Outer wall surface detection device

Abstract

The invention discloses an outer wall surface detection device, which comprises a chassis assembly, detection equipment, a multi-foot walking mechanism and a self-adaptive suction cup assembly, and is characterized in that the detection equipment is used for detecting the outer wall surface; the multi-foot walking mechanism comprises two moving driving mechanisms and eight crawling units, the eight crawling units are divided into two groups and are orthogonally distributed in a cross shape, the crawling units are connected with the side walls of the chassis assembly, one moving driving mechanism is connected with the four crawling units located on the left side wall and the right side wall, and the other moving driving mechanism is connected with the four crawling units located on the left side wall and the right side wall. The other moving driving mechanism is connected with the four crawling units located on the front side wall and the rear side wall, and the moving driving mechanism can drive the crawling units connected with the moving driving mechanism to alternately walk; each crawling unit is provided with a self-adaptive suction cup assembly, and the self-adaptive suction cup assemblies can be adsorbed to the surface of an outer wall through negative pressure by means of the pressure of the crawling units. The outer wall surface detection device can complete the detection of the whole wall surface in radial, transverse, vertical, turning and other walking modes of the outer wall surface.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering detection, and in particular to an exterior wall surface detection device. Background Art

[0002] With the increasing height and complexity of modern buildings, exterior wall surface inspections (such as crack detection, hollowing detection, and coating evaluation) are placing higher demands on aerial work equipment. Traditional inspection methods primarily rely on manual climbing or suspended equipment, which is subject to low efficiency and poor safety. In recent years, robotics technology has been gradually applied to this field. Common existing solutions include wheeled / tracked mobile robots and multi-legged wall-climbing robots. However, wheeled or tracked devices require high wall flatness and are prone to slippage or adsorption failure on uneven surfaces or at joints in glass curtain walls, resulting in insufficient inspection stability. While multi-legged robots can adapt to complex terrain using discrete pivot points, existing designs often use independently driven leg units, resulting in high control complexity, poor motion coordination, and high energy consumption. For example, gait planning for multi-legged robots requires complex algorithms, and asynchronous movements can easily lead to postural imbalance when turning on walls or navigating obstacles. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide an exterior wall surface detection device that can complete the detection of the entire wall surface in radial, horizontal, vertical, and turning walking modes.

[0004] In order to achieve the above object, the present invention is implemented through the following technical solution: an exterior wall surface detection device, comprising:

[0005] Chassis components,

[0006] A detection device, provided on the chassis assembly, for detecting the exterior wall surface;

[0007] A multi-legged walking mechanism, comprising two mobile drive mechanisms and eight crawling units, wherein the eight crawling units are divided into two groups and arranged orthogonally in a cross shape, each group of crawling units comprising four crawling units, the crawling units being connected to the side walls of the chassis assembly, one of the mobile drive mechanisms being connected to the four crawling units located on the left and right side walls, and another mobile drive mechanism being connected to the four crawling units located on the front and rear side walls, the mobile drive mechanism being capable of driving the crawling units connected thereto to produce alternating walking motions; and

[0008] Adaptive suction cup assembly, each crawling unit is provided with an adaptive suction cup assembly, and the adaptive suction cup assembly can be adsorbed on the outer wall surface through negative pressure through the pressure of the crawling unit.

[0009] Furthermore, the movement drive mechanism is a cam transmission mechanism with a phase difference of 180°, and the crawling unit includes an upper positioning plate, a lower positioning plate, a first hinge rod, a second hinge rod, a transmission connecting rod and a compensation connecting rod;

[0010] The upper positioning plate and the lower positioning plate are arranged in parallel in space, and the two are constrained in two axes by the first hinge rod and the second hinge rod;

[0011] One end of the transmission connecting rod is hinged to the top of the upper positioning plate, and the other end is hinged to the eccentric shaft of the cam transmission mechanism through a hinge;

[0012] One end of the compensation link is hinged to the lower positioning plate, and the other end is hinged to the hinge.

[0013] Furthermore, the cam transmission mechanism includes a rotary power source, a differential drive shaft and two cams. The differential drive shaft is rotatably arranged on the chassis assembly. The rotary power source is used to drive the differential drive shaft to rotate clockwise or counterclockwise. The two cams are respectively mounted and fixed on the ends of the differential drive shaft, and the small ends of the two cams are staggered at 180°. The hinge is arranged at the farthest end of the cam.

[0014] Furthermore, the adaptive suction cup assembly includes a disc body, a pressure rod, an elastic support member and a suction cup, the disc body is fixed to the lower surface of the connecting disc, the disc body is a hollow body, and the bottom surface of the disc body is provided with a plurality of through-holes connected to its inner cavity, and a pressure rod is slidably inserted in each of the through-holes, and each of the pressure rods is supported on the inner top surface of the disc body by the elastic support member.

[0015] Furthermore, the adaptive suction cup assembly further includes an elastic sleeve, each of the pressure rods is provided with an elastic sleeve, and two ends of the elastic sleeve are respectively in contact with the suction cup and the disc body.

[0016] Furthermore, the reverse elastic force of the elastic support member decreases as the compression stroke increases.

[0017] Furthermore, a limiting ring is provided on the top of the pressure rod, and the outer diameter of the limiting ring is larger than the inner diameter of the through hole.

[0018] Furthermore, it also includes elastic auxiliary hooks, and a plurality of the elastic auxiliary hooks are circumferentially spaced at the bottom end of each pressure rod, and the elastic auxiliary hooks can grasp the gaps or protrusions on the surface of the outer wall.

[0019] Furthermore, the elastic auxiliary grab hook includes a first grab rod and a second grab rod hinged to each other, the end of the first grab rod is fixedly connected to the pressure rod, and an elastic connecting piece is connected between the first grab rod and the second grab rod. When the elastic connecting piece is in a natural state, the second grab rod tilts toward the pressure rod.

[0020] Beneficial effects of the present invention:

[0021] When using the above-mentioned exterior wall surface detection device, the detection equipment is first installed on the chassis assembly. When vertical upward movement is required, the device is placed on the exterior wall surface, so that the adaptive suction cup assemblies on the right front and left rear (or the left front and right rear) crawling units are adsorbed tightly against the wall, and pressure perpendicular to the wall is applied to the device until the two adaptive suction cup assemblies are adsorbed on the wall. Then the detection equipment is started, and then the mobile drive mechanism is started. The mobile drive mechanism will drive the two crawling units located at the right rear and left front to move forward and press down at the same time, so that the adaptive suction cup assemblies at the right rear and left front are pressed against the wall. At the same time, the adaptive suction cup assemblies at the right rear and left front are pulled away from the wall, completing the movement of the crawling unit.

[0022] When lateral walking is required, the same principle is adopted, and another mobile driving mechanism is used to drive the four crawling units located on the front and rear side walls to produce alternating walking movements, thereby completing lateral walking.

[0023] By driving eight crawling units through two sets of mobile drive mechanisms, radial, horizontal, vertical, and turning walking modes can be achieved on the surface of the outer wall to complete the inspection of the entire wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific embodiments of the present invention, the following briefly introduces the drawings required for use in the specific embodiments. In all the drawings, each element or part is not necessarily drawn according to the actual scale.

[0025] Figure 1 A schematic diagram of an exterior wall surface detection device provided by one embodiment of the present invention;

[0026] Figure 2 for Figure 1 Schematic diagram of the installation of the mobile drive mechanism in the exterior wall surface detection device shown;

[0027] Figure 3 for Figure 1 A schematic diagram of an adaptive suction cup assembly in an exterior wall surface detection device is shown;

[0028] Figure 4 for Figure 1 Schematic diagram of the elastic auxiliary hook and elastic sleeve assembled on the pressure rod in the external wall surface detection device shown;

[0029] Reference numerals:

[0030] 100. Chassis assembly; 200. Detection equipment; 300. Multi-legged walking mechanism; 310. Mobile drive mechanism; 311. Rotary power source; 312. Differential drive shaft; 313. Cam; 320. Crawling unit; 321. Upper positioning plate; 322. Lower positioning plate; 323. First articulated rod; 324. Second articulated rod; 325. Transmission connecting rod; 326. Compensation connecting rod; 400. Adaptive suction cup assembly; 410. Disc body; 420. Pressure rod; 430. Elastic support member; 440. Suction cup; 450. Elastic sleeve; 460. Limiting ring; 500. Elastic auxiliary grab hook; 510. First grab bar; 520. Second grab bar; 530. Elastic connecting member. DETAILED DESCRIPTION

[0031] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0032] See Figures 1 to 4 The present invention provides an exterior wall surface detection device, including a chassis component 100, a detection device 200, a multi-legged walking mechanism 300 and an adaptive suction cup component 400.

[0033] Specifically, the detection device 200 is provided on the chassis assembly 100 and is used to detect the exterior wall surface. The detection device 200 can be a photographic device, an ultrasonic device, or an infrared device for detecting the exterior of the wall.

[0034] The multi-legged walking mechanism 300 includes two mobile drive mechanisms 310 and eight crawling units 320. The eight crawling units 320 are divided into two groups and arranged orthogonally in a cross shape. Each group of crawling units 320 includes four crawling units 320. The crawling units 320 are connected to the side walls of the chassis assembly 100. One mobile drive mechanism 310 is connected to the four crawling units 320 located on the left and right side walls, and the other mobile drive mechanism 310 is connected to the four crawling units 320 located on the front and rear side walls. The mobile drive mechanism 310 can drive the connected crawling units 320 to produce alternating walking movements. Each crawling unit 320 is equipped with an adaptive suction cup assembly 400, which can be sucked onto the exterior wall surface through negative pressure generated by the pressure of the crawling unit 320.

[0035] During use, the detection device 200 is first installed on the chassis assembly 100. When vertical upward movement is required, the device is placed on the surface of the outer wall, so that the adaptive suction cup assemblies 400 on the right front and left rear (or the left front and right rear) crawling units 320 are adsorbed against the wall, and pressure perpendicular to the wall is applied to the device until the two adaptive suction cup assemblies 400 are adsorbed on the wall. Then, the detection device 200 is started, and then the mobile drive mechanism 310 is started. The mobile drive mechanism 310 will drive the two crawling units 320 located at the right rear and left front to move forward and press down at the same time, so that the adaptive suction cup assemblies 400 at the right rear and left front are pressed against the wall. At the same time, the adaptive suction cup assemblies 400 at the right rear and left front will be pulled away from the wall, completing the walking of the crawling unit 320.

[0036] When lateral walking is required, the same principle is adopted, and another mobile driving mechanism 310 drives the four crawling units 320 located on the front and rear side walls to produce alternating walking movements, thereby completing lateral walking.

[0037] By driving eight crawling units 320 to move through two groups of mobile driving mechanisms 310, radial, horizontal, vertical, and turning walking modes on the surface of the outer wall are realized to complete the detection of the entire wall surface.

[0038] In this embodiment, the mobile drive mechanism 310 is a cam transmission mechanism with a phase difference of 180°. The crawling unit 320 includes an upper positioning plate 321, a lower positioning plate 322, a first hinge rod 323, a second hinge rod 324, a transmission link 325, and a compensation link 326. The upper positioning plate 321 and the lower positioning plate 322 are arranged in parallel in space, and the two are bounded by the first hinge rod 323 and the second hinge rod 324 to form a biaxial constraint. One end of the transmission link 325 is hinged to the vertex of the upper positioning plate 321, and the other end is hinged to the eccentric shaft of the cam transmission mechanism. One end of the compensation link 326 is hinged to the lower positioning plate 322, and the other end is hinged.

[0039] Specifically, the cam transmission mechanism includes a rotary power source 311, a differential drive shaft 312 and two cams 313. The differential drive shaft 312 is rotatably arranged on the chassis assembly 100. The rotary power source 311 is used to drive the differential drive shaft 312 to rotate clockwise or counterclockwise. The two cams 313 are respectively mounted and fixed on the ends of the differential drive shaft 312, and the small ends of the two cams 313 are staggered at 180°, and the hinge is set at the farthest end of the cam 313.

[0040] During use, when the cam transmission mechanism rotates, it can alternately drive the two groups of crawling units 320 on the cross line to walk like four-legged animals.

[0041] In this embodiment, the adaptive suction cup assembly 400 includes a disc body 410, a pressure rod 420, an elastic support member 430, and a suction cup 440. The disc body 410 is fixed to the lower surface of the connecting disc. The disc body 410 is hollow. The bottom surface of the disc body 410 is provided with multiple through-holes connected to its inner cavity. A pressure rod 420 is slidably inserted into each through-hole. Each pressure rod 420 is supported on the inner top surface of the disc body 410 by the elastic support member 430. It should be noted that in a specific implementation, in order to be able to use uneven walls, the number of pressure rods 420 should be as large as possible, and the number of suction cups 440 should be adapted to the uneven wall surface, so as to avoid that when some suction cups 440 lose their function, the attraction between the remaining suction cups 440 and the wall surface is sufficient to support the device from falling.

[0042] When the adaptive suction cup assembly 400 is subjected to downward pressure, the suction cup 440 contacts the wall first, pushing the pressure rod 420 to retract, and the elastic support member 430 to contract. As the pressure continues to be applied, the suction cup 440 is adsorbed on the wall.

[0043] As a preferred embodiment, in specific implementation, the reverse elastic force of the elastic support member 430 should decrease as the compression stroke increases, such as a hydraulic elastic member or a pneumatic elastic member.

[0044] As another advantageous embodiment, the adaptive suction cup assembly 400 further includes an elastic sleeve 450 . Each pressure rod 420 is provided with an elastic sleeve 450 , and both ends of the elastic sleeve 450 abut against the suction cup 440 and the disc body 410 , respectively.

[0045] When the suction cup 440 is pressed against the wall, the elastic sleeve 450 is simultaneously pressed against the suction cup 440 , thereby improving the fit between the suction cup 440 and the wall and enhancing the negative pressure attraction.

[0046] In addition, a limit ring 460 is provided on the top of the pressure rod 420. The outer diameter of the limit ring 460 is larger than the inner diameter of the perforation. The limit ring 460 prevents the pressure rod 420 from being separated from the plate body 410 when the adaptive suction cup assembly 400 is separated from the wall.

[0047] As another more effective embodiment, the device may also include elastic auxiliary hooks 500. A plurality of elastic auxiliary hooks 500 are circumferentially spaced at the bottom end of each pressure rod 420. The elastic auxiliary hooks 500 can grip the gaps or protrusions on the surface of the outer wall.

[0048] Specifically, the elastic auxiliary grab hook 500 includes a first grab rod 510 and a second grab rod 520 hinged to each other. The end of the first grab rod 510 is fixedly connected to the pressure rod 420. An elastic connecting member 530 is connected between the first grab rod 510 and the second grab rod 520. When the elastic connecting member 530 is in a natural state, the second grab rod 520 tilts toward the pressure rod 420.

[0049] As the adaptive suction cup assembly 400 is pressed downward, the second gripping rod 520 of the elastic auxiliary hook 500 automatically latches onto gaps, protrusions, or recesses within the wall, further enhancing the stability of the connection to the wall. When the adaptive suction cup assembly 400 is released from the wall, the elastic auxiliary hook 500 is simultaneously pulled, causing the second gripping rod 520 to extend and the elastic auxiliary hook 500 to release.

[0050] By using the above-mentioned exterior wall surface detection device, through the coordinated action of the multi-legged walking mechanism 300, the adaptive suction cup assembly 400, and the elastic auxiliary hook 500, the exterior wall surface detection device can smoothly travel on the vertical wall surface to achieve exterior wall surface detection.

[0051] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. An external wall surface detection device, characterized in that: include: Chassis components, A detection device, provided on the chassis assembly, for detecting the exterior wall surface; A multi-legged walking mechanism, comprising two mobile drive mechanisms and eight crawling units, wherein the eight crawling units are divided into two groups and arranged orthogonally in a cross shape, each group of crawling units comprising four crawling units, the crawling units being connected to the side walls of the chassis assembly, one of the mobile drive mechanisms being connected to the four crawling units located on the left and right side walls, and another mobile drive mechanism being connected to the four crawling units located on the front and rear side walls, the mobile drive mechanism being capable of driving the crawling units connected thereto to produce alternating walking motions; and Adaptive suction cup assembly, each crawling unit is provided with an adaptive suction cup assembly, and the adaptive suction cup assembly can be adsorbed on the outer wall surface through negative pressure through the pressure of the crawling unit.

2. The exterior wall surface detection device according to claim 1, characterized in that: The mobile driving mechanism is a cam transmission mechanism with a phase difference of 180 degrees, and the crawling unit includes an upper positioning plate, a lower positioning plate, a first hinge rod, a second hinge rod, a transmission connecting rod and a compensation connecting rod; The upper positioning plate and the lower positioning plate are arranged in parallel in space, and the two are constrained in two axes by the first hinge rod and the second hinge rod; One end of the transmission connecting rod is hinged to the top of the upper positioning plate, and the other end is hinged to the eccentric shaft of the cam transmission mechanism through a hinge; One end of the compensation link is hinged to the lower positioning plate, and the other end is hinged to the hinge.

3. The exterior wall surface detection device according to claim 2, characterized in that: The cam transmission mechanism includes a rotary power source, a differential drive shaft and two cams. The differential drive shaft is rotatably arranged on the chassis assembly. The rotary power source is used to drive the differential drive shaft to rotate clockwise or counterclockwise. The two cams are respectively mounted and fixed on the ends of the differential drive shaft, and the small ends of the two cams are staggered by 180 degrees. The hinge is arranged at the farthest end of the cam.

4. The exterior wall surface detection device according to claim 1, characterized in that: The adaptive suction cup assembly includes a disc body, a pressure rod, an elastic support member and a suction cup. The disc body is fixed to the lower surface of the connecting disc. The disc body is a hollow body. The bottom surface of the disc body is provided with multiple through holes connected to its inner cavity. A pressure rod is slidably inserted into each through hole. Each pressure rod is supported on the inner top surface of the disc body by the elastic support member.

5. The exterior wall surface detection device according to claim 4, characterized in that: The adaptive suction cup assembly further comprises an elastic sleeve, each of the pressure rods is provided with an elastic sleeve, and two ends of the elastic sleeve are respectively in contact with the suction cup and the disc body.

6. The exterior wall surface detection device according to claim 4, characterized in that: The reverse elastic force of the elastic support member decreases as the compression stroke increases.

7. The exterior wall surface detection device according to claim 4, characterized in that: A limiting ring is provided on the top of the pressure rod, and the outer diameter of the limiting ring is larger than the inner diameter of the through hole.

8. The exterior wall surface detection device according to claim 4 or 5, characterized in that: It also includes elastic auxiliary hooks. A plurality of the elastic auxiliary hooks are circumferentially spaced apart at the bottom end of each pressure rod. The elastic auxiliary hooks can grip the gaps or protrusions on the surface of the outer wall.

9. The exterior wall surface detection device according to claim 8, characterized in that: The elastic auxiliary grab hook includes a first grab rod and a second grab rod hinged to each other, the end of the first grab rod is fixedly connected to the pressure rod, and an elastic connecting piece is connected between the first grab rod and the second grab rod. When the elastic connecting piece is in a natural state, the second grab rod tilts toward the pressure rod.

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