Building structure facade detection operation and maintenance equipment based on wall-climbing robot cooperative system

Abstract

The invention discloses building structure facade detection operation and maintenance equipment based on a wall-climbing robot cooperative system, and relates to the technical field of building structure operation and maintenance, comprising a moving part in contact with a building structure facade and a detection operation and maintenance part mounted on the moving part, the moving part comprises a wall-climbing robot group cooperative system and a carrying system installed on the wall-climbing robot group cooperative system, and the detection operation and maintenance part is detachably arranged on the carrying system. The system is reasonable in design, a carrying system is formed among the wall-climbing robot groups, and detection and operation and maintenance devices with multiple functions can be carried. A wall-climbing robot group is adopted to carry detection and maintenance equipment, and an operator realizes building elevation by controlling remote control equipment. The high-altitude falling risk of personnel in a traditional hanging basket and high-altitude vehicle operation repairing mode is fundamentally avoided. The moving part adopts a wall-climbing robot group instead of a single large wall-climbing robot. And the falling risk caused by the adsorption fault of single equipment is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of building structure operation and maintenance, and more specifically to the technical field of building structure facade detection and operation and maintenance equipment based on a wall-climbing robot collaborative system. Background Art

[0002] As the service life of building structures increases, it is necessary to conduct regular structural health inspections and maintenance to ensure the service life of building structures. However, for structures with high heights such as building facades and bridge piers, the inspection and maintenance of their structural facades are faced with the problem of inconvenience in high-altitude inspection. Existing patents disclose the following technologies:

[0003] The patent with publication number CN109572837B and patent name “Wall-climbing Robot” discloses the following contents: it includes a fixed frame and at least one walking device, the fixed frame is used to fix the walking device on the working object; the fixed frame includes a frame body and a fastening device, the frame body is an annular frame body, used to surround the working object; the fastening device is arranged on the frame body, and the fastening device is used to fix the walking device and the fixed frame as a whole on the working object; the walking device has a driving component and a walking component, the walking surface of the walking component is used to contact the surface of the working object, and the driving component drives the walking component to work, so as to drive the walking device and the fixed frame to move as a whole on the working object.

[0004] The patent with publication number CN109969281A and patent name "Wall Climbing Robot" discloses the following contents: including: robot body; adsorption device, including cover and magnet, the cover including iron top plate, the top surface of the iron top plate is connected to the bottom of the robot body, the top surface of the magnet is connected to the bottom surface of the iron top plate, the magnet is used to adsorb the working surface; walking system, arranged on the robot body, used to drive the robot body to walk along the working surface. The present invention can improve the reliability of the use of the wall climbing robot.

[0005] It can be seen from the above patents that with the rapid development of intelligent robots, the continuous application of equipment such as drones and wall-climbing robots has provided new solutions for traditional manual high-altitude operations, solving the problem that existing hanging basket structures or aerial vehicles are manual operations at high altitudes and pose safety risks. It is of practical significance to design building structure facade inspection and operation and maintenance equipment based on a wall-climbing robot collaborative system. Summary of the invention

[0006] The purpose of the present invention is to solve the technical problem that the existing high-altitude building structure health inspection and operation and maintenance require operators to work at high altitudes, and there are safety risks in artificial high-altitude operations. The present invention provides a building structure facade inspection and operation and maintenance equipment based on a wall-climbing robot collaborative system.

[0007] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions:

[0008] The present invention provides building structure facade inspection and operation and maintenance equipment based on a wall-climbing robot collaborative system, comprising a moving part in contact with the building structure facade and a detection and operation and maintenance part installed on the moving part, the moving part comprising a wall-climbing robot group collaborative system and a mounting system installed on the wall-climbing robot group collaborative system, and the detection and operation and maintenance part is detachably arranged on the mounting system.

[0009] Specifically, the mobile part based on the collaborative system of the wall-climbing robot group and the detection and operation and maintenance part based on the carrying system are in contact with the facade of the building structure. The carrying system formed between the wall-climbing robots can carry detection and operation and maintenance devices with multiple functions.

[0010] In one embodiment, a wall-climbing robot swarm collaborative system includes multiple wall-climbing robots as mobile carriers and a wall-climbing robot control system. Each wall-climbing robot is signal-connected to the wall-climbing robot control system. The wall-climbing robot control system controls each wall-climbing robot individually or coordinates all wall-climbing robots.

[0011] In one embodiment, the carrying system includes an adjustable frame system, each wall-climbing robot is movably mounted on the bottom of the adjustable frame system by rotating bolts, and the detection and operation and maintenance unit is detachably mounted on the top of the adjustable frame system.

[0012] In one embodiment, the wall-climbing robot swarm collaborative system further includes at least two visible light probes.

[0013] In one embodiment, the wall-climbing robot swarm collaborative system includes four wall-climbing robots, the four wall-climbing robots being a left front wall-climbing machine, a right front wall-climbing machine, a left rear wall-climbing machine, and a right rear wall-climbing machine;

[0014] The adjustable frame system includes a first connecting rod hinged between the left front wall-climbing machine and the right front wall-climbing machine, a second connecting rod hinged between the left rear wall-climbing machine and the right rear wall-climbing machine, and a middle supporting assembly hinged between the first connecting rod and the second connecting rod, and the detection and operation and maintenance part is installed on the middle supporting assembly.

[0015] In one embodiment, the middle receiving assembly includes a third connecting rod and a fourth connecting rod arranged in parallel, and both ends of the third connecting rod and the fourth connecting rod are hinged to the first connecting rod and the second connecting rod respectively.

[0016] In one embodiment, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are all rack telescopic rods, and the end of each rack telescopic rod is provided with a driving motor for controlling the extension and retraction of the corresponding rack telescopic rod.

[0017] In one embodiment, each wall-climbing robot is provided with a negative pressure suction cup, a heat dissipation hole and a carrying rod.

[0018] In one embodiment, the detection and operation and maintenance unit is one or more of a detection radar, infrared thermal imaging, percussion sound detection, a demolition device or a grouting device.

[0019] Working principle:

[0020] Multiple wall-climbing robots are used as mobile carriers, and the number of wall-climbing robots must be sufficient to ensure that the adsorption capacity of the wall-climbing robots on the wall can bear the gravity of the repair equipment. The horizontal wall-climbing robots are connected by rotating shafts and rack telescopic rods. The wall-climbing robot control system can realize the control of a single wall-climbing robot, and can also realize the coordinated control of a group of wall-climbing robots. In terms of coordinated control, according to the position information of multiple wall-climbing robots, as well as the length and angle information of the rack rod, the spatial position boundary thresholds of multiple wall-climbing robots can be set to prevent adverse forces on the group of wall-climbing robots during the movement of a single wall-climbing robot. For example, when a single wall-climbing robot moves, the rack telescopic rod has reached the maximum telescopic length, and the coordinated control system will prevent this from happening.

[0021] The method of using the building structure facade inspection and maintenance equipment based on the wall-climbing robot collaborative system, taking four wall-climbing robots as an example, the specific operation steps are as follows:

[0022] S1. Select the top or bottom of the building structure to facilitate the installation, positioning and adsorption of the wall-climbing robot system. If it is at the top of the building structure, it is necessary to install an anti-fall cable at the tail of the wall-climbing robot and fix it in a firm and reliable position on the building structure.

[0023] S2. Assemble the wall-climbing robot swarm coordination system. The four wall-climbing robots are fixed together by the rotating bolts of the adjustable frame system. The adjustable frame system is mainly composed of two horizontal and two vertical rack telescopic rods (first connecting rod, second connecting rod, third connecting rod and fourth connecting rod). The horizontal rods and the vertical rods are movably installed on the wall-climbing robot structure through rotatable screws. Since both the vertical and horizontal rods are retractable, an adjustable non-parallelogram shape can be formed.

[0024] S3. After the adjustable frame is fixed to the wall-climbing robot, detection or operation and maintenance equipment (for example: detection radar, infrared thermal imaging, percussion sound detection, demolition device, grouting device, etc.) is installed on the adjustable frame system.

[0025] S4. The whole system is hoisted to the vertical position of the building structure through the anti-fall cable, and then the negative pressure adsorption switch is turned on to release the tension of the anti-fall rope. After the wall-climbing robot is fully adsorbed, it is controlled by the remote control system using a rectangular plane movement control strategy.

[0026] S5, during the forward control process, the minimum rectangle is first used to control the positions of multiple wall-climbing robots to ensure that the rack telescopic rod is in the shortest state;

[0027] S6. Move to the target position of the facade. The control system automatically calculates the optimal distribution position of the wall-climbing robot that meets the conditions of the position to be detected (to be maintained) according to the retractable length of the rack telescopic rods (first connecting rod, second connecting rod, third connecting rod and fourth connecting rod) of the carrying system and the shape of the position to be detected (to be maintained). The optimal distribution position takes into account the minimum rectangle formed by the rack telescopic rods of the repair part, and ensures that the minimum rectangle can cover the repair position. Switch the collaborative control of the wall-climbing robot to the single-machine control mode. Operate the wall-climbing robots to move one by one to the optimal distribution position.

[0028] S7, after all the moving parts are in place, the inspection and operation and maintenance part starts working. The deformable carrying system longitudinal rods and transverse rods are connected at the end with drive motors, which drive the longitudinal rods and transverse rods to move and adjust the operation process of the inspection (operation and maintenance) device within the range to be inspected (maintained).

[0029] The beneficial effects of the present invention are as follows:

[0030] 1. The present invention is reasonably designed, using a group of wall-climbing robots equipped with detection and maintenance equipment, and the operator controls the remote control device to achieve the building facade, which fundamentally solves the risk of personnel falling from high altitude in the traditional hanging basket and aerial vehicle repair method.

[0031] 2. The mobile part uses a group of wall-climbing robots instead of a single large wall-climbing robot. This reduces the risk of falling caused by adsorption failure of a single device;

[0032] 3. The collaborative operation of the wall-climbing robot group can achieve adsorption layout of any shape through the retractable rack rod, providing the repair department with sufficient and friendly space for printing operations.

[0033] 4. The inspection and operation department can replace various types of equipment to achieve inspection, monitoring, dismantling, cleaning, maintenance and other functions after construction is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 It is a schematic diagram of the structure of the present invention;

[0036] Figure numerals: 1-rotating bolt, 2-detection and operation and maintenance part, 3-fourth connecting rod, 4-second connecting rod, 5-carrying rod, 6-third connecting rod, 7-heat dissipation hole, 8-negative pressure suction cup, 9-visible light probe, 10-first connecting rod. DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical solutions and technical effects of the present invention clearer, 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 part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0039] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0040] In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "upper", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0041] Example 1

[0042] like Figure 1As shown, this embodiment provides a building structure facade inspection and operation and maintenance equipment based on a wall-climbing robot collaborative system, including a moving part in contact with the building structure facade and a detection and operation and maintenance part 2 installed on the moving part, the moving part includes a wall-climbing robot group collaborative system and a carrying system installed on the wall-climbing robot group collaborative system, and the detection and operation and maintenance part 2 is detachably arranged on the carrying system.

[0043] Specifically, the mobile part based on the collaborative system of the wall-climbing robot group and the detection and operation and maintenance part based on the carrying system 2 are in contact with the facade of the building structure. The carrying system formed between the wall-climbing robots can carry detection and operation and maintenance devices with multiple functions.

[0044] Example 2

[0045] like Figure 1 As shown, this embodiment provides a building structure facade inspection and operation and maintenance equipment based on a wall-climbing robot collaborative system, including a moving part in contact with the building structure facade and a detection and operation and maintenance part 2 installed on the moving part, the moving part includes a wall-climbing robot group collaborative system and a carrying system installed on the wall-climbing robot group collaborative system, and the detection and operation and maintenance part 2 is detachably arranged on the carrying system.

[0046] The wall-climbing robot swarm collaborative system includes multiple wall-climbing robots as mobile carriers and a wall-climbing robot control system. Each wall-climbing robot is connected to the wall-climbing robot control system by signal. The wall-climbing robot control system controls each wall-climbing robot individually or all wall-climbing robots in a collaborative manner.

[0047] The mounting system includes an adjustable frame system. Each wall-climbing robot is movably mounted on the bottom of the adjustable frame system by rotating bolts 1, and the detection and operation and maintenance unit 2 is detachably mounted on the top of the adjustable frame system.

[0048] The wall-climbing robot swarm collaborative system also includes at least two visible light probes 9 .

[0049] Example 3

[0050] This embodiment is further optimized on the basis of Embodiment 2, specifically:

[0051] The wall-climbing robot swarm collaborative system includes four wall-climbing robots, which are a left front wall-climbing machine, a right front wall-climbing machine, a left rear wall-climbing machine, and a right rear wall-climbing machine;

[0052] The adjustable frame system includes a first connecting rod 10 hinged between the left front wall-climbing machine and the right front wall-climbing machine, a second connecting rod 4 hinged between the left rear wall-climbing machine and the right rear wall-climbing machine, and a middle supporting assembly hinged between the first connecting rod 10 and the second connecting rod 4, and the detection and operation and maintenance part 2 is installed on the middle supporting assembly.

[0053] The middle receiving assembly comprises a third connecting rod 6 and a fourth connecting rod 3 which are arranged in parallel. Both ends of the third connecting rod 6 and the fourth connecting rod 3 are hinged to the first connecting rod 10 and the second connecting rod 4 respectively.

[0054] The first connecting rod 10, the second connecting rod 4, the third connecting rod 6 and the fourth connecting rod 3 are all rack telescopic rods, and the end of each rack telescopic rod is provided with a driving motor for controlling the telescopic movement of the corresponding rack telescopic rod.

[0055] Each wall-climbing robot is provided with a negative pressure suction cup 8 , a heat dissipation hole 7 and a carrying rod 5 .

[0056] The detection and operation and maintenance unit 2 is one or more of a detection radar, infrared thermal imaging, percussion sound detection, a demolition device or a grouting device.

[0057] Working principle:

[0058] Multiple wall-climbing robots are used as mobile carriers, and the number of wall-climbing robots must be sufficient to ensure that the adsorption capacity of the wall-climbing robots on the wall can bear the gravity of the repair equipment. The horizontal wall-climbing robots are connected by rotating shafts and rack telescopic rods. The wall-climbing robot control system can realize the control of a single wall-climbing robot, and can also realize the coordinated control of a group of wall-climbing robots. In terms of coordinated control, according to the position information of multiple wall-climbing robots, as well as the length and angle information of the rack rod, the spatial position boundary thresholds of multiple wall-climbing robots can be set to prevent adverse forces on the group of wall-climbing robots during the movement of a single wall-climbing robot. For example, when a single wall-climbing robot moves, the rack telescopic rod has reached the maximum telescopic length, and the coordinated control system will prevent this from happening.

[0059] Example 4

[0060] This embodiment provides a method for using a building structure facade detection and operation and maintenance device based on a wall-climbing robot collaborative system. Taking four wall-climbing robots as an example, the specific operation steps are as follows:

[0061] S1. Select the top or bottom of the building structure to facilitate the installation, positioning and adsorption of the wall-climbing robot system. If it is at the top of the building structure, it is necessary to install an anti-fall cable at the tail of the wall-climbing robot and fix it in a firm and reliable position on the building structure.

[0062] S2. Assemble the wall-climbing robot group coordination system. The four wall-climbing robots are fixed together by the rotating bolt 1 of the adjustable frame system. The adjustable frame system is mainly composed of two horizontal and two vertical rack telescopic rods (first connecting rod 10, second connecting rod 4, third connecting rod 6 and fourth connecting rod 3). The horizontal rods and the vertical rods are movably installed on the wall-climbing robot structure through rotatable screws. Since both the vertical and horizontal rods are retractable, an adjustable non-parallelogram shape can be formed.

[0063] S3. After the adjustable frame is fixed to the wall-climbing robot, detection or operation and maintenance equipment (for example: detection radar, infrared thermal imaging, percussion sound detection, demolition device, grouting device, etc.) is installed on the adjustable frame system.

[0064] S4. The whole system is hoisted to the vertical position of the building structure through the anti-fall cable, and then the negative pressure adsorption switch is turned on to release the tension of the anti-fall rope. After the wall-climbing robot is fully adsorbed, it is controlled by the remote control system using a rectangular plane movement control strategy.

[0065] S5, during the forward control process, the minimum rectangle is first used to control the positions of multiple wall-climbing robots to ensure that the rack telescopic rod is in the shortest state;

[0066] S6. Move to the target position of the facade. The control system automatically calculates the optimal distribution position of the wall-climbing robot that meets the conditions of the position to be detected (to be maintained) according to the retractable length of the rack telescopic rods (first connecting rod 10, second connecting rod 4, third connecting rod 6 and fourth connecting rod 3) of the carrying system and the shape of the position to be detected (to be maintained). The optimal distribution position takes into account the minimum rectangle formed by the rack telescopic rods of the repair part, and ensures that the minimum rectangle can cover the repair position. Switch the collaborative control of the wall-climbing robot to the single-machine control mode. Operate the wall-climbing robots to move one by one to the optimal distribution position.

[0067] S7, after all the moving parts are in place, the inspection and operation and maintenance part 2 starts working. The deformable carrying system longitudinal rods and transverse rods are connected at the end with a driving motor, which drives the longitudinal rods and transverse rods to move and adjust the operation process of the inspection (operation and maintenance) device within the range to be inspected (maintained).

Claims

1. Building structure facade inspection and maintenance equipment based on wall-climbing robot collaborative system, characterized in that: The invention comprises a moving part in contact with the facade of a building structure and a detection and operation and maintenance part (2) installed on the moving part, wherein the moving part comprises a wall-climbing robot swarm collaborative system and a mounting system installed on the wall-climbing robot swarm collaborative system, and the detection and operation and maintenance part (2) is detachably arranged on the mounting system.

2. The building structure facade detection and operation and maintenance equipment based on the wall-climbing robot collaborative system according to claim 1 is characterized in that: The wall-climbing robot swarm collaborative system includes multiple wall-climbing robots as mobile carriers and a wall-climbing robot control system. Each of the wall-climbing robots is signal-connected to the wall-climbing robot control system. The wall-climbing robot control system controls each of the wall-climbing robots individually or collaboratively controls all of the wall-climbing robots.

3. The building structure facade detection and operation and maintenance equipment based on the wall-climbing robot collaborative system according to claim 2 is characterized in that: The mounting system comprises an adjustable frame system, each of the wall-climbing robots is movably mounted at the bottom of the adjustable frame system by rotating bolts (1), and the detection and operation and maintenance unit (2) is detachably mounted at the top of the adjustable frame system.

4. The building structure facade detection and operation and maintenance equipment based on the wall-climbing robot collaborative system according to claim 2 is characterized in that: The wall-climbing robot group cooperative system also includes at least two visible light probes (9).

5. The building structure facade detection and operation and maintenance equipment based on the wall-climbing robot collaborative system according to claim 3 is characterized in that: The wall-climbing robot group collaborative system includes four wall-climbing robots, and the four wall-climbing robots are respectively a left front wall-climbing machine, a right front wall-climbing machine, a left rear wall-climbing machine and a right rear wall-climbing machine; The adjustable frame system comprises a first connecting rod (10) hinged between the left front wall-climbing machine and the right front wall-climbing machine, a second connecting rod (4) hinged between the left rear wall-climbing machine and the right rear wall-climbing machine, and a middle supporting assembly hinged between the first connecting rod (10) and the second connecting rod (4), and the detection and operation and maintenance unit (2) is mounted on the middle supporting assembly.

6. The building structure facade detection and operation and maintenance equipment based on the wall-climbing robot collaborative system according to claim 5 is characterized in that: The middle receiving assembly comprises a third connecting rod (6) and a fourth connecting rod (3) arranged in parallel, and the two ends of the third connecting rod (6) and the fourth connecting rod (3) are respectively hinged on the first connecting rod (10) and the second connecting rod (4).

7. The building structure facade detection and operation and maintenance equipment based on the wall-climbing robot collaborative system according to claim 6 is characterized in that: The first connecting rod (10), the second connecting rod (4), the third connecting rod (6) and the fourth connecting rod (3) are all rack telescopic rods, and each end of the rack telescopic rod is provided with a driving motor for controlling the telescopic movement of the corresponding rack telescopic rod.

8. The building structure facade detection and operation and maintenance equipment based on the wall-climbing robot collaborative system according to any one of claims 2 to 7, characterized in that: Each of the wall-climbing robots is provided with a negative pressure suction cup (8), a heat dissipation hole (7) and a carrying rod (5).

9. The building structure facade detection and operation and maintenance equipment based on the wall-climbing robot collaborative system according to any one of claims 1 to 7, characterized in that: The detection and operation and maintenance unit (2) is one or more of a detection radar, infrared thermal imaging, percussion sound detection, a demolition device or a grouting device.

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