Inspection equipment and building machine

Abstract

The invention relates to the field of inspection, in particular to inspection equipment and a building machine, comprising an inspection guide rail, an inspection device and a position detection device, the inspection device comprises an inspection body and a driving inspection mechanism, and the driving inspection mechanism comprises a driving mechanism and a guide mechanism; the driving mechanism comprises a driving wheel; the guide mechanism comprises a guide assembly, and the guide assembly comprises a first guide wheel and a second guide wheel; the driving wheel and the second guide wheel abut against the side face of the inspection guide rail, and the contact positions of the driving wheel and the second guide wheel and the inspection guide rail are not at the same height. The first guide wheel abuts against the upper surface of the inspection guide rail. The driving wheels are driven to rotate, so that the inspection device moves along the inspection guide rail; and the position detection device is arranged at the top of the inspection body and corresponds to the inspection guide rail so as to detect the real-time position of the inspection device on the inspection guide rail. The device is prevented from shaking, is stable in movement, and can obtain the inspection position in real time.

Description

Technical Field

[0001] The invention relates to the field of inspection, and in particular to an inspection device and a building construction machine. Background Art

[0002] Due to the limitation of space and area, the existing building construction machine cannot use manual inspection for construction, so inspection equipment is generally used to replace manual inspection. The existing inspection equipment includes guide rails arranged around the building construction machine and an inspection robot that can move along the guide rails. The inspection robot is provided with a driving wheel, which is in contact with the guide rails. When the driving wheel rotates, the inspection robot moves on the guide rails due to friction with the guide rails. In addition to the driving wheel, a guide wheel is also provided, which is in contact with the bottom wall of the guide rails. The inspection robot can be hung on the guide rails as a whole through the guide wheel, so that the inspection robot and the guide rails are closely connected and play a certain guiding role. However, in the horizontal direction, only the driving wheel is in limited contact with the guide rails. During the movement, the inspection robot is easy to shake left and right, which not only makes the movement unstable, especially at the turning point, but also affects the image quality of the picture captured by the camera, which is not convenient for normal inspection work.

[0003] Furthermore, the existing guide wheels are fixedly installed on the inspection robot. When the inspection robot makes a 90-degree turn on the guide rail, it is easy for the guide wheel to get stuck on the guide rail because it cannot keep up with the real-time position changes of the guide rail, causing the inspection robot to vibrate. In severe cases, it may even get stuck on the guide rail and cannot move, making it impossible to perform inspections normally and requiring manual intervention to repair.

[0004] Finally, when the inspection robot moves on the rail, the operator usually cannot know where the inspection robot is moving to, and cannot know where the real-time image is in the construction. When an emergency occurs, it cannot be handled in time. Or, when the inspection robot is stuck, it is impossible to accurately know its position on the rail, especially when the rail is set on the building construction machine, and the rail is set around the periphery of the building, and its range is large. Therefore, the real-time position of the inspection robot cannot be obtained in real time, affecting the construction progress. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an inspection device that can prevent shaking, move stably, and can obtain the inspection position in real time.

[0006] The technical problem to be solved by the present invention is also to provide a building construction machine equipped with the inspection device.

[0007] In order to solve the above technical problems, the present invention provides an inspection device, including an inspection rail, an inspection device arranged on the inspection rail, and a position detection device arranged on the inspection device;

[0008] The inspection device comprises an inspection body and a driving inspection mechanism disposed on the top of the inspection body, wherein the driving inspection mechanism comprises a driving mechanism and a guiding mechanism; the driving mechanism comprises a driving wheel; the guiding mechanism comprises a guiding assembly, and the guiding assembly comprises a first guiding wheel and a second guiding wheel;

[0009] The driving wheel and the second guide wheel are respectively in contact with the side surfaces of the inspection rail, and the contact positions of the driving wheel and the second guide wheel with the inspection rail are not at the same height; the first guide wheel is in contact with the upper surface of the inspection rail;

[0010] The driving wheel is driven to rotate so that the inspection device moves along the inspection guide rail; the position detection device is arranged on the top of the inspection body and is arranged corresponding to the inspection guide rail to detect the real-time position of the inspection device on the inspection guide rail.

[0011] As an improvement of the above solution, the axes of the driving wheel and the second guide wheel are respectively arranged parallel to the side of the inspection guide rail, and the axis of the first guide wheel is perpendicular to the side of the inspection guide rail.

[0012] As an improvement of the above solution, the guide mechanism further includes a wheel assembly, and the guide assembly is installed on the top of the inspection body through the wheel assembly;

[0013] The wheel-carrying assembly comprises a guide wheel seat and a support seat, the guide assembly is mounted on the guide wheel seat, the guide wheel seat is mounted on the support seat, and the guide wheel seat can rotate around the support seat.

[0014] As an improvement of the above solution, the wheel assembly also includes a sliding seat fixedly mounted on the top of the inspection body, the sliding seat is provided with a sliding hole, the support seat is passed through the sliding hole, and can move in the sliding hole.

[0015] As an improvement of the above solution, the position detection device includes a first position sensor for detecting whether the patrol device reaches a specific position and a second position sensor for detecting the real-time position of the patrol device.

[0016] As an improvement of the above scheme, it also includes a charging device, the charging device includes a charging control mechanism and a charging mechanism, the charging control mechanism includes a charging sensor and a conducting block, the charging mechanism includes a charging brush plate and a charging brush block; the charging brush plate is electrically connected to the charging sensor, and the charging brush block is electrically connected to the inspection body;

[0017] The charging sensor and the charging brush plate are both installed on the inspection rail, and the guide block and the charging brush block are both installed on the top of the inspection body;

[0018] When the inspection device moves to the charging device, the conductive block contacts the charging sensor to energize the charging brush plate; and the charging brush block contacts the charging brush plate to charge the inspection body.

[0019] As an improvement of the above solution, the charging device further includes a third position sensor for detecting whether the inspection device reaches the charging position, the third position sensor is arranged on the top of the inspection body, and a position abutment is arranged on the inspection guide rail;

[0020] When the inspection device moves to the charging device, the third position sensor abuts against the position abutment member, so as to know that the inspection device is in the charging position.

[0021] As an improvement of the above solution, the charging control mechanism further includes a charging body, the charging body is fixedly mounted on the top of the inspection rail, the charging sensor is mounted on one side of the charging body, and the position abutment is mounted on the other side of the charging body, so that the charging sensor and the position abutment are respectively arranged on both sides of the inspection rail;

[0022] The conductive block and the charging sensor are arranged correspondingly, and the third position sensor and the position abutment member are arranged correspondingly.

[0023] As an improvement of the above solution, the first position sensor is a reflective photoelectric switch;

[0024] The second position sensor is a through-beam photoelectric switch;

[0025] The charging sensor and the third position sensor are both travel switches.

[0026] Correspondingly, the present invention also provides a building construction machine, which is provided with the above-mentioned inspection equipment, and the inspection guide rail is fixedly installed on the building construction machine.

[0027] The implementation of the present invention has the following beneficial effects:

[0028] The inspection device of the present invention limits the inspection device by the contact positions of the driving wheel and the second guide wheel at different heights on the side of the inspection rail, preventing the inspection device from shaking left and right on the inspection rail and causing its movement to be unstable, thereby ensuring the clarity of the inspection picture and ensuring the smooth progress of the inspection work. Secondly, by using the cooperation of the position detection device and the inspection rail, the position of the inspection device on the inspection rail can be detected in real time, so as to know the position of the inspected building in real time and ensure the smooth progress of the construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a front view of the inspection device of the present invention;

[0030] Figure 2 yes Figure 1 Section view along line AA;

[0031] Figure 3 yes Figure 1 Stereoscopic image of

[0032] Figure 4 yes Figure 3 A three-dimensional image from another angle;

[0033] Figure 5 It is a schematic diagram of the connection structure between the inspection guide rail and the inspection device of the present invention;

[0034] Figure 6 yes Figure 5 Side view of

[0035] Figure 7 yes Figure 5 Structural diagram of the inspection device;

[0036] Figure 8 It is a reference diagram of the use status of the inspection device of the present invention. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It is hereby stated that the directional terms such as up, down, left, right, front, back, inside, outside, etc. that appear or will appear in the text of the present invention are only based on the accompanying drawings of the present invention, and are not specific limitations of the present invention.

[0038] See also Figure 1-8 The present invention discloses a patrol inspection device, including a patrol inspection rail 1, a patrol inspection device arranged on the patrol inspection rail 1, and a position detection device arranged on the patrol inspection device.

[0039] The inspection device includes an inspection body 2 and a driving inspection mechanism arranged on the top of the inspection body 2, the driving inspection mechanism includes a driving mechanism and a guiding mechanism; the driving mechanism includes a driving wheel 3; the guiding mechanism includes a guiding assembly, and the guiding assembly includes a first guiding wheel 41 and a second guiding wheel 42.

[0040] The driving wheel 3 and the second guide wheel 42 are respectively in contact with the side surfaces of the inspection rail 1 , and the contact positions of the driving wheel 3 and the second guide wheel 42 with the inspection rail 1 are not at the same height; the first guide wheel 41 is in contact with the upper surface of the inspection rail 1 .

[0041] The driving wheel 3 is driven to rotate so that the inspection device moves along the inspection rail 1 ; the position detection device is arranged on the top of the inspection body 2 and is arranged corresponding to the inspection rail 1 to detect the real-time position of the inspection device on the inspection rail 1 .

[0042] The inspection device of the present invention limits the inspection device by the contact positions of the driving wheel and the second guide wheel at different heights on the side of the inspection rail, preventing the inspection device from shaking left and right on the inspection rail and causing its movement to be unstable, thereby ensuring the clarity of the inspection picture and ensuring the smooth progress of the inspection work. Secondly, by using the cooperation of the position detection device and the inspection rail, the position of the inspection device on the inspection rail can be detected in real time, so as to know the position of the inspected building in real time and ensure the smooth progress of the construction.

[0043] It should be noted that the driving mechanism also includes a driving mechanism (not shown) connected to the driving wheel 3, which is installed in the inspection body 2. The driving mechanism can be a motor, which is used to drive the driving wheel 3 to rotate, so that the driving wheel generates friction with the inspection rail, so that the inspection device moves along the inspection rail. A camera is provided on the top of the inspection body.

[0044] Specifically, the axes of the driving wheel 3 and the second guide wheel 42 are respectively arranged parallel to the side of the inspection rail 1, ensuring that the wheel surfaces of the driving wheel and the second guide wheel are completely spliced ​​with the side of the inspection rail, thereby ensuring that the driving wheel effectively drives the inspection device to move on the inspection rail, and the second guide wheel effectively limits the inspection device, thereby achieving effective horizontal limitation of the inspection device. The axis of the first guide wheel 41 is perpendicular to the side of the inspection rail 1, ensuring that the inspection device is hung on the inspection rail through the first guide wheel, thereby achieving effective longitudinal limitation of the inspection device.

[0045] Preferably, if Figure 1-7 As shown, the guide mechanism also includes a wheel assembly, and the guide assembly is installed on the top of the inspection body 2 through the wheel assembly; the wheel assembly includes a guide wheel seat 51 and a support seat 52, the guide assembly is installed on the guide wheel seat 51, the guide wheel seat 51 is installed on the support seat 52, and the guide wheel seat 51 can rotate around the support seat 52. The number of the guide assemblies is at least two groups, which are symmetrically arranged on the guide wheel seat 51, so that the two groups of guide assemblies are respectively abutted on the two side surfaces of the inspection guide rail. The guide wheel seat can rotate around the support seat. When turning, the guide wheel seat can rotate at an appropriate angle according to the curvature of the inspection guide rail, so that the guide wheel can be displaced in accordance with the surface of the inspection guide rail, avoiding the guide wheel and the inspection guide rail from getting stuck and causing the inspection device to vibrate, or even getting stuck on the inspection guide rail and unable to move, thereby ensuring the normal progress of the inspection work.

[0046] It should be noted that, in order to ensure the force balance at the front and rear ends, the front and rear ends of the driving mechanism are both provided with guide mechanisms, that is, the number of the guide mechanisms is at least two.

[0047] Further, if Figure 2 , 5-7, the wheel assembly also includes a sliding seat 53 fixedly mounted on the top of the inspection body 2, and a sliding hole 531 is provided on the sliding seat 53. The support seat 52 is penetrated through the sliding hole 531 and can move in the sliding hole 531. The sliding hole 531 is preferably a waist hole, and the straight line where the maximum aperture of the sliding hole is located intersects with the extension direction of the inspection guide rail. More preferably, the straight line where the maximum aperture of the sliding hole 531 is located and the extension direction of the inspection guide rail 1 are perpendicular to each other. The setting of the sliding seat allows the guide wheel seat to be along the top surface of the inspection body. When the inspection device turns, the guide wheel can be shifted according to the swing of the inspection guide rail, further avoiding the guide wheel and the inspection guide rail from getting stuck and causing the inspection device to vibrate, or even getting stuck on the inspection guide rail and unable to move, thereby ensuring the normal progress of the inspection work.

[0048] Among them, Figure 2-4 As shown, the position detection device includes a first position sensor 61 for detecting whether the patrol device has reached a specific position and a second position sensor 62 for detecting the real-time position of the patrol device.

[0049] like Figure 2 As shown, the first position sensor 61 is preferably a reflective photoelectric switch. The first position sensor 61 is installed on the top of the inspection body 2 and is arranged corresponding to the side of the inspection rail 1. The first position sensor moves with the inspection device, and the light it emits is directed to the inspection rail. If the inspection rail is an open-loop structure, when the inspection device moves to the end of the inspection rail, the light emitted by the first position sensor is not reflected and sends a signal, so that the control system controls the inspection device not to continue to move forward, but to turn back, so as to prevent the inspection device from moving out of the inspection rail. At this time, the first position sensor can ensure that the inspection device always moves on the inspection rail and does not leave the inspection rail. If the inspection rail is a closed-loop structure, there is a gap in the inspection rail due to the end-to-end connection. When the inspection device passes through the gap, the light emitted by the first position sensor is not reflected and sends a signal, so that the control system knows that the inspection device has completed a circle of the inspection rail. At this time, the first position sensor can play the role of assisting the circle counting.

[0050] like Figure 3-4As shown, the second position sensor 62 is preferably a beam-type photoelectric switch, so the second position sensor includes a transmitter and a receiver, which are respectively arranged on both sides of the inspection rail 1 and arranged opposite to each other. The second position sensor 62 is installed on the top of the inspection body 2 and moves with the inspection device. A plurality of through holes are provided on the inspection rail along the extension direction of the inspection rail. Generally, the light emitted by the transmitter cannot be received by the receiver because it is blocked by the inspection rail, and these second position sensors will not send out signals. When moving to the first through hole, the light will pass through the through hole and be received by the receiver, and the second position sensor will send out a signal. Then, as the inspection device moves, the light is blocked again and the signal is interrupted. When it moves to the second through hole, it sends out a signal again. Repeatedly, the control system will calculate which through hole the inspection device moves to, so that it can determine which position of the inspection device moves to the inspection rail, and realize the position determination of the inspection device.

[0051] Going further, Figure 2-4 As shown, the present invention also includes a charging device, which includes a charging control mechanism and a charging mechanism, the charging control mechanism includes a charging sensor 72 and a conductive block 73, and the charging mechanism includes a charging brush plate 81 and a charging brush block 82; the charging brush plate 81 is electrically connected to the charging sensor 72, and the charging brush block 82 is electrically connected to the inspection body 2; the charging sensor 72 and the charging brush plate 81 are both installed on the inspection guide rail 1, and the conductive block 73 and the charging brush block 82 are both installed on the top of the inspection body 2; when the inspection device moves to the charging device, the conductive block 73 and the charging sensor 72 collide to energize the charging brush plate 81; and the charging brush block 82 and the charging brush plate 81 are in contact to charge the inspection body 2.

[0052] When the inspection device moves to the charging sensor, the conductive block on the inspection body contacts the charging sensor on the inspection rail, causing the charging sensor to send a signal to the control system, and the control system controls the charging brush plate to be powered on. While the conductive block contacts the charging sensor, the charging brush block set on the inspection body also contacts the charging brush plate, so that the charging brush block and the charging brush plate are electrically connected. In addition, since the charging brush block is electrically connected to the driving mechanism and electrical equipment such as the camera, the inspection device can be charged at this time.

[0053] Preferably, if Figure 2 , 4 As shown, the charging device also includes a third position sensor 63 for detecting whether the inspection device reaches the charging position. The third position sensor 63 is arranged on the top of the inspection body 2, and a position abutment 64 is provided on the inspection guide rail 1; when the inspection device moves to the charging device, the third position sensor 63 and the position abutment 64 abut against each other to detect that the inspection device is in the charging position.

[0054] The third position sensor and the position abutment are in contact with each other, and the guide block and the charging sensor are in contact with each other. These two contact points are respectively arranged on both sides of the inspection rail, which can play a balancing role to prevent the inspection device from shaking. In addition, the third position sensor and the position abutment are in contact, so that the third position sensor sends a signal to let the control system know that the inspection device is at the position of the charging device and is charging, which plays a role in real-time knowing the inspection position.

[0055] More preferably, the charging sensor 72 and the third position sensor 63 are both travel switches.

[0056] Preferably, if Figure 1-4 As shown in Figure 7, the charging control mechanism also includes a charging body 71, which is fixedly mounted on the top of the inspection guide rail 1, the charging sensor 72 is mounted on one side of the charging body 71, and the position abutment 64 is mounted on the other side of the charging body 71, so that the charging sensor 72 and the position abutment 64 are respectively arranged on both sides of the inspection guide rail 1; the guide block 73 and the charging sensor 72 are arranged correspondingly, and the third position sensor 63 and the position abutment 64 are arranged correspondingly.

[0057] The setting of the charging body plays the role of carrying the charging sensor and the position abutment, ensuring that the charging sensor and the position abutment are fixedly installed on the top of a certain position of the inspection rail, and also ensuring effective contact between the third position sensor and the position abutment and between the guide block and the charging sensor, thereby ensuring both effective start-up of charging and effective detection of the charging position.

[0058] Correspondingly, the present invention also discloses a building construction machine, the building construction machine is provided with the above inspection equipment, and the inspection guide rail 1 is fixedly installed on the building construction machine. The specific structure of the inspection equipment is as described above, and will not be repeated here.

[0059] In summary, the present invention provides an inspection device and a building construction machine that prevent shaking, move stably, and can obtain the inspection position in real time.

[0060] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A patrol inspection device, characterized in that: It includes a patrol inspection rail, a patrol inspection device arranged on the patrol inspection rail, and a position detection device arranged on the patrol inspection device; The inspection device comprises an inspection body and a driving inspection mechanism disposed on the top of the inspection body, wherein the driving inspection mechanism comprises a driving mechanism and a guiding mechanism; the driving mechanism comprises a driving wheel; the guiding mechanism comprises a guiding assembly, and the guiding assembly comprises a first guiding wheel and a second guiding wheel; The driving wheel and the second guide wheel are respectively in contact with the side surfaces of the inspection rail, and the contact positions of the driving wheel and the second guide wheel with the inspection rail are not at the same height; the first guide wheel is in contact with the upper surface of the inspection rail; The driving wheel is driven to rotate so that the inspection device moves along the inspection guide rail; the position detection device is arranged on the top of the inspection body and is arranged corresponding to the inspection guide rail to detect the real-time position of the inspection device on the inspection guide rail.

2. The inspection device according to claim 1, characterized in that: The axes of the driving wheel and the second guide wheel are respectively arranged parallel to the side of the inspection guide rail, and the axis of the first guide wheel is perpendicular to the side of the inspection guide rail.

3. The inspection device according to claim 1, characterized in that: The guide mechanism also includes a wheel assembly, and the guide assembly is installed on the top of the inspection body through the wheel assembly; The wheel-carrying assembly comprises a guide wheel seat and a support seat, the guide assembly is mounted on the guide wheel seat, the guide wheel seat is mounted on the support seat, and the guide wheel seat can rotate around the support seat.

4. The inspection device according to claim 3, characterized in that: The wheel assembly also includes a sliding seat fixedly mounted on the top of the inspection body, the sliding seat is provided with a sliding hole, the support seat is penetrated through the sliding hole and can move in the sliding hole.

5. The inspection device according to claim 1, characterized in that: The position detection device comprises a first position sensor for detecting whether the patrol device has reached a specific position and a second position sensor for detecting the real-time position of the patrol device.

6. The inspection device according to claim 5, characterized in that: It also includes a charging device, the charging device includes a charging control mechanism and a charging mechanism, the charging control mechanism includes a charging sensor and a conducting block, the charging mechanism includes a charging brush plate and a charging brush block; the charging brush plate is electrically connected to the charging sensor, and the charging brush block is electrically connected to the inspection body; The charging sensor and the charging brush plate are both installed on the inspection rail, and the guide block and the charging brush block are both installed on the top of the inspection body; When the inspection device moves to the charging device, the conductive block contacts the charging sensor to energize the charging brush plate; and the charging brush block contacts the charging brush plate to charge the inspection body.

7. The inspection device according to claim 6, characterized in that: The charging device further comprises a third position sensor for detecting whether the inspection device reaches the charging position, wherein the third position sensor is arranged on the top of the inspection body, and a position abutment member is arranged on the inspection guide rail; When the inspection device moves to the charging device, the third position sensor abuts against the position abutment member, so as to know that the inspection device is in the charging position.

8. The inspection device according to claim 7, characterized in that: The charging control mechanism also includes a charging body, which is fixedly mounted on the top of the inspection rail, the charging sensor is mounted on one side of the charging body, and the position abutment is mounted on the other side of the charging body, so that the charging sensor and the position abutment are respectively arranged on both sides of the inspection rail; The conductive block and the charging sensor are arranged correspondingly, and the third position sensor and the position abutment member are arranged correspondingly.

9. The inspection device according to claim 7, characterized in that: The first position sensor is a reflective photoelectric switch; The second position sensor is a through-beam photoelectric switch; The charging sensor and the third position sensor are both travel switches.

10. A building construction machine, characterized in that: The building construction machine is provided with an inspection device as described in any one of claims 1 to 9, and the inspection guide rail is fixedly installed on the building construction machine.

Images