Magnetic type crawling robot for curtain wall keel and panel damage detection

Abstract

The invention discloses a curtain wall keel and panel damage detection magnetic type crawling robot which comprises a magnetic type crawling robot body attracted to a stone curtain wall, the magnetic type crawling robot body comprises a vehicle body, two sets of wheels are arranged on the two sides of the vehicle body, the two sets of wheels are sleeved with crawler belts, and the crawler belts are arranged on the two sides of the vehicle body. A crawler belt is arranged on the vehicle body, a permanent magnet is fixedly installed outside the crawler belt, a box body is fixedly connected to the vehicle body, a controller is fixedly installed on the vehicle body, a visual sensing assembly is arranged in the box body, a lifting mechanism is arranged in the box body, and a sealing mechanism is further arranged in the box body. According to the curtain wall flaw detection system, the magnetic type crawling robot is matched with the visual sensing assembly, image acquisition is carried out on damage conditions of keels, joints of the keels and panels of the curtain wall, the magnetic type crawling robot analyzes the acquired images in real time, problems are found and recorded in time, and the flaw detection efficiency of the curtain wall is improved; meanwhile, the potential safety hazard of high-altitude operation caused by manual detection is avoided.

Description

Technical Field

[0001] The invention relates to the field of building curtain wall detection equipment, and in particular to a magnetic crawling robot for curtain wall keel and panel damage detection. Background Art

[0002] The stone curtain wall is composed of stone panels and supporting structures, and is an external protective structure that does not bear the load and function of the main structure.

[0003] Curtain walls are important external protective structures for high-rise buildings, and their safety is directly related to the safety of life and property of people inside and outside the building. Stone curtain walls have a 90-year history of development abroad. Stone curtain walls were introduced into my country as an exterior wall decoration technology and gradually promoted for use. Stone has gradually been loved by construction engineers and users for its noble and elegant style and unique appearance, and has been rapidly promoted for use in my country. At present, my country has become a major producer and user of stone curtain walls.

[0004] At present, the most widely used stone curtain wall in domestic engineering practice is constructed by dry hanging method, which is to hang the stone panel directly on the main structure through the hanger. Due to factors such as imperfect initial design specifications and construction errors, the connection quality of stone curtain walls is uneven. Under the long-term influence of environment and load, stone curtain wall falling accidents occur from time to time, which can easily cause adverse social impacts and seriously affect social public safety. The main reasons are the damage of curtain wall panels and the failure of hanger connection. At present, there is a lack of effective, non-destructive and fast curtain wall panel damage and hanger connection status detection equipment. Summary of the invention

[0005] In view of the technical problem that there is a lack of effective and quick detection equipment for the connection status of existing curtain wall panels and hangers, the present invention provides a magnetic crawling robot for curtain wall keel and panel damage detection.

[0006] The technical solution adopted by the present invention is: it includes a magnetic crawling robot adsorbed on a stone curtain wall, the magnetic crawling robot includes a body, two sets of wheels are arranged on both sides of the body, the outer parts of the two sets of wheels are provided with tracks, and permanent magnets are fixedly installed on the outside of the tracks. A box is fixedly connected to the body, a controller is fixedly installed on the body, a visual sensor component is arranged in the box, a lifting mechanism is arranged in the box, the lifting mechanism is used to drive the visual sensor component to lift and lower, and a closing mechanism is also arranged in the box, and the closing mechanism is used to close the box.

[0007] Furthermore, the stone curtain wall is composed of vertical keels, transverse keels and stone panels, the transverse keels are fixedly connected to the vertical keels, the stone panels are fixedly installed on the front sides of the vertical keels and the transverse keels, and the magnetic crawling robot is adsorbed on the vertical keels on the back of the stone panels.

[0008] By adopting the above technical solution, the magnetic crawling robot can move forward unhindered by adsorbing on the vertical keel.

[0009] Furthermore, the lifting mechanism includes a mounting block fixedly mounted on the inner wall of the box body, a slide seat is slidably mounted in the mounting block, the visual sensor assembly is fixedly connected to one side of the slide seat, a driving motor is fixedly mounted on the vehicle body, a screw rod is coaxially fixedly connected to the driving shaft of the driving motor, the screw rod is rotatably mounted in the mounting block, and the screw rod and the slide seat are threadedly connected.

[0010] By adopting the above technical solution, the lifting mechanism drives the visual sensor component to rise and fall in the box.

[0011] Furthermore, a limiting groove is provided in the installation block, a limiting block is slidably installed in the limiting groove, and the limiting block is fixedly connected to the side surface of the slide seat.

[0012] By adopting the above technical solution, the stability of the sliding seat when moving in the installation block is improved.

[0013] Furthermore, the visual sensing assembly includes a connecting plate fixedly mounted on one side of the slide, a first worm gear is rotatably mounted on the connecting plate, a mounting frame is fixedly connected to the first worm gear, a camera is rotatably mounted in the mounting frame, and a fill light is fixedly mounted on one side of the camera.

[0014] By adopting the above technical solution, the camera takes pictures of the vertical keels, the horizontal keels, their joints and the stone panels.

[0015] Furthermore, two groups of mounting seats are fixedly installed on the connecting plate, a first worm is rotatably installed between the two groups of mounting seats, the first worm is meshed with the first worm wheel, a first rotating motor is fixedly installed on one side of one group of mounting seats, a driving shaft of the first rotating motor is coaxially fixedly connected to the first worm, a second rotating motor is fixedly installed on one side of the mounting frame, and the driving shaft of the second rotating motor is fixedly connected to the camera.

[0016] By adopting the above technical solution, the camera can rotate 360° and can shoot at multiple angles.

[0017] Furthermore, the closing mechanism includes a box cover slidably mounted on the box body, two groups of support seats are fixedly mounted on the inner wall of the box body, rotating shafts are rotatably mounted on the two groups of support seats, a first gear is fixedly mounted on the top of the rotating shaft, a first gear is meshed with a first tooth plate on one side of the first gear, the first tooth plate is fixedly connected to the bottom of the box cover, a guide groove is opened on the box body, a guide block is slidably mounted in the guide groove, and the guide block is fixedly connected to the bottom of the box cover.

[0018] By adopting the above technical solution, the sealing mechanism can seal the visual sensor component in the box, thereby improving the protection effect of the camera.

[0019] Furthermore, a connecting column and a guide column are fixedly installed on the inner bottom of the box body, a pressure plate is slidably installed on the outside of the connecting column and the guide column, a second spring is sleeved on the outside of the connecting column, a second tooth plate is fixedly installed on one side of the pressure plate, a fixing seat is fixedly connected to the inner bottom of the box body, a second worm is rotatably installed on the fixing seat, a second gear is fixedly installed on one end of the second worm, the second gear is meshed with the second tooth plate, a second worm wheel is meshed on one side of the second worm, and the second worm wheel is fixedly installed on the outside of the rotating shaft.

[0020] By adopting the above technical solution, the box cover can be automatically closed during the process of the visual sensor component descending in the box body.

[0021] Furthermore, a cleaning box is fixedly installed on the mounting frame, a slide is slidably installed in the cleaning box, cleaning cotton is fixedly installed on the slide, two groups of sliders are slidably installed inside the cleaning box, a first spring is fixedly installed on one side of the two groups of sliders, connecting rods are rotatably installed on both groups of sliders, and the upper end of the connecting rod is rotatably connected to the bottom of the slide.

[0022] By adopting the above technical solution, the cleaning cotton can clean the dust adsorbed on the surface of the camera and improve the photo-taking effect.

[0023] Furthermore, a sliding rod is fixedly connected inside the cleaning box, the sliding rod is slidably connected to the two groups of sliding blocks, and the first spring is sleeved on the outside of the sliding rod.

[0024] By adopting the above technical solution, the stability of the sliding block when moving in the cleaning box is improved.

[0025] The beneficial effects of the present invention are as follows: the magnetic crawling robot cooperates with the visual sensor component to collect images of the damage of the keel and panel of the curtain wall, the magnetic crawling robot performs real-time analysis on the collected images, and promptly records the problems found to determine the damage status of the stone panel and the vertical keel, the horizontal keel and their connections, and locates the damaged position, thereby improving the flaw detection efficiency of the curtain wall and avoiding the potential safety hazards of high-altitude operations in manual detection; The first rotating motor cooperates with the first worm gear, the first worm, the mounting bracket and the second rotating motor to realize 360° rotation of the camera, so that more pictures can be captured, a wider area can be covered, and blind spots and dead angles of flaw detection can be reduced; The visual sensor component is driven to rise and fall in the box by driving the motor in conjunction with the lead screw and the slide, so that the box can be removed to collect images of the damage condition and the visual sensor component can be stored in the box for protection, thereby increasing the service life of the visual sensor component. The connecting plate cooperates with the pressing plate, the second tooth plate, the second gear, the second worm wheel, the second worm, the rotating shaft, the first gear and the first tooth plate. In the process of storing the visual sensor component, the box cover can automatically close the box, thereby increasing the protection effect of the visual sensor component. The cleaning box is used in conjunction with the slider, the sliding rod, the first spring, the connecting rod, the sliding plate and the cleaning cotton to clean the floating and sinking attached to the surface of the camera, thereby preventing the floating and sinking raised during the movement of the magnetic crawling robot from adhering to the camera lens, thereby ensuring the quality of the image collected by the camera and the accuracy of the analysis results of the curtain wall damage status. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a structural schematic diagram of the magnetic crawling robot in the present invention; Figure 3 It is a schematic diagram of the internal structure of the box in the present invention; Figure 4 The present invention is attached Figure 3 A magnified image of point A; Figure 5 Schematic diagram of the cross-sectional structure of the magnetic crawling robot of the present invention; Figure 6 It is a structural schematic diagram of the box cover in the present invention; Figure 7 It is a structural schematic diagram of the visual sensing component in the present invention; Figure 8 is a schematic diagram of the cross-sectional structure of the visual sensor component in the present invention; Fig. 9 It is a schematic diagram of the assembly of the cleaning box and the cleaning cotton in the present invention.

[0027] The numbers in the figure are: 1. stone curtain wall; 101. vertical keel; 102. horizontal keel; 103. stone panel; 2. magnetic crawling robot; 201. body; 202. wheel; 203. track; 204. permanent magnet; 205. box; 206. controller; 3. visual sensor component; 301. connecting plate; 302. first worm gear; 303. mounting frame; 304. camera; 305. fill light; 306. mounting seat; 307. first rotating motor; 308. first worm; 309. second rotating motor; 310. cleaning box; 311. skateboard; 312. cleaning cotton; 313. slider; 3 14. Connecting rod; 315. First spring; 316. Sliding rod; 4. Lifting mechanism; 401. Mounting block; 402. Sliding seat; 403. Lead screw; 404. Driving motor; 405. Limiting groove; 406. Limiting block; 5. Closing mechanism; 501. Rotating shaft; 502. Second tooth plate; 503. Fixed seat; 504. Pressing plate; 505. Second worm gear; 506. Connecting column; 507. Second spring; 508. Guide column; 509. Box cover; 510. First gear; 511. First tooth plate; 512. Guide groove; 513. Guide block; 514. Support seat; 515. Second worm; 516. Second gear. DETAILED DESCRIPTION

[0028] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by terms such as “front”, “up”, “down”, “left”, “right”, “vertical” and “horizontal” are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] The following is combined with Figure 1-9 The present invention is further described.

[0031] In order to solve the problems existing in the background technology, the present application proposes the following technical solutions: it includes a magnetic crawling robot 2 adsorbed on a stone curtain wall 1, the magnetic crawling robot 2 includes a body 201, two sets of wheels 202 are arranged on both sides of the body 201, the outer sleeves of the two sets of wheels 202 are provided with tracks 203, and the outer parts of the tracks 203 are fixedly installed with permanent magnets 204, a box 205 is fixedly connected to the body 201, a controller 206 is fixedly installed on the body 201, a visual sensor component 3 is arranged in the box 205, a lifting mechanism 4 is arranged in the box 205, the lifting mechanism 4 is used to drive the visual sensor component 3 to lift and lower, and a closing mechanism 5 is also arranged in the box 205, and the closing mechanism 5 is used to close the box 205.

[0032] Through the magnetic connection between the permanent magnet 204 and the vertical keel 101, the magnetic crawling robot 2 can be adsorbed on the back of the vertical keel 101, and the driving component arranged inside the vehicle body 201 drives the wheel 202 to rotate, and the wheel 202 drives the track 203 to rotate, thereby realizing the movement of the magnetic crawling robot 2 on the back of the vertical keel 101. The controller 206 can provide detailed planning and control for the movement of the magnetic crawling robot 2 to ensure that the magnetic crawling robot 2 reaches the specified position according to the predetermined trajectory and instructions. The controller 206 adopts a programmable PLC controller.

[0033] The magnetic crawling robot 2 is equipped with a visual sensor component 3 and moves on the back of the vertical keel 101. The visual sensor component 3 collects images of the vertical keel 101, the horizontal keel 102 and their connection conditions, and the damage of the stone panel 103. During the movement of the magnetic crawling robot 2, the visual sensor component 3 completes real-time photography of the stone panel 103 and the connection between the vertical keel 101 and the horizontal keel 102. The camera image is analyzed in real time by the computer vision system inside the magnetic crawling robot 2, and the image recognition algorithm is used to process, analyze and understand the image to find problems. The computer vision system is a mature technology and will not be described in detail here. It records the damage status of the stone panel 103, the vertical keel 101, the horizontal keel 102 and their connections in real time. A wireless transmission device is arranged inside the vehicle body 201. A GPS positioning device is also arranged inside the vehicle body 201. The starting position of the magnetic crawling robot 2 is taken as the initial coordinate position. The GPS positioning device is used to position the robot during its movement to form a three-dimensional database to mark the damage position, thereby improving the efficiency of flaw detection of the curtain wall and avoiding the potential safety hazards of high-altitude operations caused by manual detection.

[0034] The lifting and lowering of the visual sensor component 3 in the box 205 is achieved by the lifting mechanism 4. During use, the visual sensor component 3 is lifted out of the box 205. When not in use or transported, the visual sensor component 3 is lowered into the box 205. The box 205 protects the visual sensor component 3 and effectively reduces the damage caused by external forces to the visual sensor component 3, which affects its normal use. The box 205 can be sealed by the closing mechanism 5 to prevent external dust from entering the box 205 and damaging the visual sensor component 3.

[0035] It is further explained that the stone curtain wall 1 is composed of a vertical keel 101, a transverse keel 102 and a stone panel 103. The transverse keel 102 is fixedly connected to the vertical keel 101, and the stone panel 103 is fixedly installed on the front side of the vertical keel 101 and the transverse keel 102. The magnetic crawling robot 2 is adsorbed on the vertical keel 101 on the back of the stone panel 103.

[0036] The magnetic crawling robot 2 moves on the back of the vertical keel 101 without being hindered by the transverse keel 102, and can collect images of the damage status of the stone panel 103, the vertical keel 101 and the transverse keel 102 at different positions and their connections.

[0037] It is further explained that the lifting mechanism 4 includes a mounting block 401 fixedly mounted on the inner wall of the box body 205, a slide 402 is slidably mounted in the mounting block 401, the visual sensor component 3 is fixedly connected to one side of the slide 402, a drive motor 404 is fixedly mounted on the vehicle body 201, a screw rod 403 is coaxially fixedly connected to the drive shaft of the drive motor 404, the screw rod 403 is rotatably mounted in the mounting block 401, and the screw rod 403 and the slide 402 are threadedly connected.

[0038] The driving motor 404 drives the screw rod 403 to rotate, the screw rod 403 pushes the slide 402 to move in the mounting block 401, and the slide 402 drives the visual sensor component 3 to move. The forward and reverse rotation of the driving motor 404 is used to control the lifting and lowering of the visual sensor component 3, so that the visual sensor component 3 can be conveniently moved out of the box 205 for work and stored in the box 205 to protect the visual sensor component 3.

[0039] It is further explained that a limiting groove 405 is provided in the installation block 401 , a limiting block 406 is slidably installed in the limiting groove 405 , and the limiting block 406 is fixedly connected to the side of the slide seat 402 .

[0040] The limit block 406 cooperates with the limit groove 405 to guide and limit the movement of the slide 402, thereby preventing the slide 402 from flipping over when the screw rod 403 rotates, improving the stability of the slide 402 when moving in the mounting block 401, and thus improving the stability of the visual sensor component 3 during the lifting process.

[0041] It is further explained that the visual sensor component 3 includes a connecting plate 301 fixedly mounted on one side of the slide 402, a first worm gear 302 is rotatably mounted on the connecting plate 301, a mounting frame 303 is fixedly connected to the first worm gear 302, a camera 304 is rotatably mounted in the mounting frame 303, and a fill light 305 is fixedly mounted on one side of the camera 304.

[0042] The mounting frame 303 adopts a "U"-shaped structure. The first worm gear 302 is rotatably mounted on the connecting plate 301 through a rotating column. The camera 304 collects images of the vertical keel 101, the horizontal keel 102 and their connections, and the damage status of the stone panel 103. The fill light 305 adopts a photosensitive fill light. When the magnetic crawling robot 2 moves to a position with insufficient light, the fill light 305 automatically turns on to supplement the light to ensure the quality of the image collected by the camera 304.

[0043] It is further explained that two groups of mounting seats 306 are fixedly installed on the connecting plate 301, and a first worm 308 is rotatably installed between the two groups of mounting seats 306, and the first worm 308 is meshed with the first worm wheel 302. A first rotating motor 307 is fixedly installed on one side of one group of mounting seats 306, and the driving shaft of the first rotating motor 307 is coaxially fixedly connected to the first worm 308. A second rotating motor 309 is fixedly installed on one side of the mounting frame 303, and the driving shaft of the second rotating motor 309 is fixedly connected to the camera 304.

[0044] The first rotating motor 307 drives the first worm 308 to rotate, the first worm 308 drives the first worm wheel 302 to rotate, the first worm wheel 302 drives the camera 304 to rotate through the mounting bracket 303, so as to realize the horizontal rotation of the camera 304, the second rotating motor 309 drives the camera 304 to rotate, so as to realize the vertical rotation of the camera 304, so that the camera 304 can realize 360° rotation to capture more pictures, cover a wider area, and reduce blind spots and dead angles in flaw detection.

[0045] It is further explained that the closing mechanism 5 includes a box cover 509 slidably mounted on the box body 205, two groups of support seats 514 are fixedly mounted on the inner wall of the box body 205, and a rotating shaft 501 is rotatably mounted on the two groups of support seats 514. A first gear 510 is fixedly mounted on the top of the rotating shaft 501, and a first tooth plate 511 is meshed on one side of the first gear 510. The first tooth plate 511 is fixedly connected to the bottom of the box cover 509, and a guide groove 512 is opened on the box body 205, and a guide block 513 is slidably mounted in the guide groove 512, and the guide block 513 is fixedly connected to the bottom of the box cover 509.

[0046] The first gear 510 is driven to rotate by the rotating shaft 501, and the first gear 510 drives the box cover 509 to move through the first tooth plate 511. The box cover 509 can close the box body 205, so that the visual sensor component 3 stored in the box body 205 is in a sealed space, which effectively prevents dust from entering the box body 205 and damaging the visual sensor component 3, affecting the normal use of the visual sensor component 3. The guide block 513 cooperates with the guide groove 512 to guide and limit the movement of the box cover 509 on the box body 205, thereby improving the stability of the box cover 509 when moving.

[0047] It is further explained that a connecting column 506 and a guide column 508 are fixedly installed on the inner bottom of the box body 205, a pressure plate 504 is slidably installed on the outside of the connecting column 506 and the guide column 508, a second spring 507 is sleeved on the outside of the connecting column 506, a second tooth plate 502 is fixedly installed on one side of the pressure plate 504 (a avoidance hole is also provided at the bottom of the box body 205 only for avoiding the second tooth plate 502, so that the second tooth plate 502 has movement space at the bottom of the box body 205), a fixing seat 503 is fixedly connected to the inner bottom of the box body 205, a second worm 515 is rotatably installed on the fixing seat 503, a second gear 516 is fixedly installed on one end of the second worm 515, the second gear 516 is meshed with the second tooth plate 502, a second worm wheel 505 is meshed on one side of the second worm 515, and the second worm wheel 505 is fixedly installed on the outside of the rotating shaft 501.

[0048] In the process of lowering the visual sensor component 3 to be stored in the box body 205, the bottom of the connecting plate 301 contacts and squeezes the upper end of the pressure plate 504, and the connecting plate 301 drives the pressure plate 504 to move downward, and the pressure plate 504 drives the second tooth plate 502 to move, and the second tooth plate 502 causes the second gear 516 to rotate, and the second gear 516 drives the second worm wheel 505 to rotate through the second worm 515, and the second worm wheel 505 drives the rotating shaft 501 to rotate, thereby realizing the automatic closure of the box cover 509. In this process, the second spring 507 is compressed and deformed. In the process of the visual sensor component 3 rising and moving out of the box body 205, the compressed second spring 507 pushes the pressure plate 504 to move upward to restore the initial state, and the pressure plate 504 drives the rotating shaft 501 to reverse through the second tooth plate 502, so that the box cover 509 is automatically opened without hindering the removal of the visual sensor component 3, thereby realizing the automatic opening and closing of the closing mechanism 5, and improving the convenience of using the magnetic crawling robot 2.

[0049] It is further explained that a cleaning box 310 is fixedly installed on the mounting frame 303, a slide plate 311 is slidably installed in the cleaning box 310, a cleaning cotton 312 is fixedly installed on the slide plate 311, two groups of sliders 313 are slidably installed inside the cleaning box 310, a first spring 315 is fixedly installed on one side of the two groups of sliders 313, connecting rods 314 are rotatably installed on both groups of sliders 313, and the upper end of the connecting rod 314 is rotatably connected to the bottom of the slide plate 311.

[0050] Since floating dust often accumulates on the vertical keel 101 and the horizontal keel 102, the floating dust will fly and fall on the camera 304 during the movement of the magnetic crawling robot 2. The floating dust will adhere to the lens surface of the camera 304, hindering the normal propagation of light, causing the camera 304 to be unable to focus accurately, and the collected image becomes blurred, which is not conducive to the technicians to make a correct judgment on the damage status. The camera 304 is driven to rotate by the second rotating motor 309, and the lens of the camera 304 is rotated to the top of the cleaning box 310. The camera 304 is 304 contacts and squeezes the cleaning cotton 312, so that the cleaning cotton 312 and the slide plate 311 slide down, and the slide plate 311 drives the connecting rod 314 to move, and the connecting rod 314 pushes the slider 313 to move, and the slider 313 compresses the first spring 315, and the compressed first spring 315 tends to push the slider 313. The slider 313 makes the cleaning cotton 312 fit tightly with the lens of the camera 304 through the connecting rod 314, and the cleaning cotton 312 wipes the floating dust attached to the camera 304 to ensure the image quality collected by the camera 304.

[0051] It is further explained that a sliding rod 316 is fixedly connected inside the cleaning box 310 , the sliding rod 316 is slidably connected to the two sets of sliders 313 , and the first spring 315 is sleeved on the outside of the sliding rod 316 .

[0052] The slide bar 316 guides and limits the movement of the two sets of sliders 313, thereby improving the stability of the two sets of sliders 313 during movement. At the same time, the slide bar 316 limits the first spring 315, thereby preventing the first spring 315 from deflecting during the deformation process, thereby ensuring the normal use of the first spring 315.

[0053] Specific reference is made to the following operations: the magnetic crawling robot 2 is adsorbed on the vertical keel 101 and moves forward, the camera 304 collects images of the vertical keel 101 and the horizontal keel 102 and their connection conditions and the damage condition of the stone panel 103, and the collected image data is analyzed in real time by the computer vision system inside the magnetic crawling robot 2, and problems are found and recorded in time to determine the damage status of the stone panel 103 and the vertical keel 101 and the horizontal keel 102 and their connection. When the magnetic crawling robot 2 is not in use or transported, the driving motor 404 drives the screw rod 403 to rotate, the screw rod 403 pushes the slide 402 to move in the mounting block 401, and the slide 402 drives the visual sensor component 3 to move, and moves the visual sensor component 3 into the box 205. During this process, the bottom of the connecting plate 301 contacts and squeezes the upper end of the pressure plate 504, and the connecting plate 301 drives the pressure plate 504 to move downward, and the pressure plate 504 drives the second tooth plate 502 to move, and the second tooth plate 502 causes the second gear 516 to rotate, and the second gear 516 drives the second worm wheel 505 to rotate through the second worm 515, and the second worm wheel 505 drives the rotating shaft 501 to rotate, and the rotating shaft 501 drives the first gear 510 to rotate, and the first gear 510 drives the box cover 509 to move through the first tooth plate 511, and the box cover 509 can close the box body 205, thereby closing the box body 205 and storing the visual sensor component 3 in the closed space inside the box body 205 to prevent external dust from falling on the visual sensor component 3 and affecting the normal use of the camera 304.

[0054] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The content not described in detail in this specification belongs to the prior art known to professional and technical personnel in this field.

[0055] While the embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A magnetic crawling robot for curtain wall keel and panel damage detection, characterized in that: The invention comprises a magnetic crawling robot (2) adsorbed on a stone curtain wall (1), the magnetic crawling robot (2) comprising a vehicle body (201), two sets of wheels (202) being arranged on both sides of the vehicle body (201), tracks (203) being arranged on the outside of the two sets of wheels (202), permanent magnets (204) being fixedly mounted on the outside of the tracks (203), a box (205) being fixedly connected to the vehicle body (201), a controller (206) being fixedly mounted on the vehicle body (201), a visual sensor component (3) being arranged in the box (205), a lifting mechanism (4) being arranged in the box (205), the lifting mechanism (4) being used to drive the visual sensor component (3) to be lifted and lowered, and a closing mechanism (5) being arranged in the box (205), the closing mechanism (5) being used to close the box (205).

2. The magnetic crawling robot for curtain wall keel and panel damage detection according to claim 1 is characterized in that: The stone curtain wall (1) is composed of a vertical keel (101), a transverse keel (102) and a stone panel (103); the transverse keel (102) is fixedly connected to the vertical keel (101); the stone panel (103) is fixedly installed on the front side of the vertical keel (101) and the transverse keel (102); and the magnetic crawling robot (2) is adsorbed on the vertical keel (101) on the back side of the stone panel (103).

3. The magnetic crawling robot for curtain wall keel and panel damage detection according to claim 2 is characterized in that: The lifting mechanism (4) comprises a mounting block (401) fixedly mounted on the inner wall of the box body (205), a slide seat (402) being slidably mounted in the mounting block (401), the visual sensor assembly (3) being fixedly connected to one side of the slide seat (402), a drive motor (404) being fixedly mounted on the vehicle body (201), a screw rod (403) being coaxially fixedly connected to the drive shaft of the drive motor (404), the screw rod (403) being rotatably mounted in the mounting block (401), and the screw rod (403) being threadedly connected to the slide seat (402).

4. The magnetic crawling robot for curtain wall keel and panel damage detection according to claim 3 is characterized in that: A limiting groove (405) is provided in the installation block (401), a limiting block (406) is slidably installed in the limiting groove (405), and the limiting block (406) is fixedly connected to the side of the slide seat (402).

5. The magnetic crawling robot for curtain wall keel and panel damage detection according to claim 4 is characterized in that: The visual sensor assembly (3) comprises a connecting plate (301) fixedly mounted on one side of a slide seat (402), a first worm gear (302) being rotatably mounted on the connecting plate (301), a mounting frame (303) being fixedly connected to the first worm gear (302), a camera (304) being rotatably mounted in the mounting frame (303), and a fill light (305) being fixedly mounted on one side of the camera (304).

6. The magnetic crawling robot for curtain wall keel and panel damage detection according to claim 5 is characterized in that: Two groups of mounting seats (306) are fixedly mounted on the connecting plate (301); a first worm (308) is rotatably mounted between the two groups of mounting seats (306); the first worm (308) is meshed with the first worm wheel (302); a first rotating motor (307) is fixedly mounted on one side of one group of mounting seats (306); a driving shaft of the first rotating motor (307) is coaxially fixedly connected to the first worm (308); a second rotating motor (309) is fixedly mounted on one side of the mounting frame (303); and a driving shaft of the second rotating motor (309) is fixedly connected to the camera (304).

7. The magnetic crawling robot for curtain wall keel and panel damage detection according to claim 6 is characterized in that: The closing mechanism (5) comprises a box cover (509) slidably mounted on a box body (205); two groups of support seats (514) are fixedly mounted on the inner wall of the box body (205); a rotating shaft (501) is rotatably mounted on the two groups of support seats (514); a first gear (510) is fixedly mounted on the top of the rotating shaft (501); a first tooth plate (511) is meshed with one side of the first gear (510); the first tooth plate (511) is fixedly connected to the bottom of the box cover (509); a guide groove (512) is provided on the box body (205); a guide block (513) is slidably mounted in the guide groove (512); and the guide block (513) is fixedly connected to the bottom of the box cover (509).

8. The magnetic crawling robot for curtain wall keel and panel damage detection according to claim 7 is characterized in that: A connecting column (506) and a guide column (508) are fixedly mounted on the inner bottom of the box body (205); a second spring (507) is sleeved on the outside of the connecting column (506); a pressure plate (504) is slidably mounted on the outside of the connecting column (506) and the guide column (508); a second tooth plate (502) is fixedly mounted on one side of the pressure plate (504); a fixing seat (503) is fixedly connected to the inner bottom of the box body (205); a second worm (515) is rotatably mounted on the fixing seat (503); a second gear (516) is fixedly mounted on one end of the second worm (515); the second gear (516) is meshed with the second tooth plate (502); a second worm wheel (505) is meshed on one side of the second worm (515); and the second worm wheel (505) is fixedly mounted on the outside of the rotating shaft (501).

9. The magnetic crawling robot for curtain wall keel and panel damage detection according to claim 8 is characterized in that: A cleaning box (310) is fixedly mounted on the mounting frame (303), a slide plate (311) is slidably mounted in the cleaning box (310), a cleaning cotton (312) is fixedly mounted on the slide plate (311), two groups of sliding blocks (313) are slidably mounted inside the cleaning box (310), a first spring (315) is fixedly mounted on one side of the two groups of sliding blocks (313), connecting rods (314) are rotatably mounted on the two groups of sliding blocks (313), and the upper end of the connecting rod (314) is rotatably connected to the bottom of the slide plate (311).

10. The magnetic crawling robot for curtain wall keel and panel damage detection according to claim 9, characterized in that: A sliding rod (316) is fixedly connected inside the cleaning box (310), and the sliding rod (316) is slidably connected to the two groups of sliding blocks (313), and the first spring (315) is sleeved on the outside of the sliding rod (316).

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