# US 12,179,348 B2 · Bi-directional robotic crawler for transporting a sensor system about a structure > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,179,348 B2 - Document ID: US12179348B2 - Status: Granted - Kind: B2 - Application number: 18/499,645 - Filed: 2023-11-01 - Published: 2024-02-29 - Granted: 2024-12-31 - Earliest claimed: 2019-08-14 - Assignees: Honeybee Robotics, LLC - Applicants: Honeybee Robotics, LLC - Inventors: Shazad Sadick; Jack Wilson; Jonathan Bohren - Web page: https://patentgrep.com/patent/US12179348B2 ## CPC - B25J 5/005: {mounted on endless tracks or belts} - B62D 57/028: having wheels and mechanical legs (B62D57/024 takes precedence; ground-engaging vehicle fittings for supporting, lifting or manoeuvring the vehicle, wholly or in part B60S9/00) - B25J 5/007: {mounted on wheels} - B25J 9/0009: {Constructional details, e.g. manipulator supports, bases} - B25J 9/102: {Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H)} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract A bi-directional robotic crawler includes a first drive system having a first drive member, a second drive member, and a support member. The first drive member includes a first pair of wheels and the second drive member includes a second pair of wheels. A second drive system includes a third drive member and a fourth drive member. The third drive member includes a first drive element and the fourth drive member includes a second drive element. A linking member selectively pivots the third drive member and the fourth drive member relative to the support member. A motor is mounted to the first drive system. The motor selectively operates the first and second pairs of wheels to move the bi-directional robotic crawler along a first axis and the first and second drive elements to move the bi-directional robotic crawler along a second axis. ## Claims ### Claim 1 A bi-directional robotic crawler comprising: a first drive system including a first drive member, a second drive member and a support member extending therebetween, the first drive member including a first pair of wheels and the second drive member including a second pair of wheels, the first and second pairs of wheels being rotatable to shift the bi-directional robotic crawler along a first axis; a second drive system mounted to the first drive system, the second drive system including a third drive member operably coupled to a first side of the support member, and a fourth drive member operably coupled to a second, opposing side of the support member, the third drive member being configured to shift the bi-directional robotic crawler along a second axis that is angled relative to the first axis; a linking member connected to the third drive member and the fourth drive member across the support member; a motor mounted to the first drive system, a first motor coupled to the third drive member and a second motor coupled to the fourth drive member, the motor being configured to move the bi-directional robotic crawler along the second axis; a directional change motor operably connected to the linking member, the directional change motor configured to selectively position the first pair of wheels and the second pair of wheels in contact with a surface; and a first axle extending between the first and second drive members on the first side of the support member, the first axle having a first end supporting a first gear element and a second end supporting a second gear element, the first gear element being operatively connected to one of the first pair of wheels and the second gear element being operatively connected to one of the second pair of wheels. ### Claim 2 (depends on 1) The bi-directional robotic crawler according to claim 1, wherein the directional change motor selectively pivoting the linking member between a first configuration wherein the first pair of wheels and the second pair of wheels are in contact with a surface, and a second configuration wherein the first pair of wheels and the second pair of wheels are spaced from the surface. ### Claim 3 (depends on 2) The bi-directional robotic crawler according to claim 2, wherein the motor includes a first motor arranged in the third drive member and a second motor arranged in the fourth drive member. ### Claim 4 (depends on 3) The bi-directional robotic crawler according to claim 3, further comprising: a second axle extending between the first and second drive members on the second, opposing side of the support member, and the second axle supporting a second gear connected to the second motor; and wherein the first axle supports a first gear connected to the first motor. ### Claim 5 (depends on 4) The bi-directional robotic crawler according to claim 4, wherein the first gear element is arranged in the first drive member and the second gear element is arranged in the second drive member. ### Claim 6 (depends on 4) The bi-directional robotic crawler according to claim 4, wherein the linking member includes a first linking portion operatively connected to the third drive member and a second linking portion operatively connected to the fourth drive member, the first and second linking portions being pivotally connected to the support member. ### Claim 7 (depends on 6) The bi-directional robotic crawler according to claim 6, further comprising: a drive shaft including a directional change gear extending through the first linking portion and the second linking portion, the drive shaft being drivingly connected to the directional change motor. ### Claim 8 (depends on 7) The bi-directional robotic crawler according to claim 7, further comprising: a first actuator extending though the first linking portion and a second actuator extending through and operatively connected to the second linking portion, the first actuator including a first gear operatively connected to the directional change gear and the second actuator including a second gear operatively connected to the directional change gear. ### Claim 9 (depends on 1) The bi-directional robotic crawler according to claim 1, wherein the third drive member comprises a first continuous drive belt and the fourth drive member comprises a second continuous drive belt. ### Claim 10 (depends on 1) The bi-directional robotic crawler according to claim 1, further comprising: a sensor system mounted to the first drive system, the sensor system including one or more sensors configured to detect parameters of a surface of interest. ### Claim 11 (depends on 1) The bi-directional robotic crawler according to claim 1, wherein each of the first drive member, second drive member, third drive member, and fourth drive member includes a magnet configured to secure the bi-directional robotic crawler to a surface. ### Claim 12 (depends on 1) A bi-directional robotic crawler system, comprising: a first bi-directional robotic crawler according to claim 1; a second bi-directional robotic crawler according to claim 1; and a clamping mechanism operatively connected to the first bi-directional robotic crawler and the second bi-directional robotic crawler, the clamping mechanism including a first clamping arm coupled to the first bi-directional robotic crawler, a second clamping arm coupled to the second bi-directional robotic crawler, and a clamping mechanism operatively connected to the first clamping arm and the second clamping arm. ### Claim 13 (depends on 12) The bi-directional robotic crawler system according to claim 12, further comprising: a clamping motor mounted to the clamping mechanism, the clamping motor selectively shifting the first clamping arm about a first pivot and the second clamping arm about a second pivot. ### Claim 14 (depends on 12) The bi-directional robotic crawler system according to claim 12, further comprising: a sensor system mounted to the clamping mechanism. ### Claim 15 (depends on 14) The bi-directional robotic crawler system according to claim 14, wherein each of the first drive member, second drive member, third drive member, and fourth drive member of the first bi-directional robotic crawler includes a first magnet configured to secure the first bi-directional robotic crawler to a surface. ### Claim 16 (depends on 15) The bi-directional robotic crawler system according to claim 15, wherein each of the first drive member, second drive member, third drive member, and fourth drive member of the second bi-directional robotic crawler includes a second magnet configured to secure the second bi-directional robotic crawler to the surface.