FIELD OF THE INVENTION
The present invention relates to an automated and programmable vertical
climbing robot on ferromagnetic surfaces for measurement and data logging of
parameters such as air velocity, temperature, pressure, humidity, camera image
or any parameter that can be digitally transmitted.
BACKGROUND OF THE INVENTION
In commercial applications two basic types of robots are used. First and widely
used is the industrial robot which is fixed in a position and has actuators and
effectors for manipulating or performing work on an object, such as in a
manufacturing assembly line. A second type of robot Is the mobile robot which
can travel and used for remote sensing and inspection tasks. Mobile robots can
work in hazardous and hostile environments where the risk of human injury is
high or human task is tedious and time consuming.
Existing climbing robots have been equipped with a variety of mechanical
actuation devices to improve attachment the vertical surface and to facilitate their
climbing strategies. For example, mechanisms used to hold on to or grip vertical
surfaces include wheels, tracks, actuated arms, vacuum adhesion systems,
pneumatically actuated systems, cable pull, suction systems, directional adheslves,
magnets and griping spines. Many of these prior art climbing robots are simply
adaptations of ground traversing robots.

Most mobile robots found in the prior art are limited to rolling or walking across a
floor, on a flat surface. Some prior art mobile robots have been provided with
climbing feet, giving the robot the capability of moving along a non-horizontal
surface or, in some cases, enabling it to step over objects which may otherwise
interfere with the path of the robot. For example, US Patent No. 4,674,949
discloses a robot having climbing feet, allowing it to move along a non-horizontal
surface. Movement is effected by translation of a motorized slide while suction
cups hold the robot in place and jacks elevate the slide.
US Patent No, 4,993,912 a stair climbing robot and method of operation is
described. The robot includes a chassis having powered opposed front wheels and
two pairs of rear wheels each pair being rotatably mounted on a beam at opposite
ends thereof, and each beam being rotatably mounted on the chassis. A drive
motor is provided for driving each pair of wheels in the same direction at a
predetermined rotational velocity and a drive means is provided for simultaneously
rotating the beams at a predetermined direction.
US Patent 5,551,525 describes a climber robot that has front and rear legs joined
together by a pivoting knee joint and having pivoting ankle joints at their distal
ends. Pneumatic muscle pairs attached to each leg allow the robot to move
vertically and horizontally and make easy transitions over obstacles and from the
horizontal to vertical plane.
■

US Patent US 6,793,026 B1 describes a wall -climbing robot or mobility platform
able to ascent and descend various horizontal and vertical surfaces having a
chassis, a rotor rotatable with respect to the chassis, one or more prominences on
the rotor, and means for adhering to a surface attached to the prominences. The
robot is able to make a transition from horizontal travel to vertical travel. In
certain embodiments, the means for adhering to a wall is a pressure sensitive
adhesive.
The present invention relates to an automated and programmable vertical
climbing mobile robot that can travel on ferromagnetic surfaces for measurement
and data logging of parameters such as air velocity, temperature, pressure,
humidity, camera image or any parameter that can be digitally transmitted.
OBJECT OF THE INVENTION
It is therefore an object of the present invention to propose a programmable
device for traversing on ferromagnetic surface to measure technical data and
digitally transmit the measured data to a remote host controller.
SUMMARY OF THE INVENTION
Accordingly, there is provided a programmable device for traversing on
ferromagnetic surface to measure technical data and digitally transmit the
measured data to a remote host controller, the device comprising a chassis

platewith thumb screws and nut, accommodating at least four drive motors, at
least two L-shaped bars movable along both longitudinal edges of the chassis; a
shaft - mounted with magnetic wheels attachable with the drive motor shafts via
couplings; a position encoder with a shaft mounted on one of said L-shaped bars;
one each synchronous pulley Including one each synchronous belt mounted
respectively on the motor shaft and the encoder shaft; a detachably attached
assembly disposed on top end of the device, the assembly consisting of one each
horizontal members of different length, at least one hinge and a plurality of
magnetic wheels; at least two electromagnetic plunger with rubber stoppers
disposed at the bottom end of the device; and a plurality of measurement sensors
attached on the chassis via a detachable shaft, the sensors having built-in means
to log the measured data and connected via a cable to a transmitter.
BRIEF DESCRIPTION OF THE ACCOMPANYING DRAWINGS
Figure 1 is a top view of vertically climbing robot on ferromagnetic surface.
Figure 2 is a bottom view of the vertically climbing robot on ferromagnetic
surface.
Figure 3 is a view of the vertically climbing robot with sensors on ferromagnetic
surface.

DETAILED DESCRIPTION OF THE INVENTION
The present invention relates to invention of an automated and programmable
vertical climbing root that can crawl on a ferromagnetic surface for measurement
of parameter such as air velocity, temperature, pressure, humidity, camera image
or any other parameter that can be measured and digitally transmitted to the host
controller.
The embodiment of the present invention, vertically climbing robot consists of a
chassis plate 1 on which four drive motors 3 are mounted. Drive motors are
mounted on two L-shaped bars 2 that traverse on both sides, along longitudinal
edges of the chassis. Drove motors are supplied with a low voltage direct current
and have high torque with built-in gears to obtain traction on the surface. Drive
motor shaft Is coupled to a shaft by using coupling 4 on which the magnetic wheel
5 is mounted. Magnetic wheels 5 have an outer coating 6 of soft material such as
rubber to provide tractive force while travelling.
In the embodiment of the present invention, a position encoder 12 is mounted on
L-shaped bar 2. Two synchronous pulleys 13, one on motor shaft and another on
encoder shaft are mounted. These synchronous pulleys are connected with a
synchronous belt 14.

Four corners of the chassis 1 are provided with thumbscrews 15 and nuts. At the
end of thumbscrews, a rubber pad is mounted.
On top end of robot, a detachable assembly consisting of a long horizontal
member 9, small horizontal member 10, hinge 11 and magnetic wheels 7 is
mounted. The horizontal member 9 that is flat, L-shaped or round is mounted
along the width of robot. On the horizontal member 9 a smaller horizontal
member 10 is attached with a hinge 11 having two positions at zero degrees and
ninety degree. Both horizontal members 9, 10 carry magnetic or non-magnetic
wheels 7 with soft material coating 8. On the bottom end of robot, two assemblies
consisting of electromagnetic plunger 16 carrying a rubber stopper or an
electromagnetic are mounted.
In the embodiment of the present invention, the measurement of parameters
such as air velocity, temperature, pressure, humidity or any parameter that can be
digitally transmitted are carried out by attaching one or more measurement
sensors 16 on the chassis 1 of robot using detachable shaft 17. Tne sensors may
have built-in facility of logging the measurements or can be connected to signal
transmitter 19 using cable 18.
In the embodiment of the present invention, the robot is placed on the
ferromagnetic surface with thumbscrews 15 extended backwards. Thumbscrews

15 are slowly rotated causing forward movement of chassis till the magnetic In
the embodiment of the present invention, the robot is placed on the ferromagnetic
surface with thumbscrews 15 extended backwards. Thumbscrews 15 are slowly
rotated causing forward movement of chassis all the magnetic
In the embodiment of the present invention, the robot is placed on the
ferromagnetic surface with thumbscrews 15 extended backwards. Ttiumbscrews
15 are slowly rotated causing forward movement of chassis till the magnetic
wheels make a first contact on ferromagnetic surface. Detachable assembly
consisting of horizontal bar is used to clamp the robot by folding or unfolding the
hinge such that the small horizontal member 10 position is either straight for flat
surfaces, or at ninety degrees for clamping on edges of ferromagnetic structure.
In manual operation, the robot is moved manually on ferromagnetic surface 21
using controller (not shown) up or down to a predefined position and held in a
position for parameter capture. When robot stops, plungers 16 extend forward
and its rubber pads exerting force on the ferromagnetic surface to hold the robot
firmly in the place. The parameter is captured by sensor 17 mounted on shaft 18
and connected to transmitter 20 by cable 19. The transmitter transmits the
parameter value to the controller for data logging.

In automatic operation, the robot is moved automatically on ferromagnetic surface
21 by executing a program using a programmable controller (not shown). The
robot is moved up or down to a predefined position and held in a position for
parameter capture. When robot stops, plungers 16 extend forward and its rubber
pads exerting force on the ferromagnetic surface to hold the robot firmly in the
place. The parameter is captured by sensor 17 mounted on shaft 18 and
connected to transmitter 20 by cable 19. The transmitter transmits the parameter
value to the controller for data logging. After the parameter is captured, the robot
is moved to next programmed position for parameter capture,

WE CLAIM :
1 A programmable device for traversing on ferromagnetic surface to measure
technical data and digitally transmit the measured data to a remote host
controller, the device comprising:-
- a chassis plate (1) with thumb screws (15) and nut, accommodating at
least four drive motors (3), at least two L-shaped bars (2) movable along
both longitudinal edges of the chassis (1);
- a shaft - mounted with magnetic wheels (5) attachable with the drive
motor shafts via couplings (4);
- a position encoder (12) with a shaft mounted on one of said L-shaped
bars(2);

- one each synchronous pulley (13) including one each synchronous belt
(14) mounted respectively on the motor shaft and the encoder shaft;
characterized by comprising :
- a detachably attached assembly disposed on top end of the device, the
assembly consisting of one each horizontal members (10, 11) of different
length, at least one hinge (11) and a plurality of magnetic wheels (7);
- at least two electromagnetic plunger (16) with rubber stoppers disposed at
the bottom end of the device; and

- a plurality of measurement sensors (16) attached on the chassis (1) via a
detachable shaft, the sensors (16) having built-in means to log the
measured data and connected via a cable (18) to a transmitter (19).
2. The device as claimed in claim 1, wherein the measurable data constitutes
a group of data or single data consisting of air velocity, temperature,
pressure, humidity and image data.
3. The device as claimed in claim 1, wherein the magnetic wheels (5,7) have
a soft material coating (6,8).
4. The device as claimed in claim 1, wherein the longer horizontal member (9)
is mounted along the width of the device, and wherein the short horizontal
member (10) is attached to the hinge (11) having two positions at era and
ninety degrees.