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A remote controlled inspection vehicle provides interchangeable modules, permitting the vehicle to be easily configured to perform a wide variety of tasks. The vehicle includes at least one frame module having a pair of drive modules on either side. Each drive module includes a continuous track surr

A remote controlled inspection vehicle provides interchangeable modules, permitting the vehicle to be easily configured to perform a wide variety of tasks. The vehicle includes at least one frame module having a pair of drive modules on either side. Each drive module includes a continuous track surrounding a permanent magnet, and is dimensioned and configured to pivot around its longitudinal axis. The frame modules are dimensioned and configured to be hingedly secured to other frame modules, end effectors including various sensors for performing inspections, and tail units to assist in placing the vehicle in the desired environment.

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A remote controlled inspection vehicle provides interchangeable modules, permitting the vehicle to be easily configured to perform a wide variety of tasks. The vehicle includes at least one frame module having a pair of drive modules on either side. Each drive module includes a continuous track surr

A remote controlled inspection vehicle provides interchangeable modules, permitting the vehicle to be easily configured to perform a wide variety of tasks. The vehicle includes at least one frame module having a pair of drive modules on either side. Each drive module includes a continuous track surrounding a permanent magnet, and is dimensioned and configured to pivot around its longitudinal axis. The frame modules are dimensioned and configured to be hingedly secured to other frame modules, end effectors including various sensors for performing inspections, and tail units to assist in placing the vehicle in the desired environment. the outer end portion being mounted to the rotor shell; and at least one intermediate diaphragm, each intermediate diaphragm extending radially from an inner end portion to an outer end portion, the inner end portion being mounted to lug back at a position intermediate the first and second sides of the lug assembly, the outer end portion being mounted to the rotor shell. 2. The rotor module of claim 1 comprising a plurality of intermediate diaphragms mounted in circumferentially spaced relationship to the lug back, the inner end portion of the intermediate diaphragm circumferentially spaced furthest from the main diaphragm being mounted to lug back at the position intermediate the first and second sides of the lug assembly. 3. The rotor module of claim 1 wherein the lug front and the lug back are each rectangular plates having an arcuate shape, the lug front and lug back being substantially coaxial. 4. The rotor module of claim 3 wherein the cold and hot end lug members each have an outboard edge having an arcuate shape, the outboard edges being substantially coaxial. 5. The rotor module of claim 1 wherein the lug assembly also includes a plurality of circumferentially spaced stiffening plates, each stiffening plate extending longitudinally between the cold end lug member and the hot end lug member and radially between the lug front and the lug back. 6. The rotor module of claim 5 wherein each of the stiffening plates has longitudinally opposite first and second edges mounted to the cold and hot end lug members, respectively, and radially opposite third and fourth edges mounted to the lug front and the lug back, respectively. 7. The rotor module of claim 5 wherein the lug assembly also includes a plurality of longitudinally spaced stiffening members, each of the stiffening members extending circumferentially between a one of the stiffening plates and an adjacent one of the stiffening plates and radially between the lug front and the lug back. 8. The rotor module of claim 7 wherein each of the stiffening plates has circumferentially opposite first and second edges mounted to the stiffening plates, respectively, and radially opposite third and fourth edges mounted to the lug front and the lug back, respectively. 9. The rotor module of claim 1 further comprising a cold end seal extension extending longitudinally from the cold end lug member and a hot end seal extension extending longitudinally from the hot end lug member. 10. The rotor module of claim 1 further comprising a plurality of radially spaced stay plate assemblies extending circumferentially between the main diaphragm and the intermediate diaphragm. 11. The rotor module of claim 1 further comprising a plurality of radially spaced stay plate assemblies extending circumferentially between the main diaphragm and the intermediate diaphragm and a plurality of radially spaced stay plate assemblies extending circumferentially between the each intermediate diaphragm and an adjacent intermediate diaphragm. 12. A semi-modular rotor module for an air preheater having a circular rotor, the rotor module comprising: a lug assembly including a lug front and a lug back spaced radially outward from the lug front, the lug front and lug back each extending longitudinally from a first end to a second end, the lug assembly also including a cold end lug member mounted to the first ends of the lug front and the lug back and a hot end lug member mounted to the second ends of the lug front and the lug back, the lug front, lug back, cold end lug member and hot end lug member defining circumferentially spaced first and second sides of the lug assembly; a rotor shell spaced radially outward from the lug back; a single main diaphragm extending radially from an inner end portion to an outer end portion, the inner end portion being mounted to the lug front on the first side of the lug assembly, the outer end portion being mounted to the rotor shell; and a plurality of intermediate diaphragms