Curtain wall detection turning and climbing robot

Abstract

The present application relates to a kind of curtain wall detection steering climbing robot, comprising: body main body and installation on body main body, clamping mechanism, running mechanism, magnetic force adsorption mechanism, sensing detection mechanism and body main machine;Body main body includes base, disc gear by pivot is arranged in the center of base, worm motor and worm gear assembly being arranged on base, mounting plate being fixed on disc gear;Clamping mechanism includes: with mounting plate fixed connection cam and jaw assembly;Magnetic force adsorption mechanism includes coaxial and concentric pneumatic push rod and magnetic force adsorber;Sensing detection mechanism includes: arc guide rail, guide rail slider and detection platform on arc guide rail.Compared with prior art, the present application has double adsorption security mechanism, both reduces the dependence on curtain wall surface smoothness, and improves adsorption stability;It can be self-adapting different sizes rectangular frame, realize the precise closed-loop control of clamping force;Realize the flexible movement of complex structure inside curtain wall.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of curtain wall detection, in particular to a curtain wall detection turning and climbing robot. BACKGROUND

[0002] In today's era of rapid development, there are more and more high-rise buildings, and curtain walls are an important part of modern buildings and are widely used in high-rise buildings. Like other materials and structures, the structural glue, bolts, keels, etc. used in the process of use are affected to varying degrees, resulting in loosening, performance degradation, and even corrosion, thereby affecting their adhesion and fastening force, and further leading to curtain wall loosening and falling.

[0003] With the rapid development of social economy and technology, the appearance of wall climbing robots has solved many repetitive, dangerous and high-cost manual work problems. Existing climbing devices mostly rely on traction ropes or vacuum suction. The former device is complex and cannot climb autonomously, and the latter has high requirements for the smoothness and air permeability of the wall surface, cannot climb rough walls, and the suction cups are easy to wear and have poor obstacle climbing ability, which poses certain risks. Climbing and detecting on the inside of the curtain wall can also reduce the impact of weather, and the requirements of autonomous and turning climbing and lightweight modularization need to be met.

[0004] Patent CN202111402816.3 provides a glass curtain wall detection device based on a bionic wall climbing robot, which includes 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 arranged at both ends of a connecting rod, respectively. The proximal end of the connecting rod is connected to the bionic wall climbing robot through a fixing piece. The pendulum driver drives the detection hammer to knock, and data is collected and received through the laser detection mechanism. The beneficial effects of the present application are that it can replace manual detection of some high-altitude glass curtain walls, reduce the risk of high-altitude operation personnel, and further improve the efficiency and safety of high-altitude operation. However, the knocking structure lacks stability, the laser displacement sensor needs to be parallel to the curtain wall surface, and it is difficult to ensure measurement accuracy on curved or inclined curtain walls, and the obstacle climbing ability is poor. SUMMARY

[0005] The purpose of the present application is to overcome the defects of the prior art, such as complex device, poor adsorption, easy to wear, poor obstacle crossing ability, etc., and provide a curtain wall detection turning and climbing robot, which has a double adsorption guarantee mechanism, adopts a magnetic adsorption+mechanical clamping composite mode, does not need a traction rope and a vacuum adsorption system, reduces the dependence on the surface smoothness of the curtain wall, and improves the adsorption stability; a four-claw cross-symmetrical clamping mechanism cooperates with spring pressure adjustment to adapt to different sizes of rectangular frames and realize precise closed-loop control of clamping force; through the horizontal displacement of the magnetic adsorbing disc and the worm and gear linkage, the curtain wall inside complex structure is flexibly moved through cooperation with the obstacle avoidance function.

[0006] The present application provides a curtain wall detection turning and climbing robot, which comprises a body main body and a clamping mechanism, a running mechanism, a magnetic adsorption mechanism, a sensing detection mechanism and a body main machine installed on the body main body.

[0007] The body main body comprises a base, a disc gear arranged at the center of the base through a rotating shaft, a worm motor and a worm and gear assembly arranged on the base, and a mounting plate fixed to the disc gear.

[0008] The clamping mechanism comprises a cam and a clamping jaw assembly fixedly connected with the mounting plate.

[0009] The magnetic adsorption mechanism comprises a pneumatic push rod and a magnetic adsorbing disc coaxially and concentrically arranged, and the pneumatic push rod is located at the center position of the disc gear.

[0010] The running 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 and a detection platform arranged on the arc-shaped guide rail, and the detection platform is fixed to the guide rail slider and moves on the arc-shaped guide rail to increase the detection area of the device.

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

[0013] Further, a pair of worm motors and worm and gear assemblies are arranged on the base, the worm motors and the worm and gear assemblies are symmetrically distributed relative to the disc gear, and the mounting plate is used for positioning and installing the clamping mechanism and the running mechanism.

[0014] Further, the worm and gear assembly comprises a worm and a worm gear, the worm is coaxial with the worm motor, and the worm gear is engaged with the disc gear to realize the turning of the device.

[0015] Further, the clamping jaw assembly comprises a clamping jaw, a clamping finger connected with the clamping jaw through a clamping finger spring, a friction wheel arranged in the middle of the clamping jaw, and a pressure sensor closely attached to the inner side of the clamping jaw.

[0016] Further, the friction wheel of the cam and gripper assembly is matched and rotated to change the opening angle of the gripper assembly.

[0017] Further, the gripper assembly is arranged symmetrically by four grippers, the gripper spring is contracted when the gripper clamps the irregular connection, the friction wheel is fixed between two grippers to increase the friction with the curtain wall column, and the pressure sensor is used to output the clamping pressure signal to determine whether clamping is performed.

[0018] Further, the magnetic chuck is coaxial with the pneumatic push rod, the pneumatic push rod pushes the magnetic chuck to move in the horizontal direction, and the magnetic chuck is adsorbed on the curtain wall column when turning.

[0019] Further, the traveling mechanism comprises a driving motor and a traveling wheel, the driving motor is connected with the disc gear through a fastener, the driving motor drives the traveling wheel to move the device on the curtain wall column, and full-range detection of the curtain wall is realized.

[0020] Further, the arc-shaped guide rail is provided with a pair of arc-shaped guide rails symmetrically arranged on the base and concentric with the disc gear.

[0021] Further, the detection platform comprises an electric push rod, an acoustic flaw detector and a laser scanner arranged on the electric push rod, the electric push rod pushes the acoustic flaw detector and the laser scanner to complete the curtain wall detection of the point when the gripper assembly clamps.

[0022] The working process is as follows: the curtain wall detection turning climbing robot is first fixed on the inside column of the curtain wall through the cam rotating the clamping assembly fixing device, whether clamping is performed is determined according to the pressure sensor on the clamping mechanism, the guide rail slider on the arc-shaped guide rail on the two sides of the base rotates the detection platform, the electric push rod pushes the acoustic flaw detector and the laser scanner to complete the curtain wall detection of the point, then the electric push rod is retracted, and the traveling mechanism drives the device to climb to the next point along the column. When the device climbs to the intersection of the columns, the cam is rotated to relax the upper clamping assembly to a larger angle, the lower clamping assembly reduces the clamping force, the traveling mechanism drives the device to climb along the column, and the obstacle is overcome after the process is repeated to complete the obstacle overcoming of the lower clamping assembly; when the device turns, the pneumatic push rod pushes the magnetic chuck to be adsorbed on the column, the cam is rotated to relax the clamping assembly, the worm and the gear on the base are driven to rotate the disc gear to a certain angle, the clamping assembly is clamped, and the subsequent sensing detection work is completed.

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

[0024] (1) The device can autonomously climb on the inside column and beam of the curtain wall through the magnetic adsorption mechanism and the clamping mechanism, the use of traction ropes and vacuum adsorption is avoided, the device is simplified, and the risk of low adsorption force caused by low smoothness and poor air permeability of the wall surface is reduced.

[0025] (2) The rectangular clamping mechanism is designed, the clamping jaw assembly is arranged symmetrically by four clamping jaws, the clamping finger spring is contracted when the clamping finger clamps the keel connection, and the rectangular frame is suitable for clamping. The friction wheel is fixed between the two clamping jaws, and the friction force between the friction wheel and the rectangular frame is increased. The clamping jaw pressure sensor outputs a clamping pressure signal to determine whether clamping is performed.

[0026] (3) The magnetic adsorption mechanism and the disc gear are arranged, so that when the device turns, the pneumatic push rod pushes the magnetic adsorption disc to move in the horizontal direction, so that the magnetic adsorption disc is adsorbed on the curtain wall stand during turning, the clamping mechanism is loosened, the disc gear engaged with the worm gear mechanism rotates, and rotation at any angle is realized.

[0027] (4) The sensing detection mechanism is arranged, including an arc-shaped guide rail, a guide rail slider located on the arc-shaped guide rail, and a detection platform. The arc-shaped guide rail is provided with a pair of symmetrically distributed installations on the base, and the detection platform is fixed on the guide rail slider and moves on the arc-shaped guide rail, thereby increasing the detection area of the device. The detection platform includes an electric push rod, an ultrasonic flaw detector located on the electric push rod, and a laser scanner. The electric push rod pushes the ultrasonic flaw detector and the laser scanner to complete the curtain wall detection at the point when the clamping jaw assembly clamps.

[0028] (5) The curtain wall detection turning and climbing robot has various application scenes, and the target function is to clamp the rectangular frame in a narrow space, realize rotation at any angle, complete autonomous climbing, obstacle avoidance and turning functions on the stand on the inside of the curtain wall, sense whether the curtain wall is loose and damaged, exchange data with the curtain wall data platform in real time, greatly reduce the manual detection cost, increase the detection area of the device, and improve the curtain wall detection efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a schematic view of the main structure of the present application;

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

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

[0032] Figure 4 is a schematic view of the clamping mechanism of the present application.

[0033] Reference numerals: 1. Main body; 2. Clamping mechanism; 3. Magnetic adsorption mechanism; 4. Traveling mechanism; 5. Sensing and detection mechanism; 6. Main unit; 110. Base; 120. Worm motor; 131. Worm; 132. Worm wheel; 140. Disc gear; 150. Mounting plate; 211. Gripper; 212. Grip finger; 213. Grip finger spring; 214. Friction wheel; 215. Pressure sensor; 220. Cam; 310. Pneumatic push rod; 320. Magnetic chuck; 410. Drive motor; 420. Traveling wheel; 510. Arc-shaped guide rail; 520. Guide rail slider; 531. Electric push rod; 532. Sonic flaw detector; 533. Laser scanner. Detailed Implementation

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

[0035] Example 1

[0036] This embodiment provides a curtain wall detection, steering, and climbing robot, such as... Figures 1-4 As shown, it includes: a main body 1 and a clamping mechanism 2, a traveling mechanism 4, a magnetic adsorption mechanism 3, a sensing and detection mechanism 5 and a main body 6 mounted on the main body 1;

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

[0038] The clamping mechanism 2 includes a cam 220 and a gripper assembly that are fixedly connected to the mounting plate 150.

[0039] The magnetic adsorption mechanism 3 includes a coaxial pneumatic push rod 310 and a magnetic chuck 320, with the pneumatic push rod 310 located at the center of the disc gear 140.

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

[0041] The sensing and 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 unit 6 is installed on the other side of the base 110, which supplies power to the device and exchanges data with the curtain wall data platform.

[0043] In the specific embodiment, the base 110 is provided with a pair of worm motors 120 and worm gears, which are symmetrically distributed relative to the disc gear 140. The mounting plate 150 is used to position the clamping mechanism 2 and the running mechanism 4.

[0044] In the specific embodiment, the worm gears include a worm 131 coaxial with the worm motor 120 and a worm wheel 132 engaged with the disc gear 140 to realize device steering.

[0045] In the 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 closely attached to the inner side of the clamping jaw 211.

[0046] In the specific embodiment, the cam 220 rotates in conjunction with the friction wheel 214 of the clamping jaw assembly to change the opening angle of the clamping jaw assembly 210.

[0047] In the specific embodiment, the clamping jaw assembly 210 is arranged symmetrically by four clamping jaws. When the clamping finger 212 clamps an irregular connection, the clamping finger spring 213 contracts. The friction wheel 214 is fixed between two clamping jaws 211 to increase the friction force with the curtain wall stand. The pressure sensor 215 is used to output a clamping pressure signal to determine whether clamping is performed.

[0048] In the specific embodiment, the magnetic chuck 320 is coaxial and concentric with the pneumatic push rod 310. The pneumatic push rod 310 pushes the magnetic chuck 320 to move in the horizontal direction, so that the magnetic chuck 320 is adsorbed on the curtain wall stand during steering.

[0049] In the specific embodiment, the running mechanism 4 includes a driving motor 410 and a running wheel 420. The driving motor 410 is connected to the disc gear 140 through fasteners. The driving motor 410 drives the running wheel 420 to move the device on the curtain wall stand, realizing omnidirectional detection of the curtain wall.

[0050] In the specific embodiment, the arc-shaped guide rail 510 is provided with a pair of arc-shaped guide rails symmetrically distributed and mounted on the base 110, and concentric with the disc gear 140.

[0051] In the 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 clamps, the electric push rod 531 pushes the acoustic flaw detector 532 and the laser scanner 533 to complete point curtain wall detection.

[0052] The working process is as follows: the curtain wall detection turning and climbing robot first fixes the clamping assembly fixing device on the inner side of the curtain wall through the cam 220, and then determines whether to tighten according to the pressure sensor 215 on the clamping mechanism 2. The guide rail slider 520 on the arc-shaped guide rail 510 on both sides of the base 110 rotates the detection platform, the electric push rod 531 pushes the ultrasonic flaw detector 532 and the laser scanner 533 to complete the curtain wall detection at the point, and then the electric push rod 531 is retracted. The driving device of the traveling mechanism 4 drives the device to climb to the next point along the column. When the device climbs to the intersection of the column, the upper clamping assembly is loosened to a larger angle by rotating the cam 220, the lower clamping assembly reduces the clamping force, the driving device of the traveling mechanism 4 drives the device to climb along the column, and the process is repeated until the lower clamping assembly completes the obstacle climbing. When the device turns, the pneumatic push rod 310 pushes the magnetic chuck 320 to be adsorbed on the column, the clamping assembly is loosened by rotating the cam 220, the worm gear drive on the base makes the disc gear 140 rotate to a certain angle, and the clamping assembly is clamped to complete the subsequent sensing detection work.

[0053] The components not described in detail in the present embodiment are existing components that can be purchased in the public channel.

[0054] The above description of the embodiments is for the purpose of enabling a person skilled in the art to understand and use the invention. Those skilled in the art can easily make various modifications to these embodiments, and apply the general principles described herein to other embodiments without having to go through creative labor. 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 detection, steering, and climbing robot, characterized in that, include: The main body (1) and the clamping mechanism (2), the driving mechanism (4), the magnetic adsorption mechanism (3), the sensing and detection mechanism (5) and the main body (6) installed on the main body (1); The main body (1) includes a base (110), a disc gear (140) located at the center of the base (110) via a rotating shaft, a worm motor (120) and a worm gear assembly located on the base (110), and a mounting plate (150) fixed on the disc gear (140). The clamping mechanism (2) includes a cam (220) fixedly connected to the mounting plate (150) and a gripper assembly; The magnetic adsorption mechanism (3) includes a coaxial pneumatic push rod (310) and a magnetic chuck (320), with the pneumatic push rod (310) located at the center of the disc gear (140). The driving mechanism (4) is located between the clamping mechanism (2) and the magnetic adsorption mechanism (3); The sensing and 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).

2. The curtain wall inspection, steering, and climbing robot according to claim 1, characterized in that, The base (110) is provided with a pair of worm motors (120) and worm gear assemblies on its upper and lower sides. The worm motors (120) and worm gear assemblies are symmetrically distributed with respect to the disc gear (140). The mounting plate (150) is used to position and install the clamping mechanism (2) and the traveling mechanism (4).

3. The curtain wall inspection, steering, and climbing robot according to claim 1, characterized in that, 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) meshes with a disc gear (140) to achieve device rotation.

4. The curtain wall inspection, turning, and climbing robot according to claim 1, characterized in that, The gripper assembly includes: a gripper (211), a gripper finger (212) connected to the gripper (211) via a gripper finger spring (213), a friction wheel (214) located in the middle of the gripper (211), and a pressure sensor (215) closely attached to the inside of the gripper (211).

5. A curtain wall inspection, steering, and climbing robot according to claim 4, characterized in that, The cam (220) rotates in contact with the friction wheel (214) of the gripper assembly, changing the opening and closing angle of the gripper assembly (210).

6. The curtain wall inspection, turning, and climbing robot according to claim 4, characterized in that, The gripper assembly (210) consists of four grippers arranged symmetrically in a cross pattern. When the gripper finger (212) clamps the irregular connection, the gripper finger spring (213) contracts. The friction wheel (214) is fixed between two grippers (211) to increase the friction between the gripper and the curtain wall column. The pressure sensor (215) is used to output a clamping pressure signal to determine whether the gripper is clamped.

7. A curtain wall inspection, steering, and climbing robot according to claim 1, characterized in that, The magnetic chuck (320) and the pneumatic push rod (310) are coaxial and concentric. The pneumatic push rod (310) pushes the magnetic chuck (320) to move in the horizontal direction, so that the magnetic chuck (320) is attracted to the curtain wall column when turning.

8. A curtain wall inspection, steering, and climbing robot according to claim 1, characterized in that, The driving mechanism (4) includes a drive motor (410) and a driving wheel (420). The drive motor (410) is connected to the disc gear (140) by fasteners. The drive motor (410) drives the driving wheel (420) to move the device on the curtain wall column, thereby realizing the all-round detection of the curtain wall.

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

10. A curtain wall inspection, steering, and climbing robot according to claim 1, characterized in that, 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 gripper assembly clamps, the electric push rod (531) pushes the acoustic flaw detector (532) and the laser scanner (533) to complete the curtain wall detection at the point.

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