Walking type building wall surface size detection device and method

Abstract

The invention relates to the technical field of mechanical engineering, and discloses a walking type building wall surface size detection device, which comprises a fixed frame, a plurality of driving parts which are adaptively mounted at the bottoms of the two sides of the fixed frame respectively, driving shafts which are fixedly mounted at the output ends of the driving parts through couplings, and walking wheels which are fixedly arranged on the outer surfaces of the driving shafts in a sleeving manner. Through cooperation of all parts in the walking mechanism, in the moving process of the walking wheels, a stable negative pressure area can be formed in the negative pressure air suction pipe, tiny defects on the surface of a wall and the overall flatness can be accurately detected through the detection assembly, and the detection accuracy is improved. The suction cup can be adsorbed to the wall surface through the adsorption assembly when the negative pressure air suction pipe is separated from the wall surface, the suction cup is moved to the position where the suction cup is separated from the wall surface when the negative pressure air suction pipe is in contact with the wall surface, and dust and impurities on the surface of the filter screen can be automatically removed through the cleaning assembly when airflow enters the negative pressure air suction pipe.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical engineering, and in particular to a walkable building wall size detection device and method. Background Art

[0002] In recent years, the technology of walkable building wall dimension detection devices has made significant progress and has been increasingly widely used in the construction industry. With the continuous advancement of sensor technology, the accuracy of equipment such as visual inspection heads and flatness detection sensors has been greatly improved. For example, laser scanners can achieve millimeter-level resolution and can capture tiny defects on the wall surface. In order to improve the stability and adaptability of attachment, many detection devices use a multi-point negative pressure adsorption mechanism to allow the walking wheels to be firmly adsorbed on the wall, driving the device to detect the size of the wall while climbing the wall.

[0003] Some walkable building wall size detection devices in the prior art usually rely on a single negative pressure adsorption mechanism when in use. When the negative pressure system fails due to insufficient air pressure, uneven wall surface or obstacles, the device may suddenly fall off from a high place, causing serious harm to the workers below. At the same time, the construction site environment is complex, and the negative pressure adsorption mechanism may also suck dust on the wall surface into the device during the air intake process, causing internal mechanical parts and electronic components to be contaminated, and then causing equipment failure. Although some negative pressure adsorption mechanisms are equipped with filters to filter dust, there is still a defect that the filters are easily clogged by dust. The clogged filters will hinder air flow, which may cause the adsorption effect of the negative pressure system to decrease. Summary of the invention

[0004] In view of the problems existing in the above-mentioned existing walkable building wall size detection device, the present invention is proposed.

[0005] Therefore, an object of the present invention is to provide a walkable building wall size detection device.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: comprising:

[0007] The walking mechanism includes a fixed frame, a plurality of driving members respectively adapted to be installed at the bottom of both sides of the fixed frame, a driving shaft fixedly installed at the output end of the driving member through a coupling, a walking wheel fixedly sleeved on the outer surface of the driving shaft, an exhaust pipe fixedly connected to the inner surface of the driving member and connected to the inner cavity of the walking wheel, a plurality of negative pressure suction pipes distributed in a circumferential array on the outer surface of the walking wheel, an air outlet fixedly installed on the inner surface of the fixed frame and used in conjunction with the exhaust pipe, and a detection component used in conjunction with detecting the wall surface;

[0008] The anti-fall mechanism includes a transmission component for the power of the driving member, an adsorption component for assisting adsorption when the negative pressure suction pipe is out of contact with the wall, a filter screen threadedly connected to the inner wall of the negative pressure suction pipe, and a cleaning component used to prevent the filter screen from being blocked by dust.

[0009] As a preferred solution of the walkable building wall size detection device described in the present invention, the detection component includes a visual detection head adapted to be installed on the outside of the fixed frame, a flatness detection sensor adapted to be installed below the visual detection head, and a wiring tube fixedly connected to the inner surface of the fixed frame.

[0010] As a preferred solution of the walkable building wall size detection device described in the present invention, wherein: a plurality of the negative pressure suction pipes are alternately distributed along the inner surfaces of the walking wheels on both sides, the inner wall of the drive shaft is in rotational contact with the outer surface of the exhaust pipe, the outer end surface of the negative pressure suction pipe is in sliding contact with the outer surface of the exhaust pipe, and the negative pressure suction pipe, the visual inspection head and the flatness detection sensor are all electrically connected to the driving member.

[0011] As a preferred solution of the walkable building wall size detection device described in the present invention, the transmission component includes a first bevel gear fixedly mounted on the outer surface of the driving shaft, a second bevel gear meshed with the outer surface of the first bevel gear, a driving column fixedly connected to the inner surface of the second bevel gear, a first belt reel fixedly mounted on the outer surface of the driving column, a belt mounted on the outer surface of the first belt reel, a second belt reel mounted on the inner surface of the other end of the belt, and a driven column fixedly connected to the inner surface of the second belt reel.

[0012] As a preferred solution of the walkable building wall dimension detection device described in the present invention, the outer surfaces of the driving column and the driven column are in rotational contact with the outer surface of the driving member, and the connection between the driving column and the driven column and the driving member is equipped with a bearing sleeve that rotates in cooperation.

[0013] As a preferred solution of the walkable building wall size detection device described in the present invention, the adsorption component includes a reciprocating roller fixedly connected to the outer end surface of the driven column, a sleeve slidably mounted on the outer surface of the reciprocating roller, a fixed rod fixedly connected to the outer surface of the sleeve through a connecting rod, and a connecting block fixedly connected to the outer end surface of the fixed rod.

[0014] As a preferred solution of the walkable building wall size detection device described in the present invention, the cleaning component also includes a suction cup hinged to the inner wall of the connecting block, and a limit block fixedly connected to the outer surface of the driving member and used in conjunction with the fixing rod.

[0015] As a preferred solution of the walkable building wall size detection device described in the present invention, the fixing rod, the connecting block and the suction cup are alternately distributed on both sides of the fixing frame, and the inner surface of the fixing rod is in sliding contact with the outer surface of the limit block.

[0016] As a preferred solution of the walkable building wall size detection device described in the present invention, the cleaning component includes a support rod fixedly connected to the inner wall of the negative pressure suction pipe, a support shaft fixedly installed on the outer surface of the support rod through a bearing, an impeller fixedly sleeved on the outer surface of the cleaning component, and a scraper fixedly installed on the outer end surface of the impeller and used in conjunction with the filter screen.

[0017] The present invention also provides a processing method.

[0018] The present invention provides the following technical solution: a method of use, comprising the walkable building wall size detection device, the method comprising the following steps:

[0019] S1: Calibrate the visual inspection head and flatness inspection sensor to ensure that they can accurately capture the information of the wall surface, and check the air vents to ensure that the airflow is unobstructed;

[0020] S2: Place the running wheel on the wall surface, so that the negative pressure suction pipe on the inner surface of one side of the running wheel is perpendicular to the wall surface and connected to the exhaust pipe, turn on the driving member to drive the exhaust pipe to inhale, and form a negative pressure area in the negative pressure suction pipe;

[0021] S3: The driving member drives the driving shaft and the walking wheel to rotate synchronously, so that the walking wheel drives the device to move along the wall surface, and the continuous rotation of the walking wheel drives the negative pressure suction pipe on its inner surface to rotate accordingly, ensuring that it can effectively contact the wall at multiple positions;

[0022] S4: When the negative pressure suction pipe rotates to a position where it is out of contact with the wall, the suction cup will move synchronously to a position where it is in contact with the wall and be adsorbed on the wall surface. The cooperation between the fixing rod and the connecting block can prevent the fixing rod from breaking due to the continuous movement of the device when the suction cup is adsorbed on the wall surface.

[0023] S5: When the air flow is sucked into the negative pressure suction pipe, the impeller is squeezed to rotate, and then the scraper is driven to rotate through the cooperation between the impeller and the support shaft, so that the scraper can sweep away the dust attached to the surface of the filter.

[0024] The beneficial effects of the present invention are as follows: through the cooperation between the various components in the walking mechanism, the present invention can form a stable negative pressure area inside the negative pressure suction pipe during the movement of the walking wheel; through the detection component, the tiny defects on the wall surface and the overall flatness can be accurately detected; through the adsorption component, the suction cup can be adsorbed on the wall when the negative pressure suction pipe is out of contact with the wall, and when the negative pressure suction pipe is in contact with the wall, the suction cup is moved to a position where it is out of contact with the wall, so as to avoid affecting the normal walking of the device, so that the device can still be firmly attached to the wall even when the negative pressure suction pipe fails or the wall surface is abnormal; through the cleaning component, dust and impurities on the surface of the filter can be automatically removed when the airflow enters the negative pressure suction pipe, ensuring that the negative pressure suction pipe can continuously and effectively inhale air. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0027] Figure 2 It is a structural schematic diagram of another viewing angle of the present invention as a whole.

[0028] Figure 3 For the present invention Figure 2 A schematic diagram of the enlarged local structure at point A in the middle.

[0029] Figure 4 It is a schematic diagram of the local structure of the adsorption component in the present invention.

[0030] Figure 5 It is a schematic structural diagram of the traveling wheel in the present invention from another perspective.

[0031] Figure 6 It is a schematic diagram of the structure inside the traveling wheel of the present invention.

[0032] Figure 7 It is a schematic diagram of the structure inside the negative pressure suction pipe in the present invention.

[0033] In the figure: 100, walking mechanism; 101, fixing frame; 102, driving member; 103, driving shaft; 104, walking wheel; 105, suction pipe; 106, negative pressure suction pipe; 107, air outlet; 108, detection component; 108a, visual detection head; 108b, flatness detection sensor; 108c, wiring tube; 200, anti-falling mechanism; 201, transmission component; 201a, first bevel gear; 201b, second bevel gear; 20 1c, driving column; 201d, first belt reel; 201e, belt; 201f, second belt reel; 201g, driven column; 202, adsorption assembly; 202a, reciprocating roller; 202b, sleeve; 202c, connecting rod; 202d, connecting block; 202e, suction cup; 202f, limit block; 203, filter screen; 204, cleaning assembly; 204a, support rod; 204b, support shaft; 204c, impeller; 204d, scraper. DETAILED DESCRIPTION

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0035] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0036] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0037] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0038] Example 1

[0039] Reference Figure 1 , Figure 2 , Figure 5 and Figure 6 , which is the first embodiment of the present invention, provides a walkable building wall size detection device, the device comprising:

[0040] The walking mechanism 100 includes a fixed frame 101, a plurality of driving members 102 respectively adapted to be installed at the bottom of both sides of the fixed frame 101, a driving shaft 103 fixedly installed at the output end of the driving member 102 through a coupling, a walking wheel 104 fixedly sleeved on the outer surface of the driving shaft 103, an exhaust pipe 105 fixedly connected to the inner surface of the driving member 102 and communicating with the inner cavity of the walking wheel 104, a plurality of negative pressure suction pipes 106 distributed in a circumferential array on the outer surface of the walking wheel 104, an air outlet 107 fixedly installed on the inner surface of the fixed frame 101 and used in conjunction with the exhaust pipe 105, and a detection component 108 used in conjunction with detecting the wall surface;

[0041] It should be noted that the fixed frame 101 is the basic frame of the entire walking mechanism 100, which is used to support and fix all other components. When the driving member 102 drives the driving shaft 103 and the walking wheel 104 to rotate synchronously, the device moves along the wall surface. When the walking wheel 104 rotates, it can drive the negative pressure suction pipe 106 on its inner surface to rotate accordingly. These negative pressure suction pipes 106 are arranged in a circular array and staggered on the inner surfaces of the walking wheels 104 on both sides, which can ensure that they can effectively contact the wall at multiple positions. When the negative pressure suction pipe 106 is at a position perpendicular to the wall surface, it can be connected with the exhaust pipe 105. When the negative pressure suction pipe 106 is connected with the exhaust pipe 105, the air is quickly extracted by the exhaust pipe 105 to form a negative pressure area, thereby preventing the device from falling off. The air outlet 107 is used to maintain air circulation to ensure the normal operation of the negative pressure system.

[0042] The anti-fall mechanism 200 includes a transmission component 201 for transmitting power to the driving member 102, an adsorption component 202 for assisting adsorption when the negative pressure suction pipe 106 loses contact with the wall, a filter screen 203 threadedly connected to the inner wall of the negative pressure suction pipe 106, and a cleaning component 204 used to prevent the filter screen 203 from being blocked by dust.

[0043] It should be noted that the filter 203 can prevent dust and impurities on the surface of the wall from being sucked into the device through the negative pressure suction pipe 106, and the cleaning component 204 can use the airflow power when the exhaust pipe 105 inhales air to sweep the dust on the surface of the filter 203, thereby avoiding the situation where the exhaust pipe 105 is unable to effectively inhale gas due to the filter 203 being blocked by dust.

[0044] Specifically, the detection component 108 includes a visual detection head 108 a adapted to be installed on the outside of the fixing frame 101 , a flatness detection sensor 108 b adapted to be installed below the visual detection head 108 a , and a wiring tube 108 c fixedly connected to the inner surface of the fixing frame 101 .

[0045] It should be further explained that the visual inspection head 108a uses a high-resolution laser scanner to capture images of the wall surface, thereby identifying cracks, protrusions, depressions and other obstacles on the wall that may affect the movement of the robot, and transmits the collected image data to the remote terminal in real time via the Internet, helping the staff to plan a path for the device in advance to avoid potential dangerous areas. The flatness detection sensor 108b uses an optical sensor to accurately sense the slight unevenness of the wall, such as tilt, corrugation or local deformation, and feeds back the data to the remote terminal in real time via the Internet, so that the staff can adjust the adsorption strength of the exhaust pipe 105 according to this information to ensure that the device always maintains good contact with the wall. The wiring tube 108c is not only used to protect and manage the connecting cables of various sensors and electronic components, but also to ensure that the data cable of the sensor is neatly connected to the interface of the control system, thereby ensuring the stability and reliability of signal transmission.

[0046] When in use, calibrate the visual inspection head 108a and the flatness inspection sensor 108b to ensure that they can accurately capture the information of the wall surface, check the air outlet 107 to ensure that the air flow is unobstructed, place the walking wheel 104 on the wall surface, make the negative pressure suction pipe 106 on the inner surface of one side of the walking wheel 104 perpendicular to the wall surface and connected to the exhaust pipe 105, turn on the driving member 102 to drive the exhaust pipe 105 to inhale, so that the air is quickly sucked out by the exhaust pipe 105, and the air is sucked out by the negative pressure suction pipe 105. 6, thereby preventing the device from falling off. At the same time, the driving member 102 drives the driving shaft 103 and the walking wheel 104 to rotate synchronously, so that the walking wheel 104 drives the device to move along the wall surface. The continuous rotation of the walking wheel 104 drives the negative pressure suction pipe 106 on its inner surface to rotate accordingly. These negative pressure suction pipes 106, which are arranged in a circular array and staggered on the inner surfaces of the walking wheels 104 on both sides, can ensure that they can effectively contact the wall at multiple positions to achieve the effect of preventing the device from falling off.

[0047] In summary, through the coordination between the various components in the walking mechanism 100, a stable negative pressure area can be formed inside the negative pressure suction pipe 106 during the movement of the walking wheel 104, ensuring that the device is firmly adsorbed on the wall to prevent the device from falling off. Through the detection component 108, tiny defects on the wall surface and the overall flatness can be accurately detected to ensure the high accuracy of the detection results.

[0048] Example 2

[0049] Reference Figure 2 to Figure 7, which is the second embodiment of the present invention. This embodiment is different from the first embodiment in that: this embodiment provides a conduction component 201 for conducting the power of the driving member 102, an adsorption component 202 that can use the power of the driving member 102 to drive two groups of suction cups 202e to perform stepping movements, a filter 203 for preventing dust from being sucked into the inside of the device, and a cleaning component 204 that can use the airflow power when the exhaust pipe 105 inhales air to sweep the dust on the surface of the filter 203.

[0050] Furthermore, the transmission component 201 includes a first bevel gear 201a fixedly mounted on the outer surface of the driving shaft 103, a second bevel gear 201b meshed with the outer surface of the first bevel gear 201a, a driving column 201c fixedly connected to the inner surface of the second bevel gear 201b, a first belt reel 201d fixedly mounted on the outer surface of the driving column 201c, a belt 201e mounted on the outer surface of the first belt reel 201d, a second belt reel 201f mounted on the inner surface of the other end of the belt 201e, and a driven column 201g fixedly connected to the inner surface of the second belt reel 201f.

[0051] It should be explained that when the driving shaft 103 rotates, it can also drive the first bevel gear 201a to rotate synchronously, so that the first bevel gear 201a drives the second bevel gear 201b and the driving column 201c to rotate synchronously, and through the cooperation of the driving column 201c, the first belt reel 201d and the belt 201e, it drives the second belt reel 201f and the driven column 201g to rotate.

[0052] The outer surfaces of the driving column 201c and the driven column 201g are in rotational contact with the outer surface of the driving member 102, and the connection between the driving column 201c and the driven column 201g and the driving member 102 is equipped with a bearing sleeve for matching rotation.

[0053] Preferably, the adsorption assembly 202 includes a reciprocating roller 202a fixedly connected to the outer end surface of the driven column 201g, a sleeve 202b slidably mounted on the outer surface of the reciprocating roller 202a, a fixed rod 202c fixedly connected to the outer surface of the sleeve 202b via a connecting rod, and a connecting block 202d fixedly connected to the outer end surface of the fixed rod 202c.

[0054] It should be noted that the cleaning assembly 204 further includes a suction cup 202e hinged to the inner wall of the connecting block 202d, and a limiting block 202f fixedly connected to the outer surface of the driving member 102 and used in conjunction with the fixing rod 202c.

[0055] It needs to be explained that when the driven column 201g rotates, it can drive the reciprocating roller 202a to rotate synchronously. By limiting the fixed rod 202c and the sleeve 202b through the limit block 202f, the sleeve 202b can move back and forth in a straight line through the rotation of the reciprocating roller 202a, thereby causing the sleeve 202b to drive the fixed rod 202c, the connecting block 202d and the suction cup 202e to move back and forth in a straight line.

[0056] Furthermore, the fixing rod 202c, the connecting block 202d and the suction cup 202e are alternately distributed on both sides of the fixing frame 101, and the inner surface of the fixing rod 202c is in sliding contact with the outer surface of the limiting block 202f.

[0057] It should be further explained that when the negative pressure suction pipe 106 rotates to a position where it is out of contact with the wall, the suction cup 202e will synchronously move to a position where it is in contact with the wall and be adsorbed on the wall surface. Through the cooperation of the fixing rod 202c and the connecting block 202d, it is possible to prevent the fixing rod 202c from breaking due to the continuous movement of the device when the suction cup 202e is adsorbed on the wall surface.

[0058] Furthermore, the cleaning component 204 includes a support rod 204a fixedly connected to the inner wall of the negative pressure suction pipe 106, a support shaft 204b fixedly installed on the outer surface of the support rod 204a through a bearing, an impeller 204c fixedly mounted on the outer surface of the cleaning component 204, and a scraper 204d fixedly installed on the outer end surface of the impeller 204c and used in conjunction with the filter screen 203.

[0059] When the airflow is sucked into the negative pressure suction pipe 106, it can squeeze the impeller 204c, causing the impeller 204c to rotate, and then through the cooperation between the impeller 204c and the support shaft 204b, drive the scraper 204d to rotate, so that the scraper 204d can sweep away the dust attached to the surface of the filter 203.

[0060] When in use, the first bevel gear 201a is driven to rotate synchronously through the driving shaft 103, so that the first bevel gear 201a drives the second bevel gear 201b and the driving column 201c to rotate synchronously, and the second belt disk 201f and the driven column 201g are driven to rotate through the cooperation of the driving column 201c, the first belt disk 201d and the belt 201e, and then the reciprocating roller 202a can be driven to rotate synchronously when the driven column 201g rotates, and the fixed rod 202c and the sleeve 202b are limited by the limit block 202f, so that the sleeve 202b The reciprocating roller 202a rotates to move back and forth in a straight line, so that the sleeve 202b drives the fixed rod 202c, the connecting block 202d and the suction cup 202e to move back and forth in a straight line. When the negative pressure suction pipe 106 rotates to a position where it is out of contact with the wall, the suction cup 202e will synchronously move to a position where it is in contact with the wall and adsorb on the wall surface. The cooperation between the fixed rod 202c and the connecting block 202d can prevent the fixed rod 202c from breaking due to the continuous movement of the device when the suction cup 202e is adsorbed on the wall surface.

[0061] When the air flow is sucked into the negative pressure suction pipe 106, it can squeeze the impeller 204c, causing the impeller 204c to rotate, and then through the cooperation between the impeller 204c and the support shaft 204b, the scraper 204d is driven to rotate, so that the scraper 204d can sweep away the dust attached to the surface of the filter 203, so as to ensure that the negative pressure suction pipe 106 can continuously and effectively inhale air.

[0062] In summary, the adsorption component 202 can make the suction cup 202e adsorbed on the wall when the negative pressure suction pipe 106 is out of contact with the wall, and when the negative pressure suction pipe 106 is in contact with the wall, the suction cup 202e is moved to a position where it is out of contact with the wall, so as to avoid affecting the normal operation of the device, so that even when the negative pressure suction pipe 106 fails or the wall surface is abnormal, the device can still be firmly attached to the wall, so as to further reduce the risk of the device falling. The cleaning component 204 can automatically remove dust and impurities on the surface of the filter 203 when the airflow enters the negative pressure suction pipe 106, ensuring that the negative pressure suction pipe 106 can continuously and effectively inhale air, so as to achieve the effect of maintaining the stability of the negative pressure area.

[0063] Example 3

[0064] Reference Figures 1 to 7 , which is the third embodiment of the present invention. Different from the previous embodiment, this embodiment provides a method of use, including a walkable building wall size detection device.

[0065] S1: Calibrate the visual inspection head 108a and the flatness inspection sensor 108b to ensure that they can accurately capture the information of the wall surface, and check the air outlet 107 to ensure that the air flow is unobstructed;

[0066] S2: Place the running wheel 104 on the wall surface, so that the negative pressure suction pipe 106 on the inner surface of one side of the running wheel 104 is perpendicular to the wall surface and connected to the exhaust pipe 105, turn on the driving member 102 to drive the exhaust pipe 105 to inhale, and form a negative pressure area in the negative pressure suction pipe 106;

[0067] S3: The driving member 102 drives the driving shaft 103 and the running wheel 104 to rotate synchronously, so that the running wheel 104 drives the device to move along the wall surface, and the continuous rotation of the running wheel 104 drives the negative pressure suction pipe 106 on its inner surface to rotate accordingly, ensuring that it can effectively contact the wall at multiple positions;

[0068] S4: When the negative pressure suction pipe 106 rotates to a position where it is out of contact with the wall, the suction cup 202e will synchronously move to a position where it is in contact with the wall and be adsorbed on the wall surface. The cooperation between the fixing rod 202c and the connecting block 202d can prevent the fixing rod 202c from breaking due to the continuous movement of the device when the suction cup 202e is adsorbed on the wall surface.

[0069] S5: When the airflow is sucked into the negative pressure suction pipe 106, the impeller 204c is squeezed to rotate the impeller 204c, and then the scraper 204d is driven to rotate through the cooperation between the impeller 204c and the support shaft 204b, so that the scraper 204d can sweep away the dust attached to the surface of the filter 203.

[0070] In summary, the present invention can form a stable negative pressure area inside the negative pressure suction pipe 106 during the movement of the walking wheel 104 through the cooperation between the various components in the walking mechanism 100, and can accurately detect the tiny defects and overall flatness of the wall surface through the detection component 108. The suction cup 202e can be adsorbed on the wall when the negative pressure suction pipe 106 is out of contact with the wall through the adsorption component 202, and the suction cup 202e is moved to a position where it is out of contact with the wall when the negative pressure suction pipe 106 is in contact with the wall, so as to avoid affecting the normal walking of the device, so that the device can still be firmly attached to the wall even when the negative pressure suction pipe 106 fails or the wall surface is abnormal. The cleaning component 204 can automatically remove dust and impurities on the surface of the filter 203 when the airflow enters the negative pressure suction pipe 106, to ensure that the negative pressure suction pipe 106 can continuously and effectively inhale air.

[0071] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0072] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0073] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A walkable building wall size detection device, characterized in that: include, A walking mechanism (100) comprises a fixed frame (101), a plurality of driving members (102) respectively adapted to be mounted on the bottom of both sides of the fixed frame (101), a driving shaft (103) fixedly mounted on the output end of the driving member (102) through a coupling, a walking wheel (104) fixedly sleeved on the outer surface of the driving shaft (103), an exhaust pipe (105) fixedly connected to the inner surface of the driving member (102) and communicating with the inner cavity of the walking wheel (104), a plurality of negative pressure suction pipes (106) distributed in a circular array on the outer surface of the walking wheel (104), an air outlet (107) fixedly mounted on the inner surface of the fixed frame (101) and used in conjunction with the exhaust pipe (105), and a detection component (108) used in conjunction with detecting the wall surface; The anti-fall mechanism (200) comprises a transmission component (201) for transmitting power of the driving member (102), an adsorption component (202) for assisting adsorption when the negative pressure suction pipe (106) is out of contact with a wall surface, a filter screen (203) threadedly connected to the inner wall of the negative pressure suction pipe (106), and a cleaning component (204) used to prevent the filter screen (203) from being blocked by dust.

2. The walkable building wall size detection device according to claim 1 is characterized in that: The detection component (108) comprises a visual detection head (108a) adapted to be installed on the outside of the fixing frame (101), a flatness detection sensor (108b) adapted to be installed below the visual detection head (108a), and a wiring tube (108c) fixedly connected to the inner surface of the fixing frame (101).

3. The walkable building wall size detection device according to claim 2 is characterized in that: The plurality of negative pressure suction pipes (106) are alternately distributed along the inner surfaces of the walking wheels (104) on both sides, the inner wall of the driving shaft (103) is in rotational contact with the outer surface of the suction pipe (105), the outer end surface of the negative pressure suction pipe (106) is in sliding contact with the outer surface of the suction pipe (105), and the negative pressure suction pipe (106), the visual inspection head (108a) and the flatness inspection sensor (108b) are all electrically connected to the driving member (102).

4. The walkable building wall size detection device according to claim 3 is characterized in that: The transmission component (201) includes a first bevel gear (201a) fixedly mounted on the outer surface of the drive shaft (103), a second bevel gear (201b) meshed with the outer surface of the first bevel gear (201a), a drive column (201c) fixedly connected to the inner surface of the second bevel gear (201b), a first belt reel (201d) fixedly mounted on the outer surface of the drive column (201c), a belt (201e) mounted on the outer surface of the first belt reel (201d), a second belt reel (201f) mounted on the inner surface of the other end of the belt (201e), and a driven column (201g) fixedly connected to the inner surface of the second belt reel (201f).

5. The walkable building wall size detection device according to claim 4 is characterized in that: The outer surfaces of the driving column (201c) and the driven column (201g) are in rotational contact with the outer surface of the driving member (102), and the connection points between the driving column (201c) and the driven column (201g) and the driving member (102) are both equipped with bearing sleeves that rotate in cooperation.

6. The walkable building wall size detection device according to claim 5 is characterized in that: The adsorption assembly (202) comprises a reciprocating roller (202a) fixedly connected to the outer end surface of the driven column (201g), a sleeve (202b) slidably mounted on the outer surface of the reciprocating roller (202a), a fixed rod (202c) fixedly connected to the outer surface of the sleeve (202b) via a connecting rod, and a connecting block (202d) fixedly connected to the outer end surface of the fixed rod (202c).

7. The walkable building wall size detection device according to claim 6 is characterized in that: The cleaning assembly (204) further comprises a suction cup (202e) hinged to the inner wall of the connecting block (202d), and a limiting block (202f) fixedly connected to the outer surface of the driving member (102) and used in conjunction with the fixing rod (202c).

8. The walkable building wall size detection device according to claim 7 is characterized in that: The fixing rod (202c), the connecting block (202d) and the suction cup (202e) are alternately distributed on both sides of the fixing frame (101), and the inner surface of the fixing rod (202c) is in sliding contact with the outer surface of the limiting block (202f).

9. The walkable building wall size detection device according to claim 8, characterized in that: The cleaning component (204) includes a support rod (204a) fixedly connected to the inner wall of the negative pressure suction pipe (106), a support shaft (204b) fixedly mounted on the outer surface of the support rod (204a) via a bearing, an impeller (204c) fixedly sleeved on the outer surface of the cleaning component (204), and a scraper (204d) fixedly mounted on the outer end surface of the impeller (204c) and used in conjunction with the filter screen (203).

10. A method of use, characterized in that: The walkable building wall size detection device according to any one of claims 1 to 9 comprises the following steps: S1: Calibrate the visual inspection head and flatness inspection sensor to ensure that they can accurately capture the information of the wall surface, and check the air vents to ensure that the airflow is unobstructed; S2: Place the running wheel on the wall surface, so that the negative pressure suction pipe on the inner surface of one side of the running wheel is perpendicular to the wall surface and connected to the exhaust pipe, turn on the driving member to drive the exhaust pipe to inhale, and form a negative pressure area in the negative pressure suction pipe; S3: The driving member drives the driving shaft and the walking wheel to rotate synchronously, so that the walking wheel drives the device to move along the wall surface, and the continuous rotation of the walking wheel drives the negative pressure suction pipe on its inner surface to rotate accordingly, ensuring that it can effectively contact the wall at multiple positions; S4: When the negative pressure suction pipe rotates to a position where it is out of contact with the wall, the suction cup will move synchronously to a position where it is in contact with the wall and be adsorbed on the wall surface. The cooperation between the fixing rod and the connecting block can prevent the fixing rod from breaking due to the continuous movement of the device when the suction cup is adsorbed on the wall surface. S5: When the air flow is sucked into the negative pressure suction pipe, the impeller is squeezed to rotate, and then the scraper is driven to rotate through the cooperation between the impeller and the support shaft, so that the scraper can sweep away the dust attached to the surface of the filter.

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