CN110254549A - Magnetic-type cylinder gaseous environment monitoring robot - Google Patents
Magnetic-type cylinder gaseous environment monitoring robot Download PDFInfo
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- CN110254549A CN110254549A CN201910664022.0A CN201910664022A CN110254549A CN 110254549 A CN110254549 A CN 110254549A CN 201910664022 A CN201910664022 A CN 201910664022A CN 110254549 A CN110254549 A CN 110254549A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 33
- 230000009194 climbing Effects 0.000 claims abstract description 28
- 238000005452 bending Methods 0.000 claims abstract description 4
- 230000000087 stabilizing effect Effects 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 18
- 244000137852 Petrea volubilis Species 0.000 claims description 6
- 230000007613 environmental effect Effects 0.000 claims description 6
- 230000005307 ferromagnetism Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000001179 sorption measurement Methods 0.000 description 4
- 241001465754 Metazoa Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000005291 magnetic effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000000505 pernicious effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of magnetic-type cylinder gaseous environment monitoring robot, including two groups symmetrically arranged are climbed wall component；Climbing wall component includes bottom plate, motor, driving wheel, front driven wheel, back front driven wheel and permanent magnet unit；The inside of two groups of bottom plates for climbing wall component is rotatablely connected；Motor is fixed on the front end of plate upper surface, and driving wheel is located at the front end of plate outer side, the rotation of motor driven driving wheel；Front driven wheel is arranged on the lower surface of bottom plate, positioned at the inside of bottom plate front end；Back front driven wheel is arranged on the lower surface of bottom plate, positioned at the inside of base plate rear end；Permanent magnet unit is fixed on the lower surface of bottom plate, between the front end of bottom plate, driving wheel and front driven wheel；Robot is adsorbed on cylinder by permanent magnet unit, and motor respectively drives driving wheel rotation, and band mobile robot moves on cylinder, and two bottom plates form adaptable angle with the bending degree of place cylinder.Present invention can be implemented in adaptively creeping for the larger cylinder of curvature.
Description
Technical field
The invention belongs to robot fields, are related to a kind of climbing robot more particularly to a kind of magnetic-type cylinder Ring
Border monitoring robot.
Background technique
There is a variety of animals for having and climbing wall ability in nature, they can be moved certainly in all kinds of complex environments
Such as.Based on the bionics fiber to such animal, the climbing robot with various functions is had developed successively all over the world.Climb wall
Robot can be adhered on wall surface with several different mechanism creeps, and can carry all kinds of tools and complete specific job task.Magnetic
Suction climbing robot is exactly a kind of robot that wall climbing function is realized using magnet and the active force of ferromagnetic surface.
The environment of creeping for the climbing robot researched and developed both at home and abroad is only limitted to ferromagnetism plane or the lesser cylinder of curvature mostly,
Such as the multifunction caterpillar wall-climbing device that the wall surface Work robot of Mitsubishi heavy industry development, Harbin Institute of Technology are developed
People.These robots can realize the function of creeping of ferromagnetism wall surface, but require wall surface relatively flat, applicable working environment ratio
Compared with limitation.Tokyo Institute of Technology has developed magnetic-type climbing robot GunryuIII in recent years, which is carried out using multistage
Band carries out wall adsorption, improves the flexibility ratio of magnetic-type climbing robot, but machine human body type is larger, is not still suitable for
The big cylinder of curvature.
Summary of the invention
The present invention provides a kind of magnetic-type cylinder gaseous environment monitoring robot, to overcome the deficiencies of existing technologies.
To achieve the above object, the present invention provides a kind of magnetic-type cylinder gaseous environment monitoring robot, including two groups pairs
Claim setting climbs wall component；Climbing wall component includes bottom plate, motor, driving wheel, front driven wheel, back front driven wheel and permanent magnet unit；
The inside of two groups of bottom plates for climbing wall component is rotatablely connected；Same group is climbed in wall component, and motor is fixed on the front end of plate upper surface,
Driving wheel is located at the front end of plate outer side, and driving wheel is mounted on the output shaft of motor, the rotation of motor driven driving wheel；It is preceding driven
Wheel is arranged on the lower surface of bottom plate, positioned at the inside of bottom plate front end, can rotate；The lower surface of bottom plate is arranged in back front driven wheel
On, positioned at the inside of base plate rear end, can rotate；Permanent magnet unit is fixed on the lower surface of bottom plate, positioned at bottom plate front end,
Between driving wheel and front driven wheel；Robot is adsorbed on cylinder by permanent magnet unit, and two groups of motors for climbing wall component drive respectively
Dynamic two driving wheels rotation, band mobile robot move on cylinder, and front driven wheel and back front driven wheel support baseboard simultaneously move
And rotate, two bottom plates form adaptable angle with the bending degree of place cylinder.
Further, the present invention provides a kind of magnetic-type cylinder gaseous environment monitoring robot, can also have such spy
Sign: where permanent magnet unit includes cylindrical permanent magnet and strip permanent magnet；Cylindrical permanent magnet is fixed on lower surface of base plate
Front end outer side；Strip permanent magnet is arranged in left-right direction, positioned at the rear of cylindrical permanent magnet.
Further, the present invention provides a kind of magnetic-type cylinder gaseous environment monitoring robot, can also have such spy
Sign: where one end of strip permanent magnet is located at the dead astern of cylindrical permanent magnet, after the other end extends to the inside of front driven wheel
End.
Further, the present invention provides a kind of magnetic-type cylinder gaseous environment monitoring robot, can also have such spy
Sign: where the outer surface of driving wheel is successively coated with spongy layer and sand paper layer from the inside to the outside.
Further, the present invention provides a kind of magnetic-type cylinder gaseous environment monitoring robot, can also have such spy
Sign: further including battery, Voltage stabilizing module, direct current the reconciliation remote control signal receiver being fixed on bottom plate；Battery and Voltage stabilizing module
Input stage connection；The output stage of Voltage stabilizing module is connect with the power input stage of direct current tune；Two sets of output stages of direct current tune
The positive and negative grade for climbing the motor of wall component with two groups respectively is connect；The signal of remote control signal receiver and direct current tune inputs cascade
It connects；After remote control signal receiver receives remote signal, steering and revolving speed of the direct current tune by two motors of control drive phase
The driving wheel answered realizes advance, retrogressing and the steering of robot.
Further, the present invention provides a kind of magnetic-type cylinder gaseous environment monitoring robot, can also have such spy
Sign: further including the main control module being fixed on bottom plate, temperature sensor, harmful gas sensor and wireless data transmission module；
The power input port of main control module and the output stage of Voltage stabilizing module connect；Temperature sensors and harmful gas sensor are equal
It is connect with main control module, main control module controls temperature sensors and harmful gas sensor detects ambient enviroment, obtains ring
Border data；Wireless data transmission module is connect with main control module, and the environmental data that main control module obtains is sent on computer.
Further, the present invention provides a kind of magnetic-type cylinder gaseous environment monitoring robot, can also have such spy
Sign: where battery, remote control signal receiver, temperature sensor, harmful gas sensor are fixed on the bottom for climbing wall component on right side
On plate, it is respectively positioned on the rear of its motor, battery and remote control signal receiver are located at the inside of bottom plate, and remote control signal receiver is located at
The front of battery, temperature sensor and harmful gas sensor are located at the outside of bottom plate, and temperature sensor is located at pernicious gas biography
The front of sensor；What direct current tune, main control module, Voltage stabilizing module and wireless data transmission module were fixed on left side climbs wall component
On bottom plate, it is respectively positioned on the rear of its motor, direct current is transposed in the inside of bottom plate, Voltage stabilizing module and wireless data transmission module position
In the outside of bottom plate, Voltage stabilizing module is located at the front of wireless data transmission module, and main control module is located at direct current and reconciles without line number
According to the rear of transmitting module.
Further, the present invention provides a kind of magnetic-type cylinder gaseous environment monitoring robot, can also have such spy
Sign: where climbing wall component further includes lid shell；Same group is climbed in wall component, and the lower side of lid shell matches along the edge with bottom plate,
The downside of lid shell front end and the front end of bottom plate are rotatablely connected, and lid shell is openable and closes on bottom plate.
Further, the present invention provides a kind of magnetic-type cylinder gaseous environment monitoring robot, can also have such spy
Sign: where the front edge of bottom plate is the straight line being arranged in left-right direction, and rear edge is in quadrant arc, and two groups are climbed
When the bottom plate of wall component is generally aligned in the same plane, its rear end split is in semicircular arc.
Further, the present invention provides a kind of magnetic-type cylinder gaseous environment monitoring robot, can also have such spy
Sign: where two groups of bottom plates for climbing wall component pass through two hinge rotation connections.
The beneficial effects of the present invention are: the present invention provides a kind of magnetic-type cylinder gaseous environment monitoring robot, uses
The back-plane design of two pieces of variable-angles, two pieces of bottom plates are rotatablely connected by hinge, when permanent magnet unit and ferromagnetism cylinder act on
When, two pieces of bottom plates pass through wheel respectively and contact with cylinder；When robot is creeped in different directions when cylinder, two pieces of bottom plates pass through
Hinge is adjusted to the angle of adaptation drivenly at any time.In addition, lower surface of base plate is equipped with front driven wheel and back front driven wheel, two kinds driven
Wheel can make two pieces of bottom plates and cylinder keep good distance.Wherein, driving wheel and front driven wheel are located at the two sides of permanent magnet unit,
The bottom plate and cylinder that can be further ensured that at permanent magnet unit keep good distance, are realizing the same of stable adsorption effect
When, guarantee that robot successfully creeps on cylinder.In addition, permanent magnet unit includes a cylindrical permanent magnet and a bar shaped
Permanent magnet, the two distribution are scientific and reasonable, it is ensured that under conditions of whole adsorption capacity carries the elements such as sensor enough, will adsorb
Power is distributed to driving wheel, guarantees that driving wheel and cylinder generate enough frictional force, and then robot is driven to swash in cylinder
Row.Two pieces of back-plane designs of variable-angle, unique idler wheel design and the layout designs of permanent magnet, realizes robot stabilized
Ground, the desired effect creeped in all directions in deep camber cylinder and carry out environment investigation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of magnetic-type cylinder gaseous environment monitoring robot.
Fig. 2 is the structural schematic diagram of magnetic-type cylinder gaseous environment monitoring robot；
Fig. 3 is the side view of magnetic-type cylinder gaseous environment monitoring robot；
Fig. 4 is the top view of magnetic-type cylinder gaseous environment monitoring robot；
Fig. 5 is the structural schematic diagram of driving wheel；
Fig. 6 is the structural schematic diagram of bottom plate；
Fig. 7 be magnetic-type cylinder gaseous environment monitoring robot lid shell closure when, two sole shapes it is angled
Rearview.
Specific embodiment
Illustrate a specific embodiment of the invention below in conjunction with attached drawing.
As shown in Figs 1-4, the present invention provides a kind of magnetic-type cylinder gaseous environment monitoring robot, including two groups symmetrically set
Set climb wall component, battery 2, Voltage stabilizing module 3, direct current tune 4, remote control signal receiver 5, main control module 6, temperature sensor 7,
Harmful gas sensor 8 and wireless data transmission module 9.
Climb wall component include bottom plate 11, motor 12, driving wheel 13, front driven wheel 14, back front driven wheel 15, permanent magnet unit and
Lid shell 17.
The inside of two groups of bottom plates 11 for climbing wall component is rotatablely connected.Wherein, the bottom plate 11 of wall component is climbed by two for two groups
Hinge 111 is rotatablely connected.
Same group is climbed in wall component: motor 12 is fixed on the front end of 11 upper surface of bottom plate.Driving wheel 13 is located at outside bottom plate 11
The front end of side." outside " refers to the outside of robot, the i.e. left and right sides.Driving wheel 13 is mounted on the output shaft of motor 12, motor
12 driving driving wheels 13 rotate.In the present embodiment, motor 12 is decelerating motor.
Wherein, as shown in figure 5, the outer surface of driving wheel 13 is successively coated with spongy layer 131 and sand paper layer from the inside to the outside
132.The outer surface of driving wheel 13 refers to the face contacted when rolling with cylinder.Sand paper layer 132 can increase the frictional force of wheel and cylinder.Sand
Spongy layer 131 in paper layer 132 can increase the contact area of sand paper and cylinder, and then increase the stability of robot motion.
Front driven wheel 14 is arranged on the lower surface of bottom plate 11, positioned at the inside of 11 front end of bottom plate, can rotate." inside "
Refer to the inside of robot, be directed toward two groups of directions for climbing the symmetrical center line between wall component.
Back front driven wheel 15 is arranged on the lower surface of bottom plate 11, positioned at the inside of 11 rear end of bottom plate, can rotate.
Permanent magnet unit is fixed on the lower surface of bottom plate 11, positioned at the front end of bottom plate 11, driving wheel 13 and front driven wheel
Between 14.
Permanent magnet unit includes cylindrical permanent magnet 161 and strip permanent magnet 162.Cylindrical permanent magnet 161 is fixed on bottom
The front end outer side of 11 lower surface of plate.Strip permanent magnet 162 is arranged in left-right direction, positioned at the rear of cylindrical permanent magnet 161.
Wherein, one end of strip permanent magnet 162 is located at the dead astern of cylindrical permanent magnet 161, the other end extend to before from
The inside rear end of driving wheel 14.
The lower side of lid shell 17 matches along the edge with bottom plate 11.The downside of 17 front end of lid shell and the front end of bottom plate 11 turn
Dynamic connection, lid shell 17 is openable and closes on bottom plate 11.When closure, each element for being carried in package floor 11.
Wherein, as shown in fig. 6, the front edge of bottom plate 11 is the straight line being arranged in left-right direction, rear edge is in four points
One of it is arc-shaped.When two groups of bottom plates 11 for climbing wall component are generally aligned in the same plane, its rear end split is in semicircular arc.
Battery 2, Voltage stabilizing module 3, direct current tune 4, remote control signal receiver 5, main control module 6, temperature sensor 7, nocuousness
Gas sensor 8 and wireless data transmission module 9 are each attached to two groups of upper surfaces for climbing the bottom plate 11 of wall component.
Battery 2 is connect with the input stage of Voltage stabilizing module 3.The output stage of Voltage stabilizing module 3 and the power input stage of direct current tune 4
Connection.The positive and negative grade that two sets of output stages of direct current tune 4 climb the motor 12 of wall component with two groups respectively is connect.Remote control signal receiver
Machine 5 is connect with the signal input stage of direct current tune 4.After remote control signal receiver 5 receives remote signal, direct current tune 4 passes through
Steering and the revolving speed for controlling two motors 12 drive corresponding driving wheel 13 to realize advance, retrogressing and the steering of robot.
The power input port of main control module 6 is connect with the output stage of Voltage stabilizing module 3.
Temperature sensors 7 and harmful gas sensor 8 are connect with main control module 6.Specifically, main control module 6
Two sets of serial ports are separately connected the signal transmitting and receiving port of temperature sensor 7 and harmful gas sensor 8, the electricity of main control module 6
Source output terminal mouth is separately connected the power port of temperature sensor 7 and harmful gas sensor 8.Main control module 6 controls temperature temperature
It spends sensor 7 and harmful gas sensor 8 detects ambient enviroment, obtain environmental data.
Wireless data transmission module 9 is connect with main control module 6, and the environmental data that main control module 6 obtains is sent to calculating
On machine.
Specifically, battery 2, remote control signal receiver 5, temperature sensor 7, harmful gas sensor 8 are fixed on right side
It climbs on the bottom plate 11 of wall component, is respectively positioned on the rear of its motor 12, battery 2 and remote control signal receiver 5 are located at the interior of bottom plate 11
Side, remote control signal receiver 5 are located at the front of battery 2, and temperature sensor 7 and harmful gas sensor 8 are located at the outer of bottom plate 11
Side, temperature sensor 7 are located at the front of harmful gas sensor 8.
Direct current tune 4, main control module 6, Voltage stabilizing module 3 and wireless data transmission module 9 be fixed on left side climb wall component
Bottom plate 11 on, be respectively positioned on the rear of its motor 12, direct current tune 4 is located at the inside of bottom plate 11, Voltage stabilizing module 3 and wireless data
Transmitting module 9 is located at the outside of bottom plate 11, and Voltage stabilizing module 3 is located at the front of wireless data transmission module 9, and main control module 6 is located at
The rear of direct current tune 4 and wireless data transmission module 9.Robot lid is convenient in the distribution of above-mentioned each element, reasonable distribution space
The encapsulation of shell 17 keeps the small and exquisite figure of robot.
When work, robot is put on ferromagnetism cylinder rear permanent magnet unit and cylinder generation adsorption capacity, i.e. cylinder forever
Robot is adsorbed on cylinder by magnet 161 and strip permanent magnet 162, and permanent magnet can be kept with cylinder closely without connecing
Touching.Two groups of bottom plates 11 for climbing wall component are protected by driving wheel 13, the support of front driven wheel 14 and back front driven wheel 15 and cylinder respectively
Suitable distance is held, and passes through the suitable angle of driven formation of hinge 111, as shown in Figure 7.
Main control module 6 controls temperature sensor 7 after robot booting and harmful gas sensor 8 detects relevant environmental data
And it is sent data on computer in real time by wireless data transmission module 9.Remote control signal receiver 5 receives remote control letter
After number, steering and revolving speed of the direct current tune 4 by two decelerating motors 2 of control respectively drive two driving wheels 13 and rotate, drive
Robot moves on cylinder, realizes the advance, retrogressing and steering of robot.15 support baseboard of front driven wheel 14 and back front driven wheel
It 11 and moves and rotates, two bottom plates 11 form adaptable angle with the bending degree of place cylinder.Driving wheel 13
On spongy layer 131 and sand paper layer 132 can increase the flexibility and frictional force of contact surface, and then effectively drive robot motion.
This magnetic-type cylinder gaseous environment monitoring robot can realize the adaptive effect to the larger cylinder of curvature, specifically
, robot can carry out comprehensive creep in the outer surface for the ferromagnetism cylinder that radius is 50cm and inner surface.
Claims (10)
1. a kind of magnetic-type cylinder gaseous environment monitoring robot, it is characterised in that:
Symmetrically arranged wall component is climbed including two groups；
The wall component of climbing includes bottom plate, motor, driving wheel, front driven wheel, back front driven wheel and permanent magnet unit；
The inside of two groups of bottom plates for climbing wall component is rotatablely connected；
It is climbed described in same group in wall component, the motor is fixed on the front end of plate upper surface, and the driving wheel is located at outside bottom plate
The front end of side, driving wheel are mounted on the output shaft of motor, the rotation of motor driven driving wheel；
The front driven wheel is arranged on the lower surface of bottom plate, positioned at the inside of bottom plate front end, can rotate；
The back front driven wheel is arranged on the lower surface of bottom plate, positioned at the inside of base plate rear end, can rotate；
The permanent magnet unit is fixed on the lower surface of bottom plate, between the front end of bottom plate, driving wheel and front driven wheel；
Robot is adsorbed on cylinder by permanent magnet unit, and two groups of motors for climbing wall component respectively drive two driving wheel rotations,
Band mobile robot moves on cylinder, and front driven wheel and back front driven wheel support baseboard are simultaneously moved and rotated, two bottom plates with
The bending degree of place cylinder and form adaptable angle.
2. magnetic-type cylinder gaseous environment monitoring robot according to claim 1, it is characterised in that:
Wherein, the permanent magnet unit includes cylindrical permanent magnet and strip permanent magnet；
The cylindrical permanent magnet is fixed on the front end outer side of lower surface of base plate；
The strip permanent magnet is arranged in left-right direction, positioned at the rear of cylindrical permanent magnet.
3. magnetic-type cylinder gaseous environment monitoring robot according to claim 2, it is characterised in that:
Wherein, one end of the strip permanent magnet is located at the dead astern of the cylindrical permanent magnet, the other end extend to it is described before
The inside rear end of driven wheel.
4. magnetic-type cylinder gaseous environment monitoring robot according to claim 1, it is characterised in that:
Wherein, the outer surface of the driving wheel is successively coated with spongy layer and sand paper layer from the inside to the outside.
5. magnetic-type cylinder gaseous environment monitoring robot according to claim 1, it is characterised in that:
It further include battery, Voltage stabilizing module, direct current the reconciliation remote control signal receiver being fixed on the bottom plate；
The connection of the input stage of the battery and Voltage stabilizing module；
The output stage of the Voltage stabilizing module is connect with the power input stage of direct current tune；
Two sets of output stages of the direct current tune are connect with the positive and negative grade for the motor for climbing wall component described in two groups respectively；
The remote control signal receiver is connect with the signal input stage of direct current tune；
After remote control signal receiver receives remote signal, steering and revolving speed of the direct current tune by two motors of control,
The corresponding driving wheel of driving realizes advance, retrogressing and the steering of robot.
6. magnetic-type cylinder gaseous environment monitoring robot according to claim 5, it is characterised in that:
It further include the main control module being fixed on the bottom plate, temperature sensor, harmful gas sensor and wireless data transmission
Module；
The power input port of the main control module is connect with the output stage of the Voltage stabilizing module；
The temperature sensors and harmful gas sensor are connect with main control module, and main control module controls temperature and passes
Sensor and harmful gas sensor detect ambient enviroment, obtain environmental data；
The wireless data transmission module is connected to the main control module, and the environmental data that main control module obtains is sent to calculating
On machine.
7. magnetic-type cylinder gaseous environment monitoring robot according to claim 6, it is characterised in that:
Wherein, the battery, remote control signal receiver, temperature sensor, harmful gas sensor are fixed on the described of right side and climb
On the bottom plate of wall component, it is respectively positioned on the rear of its motor, battery and remote control signal receiver are located at the inside of bottom plate, remote control
Signal receiver is located at the front of battery, and temperature sensor and harmful gas sensor are located at the outside of bottom plate, temperature sensor
Positioned at the front of harmful gas sensor；
The direct current tune, main control module, Voltage stabilizing module and wireless data transmission module are fixed on the described of left side and climb wall component
Bottom plate on, be respectively positioned on the rear of its motor, direct current is transposed in the inside of bottom plate, Voltage stabilizing module and wireless data transmission
Module is located at the outside of bottom plate, and Voltage stabilizing module is located at the front of wireless data transmission module, and main control module is located at direct current reconciliation
The rear of wireless data transmission module.
8. magnetic-type cylinder gaseous environment monitoring robot according to claim 1, it is characterised in that:
Wherein, the wall component of climbing further includes lid shell；
Same group is climbed in wall component, and the lower side of the lid shell matches along the edge with the bottom plate, the downside of lid shell front end
It is rotatablely connected with the front end of bottom plate, lid shell is openable and closes on bottom plate.
9. magnetic-type cylinder gaseous environment monitoring robot according to claim 1, it is characterised in that:
Wherein, the front edge of the bottom plate is the straight line being arranged in left-right direction, and rear edge is in quadrant arc, two
When climbing the bottom plate of wall component described in group and being generally aligned in the same plane, its rear end split is in semicircular arc.
10. magnetic-type cylinder gaseous environment monitoring robot according to claim 1, it is characterised in that:
Wherein, the bottom plate that wall component is climbed described in two groups passes through two hinge rotation connections.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910664022.0A CN110254549B (en) | 2019-07-23 | 2019-07-23 | Magnetic cylindrical gas environment monitoring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910664022.0A CN110254549B (en) | 2019-07-23 | 2019-07-23 | Magnetic cylindrical gas environment monitoring robot |
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| Publication Number | Publication Date |
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| CN110254549A true CN110254549A (en) | 2019-09-20 |
| CN110254549B CN110254549B (en) | 2024-02-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910664022.0A Active CN110254549B (en) | 2019-07-23 | 2019-07-23 | Magnetic cylindrical gas environment monitoring robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114348139A (en) * | 2022-01-29 | 2022-04-15 | 宁波大学 | Visual inspection wall-climbing robot and control method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202400191U (en) * | 2011-11-28 | 2012-08-29 | 大连鑫铠锐工业技术有限公司 | Permanent-magnet attraction wheel type iron-wall crawling robot |
| CN103009373A (en) * | 2012-12-13 | 2013-04-03 | 浙江大学 | Magnetic wheel type wall climbing robot with curved face self-adaptation adsorption |
| CN208231811U (en) * | 2018-05-31 | 2018-12-14 | 浙江大学 | A kind of curved surface climbing robot for surface clean |
-
2019
- 2019-07-23 CN CN201910664022.0A patent/CN110254549B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202400191U (en) * | 2011-11-28 | 2012-08-29 | 大连鑫铠锐工业技术有限公司 | Permanent-magnet attraction wheel type iron-wall crawling robot |
| CN103009373A (en) * | 2012-12-13 | 2013-04-03 | 浙江大学 | Magnetic wheel type wall climbing robot with curved face self-adaptation adsorption |
| CN208231811U (en) * | 2018-05-31 | 2018-12-14 | 浙江大学 | A kind of curved surface climbing robot for surface clean |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114348139A (en) * | 2022-01-29 | 2022-04-15 | 宁波大学 | Visual inspection wall-climbing robot and control method |
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| Publication number | Publication date |
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| CN110254549B (en) | 2024-02-20 |
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