A wall crack detection device based on a self-propelled robot

Abstract

The present invention belongs to the technical field of gas leakage detection, and specifically discloses a wall crack detection device based on a self-propelled robot, including an adaptive gap control mechanism, an adaptive air intake mechanism, a traveling mechanism and a lifting mechanism, wherein the adaptive gap control mechanism is arranged on the lifting mechanism, the lifting mechanism is arranged on the traveling mechanism, and the adaptive air intake mechanism is arranged on the adaptive gap control mechanism. The present invention realizes the compensation of the intake volume to the exhaust volume through the adaptive air intake mechanism, and the adaptive gap control mechanism and the adaptive air intake mechanism complement each other, that is, when the edge of the bowl-shaped air cavity does not pass through a large crack, the internal air pressure of the bowl-shaped air cavity is always kept relatively stable; and when the edge of the bowl-shaped air cavity passes through a large crack, a signal is sent to an external alarm device through an alarm switch.

Description

Technical Field

[0001] The invention belongs to the technical field of gas leakage detection, and specifically refers to a wall crack detection device based on a self-propelled robot. Background Art

[0002] There are roughly two types of wall cracks. One is that the main part of the building structure cracks and the wall cracks as well. The other is that there is no problem with the main body, but cracks have occurred in the soil layer of the wall. In terms of size, for walls that have just been constructed, cracks caused by cracking of the coating are generally small and are not the focus of inspection. Cracks in the main body are generally larger and require special attention, and are the focus of inspection.

[0003] Most main cracks can be identified by the naked eye, but for some specific usage scenarios, such as insufficient lighting conditions, dark or even black walls, unmanned remote operation, etc.; therefore, a large wall crack detection technology solution that does not rely on naked eye judgment is the key to solving such problems. Summary of the invention

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention proposes a wall crack detection device based on air pressure feedback; the movement and detection of the detection device itself on the wall are relatively simple, but the difficulty in actual operation is that the wall surface cannot be a completely flat and vertical surface, and it will inevitably have relatively gentle concave and convex problems at certain positions. If the concave and convex part happens to be located at the edge of the bowl-shaped air cavity, then the gas leakage and the internal air pressure of the bowl-shaped air cavity caused by it are actually basically the same as those at the crack, which can easily lead to misjudgment;

[0005] In order to eliminate the interference factor of "the unevenness of the wall itself", the present invention creatively proposes an adaptive gap control mechanism and an adaptive air intake mechanism. Through three fixed support rods evenly distributed in a ring, the overall angle of the bowl-mouth air cavity can be automatically changed according to the current inclination angle of the wall. Then, the "feature point interpolation" is performed for the gap of the fixed support rods through the freely retractable sliding support rods. By increasing the density of the sliding support rods, the degree of fit between the end face of the bowl-mouth air cavity and the wall can be significantly improved, so as to minimize the difference in air leakage caused by the uneven features.

[0006] Moreover, the present invention also realizes compensation of the exhaust volume by the intake volume through an adaptively adjusting intake mechanism. The adaptive gap control mechanism and the adaptively adjusting intake mechanism complement each other, that is, when the edge of the bowl-mouth-shaped air cavity does not pass through a large crack, the internal air pressure of the bowl-mouth-shaped air cavity is always kept relatively stable; and when the edge of the bowl-mouth-shaped air cavity passes through a large crack, a signal is sent to an external alarm device through the alarm switch.

[0007] The technical solution adopted by the present invention is as follows: The present invention proposes a wall crack detection device based on a self-propelled robot, including an adaptive gap control mechanism, an adaptive air intake mechanism, a traveling mechanism and a lifting mechanism, wherein the adaptive gap control mechanism is arranged on the lifting mechanism, the lifting mechanism is arranged on the traveling mechanism, and the adaptive air intake mechanism is arranged on the adaptive gap control mechanism.

[0008] Furthermore, the adaptive gap control mechanism includes a bowl-shaped air cavity and an adaptive support component, and the adaptive support component is evenly distributed in a ring shape on the bowl-shaped air cavity.

[0009] The adaptive gap control mechanism can eliminate interference from uneven wall surfaces, and always keep the gap between the bowl-shaped air cavity and the wall surface basically stable, thereby sensing whether there is a large crack at the current location through the gas leakage rate.

[0010] Preferably, an air pressure sensing cylinder and an air inlet connector are provided on the bowl-mouth-shaped air cavity, and a pre-tightening guide rod is also arranged in an array at the bottom of the bowl-mouth-shaped air cavity. The adaptive support assembly comprises a support fixing seat, a fixed support rod, a sliding support rod, a self-expanding spring and a spherical ball. The support fixing seat is evenly distributed with several groups in a ring. The support fixing seat is fixedly connected to the inner wall of the bowl-mouth-shaped air cavity, the fixed support rod is fixedly connected to the support fixing seat, and the sliding support rod is snap-fitted and slidably arranged in the support fixing seat. An elastic rib is provided at the edge of the bowl-mouth-shaped air cavity, and the fixed support rod and the sliding support rod are both fixedly connected to the inner wall of the elastic rib. The self-expanding spring is arranged between the disc portion of the sliding support rod and the support fixing seat, and the spherical ball is rotatably arranged in the fixed support rod and the sliding support rod.

[0011] There are three groups of fixed support rods, which are evenly distributed in a ring shape. The fixed support rods can provide a fixed and specific reference position for the bowl-shaped air cavity. The sliding support rods automatically retract and expand under the elastic force of the self-retracting spring, thereby ensuring that the distance between each characteristic point of the elastic retaining edge and the wall is the same. Even if there are no obvious bumps on the wall, the stability of the gap between the bowl-shaped air cavity and the wall can be maintained.

[0012] Furthermore, the adaptively adjustable air intake mechanism includes an air pressure sensing alarm component, a connecting rod transmission component and a valve core automatic adjustment component, the air pressure sensing alarm component is slidably arranged in the bowl-mouth-shaped air cavity, the connecting rod transmission component is arranged on the bowl-mouth-shaped air cavity, and the valve core automatic adjustment component is rotatably arranged on the bowl-mouth-shaped air cavity.

[0013] The internal air pressure of the bowl-mouth-shaped air cavity can be sensed by adaptively adjusting the air intake mechanism, and the air intake speed can be adaptively adjusted according to the internal air pressure of the bowl-mouth-shaped air cavity. On the one hand, it can ensure that during normal detection, even if there are slight changes in the gap, the internal air pressure of the bowl-mouth-shaped air cavity can be maintained by compensating for the air intake speed; on the other hand, when passing through obvious gaps, when the gap size exceeds the upper limit of the air intake compensation, an alarm can be sounded through the contact of the alarm switch.

[0014] Preferably, the air pressure sensing alarm assembly includes an air pressure sensing piston rod, a piston antagonism spring, an alarm switch and a spring base, the air pressure sensing piston rod is slidably arranged in the air pressure sensing cylinder, the spring base is fixedly connected to the end of the air pressure sensing cylinder, the piston antagonism spring is arranged between the disc portion of the air pressure sensing piston rod and the spring base, the piston antagonism spring is sleeved on the air pressure sensing piston rod, the fixed portion of the alarm switch is fixedly connected to the air pressure sensing cylinder, and the movable portion of the alarm switch is arranged on the air pressure sensing piston rod.

[0015] As a further preferred embodiment of the present invention, the connecting rod transmission assembly includes a rack slide, a rack body, a rack hinge seat, a rod end hinge seat and a transmission connecting rod, the rack slide is fixedly connected to the bowl-shaped air cavity, the rack body is slidably engaged in the rack slide, the rack hinge seat is fixedly connected to the rack body, the rod end hinge seat is fixedly connected to the top end of the air pressure sensing piston rod, and the two ends of the transmission connecting rod are respectively hinged to the rack hinge seat and the rod end hinge seat.

[0016] Through the transmission of the transmission connecting rod, the axial slip of the air pressure sensing piston rod can be converted into the lateral movement of the rack body, thereby driving the central valve disc to rotate. When the internal air pressure of the bowl-shaped air cavity changes, the air intake speed is adaptively adjusted to maintain the internal air pressure of the bowl-shaped air cavity within a relatively stable range.

[0017] As a further preferred embodiment of the present invention, the valve core automatic adjustment component includes a central valve flap, a fixed hollow valve seat and an air intake pipe, the fixed hollow valve seat is fixedly connected to the air intake joint, an arc-shaped flow channel 1 is provided inside the fixed hollow valve seat, a cut-out portion is provided on the side of the fixed hollow valve seat close to the rack body, the central valve flap is rotatably arranged in the fixed hollow valve seat, an arc-shaped flow channel 2 matching the cut-out portion is provided on the central valve flap, an external gear portion is also provided on the central valve flap, the external gear portion and the rack body are meshed for transmission, and the air intake pipe is provided on the air intake joint.

[0018] Furthermore, the traveling mechanism includes a base plate, a moving wheel, a traveling fork frame and a self-driven traveling wheel, the moving wheel is arranged at the bottom of the base plate, the traveling fork frame is arranged on the moving wheel, the interior of the self-driven traveling wheel is a hub motor, and the output shaft of the hub motor is fixedly connected to the traveling fork frame.

[0019] Furthermore, the lifting mechanism includes a lifting guide component and a lifting control component. The lifting guide component is arranged on the bottom plate, and the lifting control component is arranged on the lifting guide component.

[0020] Preferably, the lifting guide assembly includes a fixed rod, a lifting sleeve, a lifting slide and a compression spring, the fixed rod is fixedly connected to the base plate, the lifting sleeve is slidably arranged on the fixed rod, the top of the lifting sleeve is provided with a sleeve flange portion, the lifting slide is symmetrically provided with a sliding sleeve portion, the lifting slide is symmetrically provided with a sliding sleeve portion, the lifting slide is slidably arranged on the lifting sleeve through the sliding sleeve portion, a pre-tightening sliding hole is also provided on the lifting slide, the pre-tightening guide rod is slidably arranged in the pre-tightening sliding hole, and the compression spring is arranged between the disc portion of the pre-tightening guide rod and the lifting slide.

[0021] As a further preferred embodiment of the present invention, the lifting control assembly includes a strut articulated seat and a manual strut, the strut articulated seat is fixedly connected to the lifting slide, the manual strut is rotatably arranged on the strut articulated seat, and a travel switch is provided on the manual strut, and the rotation of the self-driven travel wheel can be controlled by the travel switch.

[0022] The beneficial effects achieved by the present invention using the above structure are as follows:

[0023] (1) The adaptive gap control mechanism can eliminate the interference of uneven wall surface, and always keep the gap between the bowl-shaped air cavity and the wall basically stable, so as to sense whether there is a large crack at the current position through the gas leakage speed.

[0024] (2) There are three groups of fixed support rods arranged evenly in a circular shape. The fixed support rods can provide a fixed and specific reference position for the bowl-shaped air cavity. The sliding support rods automatically extend and retract under the elastic force of the self-retracting spring, thereby ensuring that the distances between the characteristic points of the elastic retaining edge and the wall are the same. Furthermore, even when there are no obvious bumps on the wall, the gap between the bowl-shaped air cavity and the wall can be kept stable.

[0025] (3) The air intake mechanism can sense the internal air pressure of the bowl-shaped air cavity through adaptive adjustment, and adaptively adjust the air intake speed according to the internal air pressure of the bowl-shaped air cavity. On the one hand, it can ensure that during the normal detection process, even if there is a slight change in the gap, the internal air pressure of the bowl-shaped air cavity can be maintained by compensating the air intake speed; on the other hand, when passing through a place with an obvious gap, when the gap size exceeds the upper limit of the air intake compensation, an alarm can be sounded through the contact of the alarm switch.

[0026] (4) Through the transmission of the transmission connecting rod, the axial slip of the air pressure sensing piston rod can be converted into the lateral movement of the rack body, thereby driving the central valve disc to rotate. When the internal air pressure of the bowl-shaped air cavity changes, the air intake speed is adaptively adjusted, thereby maintaining the internal air pressure of the bowl-shaped air cavity in a relatively stable range. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A three-dimensional diagram of a wall crack detection device based on a self-propelled robot proposed by the present invention;

[0028] Figure 2 This is a front view of a wall crack detection device based on a self-propelled robot proposed by the present invention;

[0029] Figure 3 This is a left view of a wall crack detection device based on a self-propelled robot proposed by the present invention;

[0030] Figure 4 A top view of a wall crack detection device based on a self-propelled robot proposed by the present invention;

[0031] Figure 5 for Figure 2 A cross-sectional view along the cutting line AA;

[0032] Figure 6 for Figure 2 A cross-sectional view along the cutting line BB;

[0033] Figure 7 for Figure 2 A cross-sectional view along the cutting line CC;

[0034] Figure 8 for Figure 7 A cross-sectional view along the cutting line DD;

[0035] Fig. 9 This is an explosion diagram of a wall crack detection device based on a self-propelled robot proposed by the present invention;

[0036] Fig.10 for Figure 6 A partial enlarged view of point Ⅰ in the middle;

[0037] Fig.11 for Figure 7 A partial enlarged view of the middle II;

[0038] Fig.12 for Figure 8 A partial enlarged view of point III in the middle.

[0039] Among them, 1. Adaptive gap control mechanism, 2. Adaptive air intake mechanism, 3. Travel mechanism, 4. Lifting mechanism, 5. Bowl-shaped air cavity, 6. Adaptive support assembly, 7. Air pressure sensing tube, 8. Air intake joint, 9. Preload guide rod, 10. Support fixing seat, 11. Fixed support rod, 12. Sliding support rod, 13. Self-retracting spring, 14. Spherical ball, 15. Air pressure sensing alarm assembly, 16. Connecting rod transmission assembly, 17. Valve core automatic adjustment assembly, 18. Air pressure sensing piston rod, 19. Piston counter spring, 20. Alarm switch, 21. Rack slide seat, 22. Rack body, 23. Rack hinge seat, 24. Rod end hinge Connecting seat, 25. Transmission connecting rod, 26. Fixed hollow valve seat, 27. Center valve disc, 28. Cut-out part, 29. Arc flow channel one, 30. External gear part, 31. Arc flow channel two, 32. Bottom plate, 33. Moving wheel, 34. Travel fork, 35. Self-driving travel wheel, 36. Lifting guide assembly, 37. Lifting control assembly, 38. Fixed rod, 39. Lifting sleeve, 40. Lifting slide plate, 41. Support rod hinge seat, 42. Manual support rod, 43. Sleeve flange part, 44. Sliding sleeve part, 45. Pre-tightening slide hole, 46. Travel switch, 47. Inlet pipe, 48. Spring base, 49. Compression spring, 50. Elastic retaining edge.

[0040] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be understood that terms such as “upper”, “lower”, “front”, “back”, “left”, “right”, “top”, “bottom”, “inside” and “outside” indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0043] like Figure 1 to Figure 12As shown, the present invention proposes a wall crack detection device based on a self-propelled robot, including an adaptive gap control mechanism 1, an adaptive air intake mechanism 2, a traveling mechanism 3 and a lifting mechanism 4, wherein the adaptive gap control mechanism 1 is arranged on the lifting mechanism 4, the lifting mechanism 4 is arranged on the traveling mechanism 3, and the adaptive air intake mechanism 2 is arranged on the adaptive gap control mechanism 1.

[0044] The traveling mechanism 3 includes a base plate 32, a moving wheel 33, a traveling fork frame 34 and a self-driven traveling wheel 35. The moving wheel 33 is arranged at the bottom of the base plate 32, the traveling fork frame 34 is arranged on the moving wheel 33, and the self-driven traveling wheel 35 has a hub motor inside, and the output shaft of the hub motor is fixedly connected to the traveling fork frame 34.

[0045] The lifting mechanism 4 includes a lifting guide assembly 36 and a lifting control assembly 37 . The lifting guide assembly 36 is arranged on the bottom plate 32 , and the lifting control assembly 37 is arranged on the lifting guide assembly 36 .

[0046] The lifting guide assembly 36 includes a fixed rod 38, a lifting sleeve 39, a lifting slide 40 and a clamping spring 49. The fixed rod 38 is fixedly connected to the base plate 32. The lifting sleeve 39 is slidably arranged on the fixed rod 38. The top of the lifting sleeve 39 is provided with a sleeve flange portion 43. The lifting slide 40 is symmetrically provided with a sliding sleeve portion 44. The lifting slide 40 is slidably arranged on the lifting sleeve 39 through the sliding sleeve portion 44. The lifting slide 40 is also provided with a pre-tightening slide hole 45. The pre-tightening guide rod 9 is slidably arranged in the pre-tightening slide hole 45. The clamping spring 49 is arranged between the disc portion of the pre-tightening guide rod 9 and the lifting slide 40.

[0047] The lifting control assembly 37 includes a support rod articulated seat 41 and a manual support rod 42. The support rod articulated seat 41 is fixedly connected to the lifting slide 40. The manual support rod 42 is rotatably arranged on the support rod articulated seat 41. The manual support rod 42 is provided with a travel switch 46, and the rotation of the self-driving travel wheel 35 can be controlled by the travel switch 46.

[0048] The adaptive gap control mechanism 1 comprises a bowl-shaped air cavity 5 and an adaptive support assembly 6 , and the adaptive support assembly 6 is evenly distributed in a ring shape on the bowl-shaped air cavity 5 .

[0049] The adaptive gap control mechanism 1 can eliminate the interference of uneven wall surface, and always keep the gap between the bowl-shaped air cavity 5 and the wall surface basically stable, so as to sense whether there is a large crack at the current position through the gas leakage speed.

[0050] An air pressure sensing tube 7 and an air inlet connector 8 are provided on the bowl-shaped air cavity 5. A pre-tightening guide rod 9 is also arranged in an array at the bottom of the bowl-shaped air cavity 5. The adaptive support assembly 6 includes a support fixing seat 10, a fixed support rod 11, a sliding support rod 12, a self-tightening spring 13 and a spherical ball 14. The support fixing seat 10 is evenly distributed with several groups in a ring. The support fixing seat 10 is fixedly connected to the inner wall of the bowl-shaped air cavity 5, the fixed support rod 11 is fixedly connected in the support fixing seat 10, the sliding support rod 12 is slidably arranged in the support fixing seat 10, and an elastic retaining edge 50 is arranged at the edge of the bowl-shaped air cavity 5. The fixed support rod 11 and the sliding support rod 12 are both fixedly connected to the inner wall of the elastic retaining edge 50, the self-tightening spring 13 is arranged between the disc portion of the sliding support rod 12 and the support fixing seat 10, and the spherical ball 14 is rotatably arranged in the fixed support rod 11 and the sliding support rod 12.

[0051] There are three groups of fixed support rods 11, which are evenly distributed in a ring shape. The fixed support rods 11 can provide a fixed and specific reference position for the bowl-shaped air cavity 5, and the sliding support rods 12 automatically retract under the elastic force of the self-retracting springs 13, thereby ensuring that the distances between the characteristic points of the elastic retaining edge 50 and the wall are the same, and further, even when there are no obvious bumps on the wall, the stability of the gap between the bowl-shaped air cavity 5 and the wall can be maintained.

[0052] The adaptive air intake mechanism 2 includes an air pressure sensing alarm component 15, a connecting rod transmission component 16 and a valve core automatic adjustment component 17. The air pressure sensing alarm component 15 is slidably arranged in the bowl-shaped air cavity 5, the connecting rod transmission component 16 is arranged on the bowl-shaped air cavity 5, and the valve core automatic adjustment component 17 is rotatably arranged on the bowl-shaped air cavity 5.

[0053] By adaptively adjusting the air intake mechanism 2, the internal air pressure of the bowl-mouth-shaped air cavity 5 can be sensed, and the air intake speed can be adaptively adjusted according to the internal air pressure of the bowl-mouth-shaped air cavity 5. On the one hand, it can ensure that during normal detection, even if there are slight changes in the gap, the internal air pressure of the bowl-mouth-shaped air cavity 5 can be maintained by compensating for the air intake speed; on the other hand, in places where there are obvious gaps, when the gap size exceeds the upper limit of the air intake compensation, an alarm can be sounded through the contact of the alarm switch 20.

[0054] The air pressure sensing alarm assembly 15 includes an air pressure sensing piston rod 18, a piston antagonizing spring 19, an alarm switch 20 and a spring base 48. The air pressure sensing piston rod 18 is slidably arranged in the air pressure sensing tube 7, the spring base 48 is fixedly connected to the end of the air pressure sensing tube 7, the piston antagonizing spring 19 is arranged between the disc part of the air pressure sensing piston rod 18 and the spring base 48, the piston antagonizing spring 19 is sleeved on the air pressure sensing piston rod 18, the fixed part of the alarm switch 20 is fixedly connected to the air pressure sensing tube 7, and the movable part of the alarm switch 20 is arranged on the air pressure sensing piston rod 18.

[0055] The connecting rod transmission assembly 16 includes a rack slide 21, a rack body 22, a rack hinge seat 23, a rod end hinge seat 24 and a transmission connecting rod 25. The rack slide 21 is fixedly connected to the bowl-shaped air cavity 5, the rack body 22 is slidably arranged in the rack slide 21, the rack hinge seat 23 is fixedly connected to the rack body 22, the rod end hinge seat 24 is fixedly connected to the top end of the air pressure sensing piston rod 18, and the two ends of the transmission connecting rod 25 are respectively hinged to the rack hinge seat 23 and the rod end hinge seat 24.

[0056] Through the transmission of the transmission connecting rod 25, the axial slip of the air pressure sensing piston rod 18 can be converted into the lateral movement of the rack body 22, thereby driving the central valve flap 27 to rotate, and then when the internal air pressure of the bowl-shaped air cavity 5 changes, the air intake speed is adaptively adjusted, thereby maintaining the internal air pressure of the bowl-shaped air cavity 5 in a relatively stable range.

[0057] The valve core automatic adjustment component 17 includes a central valve flap 27, a fixed hollow valve seat 26 and an intake pipe 47. The fixed hollow valve seat 26 is fixedly connected to the intake joint 8. An arc-shaped flow channel 1 29 is provided inside the fixed hollow valve seat 26. A cutout portion 28 is provided on the side of the fixed hollow valve seat 26 close to the rack body 22. The central valve flap 27 is rotatably arranged in the fixed hollow valve seat 26. An arc-shaped flow channel 2 31 matching the cutout portion 28 is provided on the central valve flap 27. An external gear portion 30 is also provided on the central valve flap 27. The external gear portion 30 and the rack body 22 are meshed for transmission. The intake pipe 47 is arranged on the intake joint 8.

[0058] During specific use, the user first needs to place the travel mechanism 3 at a specific position, and then push the lifting slide 40 to lift and lower back and forth through the lifting control component 37. The bowl-shaped air cavity 5 covers and detects the entire wall surface with a reciprocating motion trajectory in the shape of a "J". After each vertical movement, the travel switch 46 controls the rotation of the self-driving travel wheel 35 to drive the entire device to move horizontally a unit distance. The self-driving travel wheel 35 generally contacts the skirting board, so it will not cause dirt on the wall.

[0059] During the detection process, through the elastic force of the compression spring 49, the bowl-shaped air cavity 5 always has a tendency to move away from the lifting slide plate 40 and close to the wall. Since the fixed support rods 11 are provided with three groups, the three points can determine a plane that best matches the current wall surface. At this time, the elasticity of each part itself and the matching clearance can allow the bowl-shaped air cavity 5 to tilt slightly.

[0060] When the angle of the bowl-shaped air cavity 5 matches that of the wall, the automatic extension and retraction of the sliding support rod 12 can ensure that the spherical balls 14 on each group of sliding support rods 12 are in contact with the wall. At this time, the positions of the sliding support rods 12 and the fixed support rods 11 jointly determine the end face profile of the elastic retaining edge 50, and the higher the density of the sliding support rods 12, the higher the consistency of the gap between the elastic retaining edge 50 and the wall.

[0061] Through the air intake pipe 47 connected to the external air pump, air can be continuously blown into the bowl-shaped air cavity 5 through the air intake joint 8. If there are no obvious cracks in the wall, the gas will leak from the gap between the wall and the elastic retaining edge 50, thereby maintaining the air pressure in the bowl-shaped air cavity 5 stable.

[0062] During the movement of the bowl-shaped air cavity 5, the gap between the elastic retaining edge 50 and the wall surface will inevitably increase or decrease slightly. When the gap between the elastic retaining edge 50 and the wall surface increases, the gas leakage increases, and the air pressure inside the bowl-shaped air cavity 5 decreases. The air pressure sensing piston rod 18 slides toward the wall surface under the elastic force of the piston counter-spring 19. At this time, through the linkage of the transmission connecting rod 25, the rack body 22 will slide in the direction away from the air pressure sensing cylinder 7, thereby driving the central valve disc 27 to rotate, so that the overlapping area of ​​the arc flow channel 1 29 and the arc flow channel 2 31 increases, thereby increasing the air intake, until the two reach a balanced state again;

[0063] When the gap between the elastic retaining edge 50 and the wall is reduced, the gas leakage is reduced, the air pressure inside the bowl-shaped air cavity 5 is increased, and the air pressure sensing piston rod 18 slides in the opposite direction of the wall under the elastic force of the piston counter-spring 19. At this time, through the linkage of the transmission connecting rod 25, the rack body 22 will slide in the direction close to the air pressure sensing cylinder 7, thereby driving the central valve flap 27 to rotate, so that the overlapping area of ​​the arc flow channel 1 29 and the arc flow channel 2 31 is reduced, thereby reducing the air intake until the two reach a balanced state again.

[0064] When a large crack exists at the edge of the bowl-shaped air cavity 5, the speed of gas leakage exceeds the upper limit of the air intake compensation of the valve core automatic adjustment component 17. At this time, the air pressure sensing piston rod 18 will continue to move toward the wall until the fixed part and the movable part of the alarm switch 20 contact, and an alarm will be sent to inform the operator.

[0065] The lifting sleeve 39 can slide and rise on the fixing rod 38, and the lifting slide plate 40 can slide and rise on the lifting sleeve 39. Due to the limitation of the sleeve flange 43, the lifting slide plate 40 cannot be separated from the top of the lifting sleeve 39. Under this effect, the lifting slide plate 40 can cover the entire longitudinal space of the wall, and the total height of the fixing rod 38 and the lifting sleeve 39 can adapt to walls of different heights.

[0066] The lifting and lowering of the lifting slide plate 40 can be controlled by the manual support rod 42 , and the moving and stopping of the self-driving moving wheel 35 can be controlled by the moving switch 46 .

[0067] As another new embodiment of the present invention, the lifting control component 37 can also be lifted and moved laterally in a program-driven manner, thereby achieving true automatic travel and unmanned operation, thereby giving the present solution a higher practical value.

[0068] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0069] The present invention and its embodiments are described above, and such description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the present invention.

Claims

1. A wall crack detection device based on a self-propelled robot, characterized in that: It includes an adaptive gap control mechanism, an adaptive air intake mechanism, a traveling mechanism and a lifting mechanism, wherein the adaptive gap control mechanism is arranged on the lifting mechanism, the lifting mechanism is arranged on the traveling mechanism, and the adaptive air intake mechanism is arranged on the adaptive gap control mechanism; The adaptive gap control mechanism comprises a bowl-shaped air cavity and an adaptive support assembly, wherein the adaptive support assembly is evenly arranged in an annular manner on the bowl-shaped air cavity; The self-adaptive air intake mechanism comprises an air pressure sensing alarm component, a connecting rod transmission component and a valve core automatic adjustment component, wherein the air pressure sensing alarm component is slidably arranged in the bowl-shaped air cavity, the connecting rod transmission component is arranged on the bowl-shaped air cavity, and the valve core automatic adjustment component is rotatably arranged on the bowl-shaped air cavity; The bowl-shaped air cavity is provided with an air pressure sensing cylinder and an air inlet joint, and a pre-tightening guide rod is also arranged in an array at the bottom of the bowl-shaped air cavity, and the adaptive support assembly comprises a support fixing seat, a fixed support rod, a sliding support rod, a self-tightening spring and a spherical ball, and the support fixing seat is evenly distributed with a plurality of groups, the support fixing seat is fixedly connected to the inner wall of the bowl-shaped air cavity, the fixed support rod is fixedly connected to the support fixing seat, and the sliding support rod is snap-fitted and slidably arranged in the support fixing seat, and an elastic rib is arranged at the edge of the bowl-shaped air cavity, the fixed support rod and the sliding support rod are both fixedly connected to the inner wall of the elastic rib, the self-tightening spring is arranged between the disc portion of the sliding support rod and the support fixing seat, and the spherical ball is rotatably arranged in the fixed support rod and the sliding support rod; The valve core automatic adjustment component includes a central valve flap, a fixed hollow valve seat and an air intake pipe. The interior of the fixed hollow valve seat is provided with an arc-shaped flow channel 1, and a cut-out portion is provided on the side of the fixed hollow valve seat close to the rack body. The central valve flap is rotatably arranged in the fixed hollow valve seat, and the central valve flap is provided with an arc-shaped flow channel 2 matching the cut-out portion. The central valve flap is also provided with an external gear portion, and the external gear portion and the rack body are meshed for transmission.

2. A wall crack detection device based on a self-propelled robot according to claim 1, characterized in that: The air pressure sensing alarm assembly includes an air pressure sensing piston rod, a piston antagonism spring, an alarm switch and a spring base. The air pressure sensing piston rod is slidably arranged in the air pressure sensing cylinder, the spring base is fixedly connected to the end of the air pressure sensing cylinder, the piston antagonism spring is arranged between the disc portion of the air pressure sensing piston rod and the spring base, the piston antagonism spring is sleeved on the air pressure sensing piston rod, the fixed portion of the alarm switch is fixedly connected to the air pressure sensing cylinder, and the movable portion of the alarm switch is arranged on the air pressure sensing piston rod.

3. A wall crack detection device based on a self-propelled robot according to claim 2, characterized in that: The connecting rod transmission assembly includes a rack slide, a rack body, a rack hinge seat, a rod end hinge seat and a transmission connecting rod. The rack slide is fixedly connected to the bowl-shaped air cavity, the rack body is slidably arranged in the rack slide, the rack hinge seat is fixedly connected to the rack body, the rod end hinge seat is fixedly connected to the top end of the air pressure sensing piston rod, and the two ends of the transmission connecting rod are respectively hinged to the rack hinge seat and the rod end hinge seat.

4. The wall crack detection device based on a self-propelled robot according to claim 3 is characterized in that: The fixed hollow valve seat is fixedly connected to the air intake joint, and the air intake pipeline is arranged on the air intake joint.

5. The wall crack detection device based on a self-propelled robot according to claim 4, characterized in that: The traveling mechanism comprises a base plate, a moving wheel, a traveling fork frame and a self-driving traveling wheel. The moving wheel is arranged at the bottom of the base plate, the traveling fork frame is arranged on the moving wheel, the interior of the self-driving traveling wheel is a hub motor, and the output shaft of the hub motor is fixedly connected to the traveling fork frame.

6. A wall crack detection device based on a self-propelled robot according to claim 5, characterized in that: The lifting mechanism comprises a lifting guide component and a lifting control component. The lifting guide component is arranged on the bottom plate, and the lifting control component is arranged on the lifting guide component.

7. A wall crack detection device based on a self-propelled robot according to claim 6, characterized in that: The lifting guide assembly includes a fixed rod, a lifting sleeve, a lifting slide and a clamping spring. The fixed rod is fixedly connected to the bottom plate, the lifting sleeve is slidably arranged on the fixed rod, the top of the lifting sleeve is provided with a sleeve flange portion, and the lifting slide is symmetrically provided with a sliding sleeve portion. The lifting slide is slidably arranged on the lifting sleeve through the sliding sleeve portion. A pre-tightening sliding hole is also provided on the lifting slide, and the pre-tightening guide rod is slidably arranged in the pre-tightening sliding hole, and the clamping spring is arranged between the disc portion of the pre-tightening guide rod and the lifting slide.

8. The wall crack detection device based on a self-propelled robot according to claim 7, characterized in that: The lifting control assembly includes a support rod articulated seat and a manual support rod, wherein the support rod articulated seat is fixedly connected to the lifting slide plate, and the manual support rod is rotatably arranged on the support rod articulated seat. A travel switch is arranged on the manual support rod, and the rotation of the self-driven travel wheel can be controlled by the travel switch.

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