Magnetic attraction type cylindrical surface gas environment monitoring robot

Abstract

The invention discloses a magnetic attraction type cylindrical surface gas environment monitoring robot. The magnetic attraction type cylindrical surface gas environment monitoring robot comprises two groups of wall climbing assemblies which are symmetrically arranged, wherein each wall climbing assembly comprises a bottom plate, a motor, a drive 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 the wall climbing assemblies are rotatably connected; the motors are fixed at the front ends of the upper surfaces of the bottom plates, the drive wheels are positioned at the front ends of the outer sides of the bottom plates, the motors drive the drive wheels to rotate; the front driven wheels are arranged on the lower surfaces of the bottom plates, and are positioned at the inner sides of the front ends of the bottom plates; the rear driven wheels are arranged on the lower surfaces of the bottom plates, and are positioned at the inner sides of the rear ends of the bottom plates; the permanent magnet units are fixed on the lower surfaces of the bottom plates, and are positioned on positions, between the drive wheels and the front driven wheels, at the front ends of the bottom plates; the permanent magnet units adsorb the robot on a cylindrical surface, and the motors separately drive the drive wheels to rotate to drive the robot to move on the cylindrical surface; and the two bottom plates define an adaptive angle according to bending degree of the cylindrical surface on the which the bottom plates are located. The magnetic attraction type cylindrical surface gas environment monitoring robot can realize self-adaptive climbing of the cylindrical surface with a relatively great curvature.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a wall-climbing robot, in particular to a magnetic-suction cylinder gas environment monitoring robot. Background technique [0002] There are many kinds of animals with wall-climbing ability in nature, and they can move freely in various complex environments. Based on the bionic research on such animals, wall-climbing robots with various functions have been developed successively around the world. The wall-climbing robot can attach and crawl on the wall with several different mechanisms, and can carry various tools to complete specific tasks. The magnetic wall-climbing robot is a robot that uses the force of a magnet and a ferromagnetic surface to realize the wall-climbing function. [0003] The crawling environment of wall-climbing robots developed at home and abroad is mostly limited to ferromagnetic planes or cylindrical surfaces with small curvature, such as the wall-working robot devel...

AI Technical Summary

Problems solved by technology

In recent years, the Tokyo Institute of Technology has developed the magnetic wall-climbing robot GunryuIII. This robot uses multi-segment crawlers for wall adsorption, which improves the flexibility of the magnetic wall-climbing robot. cylinder

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