Wall-climbing robot for glass curtain wall detection

Abstract

The invention belongs to the technical field of glass curtain wall detection, and provides a wall-climbing robot for glass curtain wall detection, which comprises a frame, a working through groove is horizontally formed in the frame, and a telescopic rod assembly and a water supply assembly are arranged in the working through groove. A first camera, a first detection assembly used for detecting glass surface cracks and bubble defects, a second detection assembly used for detecting glass mounting looseness and a water spraying pipe used for spraying water to the sealing rubber strip are arranged on the side, away from the frame, of the telescopic rod assembly, and the water spraying pipe communicates with the water supply assembly; and the traction assembly is arranged at the top of the building body and used for pulling the vehicle frame upwards. According to the invention, enough inspection equipment and a large number of water sources can be carried in one inspection, so that large-area and multi-project inspection can be realized at a time.

Description

Technical Field

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

[0002] Glass curtain walls are a lightweight, decorative wall commonly used in high-rise and large buildings today. They consist of glass panels and associated structures. To prevent the risk of falling from heights, glass curtain walls and their associated structures require periodic performance testing to determine if the glass is loose, if the glass seals are aging and failing, and if there are surface defects such as cracks and bubbles.

[0003] Currently, the inspection and testing of building glass curtain walls primarily relies on manual judgment, with specialized technicians working at height. However, this method is dangerous, labor-intensive, and requires specialized technicians to perform high-altitude inspections. While existing wall-climbing robots can replace manual inspections of glass curtain walls, they rely on air pressure differentials to adhere to the surface, resulting in limited load capacity and inability to carry multiple test instruments simultaneously. Furthermore, testing for aging sealant strips requires spraying water on the surface, which existing robots cannot carry sufficient water. Consequently, the number of items that can be inspected at a time is limited, the inspection area is limited, and inspection efficiency is low. Summary of the Invention

[0004] The purpose of the present invention is to provide a wall-climbing robot for glass curtain wall inspection to solve the above problems.

[0005] To achieve the above objectives, the present invention provides the following solution: a wall-climbing robot for glass curtain wall inspection, comprising:

[0006] A vehicle frame, wherein a working slot is horizontally formed in the vehicle frame, a telescopic rod assembly and a water supply assembly are disposed in the working slot, a first camera, a first detection assembly for detecting cracks and bubble defects on the glass surface, a second detection assembly for detecting loose glass installation, and a water spray pipe for spraying water onto the sealing strip are disposed on a side of the telescopic rod assembly away from the vehicle frame, the water spray pipe being in communication with the water supply assembly;

[0007] A traction assembly is arranged on the top of the building and is used to pull the frame upwards.

[0008] Preferably, the telescopic rod assembly includes two sets of slide bars which are horizontally and slidably connected to the top and bottom of the working through groove respectively. A connecting plate is fixedly connected between the same ends of the two slide bars. The connecting plate is located outside the working through groove. The first camera, the first detection component, the second detection component and the water spraying pipe component are respectively fixedly connected to the connecting plate;

[0009] An expansion driving mechanism is further arranged in the working through groove. The expansion driving mechanism is arranged between the water supply component and the two slide bars and is used for driving the slide bars to move so as to adjust the distance between the connecting plate and the vehicle frame.

[0010] Preferably, the water supply component includes a sliding frame which is horizontally and slidably connected in the working through groove and is located between the two slide bars. A water tank and a water pump are fixedly connected in the sliding frame. The water pump is used for pumping the water in the water tank into the water spraying pipe component.

[0011] Preferably, the expansion driving mechanism includes two driving parts fixedly connected in the working through groove. The two driving parts are respectively located at the top and bottom of the sliding frame;

[0012] The driving part includes a gear box fixedly connected in the working through groove. An adjusting motor is fixedly connected in the gear box. A first gear, a second gear and an intermediate gear are rotatably connected in the gear box. A small gear is fixedly connected to the side wall of the second gear coaxially. The small gear and the first gear are respectively meshed with the intermediate gear. The first gear is meshed with a first rack fixedly connected horizontally to the bottom of the sliding frame. The second gear is meshed with a second rack fixedly connected horizontally to the top of the slide bar. The adjusting motor is used for driving the intermediate gear to rotate.

[0013] Preferably, the first detection component includes a fixing plate fixedly connected to the connecting plate. A turntable is rotatably connected to one side of the fixing plate close to the glass curtain wall. The turntable is arranged parallel to the glass curtain wall. A rotating motor for driving the turntable to rotate is fixedly connected to the fixing plate. A second camera for detecting cracks and bubble defects on the glass surface and a supplementary light head for supplementing light to the detection surface are fixedly connected to one side of the turntable close to the glass curtain wall.

[0014] Preferably, the second detection component includes a laser vibrometer fixedly connected to the connecting plate. The laser vibrometer is used for measuring the fundamental frequency of the glass.

[0015] Preferably, the water spraying pipe component includes a water pipe fixedly connected to the connecting plate. The water pipe is communicated with the water outlet of the water pump. A plurality of water spray heads are arranged on the side wall of the water pipe. The water spray heads are used for spraying water to the glass sealant strip.

[0016] Preferably, the traction assembly includes a horizontally arranged slide rail, the slide rail is arranged on the top of the building through a support mechanism, a sliding box is arranged at the bottom of the slide rail, a sliding driving member is arranged between the sliding box and the slide rail, and a pulling member for pulling the vehicle frame is arranged in the sliding box.

[0017] Preferably, the pulling member includes a hoist fixed in the sliding box and a hoist motor for driving the hoist to rotate. The free end of the rope in the hoist penetrates through the top of the sliding box and is fixedly connected to the top of the vehicle frame.

[0018] Preferably, a plurality of ducted fans are fixedly connected to the vehicle frame, the plurality of ducted fans are arranged perpendicular to the glass curtain wall, and the plurality of ducted fans are used to make the vehicle frame closely attached to the glass curtain wall.

[0019] Compared with the prior art, the present invention has the following advantages and technical effects: Overall, the present invention sets a traction assembly on the top of the building, replaces the negative pressure adsorption method to move the vehicle frame on the surface of the glass curtain wall, improves the load capacity of the vehicle frame, enables the vehicle frame to carry sufficient inspection equipment and a large amount of water source during one inspection, realizes single - time large - area and multi - item inspection, reduces the time loss caused by the wall - climbing robot's multiple round - trips for adding water, replacing inspection equipment, etc., and improves the inspection efficiency of the glass curtain wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 It is a cross - sectional schematic view of the wall - climbing robot of the present invention;

[0022] Figure 2 It is a side view of the wall - climbing robot of the present invention;

[0023] Figure 3 It is a schematic view of the driving member of the present invention;

[0024] Figure 4 It is a side view of the fixed plate of the present invention;

[0025] Among them, 1. Frame; 2. Ducted fan; 3. Mecanum wheel; 4. Rope; 5. Sliding box; 6. Winch; 7. Winch motor; 8. Slide rail; 9. Working groove; 10. Sliding frame; 11. Water tank; 12. Gear box; 13. Slide bar; 14. Water pump; 15. Connecting plate; 16. Fixed plate; 17. Turntable; 18. Connecting rod; 19. First camera; 20. Laser vibrometer; 21. Water pipe; 22. Sprinkler head; 23. Adjusting motor; 24. First gear; 25. Intermediate gear; 26. Second gear; 27. Pinion gear; 28. Second camera; 29. Filling light head; 30. Rotating motor. Detailed implementation manners

[0026] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0027] In order to make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0028] Referring to Figures 1-4 , the present invention provides a wall-climbing robot for glass curtain wall detection, including:

[0029] A frame 1, a working groove 9 is horizontally opened in the frame 1, a telescopic rod assembly and a water supply assembly are arranged in the working groove 9, a first camera 19, a first detection assembly for detecting the crack and bubble defects on the glass surface, a second detection assembly for detecting the loose installation condition of the glass, and a water spraying pipe assembly for spraying water at the sealing strip are arranged on the side of the telescopic rod assembly away from the frame 1, and the water spraying pipe assembly is communicated with the water supply assembly;

[0030] A traction assembly, which is arranged at the top of the building and is used for upwardly pulling the frame 1.

[0031] The main function of the telescopic rod assembly is to adjust the distances between the first detection assembly, the second detection assembly, and the water spraying pipe assembly and the vehicle frame 1, so as to extend the detection area when the vehicle frame 1 does not move; the main function of the first camera 19 is to locate the position of the second detection assembly and photograph the aging condition of the glass sealant strip; the main function of the water supply assembly is to store the water source for inspection and supply water to the water spraying pipe assembly; the main function of the water spraying pipe assembly is to spray water onto the glass sealant strip to facilitate the detection of the aging condition of the glass sealant strip; the main function of the traction assembly is to pull the vehicle frame 1 upward so that the vehicle frame 1 can move stably on the surface of the glass curtain wall. Overall, by arranging the traction assembly at the top of the building body in the present invention, the vehicle frame is moved on the surface of the glass curtain wall instead of the negative pressure adsorption method, which improves the load capacity of the vehicle frame, enables the vehicle frame to carry sufficient inspection equipment and a large amount of water source during one inspection, realizes single-time large-area and multi-project inspections, reduces the time loss caused by the multiple round trips of the wall-climbing robot for adding water, replacing inspection equipment, etc., and improves the inspection efficiency of the glass curtain wall.

[0032] In a further optimized solution, the telescopic rod assembly includes two sets of slide bars 13, the two sets of slide bars 13 are respectively horizontally slidably connected to the top and bottom of the working through groove 9, a connecting plate 15 is fixedly connected between the same ends of the two slide bars 13, the connecting plate 15 is located outside the working through groove 9, and the first camera, the first detection assembly, the second detection assembly, and the water spraying pipe assembly are respectively fixedly connected to the connecting plate 15;

[0033] An expansion and contraction driving mechanism is further arranged in the working through groove 9, the expansion and contraction driving mechanism is arranged between the water supply assembly and the two slide bars 13, and the expansion and contraction driving mechanism is used to drive the slide bars 13 to move so as to adjust the distance between the connecting plate 15 and the vehicle frame 1.

[0034] As Figure 1 and Figure 2 shown, the two sets of slide bars 13 and the connecting plate 15 are fixedly connected to form a U-shaped structure, a sliding structure is arranged between the two opposite side walls of the slide bars 13 and the two opposite side walls of the working through groove 9, and the connecting plate 15 can be moved away from the vehicle frame 1 by the expansion and contraction driving mechanism pushing the slide bars 13 to the right.

[0035] In a further optimized solution, the water supply assembly includes a sliding frame 10, the sliding frame 10 is horizontally slidably connected in the working through groove 9, and the sliding frame 10 is located between the two slide bars 13. A water tank 11 and a water pump 14 are fixedly connected in the sliding frame 10, and the water pump 14 is used to pump the water in the water tank 11 into the water spraying pipe assembly.

[0036] As Figure 1 shown, a sliding structure is arranged between the two opposite side walls at the top and bottom of the sliding frame 10 and the two opposite side walls of the working through groove 9 to fix the sliding frame 10 in the working through groove 9, so as to arrange the water tank 11 and the water pump 14 in the vehicle frame 1.

[0037] For a further optimized solution, the telescopic driving mechanism includes two driving members fixedly connected to the working through groove 9, and the two driving members are respectively located at the top and bottom of the sliding frame 10;

[0038] The driving member includes a gear box 12 fixedly connected to the working through groove 9. An adjusting motor 23 is fixedly connected inside the gear box 12. A first gear 24, a second gear 26 and an intermediate gear 25 are rotatably connected inside the gear box 12. A small gear 27 is coaxially fixedly connected to the side wall of the second gear 26. The small gear 27 and the first gear 24 are respectively meshed with the intermediate gear 25. The first gear 24 is meshed with a first rack (not shown in the figure) fixedly connected horizontally to the bottom of the sliding frame 10. The second gear 26 is meshed with a second rack (not shown in the figure) fixedly connected horizontally to the top of the sliding bar 13. The adjusting motor 23 is used to drive the intermediate gear 25 to rotate.

[0039] As Figures 1-3 shown, when it is necessary to move the connecting plate 15 to the right, the two adjusting motors 23 drive the intermediate gear 25 to rotate, thereby driving the first gear 24 and the small gear 27 to rotate. The small gear 27 simultaneously drives the second gear 26 to rotate. Due to the setting of the small gear 27, the first gear 24 and the second gear 26 rotate in the same direction at the same time, but the rotation speed of the first gear 24 is less than that of the second gear 26. At this time, the sliding bar 13 is pushed by the second gear 26 to move to the right, so that the connecting plate 15 moves away from the vehicle frame 1. At the same time, the sliding frame 10 is pushed by the first gear 24 to move to the left, but the moving distance of the sliding frame 10 is shorter. Thus, during the process of the connecting plate 15 driving the first detection assembly, the second detection assembly, and the first camera 19 to move to the right, by appropriately moving the water supply assembly to the right, the center of gravity deflection of the vehicle frame 1 is balanced, and the stability of the vehicle frame 1 is improved.

[0040] For a further optimized solution, as Figure 4 shown, one end of a connecting rod 18 is fixedly connected to the fixing plate 16, and the other end of the connecting rod 18 is fixedly connected to the first camera 19.

[0041] For a further optimized solution, the first detection assembly includes a fixing plate 16 fixedly connected to the connecting plate 15. A turntable 17 is rotatably connected to one side of the fixing plate 16 close to the glass curtain wall. The turntable 17 is arranged parallel to the glass curtain wall. A rotating motor 30 for driving the turntable 17 to rotate is fixedly connected to the fixing plate 16. A second camera 28 for detecting cracks and bubble defects on the glass surface and a supplementary light head 29 for supplementing light to the detection surface are fixedly connected to one side of the turntable 17 close to the glass curtain wall.

[0042] As Figure 1 and Figure 4As shown, the supplementary light head 29 can be a supplementary light lamp for illuminating the glass surface. The main function of the second camera 28 is to photograph the glass surface to confirm whether there are defects such as cracks and bubbles. When a suspected defect location is found, the supplementary light head 29 can be turned on, and the turntable 17 is driven to rotate by the rotating motor 30, changing the angles of the supplementary light head 29 and the second camera 28 relative to the suspected defect location. By utilizing the difference in the reflected light at cracks and bubbles, it is finally confirmed whether there are defects, improving the accuracy of inspection.

[0043] In a further optimized solution, the second detection component includes a laser vibrometer 20 fixedly connected to the connecting plate 15, and the laser vibrometer 20 is used to measure the fundamental frequency of the glass.

[0044] As Figure 1 shown, in the initial stage of using the glass curtain wall, the glass curtain wall is excited by the laser vibrometer 20 to obtain the initial fundamental frequency of the curtain wall. In subsequent tests, by using the movement of the vehicle frame 1 and the left - right movement of the connecting plate 15, the laser vibrometer 20 excites the glass curtain wall to obtain a new excitation frequency of the curtain wall, and compares it with the initial fundamental frequency to determine whether the curtain wall has become loose. During the process, the first camera 19 can be used to locate the position of the laser vibrometer 20.

[0045] In a further optimized solution, the water spraying pipe component includes a water pipe 21 fixedly connected to the connecting plate 15. The water pipe 21 is communicated with the water outlet of the water pump 14, and a plurality of water spray heads 22 are arranged on the side wall of the water pipe 21. The water spray heads 22 are used to spray water at the glass sealant strip.

[0046] As Figure 1 shown, during the movement of the vehicle frame 1 or the connecting plate 15, the water pump 14 pumps the water in the water tank 11 into the water pipe 21, and sprays water on the surface of the glass sealant strip through a plurality of water spray heads 22. The first camera 19 records the water spraying process and identifies the position of the sealant strip aging and water seepage according to the video.

[0047] In a further optimized solution, the traction component includes a horizontally arranged slide rail 8. The slide rail 8 is arranged on the top of the building through a support mechanism. A sliding box 5 is arranged at the bottom of the slide rail 8. A sliding driving member (not shown in the figure) is arranged between the sliding box 5 and the slide rail 8, and a pulling member for pulling the vehicle frame 1 is arranged in the sliding box 5.

[0048] As Figure 1 shown, the main function of the sliding driving member is to drive the sliding box 5 to move left - right along the slide rail 8, so that the vehicle frame 1 is always directly below the sliding box 5. In this embodiment, the sliding driving member can be a lead screw and slider structure to realize the movement of the sliding box 5.

[0049] In a further optimized solution, the main function of the support mechanism is to be fixed on the top of the building and finally limit the position of the slide rail 8. The support mechanism is a conventional device, and its structure will not be elaborated here.

[0050] For a further optimized solution, the pulling member includes a winch 6 fixedly connected inside the sliding box 5 and a winch motor 7 for driving the winch 6 to rotate. The free end of the rope 4 inside the winch 6 penetrates through the top of the sliding box 5 and is fixedly connected to the top of the vehicle frame 1.

[0051] As Figure 1 shown, when it is necessary to lift the vehicle frame 1, the winch motor 7 drives the winch 6 to rotate to wind up the rope 4, and then the vehicle frame 1 can be pulled up. By controlling the winch motor 7 to reverse, the vehicle frame 1 can be released downward.

[0052] For a further optimized solution, a plurality of ducted fans 2 are fixedly connected to the vehicle frame 1. The plurality of ducted fans 2 are arranged perpendicular to the glass curtain wall, and the plurality of ducted fans 2 are used to make the vehicle frame 1 closely adhere to the glass curtain wall.

[0053] As Figure 1 shown, the main function of the ducted fan 2 is to blow air in a direction away from the glass curtain wall, so that the vehicle frame 1 closely adheres to the glass curtain wall and avoids the vehicle frame 1 from shaking.

[0054] For a further optimized solution, a plurality of Mecanum wheels 3 are arranged on both sides of the vehicle frame 1, and motors for driving the Mecanum wheels 3 to rotate are respectively arranged, so that the vehicle frame 1 can move flexibly on the glass curtain wall.

[0055] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, 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 should not be construed as a limitation to the present invention.

[0056] The embodiments described above are only for describing the preferred mode of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solution of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A wall-climbing robot for glass curtain wall inspection, characterized in that, Including: A vehicle frame (1), within which a working through groove (9) is horizontally formed. An expansion link assembly and a water supply assembly are arranged within the working through groove (9). On one side of the expansion link assembly away from the vehicle frame (1), there are a first camera (19), a first detection assembly for detecting cracks and bubble defects on the glass surface, a second detection assembly for detecting the looseness of glass installation, and a water spraying pipe component for spraying water onto the sealing strip. The water spraying pipe component is communicated with the water supply assembly; A traction assembly, which is arranged at the top of the building and is used for upwardly traction of the vehicle frame (1).

2. The wall-climbing robot for glass curtain wall inspection according to claim 1, characterized in that: The expansion link assembly includes two sets of sliding bars (13), which are respectively horizontally slidably connected to the top and bottom of the working through groove (9). A connecting plate (15) is fixedly connected between the same ends of the two sliding bars (13). The connecting plate (15) is located outside the working through groove (9). The first camera, the first detection assembly, the second detection assembly, and the water spraying pipe component are respectively fixedly connected to the connecting plate (15); An expansion driving mechanism is further arranged within the working through groove (9). The expansion driving mechanism is arranged between the water supply assembly and the two sliding bars (13), and is used for driving the sliding bars (13) to move so as to adjust the distance between the connecting plate (15) and the vehicle frame (1).

3. The wall-climbing robot for glass curtain wall detection according to claim 2, wherein: The water supply assembly includes a sliding frame (10), which is horizontally slidably connected within the working through groove (9), and the sliding frame (10) is located between the two sliding bars (13). A water tank (11) and a water pump (14) are fixedly connected within the sliding frame (10). The water pump (14) is used for pumping the water in the water tank (11) into the water spraying pipe component.

4. The wall-climbing robot for glass curtain wall inspection according to claim 3, characterized in that: The expansion driving mechanism includes two sets of driving parts fixedly connected to the working through groove (9), and the two driving parts are respectively located at the top and bottom of the sliding frame (10); The driving part includes a gear box (12) fixedly connected to the working through groove (9). An adjusting motor (23) is fixedly connected within the gear box (12). A first gear (24), a second gear (26), and an intermediate gear (25) are rotatably connected within the gear box (12). A small gear (27) is fixedly connected to the side wall of the second gear (26) coaxially. The small gear (27) and the first gear (24) are respectively meshed with the intermediate gear (25). The first gear (24) is meshed with a first rack horizontally fixedly connected to the bottom of the sliding frame (10). The second gear (26) is meshed with a second rack horizontally fixedly connected to the top of the sliding bar (13). The adjusting motor (23) is used for driving the intermediate gear (25) to rotate.

5. The wall-climbing robot for glass curtain wall detection according to claim 2, wherein: The first detection component includes a fixed plate (16) fixedly connected to the connecting plate (15). A turntable (17) is rotatably connected to one side of the fixed plate (16) close to the glass curtain wall. The turntable (17) is arranged parallel to the glass curtain wall. A rotary motor (30) for driving the turntable (17) to rotate is fixedly connected to the fixed plate (16). A second camera (28) for detecting cracks and bubble defects on the glass surface and a light filling head (29) for filling light to the detection surface are fixedly connected to one side of the turntable (17) close to the glass curtain wall.

6. The wall-climbing robot for glass curtain wall detection according to claim 2, wherein: The second detection component includes a laser vibrometer (20) fixedly connected to the connecting plate (15). The laser vibrometer (20) is used for measuring the fundamental frequency of the glass.

7. The wall-climbing robot for glass curtain wall inspection according to claim 3, wherein: The water spraying pipe component includes a water pipe (21) fixedly connected to the connecting plate (15). The water pipe (21) is communicated with the water outlet of the water pump (14). A plurality of water spraying heads (22) are arranged on the side wall of the water pipe (21). The water spraying heads (22) are used for spraying water to the glass sealant strip.

8. The wall-climbing robot for glass curtain wall inspection according to claim 1, wherein: The traction component includes a horizontal slide rail (8). The slide rail (8) is arranged on the top of the building through a support mechanism. A sliding box (5) is arranged at the bottom of the slide rail (8). A sliding driving part is arranged between the sliding box (5) and the slide rail (8). A pulling part for pulling the vehicle frame (1) is arranged in the sliding box (5).

9. The wall-climbing robot for glass curtain wall detection according to claim 8, wherein: The pulling part includes a hoist (6) fixedly connected in the sliding box (5) and a hoist motor (7) for driving the hoist (6) to rotate. The free end of the rope (4) in the hoist (6) penetrates through the top of the sliding box (5) and is fixedly connected to the top of the vehicle frame (1).

10. The wall-climbing robot for glass curtain wall detection according to claim 1, wherein: A plurality of ducted fans (2) are fixedly connected to the vehicle frame (1). The plurality of ducted fans (2) are arranged perpendicular to the glass curtain wall. The plurality of ducted fans (2) are used for pressing the vehicle frame (1) tightly against the glass curtain wall.

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