Curtain wall detection steering climbing robot

Abstract

The invention relates to a steering climbing robot for curtain wall detection. The steering climbing robot comprises a robot body, and a clamping mechanism, a traveling mechanism, a magnetic adsorption mechanism, a sensing detection mechanism and a robot body host which are mounted on the robot body; the machine main body comprises a base, a disc gear arranged in the center of the base through a rotating shaft, a worm motor and a worm and gear assembly which are arranged on the base, and a mounting plate fixed on the disc gear; the clamping mechanism comprises a cam and a clamping jaw assembly which are fixedly connected with the mounting plate; the magnetic adsorption mechanism comprises a pneumatic push rod and a magnetic sucker which are coaxial and concentric; the sensing detection mechanism comprises an arc-shaped guide rail, a guide rail sliding block located on the arc-shaped guide rail and a detection platform. Compared with the prior art, the invention has double adsorption guarantee mechanisms, which not only reduces the dependence on the surface smoothness of the curtain wall, but also improves the adsorption stability; the clamping device can adapt to rectangular frames of different sizes, and precise closed-loop control over clamping force is achieved. And flexible movement of a complicated structure on the inner side of the curtain wall is realized.

Description

Technical Field

[0001] The invention relates to the technical field of curtain wall detection, in particular to a curtain wall detection steering and climbing robot. Background Art

[0002] In today's era of rapid development, there are more and more high-rise buildings. Curtain walls are an important part of modern buildings and are widely used in high-rise buildings. Like other materials and structures, during the use of curtain walls, the structural adhesives, bolts, keels, etc. used in them will become loose, degraded, or even corroded to varying degrees, thus affecting their adhesion and fastening force, and then causing the curtain walls to loosen and fall off.

[0003] With the rapid development of social economy and science and technology, the emergence of wall-climbing robots has solved many work problems with high repetitiveness, high hazards and high labor costs. Existing climbing devices mostly rely on traction ropes or vacuum adsorption. The former is complex and cannot crawl autonomously, while the latter has high requirements for the smoothness and air permeability of the wall surface. It cannot climb rough walls, and the suction cup is easy to wear and has poor obstacle crossing ability, which poses certain risks. Crawling and testing on the inside of the curtain wall can also reduce the impact of wind and rain, and requires the realization of autonomous steerable crawling and lightweight modularization.

[0004] Patent CN202111402816.3 provides a glass curtain wall detection device based on a bionic wall-climbing robot, including a knocking mechanism arranged on one side of the front end of the bionic wall-climbing robot and a laser detection mechanism arranged on one side of the knocking mechanism, the knocking mechanism includes a detection hammer and a pendulum driver respectively arranged at both ends of the connecting rod, the proximal end of the connecting rod is connected to the bionic wall-climbing robot through a fixing, the pendulum driver drives the detection hammer to knock, and collects and receives data through the laser detection mechanism. The beneficial effects of the present invention are embodied in: it can replace manual inspection of some high-altitude glass curtain walls, reduce the danger of high-altitude workers, and further improve the efficiency and safety of high-altitude operations. However, its knocking structure lacks stability, and the laser displacement sensor needs to be parallel to the curtain wall surface. It is difficult to ensure measurement accuracy on curved or inclined curtain walls, and the obstacle crossing ability is poor. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the above-mentioned prior art such as complex device, poor adsorption, easy wear, poor obstacle crossing ability, etc., and to provide a curtain wall detection steering climbing robot with a dual adsorption guarantee mechanism, adopting a magnetic adsorption + mechanical clamping composite mode, without the need for traction rope and vacuum adsorption system, which not only reduces the dependence on the surface finish of the curtain wall, but also improves the adsorption stability; the four-claw cross-symmetrical clamping mechanism cooperates with the spring pressure adjustment, which can adapt to rectangular frames of different sizes to achieve precise closed-loop control of the clamping force; through the horizontal displacement of the magnetic suction cup and the linkage with the worm gear, the obstacle avoidance function is cooperated to realize the flexible movement of the complex structure on the inside of the curtain wall.

[0006] The present invention provides a curtain wall detection steering climbing robot, comprising: a fuselage main body and a clamping mechanism, a traveling mechanism, a magnetic adsorption mechanism, a sensing detection mechanism and a main machine body installed on the fuselage main body;

[0007] The fuselage body includes a base, a disc gear arranged at the center of the base through a rotating shaft, a worm motor and a worm gear assembly arranged on the base, and a mounting plate fixed on the disc gear;

[0008] The clamping mechanism comprises: a cam and a clamping claw assembly fixedly connected to the mounting plate;

[0009] The magnetic adsorption mechanism comprises a coaxial and cocentric pneumatic push rod and a magnetic suction cup, wherein the pneumatic push rod is located at the center of the disc gear;

[0010] The traveling mechanism is located between the clamping mechanism and the magnetic adsorption mechanism;

[0011] The sensing detection mechanism comprises: an arc-shaped guide rail, a guide rail slider located on the arc-shaped guide rail, and a detection platform; the detection platform is fixed on the guide rail slider and moves on the arc-shaped guide rail to increase the detection area of ​​the device;

[0012] The main machine is installed on the other side of the base to supply power to the device and exchange data with the curtain wall data platform.

[0013] Furthermore, a pair of worm motors and worm gear assemblies are provided above and below the base, and the worm motors and worm gear assemblies are symmetrically distributed with respect to the disc gear and are used for positioning and installing the clamping mechanism and the traveling mechanism.

[0014] Furthermore, the worm gear assembly includes a worm and a worm wheel, the worm is coaxial with the worm motor, and the worm wheel is meshed with the disc gear to achieve steering of the device.

[0015] Furthermore, the clamping jaw assembly includes: a clamping jaw, a clamping finger connected to the clamping jaw through a clamping finger spring, a friction wheel arranged in the middle of the clamping jaw, and a pressure sensor close to the inner side of the clamping jaw.

[0016] Furthermore, the cam mechanism rotates in close contact with the friction wheel of the clamping jaw assembly to change the opening and closing angle of the clamping jaw assembly.

[0017] Furthermore, the clamping jaw assembly is composed of four clamping jaws arranged crosswise and symmetrically, and when the clamping fingers clamp an irregular connection, the clamping finger spring contracts; the friction wheel is fixed between the two clamping jaws to increase the friction force between the curtain wall column; the pressure sensor is used to output a clamping pressure signal to determine whether it is clamped.

[0018] Furthermore, the magnetic suction cup is coaxial and concentric with the pneumatic push rod, and the pneumatic push rod pushes the magnetic suction cup to move in the horizontal direction, so that the magnetic suction cup is adsorbed on the curtain wall column when turning.

[0019] Furthermore, the travel mechanism includes: a drive motor and a travel wheel, and the drive motor is connected to the disc gear through a fastener; the drive motor drives the travel wheel to move the device on the curtain wall column to achieve all-round detection of the curtain wall.

[0020] Furthermore, a pair of arc-shaped guide rails are provided, which are symmetrically installed on the base and are concentric with the disc gear.

[0021] Furthermore, the detection platform includes an electric push rod, an acoustic flaw detector and a laser scanner located on the electric push rod; when the clamping jaw assembly is clamped, the electric push rod pushes the acoustic flaw detector and the laser scanner to complete the curtain wall detection of the point.

[0022] The working process is as follows: The curtain wall inspection steering climbing robot first rotates the clamping assembly fixing device and the inner column of the curtain wall through the cam, and judges whether to tighten according to the pressure sensor on the clamping mechanism. The guide rail sliders on the arc guide rails on both sides of the base rotate the detection platform, and the electric push rod pushes the sonic flaw detector and the laser scanner to complete the curtain wall inspection at this point. Then the electric push rod retracts, and the travel mechanism drive device crawls along the column to the next point. When the device crawls to the intersection of the column, the cam rotates to relax the upper clamping assembly to a larger angle, the lower clamping assembly reduces the clamping force, and the travel mechanism drive device crawls along the column. After completing the obstacle crossing, the upper clamping assembly is clamped, and the process is repeated until the lower clamping assembly completes the obstacle crossing; when the device turns, the pneumatic push rod pushes the magnetic suction cup to adsorb on the column, the cam rotates to relax the clamping assembly, and the worm gear on the base drives the disc gear to rotate to a certain angle. After the clamping assembly is clamped, the subsequent perception and detection work is completed.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] (1) The present invention utilizes the dual functions of a magnetic adsorption mechanism and a clamping mechanism, so that the device can crawl autonomously on the inner columns and beams of the curtain wall, avoiding the use of traction ropes and vacuum adsorption, simplifying the device, and reducing the risk of low adsorption force caused by low wall finish and poor air permeability.

[0025] (2) The present invention designs a rectangular clamping mechanism, wherein the clamping jaw assembly is cross-symmetrically arranged with four clamping jaws. When the clamping jaws clamp the keel connection, the clamping finger spring contracts, which is suitable for clamping the rectangular frame. The friction wheel is fixed between the two clamping jaws to increase the friction between the two clamping jaws and the rectangular frame. The clamping jaw pressure sensor outputs a clamping pressure signal to determine whether the clamping is done.

[0026] (3) The present invention is provided with a magnetic adsorption mechanism and a disc gear, so that when the device turns, the pneumatic push rod pushes the magnetic suction cup to move in the horizontal direction, so that the magnetic suction cup is adsorbed on the curtain wall column when turning, the clamping mechanism is relaxed, and the disc gear meshing with the worm gear mechanism rotates, thereby realizing rotation at any angle.

[0027] (4) The present invention is provided with a sensing detection mechanism, including an arc-shaped guide rail, a guide rail slider located on the arc-shaped guide rail, and a detection platform. A pair of arc-shaped guide rails are provided, which are symmetrically distributed and installed on the base. The detection platform is fixed on the guide rail slider and moves on the arc-shaped guide rail to increase the detection area of ​​the device. The detection platform includes an electric push rod, an acoustic flaw detector and a laser scanner located on the electric push rod. When the electric push rod is clamped by the clamping jaw assembly, it pushes the acoustic flaw detector and the laser scanner to complete the curtain wall detection at that point.

[0028] (5) The curtain wall detection and steering climbing robot of the present invention is applicable to various scenarios. Its target function is to clamp a rectangular frame in a narrow space, realize rotation at any angle, complete autonomous crawling, obstacle avoidance and steering functions on the columns inside the curtain wall, sense and detect whether the curtain wall is loose or damaged, and exchange data with the curtain wall data platform in real time, which greatly reduces the cost of manual inspection, increases the inspection area of ​​the device, and improves the efficiency of curtain wall inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0030] Figure 2 It is a left view of the main structure of the present invention;

[0031] Figure 3 It is a front view of the main structure of the present invention and a partial cross-sectional view of the worm gear;

[0032] Figure 4 It is a schematic diagram of the clamping mechanism of the present invention.

[0033] Figure numerals: 1. body; 2. clamping mechanism; 3. magnetic adsorption mechanism; 4. traveling mechanism; 5. sensing and detecting mechanism; 6. body host; 110. base; 120. worm motor; 131. worm; 132. worm wheel; 140. disc gear; 150. mounting plate; 211. clamping claw; 212. clamping finger; 213. clamping finger spring; 214. friction wheel; 215. pressure sensor; 220. cam; 310. pneumatic push rod; 320. magnetic suction cup; 410. drive motor; 420. traveling wheel; 510. arc guide rail; 520. guide rail slider; 531. electric push rod; 532. ultrasonic flaw detector; 533. laser scanner. DETAILED DESCRIPTION

[0034] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. Component models, material names, connection structures, control methods, algorithms and other features not clearly described in this technical solution are all considered to be common technical features disclosed in the prior art.

[0035] Example 1

[0036] This embodiment provides a curtain wall detection steering climbing robot, such as Figure 1-4 As shown, it includes: a body 1 and a clamping mechanism 2, a running mechanism 4, a magnetic adsorption mechanism 3, a sensing and detecting mechanism 5 and a body host 6 installed on the body 1;

[0037] The body 1 includes a base 110, a disc gear 140 disposed at the center of the base 110 via a rotating shaft, a worm motor 120 and a worm gear assembly disposed on the base 110, and a mounting plate 150 fixed on the disc gear 140;

[0038] The clamping mechanism 2 comprises: a cam 220 and a clamping claw assembly fixedly connected to the mounting plate 150;

[0039] The magnetic adsorption mechanism 3 includes a coaxial and cocentric pneumatic push rod 310 and a magnetic suction cup 320, and the pneumatic push rod 310 is located at the center of the disc gear 140;

[0040] The travel mechanism 4 is located between the clamping mechanism 2 and the magnetic adsorption mechanism 3;

[0041] The sensing detection mechanism 5 includes: an arc-shaped guide rail 510, a guide rail slider 520 located on the arc-shaped guide rail 510, and a detection platform; the detection platform is fixed on the guide rail slider 520, and moves on the arc-shaped guide rail 510 to increase the detection area of ​​the device;

[0042] The main machine 6 is installed on the other side of the base 110 to supply power to the device and exchange data with the curtain wall data platform.

[0043] In a specific embodiment, the base 110 is provided with a pair of worm motors 120 and worm gear assemblies at the top and bottom. The worm motors 120 and worm gear assemblies are symmetrically distributed with respect to the disc gear 140 and are used for positioning and installing the clamping mechanism 2 and the travel mechanism 3 .

[0044] In a specific embodiment, the worm gear assembly includes a worm 131 and a worm wheel 132 , the worm 131 is coaxial with the worm motor 120 , and the worm wheel 132 is meshed with the disc gear 140 to achieve device steering.

[0045] In a specific embodiment, the clamping jaw assembly includes: a clamping jaw 211, a clamping finger 212 connected to the clamping jaw 211 through a clamping finger spring 213, a friction wheel 214 arranged in the middle of the clamping jaw 211, and a pressure sensor 215 close to the inner side of the clamping jaw 211.

[0046] In a specific implementation, the cam mechanism 220 rotates in close contact with the friction wheel 214 of the clamping jaw assembly to change the opening and closing angle of the clamping jaw assembly 210 .

[0047] In a specific embodiment, the clamping jaw assembly 210 is composed of four clamping jaws arranged crosswise and symmetrically. When the clamping fingers 212 clamp an irregular connection, the clamping finger spring 213 contracts; the friction wheel 214 is fixed between the two clamping jaws 211 to increase the friction force between the curtain wall column; the pressure sensor 215 is used to output a clamping pressure signal to determine whether it is clamped.

[0048] In a specific implementation, the magnetic suction cup 320 is coaxial and concentric with the pneumatic push rod 310, and the pneumatic push rod 310 pushes the magnetic suction cup 320 to move in the horizontal direction, so that the magnetic suction cup 320 is adsorbed on the curtain wall column when turning.

[0049] In a specific embodiment, the travel mechanism 4 includes: a drive motor 410 and a travel wheel 420, and the drive motor 410 is connected to the disc gear 140 through a fastener; the drive motor 410 drives the travel wheel 420 to move the device on the curtain wall column to achieve all-round detection of the curtain wall.

[0050] In a specific implementation, a pair of arc-shaped guide rails 510 are provided, which are symmetrically installed on the base 110 and are concentric with the disc gear 140 .

[0051] In a specific embodiment, the detection platform includes an electric push rod 531, an acoustic flaw detector 532 and a laser scanner 533 located on the electric push rod 531; when the clamping jaw assembly is clamped, the electric push rod 531 pushes the acoustic flaw detector 532 and the laser scanner 533 to complete the curtain wall detection of the point.

[0052] The working process is as follows: the curtain wall inspection steering climbing robot first rotates the clamping assembly fixing device and the inner column of the curtain wall through the cam 220, and judges whether to tighten according to the pressure sensor 215 on the clamping mechanism 2. The guide rail slider 520 on the arc guide rail 510 on both sides of the base 110 rotates the inspection platform, and the electric push rod 531 pushes the ultrasonic flaw detector 532 and the laser scanner 533 to complete the curtain wall inspection at this point, and then the electric push rod 531 retracts, and the driving device of the traveling mechanism 4 crawls along the column to the next point. When the device crawls to the intersection of the columns, the cam 220 rotates to relax the upper clamping assembly to a larger angle, and the lower clamping assembly reduces the clamping force. The traveling mechanism 4 drives the device to crawl along the column. After completing the obstacle crossing, the upper clamping assembly is clamped, and the process is repeated until the lower clamping assembly completes the obstacle crossing. When the device turns, the pneumatic push rod 310 pushes the magnetic suction cup 320 to be adsorbed on the column, the cam 220 rotates to relax the clamping assembly, and the worm gear on the base drives the disc gear 140 to rotate to a certain angle. After the clamping assembly is clamped, the subsequent sensing and detection work is completed.

[0053] Components not described in detail in this embodiment are all existing components that can be purchased through public channels.

[0054] The above description of the embodiments is to facilitate the understanding and use of the invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims

1. A curtain wall inspection steering climbing robot, characterized in that: include: A body (1), a clamping mechanism (2), a running mechanism (4), a magnetic adsorption mechanism (3), a sensing and detecting mechanism (5), and a body host (6) installed on the body (1); The body (1) comprises a base (110), a disc gear (140) arranged at the center of the base (110) via a rotating shaft, a worm motor (120) and a worm gear assembly arranged on the base (110), and a mounting plate (150) fixed on the disc gear (140); The clamping mechanism (2) comprises: a cam (220) fixedly connected to the mounting plate (150) and a clamping claw assembly; The magnetic adsorption mechanism (3) comprises a coaxial and cocentric pneumatic push rod (310) and a magnetic suction cup (320), wherein the pneumatic push rod (310) is located at the center of the disc gear (140); The traveling mechanism (4) is located between the clamping mechanism (2) and the magnetic adsorption mechanism (3); The sensing detection mechanism (5) comprises: an arc-shaped guide rail (510), a guide rail slider (520) located on the arc-shaped guide rail (510), and a detection platform; the detection platform is fixed on the guide rail slider (520) and moves on the arc-shaped guide rail (510).

2. The curtain wall detection steering climbing robot according to claim 1, characterized in that: A pair of worm motors (120) and worm gear assemblies are disposed above and below the base (110); the worm motors (120) and worm gear assemblies are symmetrically distributed with respect to the disc gear (140) and are used for positioning and installing the clamping mechanism (2) and the travel mechanism (3).

3. The curtain wall detection steering climbing robot according to claim 1, characterized in that: The worm gear assembly comprises a worm (131) and a worm wheel (132); the worm (131) is coaxial with the worm motor (120); and the worm wheel (132) is meshed with the disc gear (140) to achieve device steering.

4. The curtain wall detection steering climbing robot according to claim 1, characterized in that: The clamping jaw assembly comprises: a clamping jaw (211), a clamping finger (212) connected to the clamping jaw (211) via a clamping finger spring (213), a friction wheel (214) arranged in the middle of the clamping jaw (211), and a pressure sensor (215) closely attached to the inner side of the clamping jaw (211).

5. The curtain wall detection steering climbing robot according to claim 4, characterized in that: The cam mechanism (220) rotates in close contact with the friction wheel (214) of the clamping jaw assembly to change the opening and closing angle of the clamping jaw assembly (210).

6. The curtain wall inspection steering climbing robot according to claim 4, characterized in that: The clamping jaw assembly (210) consists of four clamping jaws arranged crosswise and symmetrically. When the clamping fingers (212) clamp an irregular connection, the clamping finger spring (213) contracts. The friction wheel (214) is fixed between the two clamping jaws (211) and is used to increase the friction force between the two clamping jaws and the curtain wall column. The pressure sensor (215) is used to output a clamping pressure signal to determine whether clamping is performed.

7. The curtain wall inspection steering climbing robot according to claim 1, characterized in that: The magnetic suction cup (320) is coaxial and concentric with the pneumatic push rod (310), and the pneumatic push rod (310) pushes the magnetic suction cup (320) to move in the horizontal direction, so that the magnetic suction cup (320) is adsorbed on the curtain wall column when turning.

8. The curtain wall inspection steering climbing robot according to claim 1, characterized in that: The travel mechanism (4) comprises: a drive motor (410) and a travel wheel (420); the drive motor (410) is connected to the disc gear (140) via a fastener; the drive motor (410) drives the travel wheel (420) to move the device on the curtain wall column, thereby achieving all-round detection of the curtain wall.

9. The curtain wall inspection steering climbing robot according to claim 1, characterized in that: A pair of arc-shaped guide rails (510) are provided, symmetrically distributed and installed on the base (110) and concentric with the disc gear (140).

10. The curtain wall inspection steering climbing robot according to claim 1, characterized in that: The detection platform comprises an electric push rod (531), an acoustic flaw detector (532) and a laser scanner (533) located on the electric push rod (531); when the clamping jaw assembly is clamped, the electric push rod (531) pushes the acoustic flaw detector (532) and the laser scanner (533) to complete the curtain wall detection at a certain point.

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