CN110254549B - Magnetic cylindrical gas environment monitoring robot - Google Patents
Magnetic cylindrical gas environment monitoring robot Download PDFInfo
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- CN110254549B CN110254549B CN201910664022.0A CN201910664022A CN110254549B CN 110254549 B CN110254549 B CN 110254549B CN 201910664022 A CN201910664022 A CN 201910664022A CN 110254549 B CN110254549 B CN 110254549B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 31
- 230000005291 magnetic effect Effects 0.000 title abstract description 24
- 230000009194 climbing Effects 0.000 claims abstract description 55
- 230000000712 assembly Effects 0.000 claims abstract description 26
- 238000000429 assembly Methods 0.000 claims abstract description 26
- 230000000087 stabilizing effect Effects 0.000 claims description 22
- 244000137852 Petrea volubilis Species 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 claims description 5
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims description 2
- 238000005253 cladding Methods 0.000 claims 1
- 230000005389 magnetism Effects 0.000 claims 1
- 230000009193 crawling Effects 0.000 abstract description 6
- 230000005294 ferromagnetic effect Effects 0.000 description 6
- 238000001179 sorption measurement Methods 0.000 description 4
- 241001465754 Metazoa Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 230000003631 expected effect Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 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 magnetic cylindrical gas environment monitoring robot, which comprises two groups of symmetrically arranged wall climbing assemblies; the wall climbing assembly comprises a bottom plate, a motor, a driving wheel, a front driven wheel, a rear driven wheel and a permanent magnet unit; the inner sides of the bottom plates of the two groups of wall climbing assemblies are rotationally connected; the motor is fixed at the front end of the upper surface of the bottom plate, the driving wheel is positioned at the front end of the outer side of the bottom plate, and the motor drives the driving wheel to rotate; the front driven wheel is arranged on the lower surface of the bottom plate and positioned on the inner side of the front end of the bottom plate; the rear driven wheel is arranged on the lower surface of the bottom plate and positioned on the inner side of the rear end of the bottom plate; the permanent magnet unit is fixed on the lower surface of the bottom plate and is positioned between the front end of the bottom plate, the driving wheel and the front driven wheel; the permanent magnet unit adsorbs the robot on the cylinder, and the motor drives the action wheel rotation respectively, drives the robot and moves on the cylinder, and two bottom plates form the angle that suits along with the crooked degree of cylinder at place. The invention can realize self-adaptive crawling on the cylindrical surface with larger curvature.
Description
Technical Field
The invention belongs to the field of robots, relates to a wall climbing robot, and particularly relates to a magnetic cylindrical surface gas environment monitoring robot.
Background
In nature, there are many animals with wall climbing capability, which can move freely in various complex environments. Based on bionic researches on such animals, wall climbing robots with various functions are continuously developed all over the world. The wall climbing robot can adhere to the wall surface by a plurality of different mechanisms and can carry various tools to complete specific operation tasks. The magnetic wall climbing robot is one kind of robot with magnet and ferromagnetic surface to realize wall climbing function.
The crawling environment of the crawling robot developed at home and abroad is mostly limited to a ferromagnetic plane or a cylindrical surface with smaller curvature, such as a wall operation robot developed by the Japanese Sanpa industry university and a multifunctional crawler type crawling robot developed by the Harbin industry university. All robots can realize the crawling function of ferromagnetic wall surfaces, but the wall surfaces are required to be relatively flat, and the applicable working environment is relatively limited. In recent years, a magnetic type wall climbing robot GunryuIII is developed by Tokyo industrial university, and the robot adopts a plurality of sections of caterpillar tracks to adsorb the wall surface, so that the flexibility of the magnetic type wall climbing robot is improved, but the robot has larger body size and is still not suitable for a cylindrical surface with large curvature.
Disclosure of Invention
The invention provides a magnetic cylindrical gas environment monitoring robot which overcomes the defects of the prior art.
In order to achieve the above purpose, the invention provides a magnetic cylindrical gas environment monitoring robot, which comprises two groups of symmetrically arranged wall climbing assemblies; the wall climbing assembly comprises a bottom plate, a motor, a driving wheel, a front driven wheel, a rear driven wheel and a permanent magnet unit; the inner sides of the bottom plates of the two groups of wall climbing assemblies are rotationally connected; in the same group of wall climbing assemblies, a motor is fixed at the front end of the upper surface of a bottom plate, a driving wheel is positioned at the front end of the outer side of the bottom plate, the driving wheel is arranged on an output shaft of the motor, and the motor drives the driving wheel to rotate; the front driven wheel is arranged on the lower surface of the bottom plate and positioned on the inner side of the front end of the bottom plate and can rotate; the rear driven wheel is arranged on the lower surface of the bottom plate and positioned on the inner side of the rear end of the bottom plate and can rotate; the permanent magnet unit is fixed on the lower surface of the bottom plate and is positioned between the front end of the bottom plate, the driving wheel and the front driven wheel; the permanent magnet unit adsorbs the robot on the cylinder, and the motor of two sets of wall climbing subassemblies drives two action wheels respectively and rotates, drives the robot and moves on the cylinder, and preceding follow driving wheel and back follow driving wheel supporting baseplate to move and rotate thereupon, and two bottom plates form the angle that suits along with the crooked degree of cylinder that locates.
Further, the invention provides a magnetic cylindrical gas environment monitoring robot, which can also have the following characteristics: the permanent magnet unit comprises a cylindrical permanent magnet and a bar-shaped permanent magnet; the cylindrical permanent magnet is fixed on the outer side of the front end of the lower surface of the bottom plate; the bar-shaped permanent magnet is arranged along the left-right direction and is positioned behind the cylindrical permanent magnet.
Further, the invention provides a magnetic cylindrical gas environment monitoring robot, which can also have the following characteristics: one end of the bar-shaped permanent magnet is positioned right behind the cylindrical permanent magnet, and the other end of the bar-shaped permanent magnet extends to the inner side rear end of the front driven wheel.
Further, the invention provides a magnetic cylindrical gas environment monitoring robot, which can also have the following characteristics: wherein, the outer surface of the driving wheel is sequentially coated with a sponge layer and a sand paper layer from inside to outside.
Further, the invention provides a magnetic cylindrical gas environment monitoring robot, which can also have the following characteristics: the system also comprises a battery, a voltage stabilizing module and a direct current and remote control signal receiver which are fixed on the bottom plate; the battery is connected with the input stage of the voltage stabilizing module; the output stage of the voltage stabilizing module is connected with the power input stage of the direct current regulator; the two output stages of the direct current motor are respectively connected with the positive and negative stages of the motors of the two groups of wall climbing assemblies; the remote control signal receiver is connected with the signal input stage of the direct current modulator; after the remote control signal receiver receives the remote control signal, the direct current is adjusted to control the steering and the rotating speed of the two motors, so that the corresponding driving wheels are driven to realize the forward, backward and steering of the robot.
Further, the invention provides a magnetic cylindrical gas environment monitoring robot, which can also have the following characteristics: the device also comprises a main control module, a temperature sensor, a harmful gas sensor and a wireless data transmitting module which are fixed on the bottom plate; the power input port of the main control module is connected with the output stage of the voltage stabilizing module; the temperature sensor and the harmful gas sensor are connected with the main control module, and the main control module controls the temperature sensor and the harmful gas sensor to detect the surrounding environment to obtain environment data; the wireless data transmitting module is connected with the main control module and transmits the environmental data obtained by the main control module to the computer.
Further, the invention provides a magnetic cylindrical gas environment monitoring robot, which can also have the following characteristics: the battery, the remote control signal receiver, the temperature sensor and the harmful gas sensor are fixed on a bottom plate of the right wall climbing assembly and are positioned behind a motor of the wall climbing assembly, the battery and the remote control signal receiver are positioned on the inner side of the bottom plate, the remote control signal receiver is positioned in front of the battery, the temperature sensor and the harmful gas sensor are positioned on the outer side of the bottom plate, and the temperature sensor is positioned in front of the harmful gas sensor; the direct current regulator, the main control module, the voltage stabilizing module and the wireless data transmitting module are fixed on the bottom plate of the left wall climbing assembly and are all positioned at the rear of the motor of the wall climbing assembly, the direct current regulator is positioned at the inner side of the bottom plate, the voltage stabilizing module and the wireless data transmitting module are positioned at the outer side of the bottom plate, the voltage stabilizing module is positioned at the front of the wireless data transmitting module, and the main control module is positioned at the rear of the direct current regulator and the wireless data transmitting module.
Further, the invention provides a magnetic cylindrical gas environment monitoring robot, which can also have the following characteristics: wherein the wall climbing assembly further comprises a cover shell; in the same group of wall climbing assemblies, the lower side edge of the cover shell is matched with the edge of the bottom plate, the lower side of the front end of the cover shell is rotationally connected with the front end of the bottom plate, and the cover shell can be opened and closed on the bottom plate.
Further, the invention provides a magnetic cylindrical gas environment monitoring robot, which can also have the following characteristics: the front end edge of the bottom plate is a straight line arranged along the left-right direction, the rear end edge of the bottom plate is in a quarter arc shape, and when the bottom plates of the two groups of wall climbing assemblies are positioned on the same plane, the rear ends of the two groups of wall climbing assemblies are spliced to form a semicircle.
Further, the invention provides a magnetic cylindrical gas environment monitoring robot, which can also have the following characteristics: wherein, the bottom plates of two groups of wall climbing components are rotationally connected through two hinges.
The invention has the beneficial effects that: the invention provides a magnetic cylindrical surface gas environment monitoring robot, which adopts the design of two base plates with variable angles, wherein the two base plates are rotationally connected through a hinge, and when a permanent magnet unit acts on a ferromagnetic cylindrical surface, the two base plates are respectively contacted with the cylindrical surface through wheels; when the robot crawls on the cylindrical surface in different directions, the two bottom plates are adjusted to an adaptive angle through hinges at any time and in a driven mode. In addition, the lower surface of the bottom plate is provided with a front driven wheel and a rear driven wheel, and the two driven wheels can keep a good distance between the two bottom plates and the cylindrical surface. The driving wheel and the front driven wheel are positioned on two sides of the permanent magnet unit, so that the good distance between the bottom plate at the permanent magnet unit and the cylindrical surface can be further ensured, and the robot can be ensured to climb on the cylindrical surface smoothly while the stable adsorption effect is realized. In addition, the permanent magnet unit comprises a cylindrical permanent magnet and a bar-shaped permanent magnet, and the distribution of the cylindrical permanent magnet and the bar-shaped permanent magnet is scientific and reasonable, so that the adsorption force is distributed to the vicinity of the driving wheel under the condition that the whole adsorption force is enough to carry on elements such as a sensor, and the like, the driving wheel and the cylindrical surface are guaranteed to generate enough friction force, and the robot is driven to climb on the cylindrical surface. The design of two base plates with variable angles, the unique roller design and the layout design of the permanent magnets realize the expected effect that the robot stably and omnidirectionally crawls on a large-curvature cylindrical surface and performs environment investigation.
Drawings
Fig. 1 is a schematic structural diagram of a magnetic cylindrical gas environment monitoring robot.
FIG. 2 is a schematic structural view of a magnetic cylindrical gas environment monitoring robot;
FIG. 3 is a side view of a magnetically attractable cylindrical gas environment monitoring robot;
FIG. 4 is a top view of a magnetically attractable cylindrical gas environment monitoring robot;
FIG. 5 is a schematic view of the structure of the capstan;
FIG. 6 is a schematic structural view of a base plate;
fig. 7 is a rear view of the two base plates forming an angle when the cover housing of the magnetic cylindrical gas environment monitoring robot is closed.
Detailed Description
Specific embodiments of the present invention are described below with reference to the accompanying drawings.
As shown in fig. 1-4, the invention provides a magnetic cylindrical gas environment monitoring robot, which comprises two groups of symmetrically arranged wall climbing assemblies, a battery 2, a voltage stabilizing module 3, a direct current regulator 4, a remote control signal receiver 5, a main control module 6, a temperature sensor 7, a harmful gas sensor 8 and a wireless data transmitting module 9.
The wall climbing assembly comprises a bottom plate 11, a motor 12, a driving wheel 13, a front driven wheel 14, a rear driven wheel 15, a permanent magnet unit and a cover shell 17.
The inner sides of the bottom plates 11 of the two sets of wall climbing assemblies are rotatably connected. Wherein, the bottom plates 11 of the two groups of wall climbing assemblies are rotationally connected through two hinges 111.
In the same group of wall climbing components: the motor 12 is fixed to the front end of the upper surface of the base plate 11. The driving wheel 13 is located at the front end of the outer side of the bottom plate 11. "outboard" refers to the outside of the robot, i.e., the left and right sides. The driving wheel 13 is arranged on an output shaft of the motor 12, and the motor 12 drives the driving wheel 13 to rotate. In this embodiment, the motor 12 is a gear motor.
As shown in fig. 5, the outer surface of the driving wheel 13 is sequentially coated with a sponge layer 131 and a sand paper layer 132 from inside to outside. The outer surface of the driving wheel 13 refers to the surface that contacts the cylindrical surface when rolling. The sand paper layer 132 increases the friction of the wheel with the cylinder. The sponge layer 131 in the sand paper layer 132 can increase the contact area between sand paper and the cylindrical surface, so that the movement stability of the robot is increased.
The front driven wheel 14 is provided on the lower surface of the base plate 11, inside the front end of the base plate 11, and is rotatable. "inboard" refers to the inboard side of the robot, i.e., the direction pointing toward the center line of symmetry between the two sets of wall climbing assemblies.
The rear driven wheel 15 is provided on the lower surface of the base plate 11, inside the rear end of the base plate 11, and is rotatable.
The permanent magnet unit is fixed on the lower surface of the base plate 11 between the front end of the base plate 11, the driving wheel 13 and the front driven wheel 14.
The permanent magnet unit includes a cylindrical permanent magnet 161 and a bar-shaped permanent magnet 162. A cylindrical permanent magnet 161 is fixed to the outer side of the front end of the lower surface of the base plate 11. The bar-shaped permanent magnet 162 is disposed in the left-right direction, behind the cylindrical permanent magnet 161.
Wherein one end of the bar-shaped permanent magnet 162 is located right behind the cylindrical permanent magnet 161, and the other end extends to the inside rear end of the front driven wheel 14.
The underside edge of the cover 17 matches the edge of the base plate 11. The lower side of the front end of the cover 17 is rotatably connected to the front end of the base plate 11, and the cover 17 is openable and closable on the base plate 11. When closed, the components mounted on the base plate 11 are packaged.
As shown in fig. 6, the front edge of the bottom plate 11 is a straight line arranged in the left-right direction, and the rear edge is a quarter arc. When the bottom plates 11 of the two groups of wall climbing assemblies are positioned on the same plane, the rear ends of the two groups of wall climbing assemblies are spliced to form a semicircular arc.
The battery 2, the voltage stabilizing module 3, the direct current regulator 4, the remote control signal receiver 5, the main control module 6, the temperature sensor 7, the harmful gas sensor 8 and the wireless data transmitting module 9 are all fixed on the upper surfaces of the bottom plates 11 of the two groups of wall climbing assemblies.
The battery 2 is connected with an input stage of the voltage stabilizing module 3. The output stage of the voltage stabilizing module 3 is connected with the power input stage of the direct current regulator 4. The two output stages of the direct current electric motor 4 are respectively connected with the positive and negative stages of the motors 12 of the two groups of wall climbing assemblies. The remote control signal receiver 5 is connected to the signal input stage of the dc tone 4. After the remote control signal receiver 5 receives the remote control signal, the direct current regulator 4 drives the corresponding driving wheel 13 to realize the forward, backward and steering of the robot by controlling the steering and rotating speeds of the two motors 12.
The power input port of the main control module 6 is connected with the output stage of the voltage stabilizing module 3.
The temperature sensor 7 and the harmful gas sensor 8 are connected with the main control module 6. Specifically, two serial ports of the main control module 6 are respectively connected with signal receiving and transmitting ports of the temperature sensor 7 and the harmful gas sensor 8, and a power output port of the main control module 6 is respectively connected with power ports of the temperature sensor 7 and the harmful gas sensor 8. The main control module 6 controls the temperature sensor 7 and the harmful gas sensor 8 to detect the surrounding environment, and environmental data is obtained.
The wireless data transmitting module 9 is connected with the main control module 6 and transmits the environmental data obtained by the main control module 6 to the computer.
Specifically, the battery 2, the remote control signal receiver 5, the temperature sensor 7 and the harmful gas sensor 8 are fixed on the bottom plate 11 of the right wall climbing assembly and are all positioned behind the motor 12 of the wall climbing assembly, the battery 2 and the remote control signal receiver 5 are positioned on the inner side of the bottom plate 11, the remote control signal receiver 5 is positioned in front of the battery 2, the temperature sensor 7 and the harmful gas sensor 8 are positioned on the outer side of the bottom plate 11, and the temperature sensor 7 is positioned in front of the harmful gas sensor 8.
The direct current regulator 4, the main control module 6, the voltage stabilizing module 3 and the wireless data transmitting module 9 are fixed on a bottom plate 11 of the left wall climbing assembly and are all positioned at the rear of a motor 12 of the wall climbing assembly, the direct current regulator 4 is positioned at the inner side of the bottom plate 11, the voltage stabilizing module 3 and the wireless data transmitting module 9 are positioned at the outer side of the bottom plate 11, the voltage stabilizing module 3 is positioned at the front of the wireless data transmitting module 9, and the main control module 6 is positioned at the rear of the direct current regulator 4 and the wireless data transmitting module 9. The distribution of the above elements reasonably distributes the space, is convenient for the encapsulation of the robot cover 17, and keeps the small size of the robot.
When the robot is in operation, after the robot is placed on the ferromagnetic cylindrical surface, the permanent magnet units and the cylindrical surface generate adsorption force, namely, the cylindrical permanent magnet 161 and the bar-shaped permanent magnet 162 adsorb the robot on the cylindrical surface, and the permanent magnet can keep close distance to the cylindrical surface without contacting. The bottom plates 11 of the two groups of wall climbing assemblies are respectively supported by the driving wheel 13, the front driven wheel 14 and the rear driven wheel 15 to keep a proper distance from the cylindrical surface, and form a proper angle through the driven of the hinge 111, as shown in fig. 7.
After the robot is started, the main control module 6 controls the temperature sensor 7 and the harmful gas sensor 8 to detect related environmental data and send the data to the computer in real time through the wireless data transmitting module 9. After the remote control signal receiver 5 receives the remote control signal, the direct current power conditioner 4 respectively drives the two driving wheels 13 to rotate by controlling the steering and rotating speed of the two gear motors 2, so as to drive the robot to move on the cylindrical surface and realize the forward, backward and steering of the robot. The front driven wheel 14 and the rear driven wheel 15 support the bottom plates 11 and move and rotate along with the bottom plates, and the two bottom plates 11 form an adaptive angle according to the bending degree of the cylindrical surface. The sponge layer 131 and the sand paper layer 132 on the driving wheel 13 can increase the flexibility and friction force of the contact surface, and further effectively drive the robot to move.
The magnetic cylindrical surface gas environment monitoring robot can achieve the self-adaptive effect on the cylindrical surface with larger curvature, and specifically, the robot can perform omnibearing crawling on the outer surface and the inner surface of the ferromagnetic cylindrical surface with the radius of 50 cm.
Claims (8)
1. The utility model provides a magnetism is inhaled cylinder gaseous environment monitoring robot which characterized in that:
comprises two groups of symmetrically arranged wall climbing assemblies;
the wall climbing assembly comprises a bottom plate, a motor, a driving wheel, a front driven wheel, a rear driven wheel and a permanent magnet unit;
the inner sides of the bottom plates of the two groups of wall climbing assemblies are rotationally connected;
in the same group of wall climbing assemblies, the motor is fixed at the front end of the upper surface of the bottom plate, the driving wheel is positioned at the front end of the outer side of the bottom plate, the driving wheel is arranged on an output shaft of the motor, and the motor drives the driving wheel to rotate;
the front driven wheel is arranged on the lower surface of the bottom plate and positioned on the inner side of the front end of the bottom plate and can rotate;
the rear driven wheel is arranged on the lower surface of the bottom plate and positioned on the inner side of the rear end of the bottom plate and can rotate;
the permanent magnet unit is fixed on the lower surface of the bottom plate and is positioned between the front end of the bottom plate, the driving wheel and the front driven wheel;
the permanent magnet unit adsorbs the robot on the cylindrical surface, the motors of the two groups of wall climbing assemblies respectively drive the two driving wheels to rotate so as to drive the robot to move on the cylindrical surface, the front driven wheel and the rear driven wheel support the bottom plates and move along with the bottom plates to rotate, and the two bottom plates form an adaptive angle along with the bending degree of the cylindrical surface;
the system also comprises a battery, a voltage stabilizing module and a direct current and remote control signal receiver which are fixed on the bottom plate; the battery is connected with the input stage of the voltage stabilizing module; the output stage of the voltage stabilizing module is connected with the power input stage of the direct current regulator; the two output stages of the direct current motor are respectively connected with the positive and negative stages of the motors of the two groups of wall climbing assemblies; the remote control signal receiver is connected with a signal input stage of the direct current regulator; after the remote control signal receiver receives the remote control signal, the direct current is adjusted to drive the corresponding driving wheel to realize the forward, backward and steering of the robot by controlling the steering and rotating speeds of the two motors;
the front end edge of the bottom plate is a straight line arranged along the left-right direction, the rear end edge is in a quarter arc shape, and when the bottom plates of the two groups of wall climbing assemblies are positioned on the same plane, the rear ends of the two groups of wall climbing assemblies are spliced to form a semicircle arc shape.
2. The magnetically attractable cylindrical gas environment monitoring robot of claim 1, wherein:
the permanent magnet unit comprises a cylindrical permanent magnet and a bar-shaped permanent magnet;
the cylindrical permanent magnet is fixed on the outer side of the front end of the lower surface of the bottom plate;
the bar-shaped permanent magnets are arranged in the left-right direction and are positioned behind the cylindrical permanent magnets.
3. The magnetically attractable cylindrical gas environment monitoring robot of claim 2, wherein:
one end of the bar-shaped permanent magnet is positioned right behind the cylindrical permanent magnet, and the other end of the bar-shaped permanent magnet extends to the inner rear end of the front driven wheel.
4. The magnetically attractable cylindrical gas environment monitoring robot of claim 1, wherein:
wherein, the surface of action wheel from inside to outside is the cladding in proper order has sponge layer and sand paper layer.
5. The magnetically attractable cylindrical gas environment monitoring robot of claim 1, wherein:
the device also comprises a main control module, a temperature sensor, a harmful gas sensor and a wireless data transmitting module which are fixed on the bottom plate;
the power input port of the main control module is connected with the output stage of the voltage stabilizing module;
the temperature sensor and the harmful gas sensor are connected with the main control module, and the main control module controls the temperature sensor and the harmful gas sensor to detect the surrounding environment to obtain environment data;
the wireless data transmitting module is connected with the main control module and transmits the environmental data obtained by the main control module to the computer.
6. The magnetically attractable cylindrical gas environment monitoring robot of claim 5, wherein:
the battery, the remote control signal receiver, the temperature sensor and the harmful gas sensor are fixed on the bottom plate of the wall climbing assembly on the right side and are all positioned behind the motor of the wall climbing assembly, the battery and the remote control signal receiver are positioned on the inner side of the bottom plate, the remote control signal receiver is positioned in front of the battery, the temperature sensor and the harmful gas sensor are positioned on the outer side of the bottom plate, and the temperature sensor is positioned in front of the harmful gas sensor;
the direct current power conditioner, the main control module, the voltage stabilizing module and the wireless data transmitting module are fixed on the left bottom plate of the wall climbing assembly and are all positioned at the rear of the motor, the direct current power conditioner is positioned at the inner side of the bottom plate, the voltage stabilizing module and the wireless data transmitting module are positioned at the outer side of the bottom plate, the voltage stabilizing module is positioned at the front of the wireless data transmitting module, and the main control module is positioned at the rear of the direct current power conditioner and the wireless data transmitting module.
7. The magnetically attractable cylindrical gas environment monitoring robot of claim 1, wherein:
wherein the wall climbing assembly further comprises a cover shell;
in the same group of wall climbing assemblies, the lower side edge of the cover shell is matched with the edge of the bottom plate, the lower side of the front end of the cover shell is rotationally connected with the front end of the bottom plate, and the cover shell can be opened and closed on the bottom plate.
8. The magnetically attractable cylindrical gas environment monitoring robot of claim 1, wherein:
wherein, two sets of the bottom plates of wall climbing subassembly pass through two hinges rotation connection.
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 |
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| 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 CN110254549A (en) | 2019-09-20 |
| CN110254549B true CN110254549B (en) | 2024-02-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910664022.0A Active CN110254549B (en) | 2019-07-23 | 2019-07-23 | Magnetic cylindrical gas environment monitoring robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114348139B (en) * | 2022-01-29 | 2022-12-23 | 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 |
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| CN110254549A (en) | 2019-09-20 |
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