Wind pressure adsorption crawling detection robot

Abstract

The invention discloses a wind pressure adsorption crawling detection robot, and relates to the technical field of high-altitude building quality detection, the wind pressure adsorption crawling detection robot comprises a robot front chassis and a robot rear chassis, a folding obstacle crossing mechanism is connected between the robot front chassis and the robot rear chassis, and one-way reverse thrust adsorption assemblies are arranged on the robot front chassis and the robot rear chassis; the wind pressure adsorption crawling detection robot is relatively small in overall size and light in weight, adopts the double-duct wind pressure principle, can achieve stable adsorption on the surface of any dip angle, is provided with a double-bottom-plate crawler belt structure, can lift the front bottom plate to cross an obstacle when encountering the obstacle, and is convenient to use. The robot climbs up and down on the surface of a high-altitude building by carrying the visual detection module and carries out detection, has the obstacle crossing capability when encountering obstacles, and has high environmental adaptability, so that three-dimensional shape measurement and damage detection positioning of the surface of the high-altitude building are realized, the burden of manual detection operation is greatly reduced, and the robot has wide application prospects.

Description

Technical Field

[0001] The invention relates to the technical field of high-altitude building quality detection, and in particular to a wind pressure adsorption crawling detection robot. Background Art

[0002] The surfaces of bridges and nuclear power plant containment vessels often have to face the test of severe weather, extreme temperatures, radiation and other adverse conditions, so it is easy to produce surface defects such as fatigue cracks and pits, which affect the safety of buildings. Therefore, it is necessary to conduct quality inspections on high-altitude buildings regularly. Surface inspection of high-altitude buildings is a type of quality inspection, which refers to the process of inspecting and evaluating the external surface of a building to ensure its structural integrity and appearance quality.

[0003] Traditional building surface inspection methods all have their own shortcomings, including low work efficiency, high inspection cost, and complicated inspection process, which bring many inconveniences to the surface inspection of high-altitude buildings. Taking manual inspection as an example, the workers have high workload and take a long time. Scaffolding is also required for high-altitude inspection, which is not safe and heavily relies on the work experience of maintenance personnel. Therefore, the present invention proposes a wind pressure adsorption crawling inspection robot to solve the problems existing in the prior art. Summary of the invention

[0004] In response to the above problems, the purpose of the present invention is to propose a wind pressure adsorption crawling detection robot, which is different from traditional manual visual inspection, handheld device inspection, drone inspection and large robotic arm carrying sensor inspection. It can perform inspections on areas with poor accessibility on the surface of high-altitude buildings with higher detection accuracy and a larger detection range.

[0005] In order to achieve the purpose of the present invention, the present invention is implemented through the following technical scheme: a wind pressure adsorption crawling detection robot, including a robot front chassis and a robot rear chassis, a folding obstacle crossing mechanism is connected between the robot front chassis and the robot rear chassis, a one-way reverse thrust adsorption component is provided on the robot front chassis and the robot rear chassis, a front crawler walking component and a rear crawler walking component are provided on both sides of the robot front chassis and the robot rear chassis respectively, a detection visual sensor component is provided on the side of the top of the robot front chassis away from the robot rear chassis, and a programmable main control board and a battery are fixed to the top of the robot rear chassis.

[0006] A further improvement is that the front chassis and the rear chassis of the robot are both made of aluminum plates, and the thickness of the aluminum plates is 2.5 mm.

[0007] A further improvement is that the detection visual sensor component includes an articulated frame fixed to the top of the front chassis of the robot and a visual detection module hinged to the articulated frame through a damping hinge, and the visual detection module is a network high-definition camera.

[0008] A further improvement is that the one-way reverse thrust adsorption assembly includes a duct bracket and a straight duct fixed on the duct bracket, two groups of the duct brackets are respectively fixed on the top of the robot front chassis and the robot rear chassis, and the robot front chassis and the robot rear chassis are both provided with duct accommodating circular holes that are compatible with the straight duct.

[0009] A further improvement is that the air inlet at the input end of the straight duct is installed with a curved air inlet lip, the straight duct is provided with an electric regulator, and the axes of the two groups of straight ducts are distributed in the vertical direction.

[0010] A further improvement is that the front crawler walking assembly includes front track wheels installed on the front and rear sides of the robot's front chassis and distributed symmetrically on the left and right sides, and a front bottom plate crawler sleeved on two adjacent groups of front track wheels on the left and right sides. The front track wheels are driven to rotate by a DC motor on the robot's front chassis and are connected to the output end shaft of the DC motor through a hexagonal coupling.

[0011] A further improvement is that the rear track walking assembly includes rear track wheels installed on the front and rear sides of the robot's rear chassis and symmetrically distributed on the left and right sides, and a rear bottom plate track sleeved on two adjacent groups of rear track wheels on the left and right sides. The rear track wheels are driven to rotate by a DC motor on the robot's rear chassis and are connected to the output end shaft of the DC motor through a hexagonal coupling.

[0012] A further improvement is that the folding obstacle-crossing mechanism is a worm gear reduction box, and square grooves adapted to the folding obstacle-crossing mechanism are provided on opposite sides of the front chassis and the rear chassis of the robot.

[0013] The beneficial effects of the present invention are: the wind pressure adsorption crawling detection robot of the present invention has a relatively small overall volume and light weight, and adopts the double-duct wind pressure principle, which can achieve stable adsorption on surfaces of any inclination angle. In addition, it has a double-bottom plate crawler structure, and when encountering an obstacle, the front bottom plate can be lifted to cross the obstacle. By carrying a visual detection module, it crawls up and down on the surface of high-altitude buildings and carries out detection. When encountering obstacles, it has the ability to cross obstacles and has strong environmental adaptability, thereby realizing three-dimensional morphology measurement and damage detection and positioning on the surface of high-altitude buildings, greatly reducing the burden of manual inspection operations, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;

[0015] Figure 2 is a top view of the front chassis of the robot of the present invention;

[0016] Figure 3 is a top view of the rear chassis of the robot of the present invention;

[0017] Figure 4 It is a schematic diagram of the wall transition of the wind pressure adsorption crawling detection robot during the detection process of the present invention.

[0018] Among them: 1. Robot front chassis; 2. Robot rear chassis; 3. Folding obstacle crossing mechanism; 4. Programmable main control board; 5. Battery; 6. Articulated frame; 7. Visual detection module; 8. Duct bracket; 9. Straight duct; 10. Duct accommodating round hole; 11. Front track wheel; 12. Front bottom plate track; 13. Rear track wheel; 14. Rear bottom plate track; 15. Square groove. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] High-altitude buildings usually refer to structures that are significantly taller than ordinary buildings, such as TV towers, bridges, and nuclear power plant containment vessels. In the construction industry, there is no unified standard for the definition of "high altitude", but it is generally believed that high-rise buildings refer to buildings with a height exceeding a certain value (such as 24 meters or more than 10 floors). The surfaces of bridges and nuclear power plant containment vessels often need to face the test of bad weather, extreme temperatures, radiation and other adverse conditions, so it is easy to produce fatigue cracks, pits and other surface defects, which affect the safety of the building. Therefore, it is necessary to conduct quality inspections on high-altitude buildings regularly to promptly discover and deal with potential safety hazards and ensure the safety of the building;

[0021] Traditional building surface inspection methods mainly include manual visual inspection, handheld device inspection, drone inspection or large robotic arm carrying sensor inspection. However, these traditional inspection methods have more or less problems such as low work efficiency, high inspection cost, and complicated inspection process, which brings many inconveniences to the surface inspection of high-altitude buildings. Taking manual inspection as an example, the workers have high workload and take a long time. Scaffolding is also required for high-altitude inspection, which is not safe and heavily relies on the work experience of maintenance personnel, making it difficult to promote and apply them widely.

[0022] For the problems existing in the above-mentioned prior art, see Figure 1 , Figure 2 , Figure 3 , Figure 4The present embodiment provides a wind pressure adsorption crawling detection robot, including a robot front chassis 1 and a robot rear chassis 2, a folding obstacle crossing mechanism 3 is connected between the robot front chassis 1 and the robot rear chassis 2, and a one-way reverse thrust adsorption component is provided on the robot front chassis 1 and the robot rear chassis 2. Through the double-duct wind pressure principle, the robot body is guaranteed to have sufficient adsorption force, and the stable adsorption of the robot body on the surface of any inclination angle can be achieved. The maximum load (including deadweight) mass is 5.3kg, and the one-way reverse thrust adsorption component has a certain height from the ground and is affected by obstacles below it. The impact is small, thereby ensuring that the robot body has good obstacle crossing performance. The front chassis 1 of the robot and the rear chassis 2 of the robot are respectively provided with a front crawler walking component and a rear crawler walking component. Through the double-bottom plate crawler structure, the robot body can lift the front chassis 1 of the robot to cross the obstacle when encountering an obstacle. A detection visual sensor component is provided on the side of the top of the front chassis 1 of the robot away from the rear chassis 2 of the robot. A programmable main control board 4 and a battery 5 are fixed on the top of the rear chassis 2 of the robot, wherein the battery 5 supplies power to various electrical equipment on the wind pressure adsorption crawling detection robot.

[0023] The robot front chassis 1 and the robot rear chassis 2 are both made of aluminum plates with a thickness of 2.5 mm, so that the wind pressure adsorption crawling detection robot of the present invention has a relatively small overall volume and light weight.

[0024] The detection visual sensor component includes an articulated frame 6 and a visual detection module 7, wherein the articulated frame 6 is fixed to the top of the robot's front chassis 1 by bolts, and the visual detection module 7 is hinged to the articulated frame 6 by a damping hinge. The visual detection module 7 is a network high-definition camera, which is used to shoot the conditions in front of the plane where the robot body is located, and realize the status detection of various wall surfaces during wall climbing. In combination with the visual detection algorithm, various defects on the surface of the building can be accurately identified.

[0025] The one-way reverse thrust adsorption assembly includes a duct bracket 8 and a straight duct 9, wherein the straight duct 9 is fixed to the duct bracket 8 by bolts to provide pressure when the robot climbs the wall. The two sets of duct brackets 8 are respectively fixed to the top of the robot front chassis 1 and the robot rear chassis 2. The robot front chassis 1 and the robot rear chassis 2 are both provided with duct accommodating circular holes 10 adapted to the straight duct 9 for installing and accommodating the straight duct 9.

[0026] The air inlet at the input end of the straight duct 9 is installed with a curved air inlet lip. Compared with the traditional duct structure, the installation of the curved air inlet lip provides greater adsorption force. The straight duct 9 is equipped with an electric regulator to drive the straight duct 9 to generate a force toward the contact surface to achieve a stable control effect. The axes of the two groups of straight ducts 9 are distributed in the vertical direction.

[0027] The front crawler walking assembly includes four groups of front track wheels 11 and two groups of front bottom track tracks 12. A DC motor for driving the front track wheels 11 to rotate is fixed to the front chassis 1 of the robot by bolts, and a hexagonal coupling is fixed to the output shaft of the DC motor. The front track wheels 11 are mounted on and fixed on the hexagonal coupling. The two groups of front bottom track tracks 12 are respectively sleeved on the two adjacent groups of front track wheels 11 on the left and right. When the output shaft of the DC motor rotates, the front track wheels 11 are driven to rotate through the hexagonal coupling, and the front track wheels 11 then drive the front bottom track 12 to operate, thereby realizing the walking of the front chassis 1 of the robot.

[0028] The rear crawler walking assembly includes four sets of rear track wheels 13 and two sets of rear bottom track tracks 14. A DC motor for driving the rear track wheels 13 to rotate is fixed to the rear chassis 2 of the robot by bolts, and a hexagonal coupling is fixed to the output shaft of the DC motor. The rear track wheels 13 are mounted on and fixed on the hexagonal coupling. The two sets of rear bottom track tracks 14 are respectively sleeved on the two adjacent left and right sets of rear track wheels 13. When the output shaft of the DC motor rotates, the rear track wheels 13 are driven to rotate through the hexagonal coupling, and the rear track wheels 13 then drive the rear bottom track tracks 14 to operate, thereby realizing the walking of the rear chassis 2 of the robot.

[0029] The advantages of the hexagonal coupling are simple structure, easy processing, no need to process keyways at the hub connection, and suitable for working conditions with small loads. The hexagonal coupling uses aluminum alloy as the material, which has a small mass and a certain strength.

[0030] The folding obstacle crossing mechanism 3 is a worm gear reduction box. Square grooves 15 adapted to the folding obstacle crossing mechanism 3 are provided on opposite sides of the robot front chassis 1 and the robot rear chassis 2. The folding obstacle crossing mechanism 3 includes a reduction box body, which is fixed to the robot rear chassis 2 by screws and an L-shaped bracket. Steering power is provided under the action of a DC motor. The worm in the worm gear reduction box provides power to the turbine through the DC motor. The worm wheel is transmitted to the transmission gear through the coaxial gear to drive the rotating gear to rotate. The rotating gear is fixed to the front bottom plate with screws through a rotating rod, thereby realizing the rotation of the front bottom plate.

[0031] When the wind pressure adsorption crawling detection robot is actually working, the one-way reverse thrust adsorption components on the front chassis 1 and the rear chassis 2 of the robot provide adsorption force to achieve the adsorption of the wind pressure adsorption crawling detection robot on the surface of the high-altitude building. When the wind pressure adsorption crawling detection robot is driving on the surface of the high-altitude building, the DC motors on the front chassis 1 and the rear chassis 2 of the robot drive the front track wheels 11 and the rear track wheels 13 to rotate, and when the front track wheels 11 and the rear track wheels 13 rotate, they drive the front bottom plate track 12 and the rear bottom plate track 14 to move. The wind pressure adsorption crawling detection robot is controlled by the front track wheel 11 and the rear track wheel 13 to realize the forward, backward and turning movements of the wind pressure adsorption crawling detection robot. During the driving process of the wind pressure adsorption crawling detection robot, the detection visual sensor component on the front chassis 1 of the robot is used to shoot the situation in front of the plane where the wind pressure adsorption crawling detection robot is located, so as to realize the state detection of the wall surface, and cooperate with the visual detection algorithm to accurately identify various defects on the surface of the high-altitude building;

[0032] When the wind pressure adsorption crawling detection robot encounters an obstacle during the detection process, the front chassis 1 of the robot is tilted up under the action of the folding obstacle-crossing mechanism 3, and forms a certain angle with the rear chassis 2 of the robot. Figure 4The wind pressure adsorption crawling detection robot first performs a deflection action through a folding obstacle crossing mechanism, and the DC motor provides power to drive the turbine to rotate. Due to the self-locking effect of the turbine worm, the turbine drives the transmission gear and the rotating gear to rotate through the coaxial gear, and at the same time, the rotating gear drives the rotating rod fixed to the front chassis 1 of the robot with screws to rotate, thereby realizing the rotation of the front chassis 1 of the robot; when the angle between the front chassis 1 of the robot and the rear chassis 2 of the robot is a right angle, the DC motor of the folding obstacle crossing mechanism stops working, and the DC motor on the rear chassis 2 of the robot drives the rear bottom plate track 14 to rotate, thereby making the rear chassis 2 of the robot travel in a straight line and approach the wall; when the front chassis 1 of the robot hits the wall, the unidirectional reverse thrust adsorption component on the front chassis 1 of the robot starts to work, which is the wind pressure adsorption crawling detection robot. The detection robot as a whole provides adsorption force; then the DC motor on the front chassis 1 of the robot drives the front track wheel 11 to work, and drives the front bottom plate track 12 to rotate, so that the wind pressure adsorption crawling detection robot makes a straight line movement on the vertical wall; when the front chassis 1 of the robot travels a certain distance, the wind pressure adsorption crawling detection robot starts to deflect, and the DC motor on the folding obstacle crossing mechanism 3 starts to drive the turbine to reverse, so that the angle between the rear chassis 2 of the robot and the front chassis 1 of the robot returns to 180°, and the one-way reverse thrust adsorption component on the rear chassis 2 of the robot starts to work again. When it climbs vertically to a certain height and encounters a right-angle obstacle again, the wind pressure adsorption crawling detection robot performs a deflection movement again, and the front chassis 1 of the robot rotates downward, forming a certain angle with the rear chassis 2 of the robot, and finally completing the transition to the wall.

[0033] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A wind pressure adsorption crawling detection robot, comprising a robot front chassis (1) and a robot rear chassis (2), characterized in that: A folding obstacle crossing mechanism (3) is connected between the robot front chassis (1) and the robot rear chassis (2); a one-way reverse thrust adsorption component is provided on each of the robot front chassis (1) and the robot rear chassis (2); a front crawler walking component and a rear crawler walking component are provided on both sides of the robot front chassis (1) and the robot rear chassis (2); a detection visual sensor component is provided on the side of the top of the robot front chassis (1) away from the robot rear chassis (2); and a programmable main control board (4) and a storage battery (5) are fixed on the top of the robot rear chassis (2).

2. A wind pressure adsorption crawling detection robot according to claim 1, characterized in that: The robot front chassis (1) and the robot rear chassis (2) are both made of aluminum plates, and the thickness of the aluminum plates is 2.5 mm.

3. A wind pressure adsorption crawling detection robot according to claim 1, characterized in that: The detection visual sensor assembly comprises an articulated frame (6) fixed to the top of the robot front chassis (1) and a visual detection module (7) hinged to the articulated frame (6) via a damping hinge, wherein the visual detection module (7) is a network high-definition camera.

4. A wind pressure adsorption crawling detection robot according to claim 1, characterized in that: The one-way reverse thrust adsorption assembly comprises a duct bracket (8) and a straight duct (9) fixed on the duct bracket (8), two groups of the duct bracket (8) are respectively fixed on the top of the robot front chassis (1) and the robot rear chassis (2), and the robot front chassis (1) and the robot rear chassis (2) are both provided with a duct accommodating circular hole (10) adapted to the straight duct (9).

5. A wind pressure adsorption crawling detection robot according to claim 4, characterized in that: The air inlet at the input end of the straight duct (9) is equipped with an arc-shaped air inlet lip, and the straight duct (9) is provided with an electric regulator. The axes of the two groups of the straight ducts (9) are distributed in the vertical direction.

6. A wind pressure adsorption crawling detection robot according to claim 1, characterized in that: The front crawler walking assembly comprises front crawler wheels (11) mounted on the front and rear sides of the robot front chassis (1) and symmetrically distributed on the left and right sides, and a front bottom crawler (12) sleeved on two adjacent groups of the front crawler wheels (11) on the left and right sides. The front crawler wheels (11) are driven to rotate by a DC motor on the robot front chassis (1) and are connected to the output end shaft of the DC motor through a hexagonal coupling.

7. A wind pressure adsorption crawling detection robot according to claim 1, characterized in that: The rear crawler walking assembly comprises rear crawler wheels (13) mounted on the front and rear sides of the robot rear chassis (2) and symmetrically distributed on the left and right sides, and a rear bottom crawler (14) sleeved on two adjacent groups of rear crawler wheels (13) on the left and right sides. The rear crawler wheels (13) are driven to rotate by a DC motor on the robot rear chassis (2) and are connected to the output end shaft of the DC motor through a hexagonal coupling.

8. A wind pressure adsorption crawling detection robot according to claim 1, characterized in that: The folding obstacle-crossing mechanism (3) is a worm gear reduction box, and opposite sides of the robot front chassis (1) and the robot rear chassis (2) are both provided with square grooves (15) adapted to the folding obstacle-crossing mechanism (3).

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