01); B60G 17/015 (2013.01); B60G 17/02 (2013.01); B60G 21/002 (2013.01); B60G 21/007 (2013.01); B62D 37/04 (2013.01); B62D 57/024 (2013.01); G01B 11/0616 (2013.01); G01B 11/24 (2013.01); G01B 11/303 (2013.01); G01B 17/025 (2013.01); G01B 17/06 (2013.01); G01B 17/08 (2013.01); G01J 3/50 (2013.01); G01K 13/00 (2013.01); G05D 1/0016 (2013.01); G05D 1/0094 (2013.01); G05D 1/0272 (2013.01); G05D 1/0274 (2013.01); G01M 3/04 (2013.01); G01N 21/88 (2013.01); G01N 27/82 (2013.01); G01N 29/04 (2013.01); G01N 2291/0289 (2013.01); G05B 15/02 (2013.01); G05D 2201/0207 (2013.01)] 17 Claims
OG exemplary drawing
 
1. An inspection robot, comprising:
an inspection chassis; and
a drive module coupled to the inspection chassis, the drive module comprising:
a plurality of magnetic wheels, each magnetic wheel having a contact surface below an inspection side of the inspection chassis;
a motor;
an electromagnetic sensor coupled to the motor;
a magnetic shielding assembly structured to shield the motor and the electromagnetic sensor from electromagnetic interference generated by the plurality of magnetic wheels while allowing a magnetic field from the motor to penetrate the electromagnetic sensor;
a gear box operationally interposed between the motor and at least one of the plurality of magnetic wheels, wherein the gear box comprises a flex spline cup structured to interact with a ring gear; and
an output drive shaft, wherein the output drive shaft is operatively coupled to the ring gear and operatively coupled to at least two of the plurality of magnetic wheels, wherein the at least two of the plurality of magnetic wheels are located on axially opposing sides of the gear box.