A patrol device and a building machine

Abstract

The application relates to the field of inspection, in particular to an inspection device and a building machine, which comprises an inspection guide rail, an inspection device and a position detection device; the inspection device comprises an inspection body and a driving inspection mechanism, 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, the guide assembly comprises a first guide wheel and a second guide wheel; the driving wheel and the second guide wheel respectively abut against the side surfaces of the inspection guide rail, and the contact positions of the driving wheel and the second guide wheel with 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 wheel is driven to rotate, so that the inspection device moves along the inspection guide rail; the position detection device is arranged at the top of the inspection body and is correspondingly arranged with the inspection guide rail, so as to detect the real-time position of the inspection device on the inspection guide rail. According to the application, the shaking is prevented, the movement is stable, and the inspection position can be known in real time.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of inspection, in particular to an inspection device and a building machine. BACKGROUND

[0002] Due to the limitation of space and region, the existing building machine cannot adopt manual inspection for building construction, so the inspection device is generally used to replace manual inspection. The existing inspection device includes a guide rail arranged along the periphery of the building machine and an inspection robot capable of moving along the guide rail. The inspection robot is provided with a driving wheel in contact with the guide rail. When the driving wheel rotates, the inspection robot moves on the guide rail due to the friction with the guide rail. In addition to the driving wheel, a guide wheel is also arranged in contact with the bottom wall of the guide rail. The guide wheel can make the inspection robot hang on the guide rail as a whole, so that the inspection robot and the guide rail are tightly connected and the guide wheel plays a certain guiding role. However, only the driving wheel is in contact with the guide rail in the transverse direction, and the inspection robot is prone to shaking left and right during the movement, which not only makes the movement unstable, especially at the turning point, but also affects the picture quality captured by the camera, and is not convenient for normal inspection work.

[0003] Furthermore, the existing guide wheel is fixedly installed on the inspection robot. When the inspection robot makes a 90-degree turn on the guide rail, the guide wheel is prone to be stuck with the guide rail due to the real-time position change of the guide rail, which causes the inspection robot to vibrate, and in severe cases, the inspection robot is even stuck on the guide rail and cannot move, so that the inspection cannot be normally carried out and manual intervention is required for repair.

[0004] Finally, when the inspection robot moves on the guide rail, the operator usually cannot know the position of the inspection robot, and cannot know which position of the building construction the real-time obtained picture is. When an emergency occurs, it cannot be handled in time. Alternatively, when the inspection robot is stuck, its position on the guide rail cannot be accurately known, especially when the guide rail is arranged on the building machine and the guide rail is arranged along the periphery of the building. The range is large. Therefore, the real-time position of the inspection robot cannot be obtained in real time, which affects the construction progress. SUMMARY

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

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

[0007] In order to solve the above technical problems, the present application provides an inspection device, which comprises an inspection guide rail, an inspection device arranged on the inspection guide rail, and a position detection device arranged on the inspection device.

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

[0009] The driving wheel and the second guide wheel respectively abut against the side surface 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 abuts against the upper surface of the inspection rail;

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

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

[0012] As an improvement of the above-mentioned scheme, the guide mechanism further comprises a carrier wheel assembly, and the guide assembly is installed on the top of the inspection body through the carrier wheel assembly;

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

[0014] As an improvement of the above-mentioned scheme, the carrier wheel assembly further comprises a sliding seat fixedly installed on the top of the inspection body, the sliding seat is provided with a sliding hole, the support seat is arranged on the sliding hole and can move in the sliding hole.

[0015] As an improvement of the above-mentioned scheme, the position detection device comprises a first position sensor for detecting whether the inspection device reaches a specific position and a second position sensor for detecting the real-time position of the inspection device.

[0016] As an improvement of the above-mentioned scheme, a charging device is further included, the charging device comprises a charging control mechanism and a charging mechanism, the charging control mechanism comprises a charging sensor and a guide block, and the charging mechanism comprises a charging brush plate and a charging brush block; the charging brush plate and the charging sensor are electrically connected, and the charging brush block and the inspection body are electrically connected;

[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 guide block and the charging sensor are in contact, so that the charging brush plate is electrified; and the charging brush block and the charging brush plate are in contact, so as to charge the inspection body.

[0019] As an improvement of the above scheme, the charging device further comprises 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 abutting member is arranged on the inspection guide rail;

[0020] When the inspection device moves to the charging device, the third position sensor and the position abutting member are in contact, so as to know that the inspection device is in the charging position.

[0021] As an improvement of the above scheme, the charging control mechanism further comprises a charging body, the charging body is fixedly installed on the top of the inspection guide rail, the charging sensor is installed on one side of the charging body, and the position abutting member is installed on the other side of the charging body, so that the charging sensor and the position abutting member are arranged on the two sides of the inspection guide rail respectively;

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

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

[0024] The second position sensor is a reflection type photoelectric switch;

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

[0026] Correspondingly, the application also provides a building machine, the building machine is provided with the above inspection equipment, and the inspection guide rail is fixedly installed on the building machine.

[0027] The application has the following beneficial effects:

[0028] The inspection equipment of the application limits the inspection device through the contact positions of the driving wheel and the second guide wheel on the different heights of the side surface of the inspection guide rail, prevents the left and right shaking of the inspection device on the inspection guide rail, and prevents the instability of the movement, so as to ensure the clarity of the inspection picture and ensure the smooth progress of the inspection work. Secondly, the position of the inspection device on the inspection guide rail can be detected in real time through the cooperation of the position detection device and the inspection guide rail, so that the position of the building to be inspected can be known in real time, and the smooth progress of the construction can be ensured. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is the front view of the inspection equipment of the application;

[0030] Figure 2 isFigure 1 Sectional view along line A-A;

[0031] Figure 3 is a perspective view of Figure 1

[0032] Figure 4 is a perspective view from another angle Figure 3

[0033] Figure 5 is a schematic view of the connecting structure of the inspection guide rail and the inspection device of the present application;

[0034] Figure 6 is a side view of Figure 5

[0035] Figure 7 is a schematic view of the structure of the inspection device Figure 5

[0036] Figure 8 is a reference view of the use state of the inspection device of the present application. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings. It is hereby declared that the up, down, left, right, front, back, inner and outer directions appearing or about to appear in the present application are based on the drawings of the present application, and are not specific limitations of the present application.

[0038] Referring to Figures 1-8 , the present application discloses an inspection device, comprising an inspection guide rail 1, an inspection device arranged on the inspection guide rail 1 and a position detection device arranged on the inspection device.

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

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

[0041] The driving wheel 3 is driven to rotate, so as to move the inspection device along the inspection guide rail 1; the position detection device is arranged on the top of the inspection body 2 and is arranged correspondingly with the inspection guide rail 1, so as to detect the real-time position of the inspection device on the inspection guide rail 1.

[0042] ​​​​The inspection equipment of this invention limits the inspection device by using the contact positions of the drive wheel and the second guide wheel at different heights on the side of the inspection guide rail. This prevents the inspection device from swaying left and right on the inspection guide rail, thus ensuring the clarity of the inspection image and the smooth progress of the inspection work. Secondly, by utilizing the cooperation of the position detection device and the inspection guide rail, the position of the inspection device on the inspection guide rail can be detected in real time, thereby knowing the location of the inspected building in real time and ensuring the smooth progress of construction.

[0043] It should be noted that the driving mechanism also includes a drive mechanism (not shown in the figure) connected to the drive wheel 3. The drive mechanism is installed inside the inspection body 2. This drive mechanism can be a motor, used to drive the drive wheel 3 to rotate, so that the drive wheel rubs against the inspection guide rail, causing the inspection device to move along the inspection guide rail. A camera is provided on the top of the inspection body.

[0044] Specifically, the axes of the drive wheel 3 and the second guide wheel 42 are respectively arranged parallel to the side of the inspection guide rail 1, ensuring that the wheel surfaces of the drive wheel and the second guide wheel are fully engaged with the side of the inspection guide rail. This ensures that the drive wheel effectively drives the inspection device to move on the inspection guide rail, and that the second guide wheel effectively limits the movement of the inspection device in the lateral direction. The axis of the first guide wheel 41 is perpendicular to the side of the inspection guide rail 1, ensuring that the inspection device is hung on the inspection guide rail via the first guide wheel, thus achieving effective limitation of the inspection device in the longitudinal direction.

[0045] Preferably, such as Figures 1-7 As shown, the guiding mechanism also includes a wheel carrier assembly, which is mounted on the top of the inspection body 2. The wheel carrier assembly includes a guide wheel seat 51 and a support seat 52. The guiding component is mounted on the guide wheel seat 51, and the guide wheel seat 51 is mounted on the support seat 52. The guide wheel seat 51 can rotate around the support seat 52. There are at least two sets of guiding components, symmetrically arranged on the guide wheel seat 51, so that the two sets of guiding components abut against the two sides 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, allowing the guide wheel to move in contact with the surface of the inspection guide rail. This prevents the guide wheel and the inspection guide rail from jamming, which could cause vibration of the inspection device or even jamming on the inspection guide rail, thus ensuring the normal operation of the inspection work.

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

[0047] Furthermore, such as Figure 2 , 5As shown in Figure 7, the wheel assembly also includes a sliding seat 53 fixedly installed on the top of the inspection body 2. The sliding seat 53 has a sliding hole 531, and the support seat 52 passes through the sliding hole 531 and can move within the sliding hole 531. The sliding hole 531 is preferably an oblong hole, and the line containing the maximum diameter of the sliding hole intersects the extension direction of the inspection guide rail. More preferably, the line containing the maximum diameter of the sliding hole 531 is perpendicular to the extension direction of the inspection guide rail 1. The sliding seat allows the guide wheel seat to move along the top surface of the inspection body. When the inspection device turns, the guide wheel can shift according to the swing of the inspection guide rail, further preventing the guide wheel and the inspection guide rail from jamming and causing vibration of the inspection device, or even jamming on the inspection guide rail and being unable to move, thereby ensuring the normal operation of the inspection work.

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

[0049] like Figure 2 As shown, the first position sensor 61 is preferably a reflective photoelectric switch. The first position sensor 61 is mounted on the top of the inspection body 2 and is positioned opposite the side of the inspection guide rail 1. The first position sensor moves with the inspection device, and the light it emits is directed towards the inspection guide rail. If the inspection guide rail is an open-loop structure, when the inspection device moves to the end of the inspection guide rail, the light emitted by the first position sensor is not reflected and sends a signal, causing the control system to control the inspection device to stop moving forward and instead turn back, preventing the inspection device from moving off the inspection guide rail. In this case, the first position sensor ensures that the inspection device always moves on the inspection guide rail and does not leave it. If the inspection guide rail is a closed-loop structure, there is a gap due to the connection between the two ends. When the inspection device passes through this gap, the light emitted by the first position sensor is not reflected and sends a signal, allowing the control system to know that the inspection device has completed one revolution around the inspection guide rail. In this case, the first position sensor assists in counting revolutions.

[0050] like Figures 3-4As shown, the second position sensor 62 is preferably a light barrier photoelectric switch, thus the second position sensor comprises a transmitter and a receiver, which are respectively arranged on both sides of the inspection guide rail 1 and oppositely arranged. 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 arranged on the inspection guide rail in the extension direction of the inspection guide rail. Generally, the light emitted by the transmitter cannot be received by the receiver because it is blocked by the inspection guide rail, and the second position sensor will not send a signal. When moving in the first through hole, the light passes through the through hole and is received by the receiver, and the second position sensor sends a signal at this time. Then, with the movement of the inspection device, the light is blocked again, and the signal is interrupted. When moving to the second through hole, the signal is sent again. In this way, the control system calculates the number of through holes moved by the inspection device, so as to determine the position of the inspection device on the inspection guide rail, and realize the position determination of the inspection device.

[0051] Further, as shown in the drawings, Figures 2-4 The present application also comprises a charging device, which comprises a charging control mechanism and a charging mechanism. The charging control mechanism comprises a charging sensor 72 and a guide block 73, and the charging mechanism comprises a charging brush plate 81 and a charging brush block 82. The charging brush plate 81 and the charging sensor 72 are electrically connected, and the charging brush block 82 and the inspection body 2 are electrically connected. The charging sensor 72 and the charging brush plate 81 are both installed on the inspection guide rail 1, and the guide 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 guide block 73 and the charging sensor 72 abut to make the charging brush plate 81 electrified, and the charging brush block 82 and the charging brush plate 81 abut to charge the inspection body 2.

[0052] When the inspection device moves to the charging sensor, the guide block on the inspection body abuts against the charging sensor on the inspection guide rail, so that the charging sensor sends a signal to the control system, and the control system controls the electrification of the charging brush plate. At the same time that the guide block and the charging sensor abut, the charging brush block arranged on the inspection body also abuts against the charging brush plate, so that the charging brush block and the charging brush plate are electrically connected. In addition, because the charging brush block is electrically connected with the driving mechanism and the camera and other electrical equipment, the inspection device can be charged at this time.

[0053] Preferably, as shown in the drawings, Figure 2 , 4 The charging device further comprises 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 the inspection guide rail 1 is provided with a position abutting piece 64. When the inspection device moves to the charging device, the third position sensor 63 and the position abutting piece 64 abut to know that the inspection device is in the charging position.

[0054] The third position sensor contacts the position abutment, and the guide block contacts the charging sensor. These two contact points are located on both sides of the inspection guide rail, which serve to balance the device and prevent it from shaking. Furthermore, the contact between the third position sensor and the position abutment causes the third position sensor to send a signal, informing the control system that the inspection device is in the position of the charging device and is charging, thus providing real-time information on the inspection position.

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

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

[0057] The charging body serves to support 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 on the inspection guide rail. It also ensures effective contact between the third position sensor, the position abutment, the guide block, and the charging sensor, thus guaranteeing both effective charging initiation and effective detection of the charging position.

[0058] Accordingly, the present invention also discloses a building construction machine, which is equipped with the aforementioned 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 prevents shaking, ensures stable movement, and can obtain the inspection position in real time.

[0060] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A patrol device characterized by comprising: The utility model provides a kind of inspection rail, inspection device on the inspection rail and position detection device on the inspection device; The inspection device includes an inspection body and a driving inspection mechanism on the top of the inspection body, the driving inspection mechanism includes a driving wheel and a guide mechanism;The driving wheel includes a driving wheel;The guide mechanism includes a guide assembly, the guide assembly includes a first guide wheel and a second guide wheel; The axis of the driving wheel and the second guide wheel is respectively parallel to the side of the inspection rail, and the axis of the first guide wheel is perpendicular to the side of the inspection rail. The driving wheel and the second guide wheel are respectively in contact with the side 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 position detection device is provided on the top of the inspection body and corresponds to the inspection rail to detect the real-time position of the inspection device on the inspection rail. The position detection device includes a first position sensor for detecting whether the inspection device reaches a specific position and a second position sensor for detecting the real-time position of the inspection device. The first position sensor is a reflective photoelectric switch, and the first position sensor is installed on the top of the inspection body and corresponds to the side of the inspection rail;The first position sensor moves with the inspection device, and the light emitted by the first position sensor is directed to the inspection rail. The second position sensor is a transmitting-receiving photoelectric switch, so the second position sensor includes a transmitter and a receiver, which are respectively provided on the two sides of the inspection rail and oppositely arranged;The second position sensor is installed on the top of the inspection body 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.

2. The patrol apparatus according to claim 1, wherein When moving through the first through hole, the light passes through the through hole and is received by the receiver, at which time the second position sensor sends a signal;Then, as the inspection device moves, the light is blocked again, and the signal is interrupted;When moving to the second through hole, the signal is sent again;In this way, the control system calculates the number of through holes that the inspection device moves to, so that it can determine the position of the inspection device on the inspection rail, and the position of the inspection device is determined.

3. The patrol apparatus according to claim 1, wherein The axis of the driving wheel and the second guide wheel is respectively parallel to the side of the inspection rail, and the axis of the first guide wheel is perpendicular to the side of the inspection rail. The guide mechanism further includes a carrier wheel assembly, and the guide assembly is installed on the top of the inspection body through the carrier wheel assembly.

4. The patrol apparatus according to claim 3, wherein The carrier wheel assembly includes a guide wheel seat and a support seat, the guide assembly is installed on the guide wheel seat, the guide wheel seat is installed on the support seat, and the guide wheel seat can rotate around the support seat.

5. The patrol apparatus according to claim 1, wherein The carrier wheel assembly further includes a sliding seat fixedly installed on the top of the inspection body, the sliding seat is provided with a sliding hole, and the support seat passes through the sliding hole and can move in the sliding hole. The utility model further 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 guide block, and the charging mechanism includes a charging brush plate and a charging brush block;The charging brush plate and the charging sensor are electrically connected, and the charging brush block and the inspection body are electrically connected. The charging sensor and the charging brush plate are both installed on the inspection guide 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 guide block and the charging sensor are in contact to make the charging brush plate electrified, and the charging brush block and the charging brush plate are in contact to charge the inspection body.

6. The patrol apparatus according to claim 5, wherein The charging device further comprises 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 abutting member is arranged on the inspection guide rail; When the inspection device moves to the charging device, the third position sensor and the position abutting member are in contact to know that the inspection device is in the charging position.

7. The patrol apparatus according to claim 6, wherein The charging control mechanism further comprises a charging body, the charging body is fixedly installed on the top of the inspection guide rail, the charging sensor is installed on one side of the charging body, and the position abutting member is installed on the other side of the charging body, so that the charging sensor and the position abutting member are arranged on the two sides of the inspection guide rail respectively; The guide block and the charging sensor are correspondingly arranged, and the third position sensor and the position abutting member are correspondingly arranged.

8. The patrol apparatus according to claim 6, wherein The charging sensor and the third position sensor are both travel switches.

9. A building machine characterized by The building machine is provided with the inspection equipment as claimed in any one of claims 1-8, and the inspection guide rail is fixedly installed on the building machine.

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