CN108693089A - Tank body detects alarm system and the climbing robot suitable for the system - Google Patents
Tank body detects alarm system and the climbing robot suitable for the system Download PDFInfo
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- CN108693089A CN108693089A CN201810497122.4A CN201810497122A CN108693089A CN 108693089 A CN108693089 A CN 108693089A CN 201810497122 A CN201810497122 A CN 201810497122A CN 108693089 A CN108693089 A CN 108693089A
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- 230000009194 climbing Effects 0.000 title claims abstract description 52
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 230000003321 amplification Effects 0.000 claims abstract description 16
- 239000000463 material Substances 0.000 claims abstract description 16
- 238000003199 nucleic acid amplification method Methods 0.000 claims abstract description 16
- 238000002604 ultrasonography Methods 0.000 claims abstract description 6
- 238000005259 measurement Methods 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 28
- 238000005086 pumping Methods 0.000 claims description 24
- 239000003463 adsorbent Substances 0.000 claims description 13
- 239000006096 absorbing agent Substances 0.000 claims description 11
- 230000035939 shock Effects 0.000 claims description 11
- 239000000523 sample Substances 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000013016 damping Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- NIPNSKYNPDTRPC-UHFFFAOYSA-N N-[2-oxo-2-(2,4,6,7-tetrahydrotriazolo[4,5-c]pyridin-5-yl)ethyl]-2-[[3-(trifluoromethoxy)phenyl]methylamino]pyrimidine-5-carboxamide Chemical compound O=C(CNC(=O)C=1C=NC(=NC=1)NCC1=CC(=CC=C1)OC(F)(F)F)N1CC2=C(CC1)NN=N2 NIPNSKYNPDTRPC-UHFFFAOYSA-N 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Life Sciences & Earth Sciences (AREA)
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- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Pathology (AREA)
- Dispersion Chemistry (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The present invention is a kind of tank body detection alarm system, including rechargable power supplies module, circuit amplification module, a/d converters, several i/o interfaces, processor of single chip computer and ultrasonic sensor;The rechargable power supplies module is connect with circuit amplification module, a/d converters, processor of single chip computer and ultrasonic sensor, the ultrasonic sensor is electrically connected by circuit amplification module, a/d converters with processor of single chip computer, and the processor of single chip computer is connected with alarm lamp by i/o interfaces;After the ultrasound feedback signal is amplified by circuit amplification module, enter processor of single chip computer through a/d converters, processor of single chip computer by data carry out handle and its security measurement ranging from k is arranged according to the material variety in tank body, when processor of single chip computer receive data overrun k Times warning lamps work.A kind of a kind of aforementioned climbing robot of tank body detection alarm system is used the invention also discloses a kind of.Structure of the invention reasonable design, it is easy to use.
Description
Technical field
The present invention relates to a kind of tank bodies to detect alarm system, especially a kind of to realize automatic one kind detected and alarm
Tank body detects alarm system.
The invention further relates to a kind of climbing robots, especially a kind of to be suitable for a kind of tank body detection alarm system above-mentioned
Climbing robot.
Background technology
Robot field is very flourishing, and current many enterprises are all realizing unmanned assembly line, full-automatic production technology, use
Robot substitutes artificial production work, especially climbing robot, no matter environment temperature is too high or too low, climbing robot can
Complete the work such as detection according to demand, climbing robot has many types at present, wherein with magnet adsorption and sucker suction this two
Kind climb that wall means are relatively broad, the adsorption capacity of wherein this kind of climbing robot of sucker suction is strong, but its contact surface is more flat
It is whole, and material storage cylinder surface is curved surface, often causes climbing robot from object because adsorbing securely during absorption
It falls off on material storage cylinder, and current climbing robot is during operation, has a single function, use scope is limited to very much.Therefore at present also
There is no a kind of climbing robot that can well detect related data and stronger be adsorbed on tank wall.
Invention content
The technical problem to be solved by the present invention is in view of the deficiencies of the prior art, provide, one kind is reasonable in design, makes
Alarm system is detected with a kind of easily tank body.
Another technical problem to be solved by this invention detecting alarm system there is provided a kind of using aforementioned tank body
A kind of climbing robot, the climbing robot can coordinate above-mentioned tank body detection alarm system realization to climb wall and detection work automatically
Make.
The technical problem to be solved by the present invention is to what is be achieved through the following technical solutions.The present invention is a kind of tank body detection
Alarm system, its main feature is that, including rechargable power supplies module, circuit amplification module, a/d converters, several i/o interfaces, monolithic
Machine processor and ultrasonic sensor;The rechargable power supplies module and circuit amplification module, a/d converters, Voltage stabilizing module, list
Piece machine processor is connected with ultrasonic sensor, and the ultrasonic sensor passes through circuit amplification module, a/d converters and list
Piece machine processor is electrically connected, and the processor of single chip computer is connected with alarm lamp by i/o interfaces;The ultrasound feedback signal
After amplifying by circuit amplification module, enter processor of single chip computer through a/d converters, processor of single chip computer handles data
And its security measurement ranging from k is arranged according to the material variety in tank body, when the data that processor of single chip computer receives overrun k
Times warning lamp works.
What the technical problems to be solved by the invention can also be realized by technical solution below.Above-described one
Kind tank body detects alarm system, and the ultrasonic sensor is using direct reflective detection pattern.
What the technical problems to be solved by the invention can also be realized by technical solution below.Above-described one
Kind tank body detects alarm system, and the ultrasonic probe of the ultrasonic sensor is monocrystalline longitudinal wave normal probe.
What the technical problems to be solved by the invention can also be realized by technical solution below.Invention additionally discloses
A kind of climbing robot, its main feature is that, which further includes one kind described in any one of above technical scheme
Tank body detects alarm system, and the climbing robot includes shell, the power that alarm system is detected for placing aforementioned tank body
Mechanism and walking mechanism;In shell side, the actuating unit is arranged in shell lower end, institute for the walking mechanism setting
Actuating unit is stated to control by tank body above-mentioned detection alarm system and walking mechanism is driven to run;The actuating unit includes
Retarder and the matching used drive shaft of retarder, upper swing arm, damper and shock absorber, the retarder are fixed on shell
Lower end, retarder are connect by drive shaft with walking mechanism, and the upper swing arm is connected between shell and walking mechanism, institute
The damper stated is connected between shell and retarder, and the shock absorber is connected between walking mechanism and shell;Described
Walking mechanism includes the crawler belt for driving operation with the driving wheel 9 of aforementioned driving axis connection, by driving wheel 9, is arranged in the middle part of crawler belt
Pumping chamber, the aspiration pump being arranged in pumping chamber and the adsorbent equipment being set on crawler belt, the aspiration pump in the pumping chamber
Cooperation adsorbent equipment makes aforementioned shell be adsorbed in tank surface.
What the technical problems to be solved by the invention can also be realized by technical solution below.Above-described one
Kind climbing robot, the case top are equipped with alarm speaker, and the alarm speaker is detected with tank body above-mentioned
The control circuit of alarm system is electrically connected.
What the technical problems to be solved by the invention can also be realized by technical solution below.Above-described one
Kind climbing robot, the housing forward end face are equipped with display panel, and the display panel includes electricity display unit, object
Expect concentration display unit, aspiration pump operating pressure display unit and working time display unit.
What the technical problems to be solved by the invention can also be realized by technical solution below.Above-described one
Kind climbing robot, the ultrasonic probe are mounted on the display panel side in housing forward end portion.
What the technical problems to be solved by the invention can also be realized by technical solution below.Above-described one
Kind of climbing robot, there are two the shock absorber is set altogether.
What the technical problems to be solved by the invention can also be realized by technical solution below.Above-described one
Kind of climbing robot, there are two the damper is set altogether.
What the technical problems to be solved by the invention can also be realized by technical solution below.Above-described one
Kind climbing robot, the adsorbent equipment include that pumping column, air exhaust head, check valve and sucker, the pumping column are mounted on
On crawler belt and be connected in pumping chamber, the air exhaust head is connected to by being evacuated in column and pumping chamber above-mentioned, the air exhaust head
Front end is arranged on sucker, and the check valve is mounted between air exhaust head and sucker.
Compared with prior art, the present invention has the following advantages:
(1)Its is reasonable in design by the present invention, easy to install and use, can be led to tank body emission band by ultrasonic sensor
It spends the preset wave band reflection receivable time and real-time band reception spent time compares the concentration that can determine whether out material in tank.
(2)It can be flickered alarm lamp immediately when material concentration is more than normal value with Realtime Alerts, prevented by alarm lamp
Material pot reduces service life because of excessive concentration degradation.
(3)Climbing robot can be slowed down during detecting multiple tank bodies by shock absorber and damper, to shell
The vibrations damage that interior electric elements generate.
Description of the drawings
Fig. 1 is the left view of climbing robot of the present invention;
Fig. 2 is the front view of climbing robot of the present invention;
Fig. 3 is the structural schematic diagram of adsorbent equipment of the present invention;
Fig. 4 is the usage state diagram of adsorbent equipment of the present invention.
Specific implementation mode
Referring to the drawings, further describe the specific technical solution of the present invention, in order to those skilled in the art into
One step the present invention is understood, without constituting the limitation to its right.
Embodiment 1, referring to Fig.1-4, a kind of tank body detection alarm system, including the amplification of rechargable power supplies module 1, circuit
Module 2, a/d converters, several i/o interfaces, processor of single chip computer and ultrasonic sensor 20;The rechargable power supplies module 1
It is connect with circuit amplification module 2, a/d converters, Voltage stabilizing module, processor of single chip computer and ultrasonic sensor 20, described is super
Sonic sensor 20 is electrically connected by circuit amplification module 2, a/d converters with processor of single chip computer, the processor of single chip computer
It is connected with alarm lamp 3 by i/o interfaces;After the ultrasound feedback signal is amplified by circuit amplification module 2, turn through a/d
Parallel operation enters processor of single chip computer, and data handle and its peace is arranged according to the material variety in tank body by processor of single chip computer
Whole measure scope is k, when processor of single chip computer receive data overrun k Times warning lamp 3 work.
Embodiment 2, a kind of tank body detection alarm system described in embodiment 1:The ultrasonic sensor 20 is using straight
Connect reflective detection pattern.
Embodiment 3, a kind of tank body detection alarm system described in embodiment 1:The ultrasound of the ultrasonic sensor 20
Wave probe is monocrystalline longitudinal wave normal probe.
Embodiment 4, a kind of climbing robot, the climbing robot further include include arbitrary described in above example 1-3
A kind of tank body detect alarm system, the climbing robot includes the shell that alarm system is detected for placing aforementioned tank body
1, actuating unit and walking mechanism;In 1 side of shell, the actuating unit is arranged in shell 1 for the walking mechanism setting
Lower end, the actuating unit are controlled by tank body above-mentioned detection alarm system and walking mechanism are driven to run;Described is dynamic
Force mechanisms include retarder 4, with 4 matching used drive shaft 5 of retarder, upper swing arm 6, damper 7 and shock absorber 8, it is described
Retarder 4 is fixed on 1 lower end of shell, and retarder 4 is connect by drive shaft 5 with walking mechanism, and the upper swing arm 6 is connected to
Between shell 1 and walking mechanism, the damper 7 is connected between shell 1 and retarder 4, and the shock absorber 8 is connected to
Between walking mechanism and shell 1;The walking mechanism includes the driving wheel 9 being connect with aforementioned drive shaft 5, is driven by driving wheel 9
It moves the crawler belt 12 of operation, the pumping chamber 15 being arranged in the middle part of crawler belt 12, the aspiration pump 16 being arranged in pumping chamber 15 and is set in
Adsorbent equipment on crawler belt 12, the aspiration pump 16 in the pumping chamber 15 coordinate adsorbent equipment to make aforementioned shell 1 in tank body table
It adsorbs in face.The upper swing arm 6 be used to support shell 1 with and walking mechanism connection, connection function.
Embodiment 5, a kind of climbing robot described in embodiment 4:The case top is equipped with alarm speaker
17, the control circuit that the alarm speaker 17 detects alarm system with tank body above-mentioned is electrically connected.
Embodiment 6, a kind of climbing robot described in embodiment 4:The display panel 18 includes that electricity display is single
Member, material concentration display unit, 16 operating pressure display unit of aspiration pump and working time display unit.Pass through display panel 18
User can be allowed extremely to get information about the working condition of material concentration and the climbing robot in the material storage cylinder.
Embodiment 7, a kind of climbing robot described in embodiment 4:Before the ultrasonic probe 19 is mounted on shell 1
18 side of display panel of end.
Embodiment 8, a kind of climbing robot described in embodiment 4:There are two the shock absorber 8 is set altogether.Shock absorber 8
For slowing down the vibration between shell 1 and walking mechanism.
Embodiment 9, a kind of climbing robot described in embodiment 4:There are two the damper 7 is set altogether.Damper 7
For slowing down the vibration between shell 1 and retarder 4.
Embodiment 10, a kind of climbing robot described in embodiment 4:The adsorbent equipment includes pumping column 10, takes out
Gas head 11, check valve 13 and sucker 14, the pumping column 10 be mounted on crawler belt 12 on and with pumping chamber 15 in be connected to, it is described
Air exhaust head 11 is connected to by being evacuated in column 10 and pumping chamber 15 above-mentioned, and 11 front end of the air exhaust head is arranged on sucker 14,
The check valve 13 is mounted between air exhaust head 11 and sucker 14.
In use, climbing robot is placed in material storage cylinder, start climbing robot, the inspection of climbing robot tank body
Alert system drive walking mechanism operation is observed and predicted, the retarder 4 in walking mechanism makes drive shaft 5 rotate, and drive shaft 5 makes driving wheel 9
Rotation, driving wheel 9 drive crawler belt 12 to rotate, at this point, the aspiration pump 16 in the pumping chamber 15 at 12 middle part of crawler belt is evacuated, pumping chamber 15
Interior is in negative pressure state, therefore check valve 13 of the air exhaust head 11 of adsorbent equipment on sucker 14 moves, and air exhaust head 11 passes through check valve
The air in sucker 14 is extracted after 13, up to 14 central concave of sucker and is all adsorbed on the surface of tank body, at this time driving wheel 9
Continue that crawler belt 12 is driven to rotate, the adsorbent equipment on crawler belt 12 continues to inhale the climbing robot with above-mentioned wall mechanism of climbing successively
It is attached on the surface of material storage cylinder, that completes robot climbs wall action, and since crawler belt 12 is soft, therefore crawler belt 12 is contacting
It is deformed upon when to tank wall, therefore sucker 14 is also deformed upon and is come into full contact with tank surface, during climbing wall, ultrasound
Wave probe 19 constantly sends out ultrasonic wave into tank body, after ultrasonic signal is amplified by circuit amplification module 2, through a/d converters
Into processor of single chip computer, processor of single chip computer handles data, and is carried out according to pre-set security measurement range k
It compares, when the data that processor of single chip computer receives overrun k, alarm lamp 3 and 17 work of alarm speaker on shell 1
Make and send out alarm, during the entire process of detection, the electric quantity of power supply of the climbing robot, material concentration value, 16 work of aspiration pump
Making pressure state and working time all can be presented on the display panel 18 of 1 front end face of shell.Main the zero of the climbing robot
Component is standard component, when the climbing robot breaks down and damages, can be bought at any time in duration and replace its component, should
Design structure reasonable design, it is safe to use.
Claims (10)
1. a kind of tank body detects alarm system, it is characterised in that:Including rechargable power supplies module, circuit amplification module, a/d conversions
Device, several i/o interfaces, processor of single chip computer and ultrasonic sensor;The rechargable power supplies module and circuit amplification module, a/
D converter, Voltage stabilizing module, processor of single chip computer are connected with ultrasonic sensor, and the ultrasonic sensor is put by circuit
Big module, a/d converters are electrically connected with processor of single chip computer, and the processor of single chip computer is connected with alarm lamp by i/o interfaces;
After the ultrasound feedback signal is amplified by circuit amplification module, enter processor of single chip computer, microcontroller through a/d converters
Data handle and its security measurement ranging from k are arranged according to the material variety in tank body by processor, when microcontroller processing
Device receive data overrun k Times warning lamps work.
2. a kind of tank body according to claim 1 detects alarm system, it is characterised in that:The ultrasonic sensor is adopted
With direct reflective detection pattern.
3. a kind of tank body according to claim 1 detects alarm system, it is characterised in that:The ultrasonic sensor
Ultrasonic probe is monocrystalline longitudinal wave normal probe.
4. a kind of climbing robot, it is characterised in that:Report is detected including a kind of tank body described in claim 1-3 any one
Alert system, the climbing robot include shell, actuating unit and the walking that alarm system is detected for placing aforementioned tank body
Mechanism;In shell side, the actuating unit is arranged in shell lower end, the actuating unit for the walking mechanism setting
It is controlled by tank body above-mentioned detection alarm system and walking mechanism is driven to run;The actuating unit include retarder, with
The matching used drive shaft of retarder, upper swing arm, damper and shock absorber, the retarder are fixed on shell lower end, subtract
Fast device is connect by drive shaft with walking mechanism, and the upper swing arm is connected between shell and walking mechanism, the damping
Device is connected between shell and retarder, and the shock absorber is connected between walking mechanism and shell;The walking mechanism
Include with it is aforementioned driving axis connection driving wheel, run by drive wheel crawler belt, be arranged in the middle part of crawler belt pumping chamber, set
The adsorbent equipment set aspiration pump in pumping chamber and be set on crawler belt, the aspiration pump in the pumping chamber coordinate adsorbent equipment
So that aforementioned shell is adsorbed in tank surface.
5. a kind of climbing robot according to claim 4, it is characterised in that:The case top is equipped with alarm and raises
Sound device, the control circuit that the alarm speaker detects alarm system with tank body above-mentioned are electrically connected.
6. a kind of climbing robot according to claim 4, it is characterised in that:The housing forward end face is equipped with display
Panel, the display panel include electricity display unit, material concentration display unit, aspiration pump operating pressure display unit and
Working time display unit.
7. a kind of climbing robot according to claim 4, it is characterised in that:The ultrasonic probe is mounted on shell
The display panel side of front end.
8. a kind of climbing robot according to claim 4, it is characterised in that:There are two the shock absorber is set altogether.
9. a kind of climbing robot according to claim 4, it is characterised in that:There are two the damper is set altogether.
10. a kind of climbing robot according to claim 4, it is characterised in that:The adsorbent equipment include pumping column,
Air exhaust head, check valve and sucker, the pumping column be mounted on crawler belt on and be connected in pumping chamber, the air exhaust head passes through
It is connected in pumping column and pumping chamber above-mentioned, the air exhaust head front end is arranged on sucker, and the check valve, which is mounted on, to be taken out
Between gas head and sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810497122.4A CN108693089B (en) | 2018-05-22 | 2018-05-22 | Tank body detection alarm system and wall climbing robot suitable for same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810497122.4A CN108693089B (en) | 2018-05-22 | 2018-05-22 | Tank body detection alarm system and wall climbing robot suitable for same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108693089A true CN108693089A (en) | 2018-10-23 |
| CN108693089B CN108693089B (en) | 2024-05-14 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114455023A (en) * | 2022-01-19 | 2022-05-10 | 中船澄西船舶修造有限公司 | Wall-climbing robot and control method thereof |
| CN116773658A (en) * | 2023-06-27 | 2023-09-19 | 江苏省特种设备安全监督检验研究院 | Chemical industry storage tank detection device based on incomplete point locate function of sound wave formula |
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