公开(公告)号：US20230128262A1

公开(公告)日：2023-04-27

申请号：US17511237

申请日：2021-10-26

申请人： Lockheed Martin Corporation ,  Southem Methodist University

发明人： Christopher Lee Colaw ,  Adam Britton Cox ,  Matthew E. Galla ,  Yildirim Hurmuzlu ,  Jose Jaime Lafon ,  Francisco Joaquin Martinez ,  Edmond Richer

IPC分类号： F16L55/32 ,  F16L55/44

摘要： In embodiments, systems and methods include using a modular robotic inspection system to inspect a tubular of a vehicle or building. The modular robotic inspection system comprises a first modular robot and a second modular robot. Both the first modular robot and the second modular robot comprise a base, a plurality of wheels disposed around the base, wherein each of the plurality of wheels is coupled to the base through a set of extendable arms, wherein each one of the plurality of wheels is disposed at a distal end of one of the set of extendable arms, and a plurality of centralizing rollers disposed around the base, wherein each one of the plurality of centralizing rollers is disposed at a proximal end of one of the set of extendable arms. The first modular robot further comprises a motor operable to actuate the plurality of wheels of the first modular robot.