BACKGROUND

The field of the disclosure relates generally to motorized apparatus and, more particularly, to motorized apparatus that include an articulated body.

At least some known machines include components that require periodic maintenance in difficult-to-access locations. For example, storage vessels define a cavity and are configured to contain materials such as petroleum within the cavity. The storage vessels also include an outer surface. In addition, at least some known machines, such as turbines for aircraft engines and gas and steam powered turbines for power generation and industrial applications, include an outer case defining a cavity. Components within the cavity and along an outer surface of the outer case may be difficult to access. During operation, components of the machines experience degradation. Accordingly, periodic maintenance of the machines is required. However, at least some periodic maintenance requires that the machines be removed from service during the maintenance. In addition, some periodic maintenance presents risk for personnel required to perform the maintenance. For example, sometimes personnel physically access the cavity of storage vessels containing potentially hazardous materials to perform maintenance of the storage vessels. Accordingly, the stored materials are drained from the storage vessels and the cavities are ventilated to reduce exposure of the personnel to the materials during maintenance. In addition, safety equipment such as scaffolding is required to access locations of at least some known storage vessels.

Robotic systems are sometimes used during maintenance operations to access portions of the machine. However, at least some robotic systems include complicated apparatus and require extensive setup. In addition, at least some known robotic system are not able to access all locations and the robotic system must be repositioned during the maintenance operation. Sometimes, the robotic systems include a motorized apparatus that is configured to travel along a surface of the machine. However, at least some known motorized apparatus have difficulty traversing structures along the surface and/or require complicated mechanisms to traverse or avoid the structures. As a result, at least some known robotic system increase the cost and time required for maintenance of the machines.

BRIEF DESCRIPTION

In one aspect, a motorized apparatus is provided. The motorized apparatus includes an articulated body assembly, a plurality of wheels coupled to the articulated body assembly, and at least one maintenance device coupled to the articulated body assembly. The articulated body assembly includes a first body and a second body. The articulated body assembly includes a joint coupling the first body to the second body. The first body is pivotable relative to the second body about a pivot axis extending through the joint. At least one wheel of the plurality of wheels is transitionable between a first position and a second position. The motorized apparatus also includes a motor drivingly coupled to the plurality of wheels and configured to move the articulated body assembly relative to a surface. The motorized apparatus further includes at least one magnet coupled to the at least one wheel of the plurality of wheels.

In another aspect, a system for maintaining a machine is provided. The system includes a motorized apparatus configured to move along a path. The motorized apparatus includes an articulated body assembly including at least one joint. The at least one joint is configured to allow articulation of the articulated body assembly about at least one axis. The motorized apparatus also includes a plurality of wheels coupled to the articulated body assembly. At least one wheel of the plurality of wheels is transitionable between a first position and a second position. The motorized apparatus further includes a drive system configured to move the articulated body relative to a surface. The drive system includes a motor and a steering component. The steering component is configured to steer the motorized apparatus along the path. The motorized apparatus also includes at least one magnet coupled to the plurality of wheels. The system also includes at least one sensor coupled to the motorized apparatus. The at least one sensor is configured to detect structures along the path of the motorized apparatus. The system further includes a controller configured to transmit information to the drive system to adjust an angle of approach of the motorized apparatus based on information detected by the at least one sensor.

In yet another aspect, a method for operating a motorized apparatus is provided. The method includes positioning the motorized apparatus on a surface of a machine. The motorized apparatus includes an articulated body assembly and a plurality of wheels coupled to the articulated body assembly. The articulated body assembly including at least one joint configured to allow articulation of the articulated body assembly about an axis. The method also includes rotating the plurality of wheels to drive the motorized apparatus along the surface of the machine. Each wheel of the plurality of wheels is transitionable between a first position and a second position. The method further includes detecting, using at least one sensor, a structure along the surface. The method also includes steering the motorized apparatus to achieve an angle of approach of the motorized apparatus relative to the structure, transitioning at least one wheel of the plurality of wheels between the first position and the second position as the motorized apparatus traverses the structure, and moving at least one magnet on the at least one wheel relative to the surface when the at least one wheel is moved between the first position and the second position.

