Multi-mode building detection device

Abstract

The invention relates to a multi-mode building detection device which comprises a crawler-type walking mechanism, a first-stage lifting mechanism, a second-stage lifting mechanism, an operation clamping mechanism and a detection mechanism. The crawler-type walking mechanism comprises a crawler belt and a walking seat; the first-stage lifting mechanism and the second-stage lifting mechanism respectively realize large-amplitude lifting operation and small-amplitude lifting operation, the detection mechanism comprises a detection box and a plurality of detection tools arranged in the detection box, and clamping heads are arranged on the detection tools; the operation clamping mechanism comprises a swinging shaft, a swinging frame, a swinging rod, a rotating seat, a screw rod, a translation seat, a telescopic cylinder, a telescopic seat and a clamping assembly; by operating the clamping mechanism, automatic grabbing, switching and operation of the detection tool are achieved, manual frequent tool replacement among different devices is not needed, and time consumption of an operation link is greatly reduced. Tasks such as concrete strength and protective layer thickness detection and code spraying marking can be completed at the same time, multiple sets of equipment do not need to be additionally carried, the operation process is simplified, and the comprehensive utilization efficiency of the equipment is improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of building detection, and particularly relates to a multi-modal building detection device. BACKGROUND

[0002] In the wave of rapid technological development, artificial intelligence and machine learning technologies are changing rapidly, which is deeply promoting the transformation of the mobile robot field. Future mobile robots will undoubtedly take a big step towards higher intelligence, more flexible modular design and stronger environmental adaptability. Those with multi-sensor fusion perception ability, autonomous path planning and multi-task collaborative operation will shine in complex industrial scenes and dangerous disaster environments, and become the core direction of the development of new generation intelligent equipment. Among many types of mobile robots, tracked robots have excellent terrain passing ability and play an important role in complex environment operation, and become an indispensable important platform. However, focusing on the field of building engineering construction, the key operation link of concrete detection still faces many technical bottlenecks. In particular, for high concrete detection work, most of the existing technical means rely on manual completion, among which the erection of scaffolding is the most common operation method. However, this method has obvious disadvantages: the erection of scaffolding itself is a tedious and time-consuming project, which consumes a lot of manpower, material resources and time cost, and seriously affects the construction progress; more importantly, the detection personnel must climb to a high place for operation, which undoubtedly puts themselves in great safety risks, and the hidden dangers of safety accidents such as high-altitude falling exist at any time; at the same time, the construction efficiency is low and the detection accuracy is difficult to be stably guaranteed when the manual operation is carried out at a high place due to the influence of factors such as physical strength and attention. Moreover, in the concrete detection process, it is often necessary to complete a variety of detection contents, which requires the use of a variety of equipment such as protective layer thickness detector, concrete strength detector and code sprayer. Under the existing operation mode, the operator often needs to frequently switch between different equipment, which not only increases the complexity of operation, but also easily affects the accuracy of detection data due to errors in the equipment switching process. Moreover, most of these devices need to be manually held and operated, and when operating at a high place, the operator not only needs to ensure his own safety, but also needs to accurately operate the equipment, further increasing the construction difficulty. In addition, the data recording and arrangement of different detection projects also rely on manual completion, which is prone to data omission, errors and other problems, which brings inconvenience to the subsequent engineering quality evaluation and analysis. In summary, the existing concrete detection device in the construction engineering has many defects in high-altitude operation safety, construction efficiency, operation difficulty and data management, which seriously restricts the efficient development of construction engineering quality detection work. Therefore, it has very important practical significance and application value to research a multi-modal building detection device which can integrate multiple detection functions, adapt to high-altitude operation environment, realize automatic detection and data management. SUMMARY

[0003] Therefore, the purpose of the present application is to provide a multi-modal building detection device, which effectively solves the problems of low safety factor, low construction efficiency and high operation difficulty of the existing concrete detection device in high-altitude operation.

[0004] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows: a multi-modal building detection device, comprising a crawler-type walking mechanism, a primary lifting mechanism, a secondary lifting mechanism, an operating clamping mechanism and a detection mechanism. The crawler-type walking mechanism comprises a crawler belt and a walking seat; the walking seat is provided with the crawler belt and is used for walking on the construction surface. The primary lifting mechanism comprises a multi-stage telescopic support rod, a multi-stage telescopic cylinder and a primary lifting seat; the multi-stage telescopic support rod and the multi-stage telescopic cylinder are arranged on the walking seat, and the primary lifting seat is arranged on the top of the multi-stage telescopic support rod and the multi-stage telescopic cylinder. The secondary lifting mechanism comprises a rack, a secondary lifting seat and a lifting motor; the secondary lifting seat is adaptively fitted on the primary lifting seat, and the rack is fixed on the side surface of the secondary lifting seat; the lifting motor is fixed on the primary lifting seat and is in transmission connection with the rack through a gear. The detection mechanism comprises a detection box and a plurality of detection tools arranged in the detection box; the detection tools are provided with clamping heads; and the detection box is fixed on the secondary lifting seat. The operating clamping mechanism comprises a swing shaft, a swing frame, a swing rod, a rotating seat, a screw rod, a translation seat, a telescopic cylinder, a telescopic seat and a clamping assembly; one end of the swing frame is fixed with the swing shaft, and the other end is fixed with the rotating seat; the swing shaft and the rotating seat are both rotationally arranged on the secondary lifting seat; the swing frame is provided with positioning rods on both sides; the screw rod is rotationally arranged in the middle of the swing frame, one end of the screw rod is rotationally fitted in the rotating seat and is led out from the rotating seat; the translation motor is fixed on the rotating seat and is in transmission connection with the screw rod; the translation seat is in screw connection with the screw rod and is slidably fitted on the positioning rods; the telescopic cylinder is fixed on the translation seat, the telescopic seat is slidably fitted on the translation seat and is connected with the telescopic cylinder, and the clamping assembly is arranged at the bottom of the telescopic seat; and the swing shaft is in transmission connection with the driving part and drives the swing shaft to rotate.

[0005] Further, the walking seat is provided with a binocular camera, a laser distance sensor and a lifting base, a multi-stage telescopic cylinder is arranged in the middle of the lifting base, and multi-stage telescopic support rods are arranged at four corners of the lifting base.

[0006] Further, a diagonal bracing mechanism is further included, the diagonal bracing mechanism comprises a telescopic diagonal bracing rod, an adjusting rod, a diagonal bracing base and a fixing base; the telescopic diagonal bracing rod comprises a sleeve rod and a sleeve, which are sleeved together and can be telescopically locked; a hinged base is fixed to the bottom side of the sleeve, a support base is fixed to the bottom support base of the multi-stage telescopic support rod, the adjusting rod is of a telescopic structure, and both ends of the adjusting rod are hinged between the support base and the hinged base, and the fixing base and the diagonal bracing base are respectively hinged to the ends of the sleeve and the sleeve rod; the fixing base is used for being fixed to the multi-stage support rod, and the diagonal bracing base is used for being supported on the ground.

[0007] Further, the driving part comprises a driving rod and a driving cylinder, the driving rod is fixed to the swing shaft, and the end of the driving rod is located at the eccentric side of the swing shaft, and both ends of the driving cylinder are hinged between the secondary lifting base and the driving rod.

[0008] Further, the primary lifting base is provided with a lifting groove, the side of the secondary lifting base is provided with a side positioning plate, the bottom of the side positioning plate is provided with a limiting rod and a rack, the primary lifting base is provided with an avoiding hole corresponding to the limiting rod and the rack, the primary lifting base is adaptively sleeved in the lifting groove, and the bottom of the driving cylinder is hinged to the side positioning plate.

[0009] Further, the detection tool comprises a protective layer thickness detector, a concrete strength detector and a code spraying instrument, the protective layer thickness detector, the concrete strength detector and the code spraying instrument are respectively provided with a clamping head, the detection box is provided with a plurality of storage areas along the extension direction of the screw rod, the protective layer thickness detector, the concrete strength detector and the code spraying instrument are placed in the storage areas correspondingly, and the clamping assembly can correspond to the corresponding detection tool under the translation of the translation seat; the telescopic rod drives the telescopic seat to move, so that the clamping assembly corresponds to the clamping head.

[0010] Further, the concrete strength detector is arranged in the middle of the detection box in the vertical direction, the protective layer thickness detector and the code spraying instrument are arranged on both sides of the detection box, and the middle of the detection box is provided with a notch.

[0011] Further, the end of the swing frame is provided with a distance measuring module for measuring the position of the translation seat.

[0012] Further, the clamping assembly comprises a clamping motor, a driving disc, a sliding block and a shell; the shell is fixed on the telescopic base, the driving disc is rotatably arranged in the shell, the driving disc is provided with a spiral driving groove, the bottom of the shell is provided with a plurality of central strip limiting grooves, the sliding block is slidably sleeved in the limiting groove and nested in the spiral driving groove, and the clamping motor is fixed on the telescopic base and the rotating shaft of the clamping motor is in transmission connection with the driving disc.

[0013] Further, the bottom of the shell is further provided with a clamping seat, the upper part of the detection tool is provided with a clamping block, the clamping block is adapted to be clamped in the clamping seat, and the clamping head is adapted to be clamped in the clamping space formed by the sliding block.

[0014] The above technical scheme has the beneficial effects that: in view of the problems of low safety factor, low construction efficiency and high operation difficulty of the existing concrete detection device in high-altitude operation, the multi-modal building detection device provided by the present application realizes the operation and corresponding action requirements of the detection tool at high altitude through the crawler walking mechanism, the first lifting mechanism, the second lifting mechanism, the operation clamping mechanism and the detection mechanism, and has the following specific beneficial effects: The present application takes the crawler walking mechanism as the moving basis, and realizes height adjustment by matching the first and second lifting mechanisms, so that manual climbing to high-altitude operation is not needed throughout the process, and the safety hazard of high-altitude falling is fundamentally eliminated. At the same time, the diagonal bracing mechanism can diagonally brace and reinforce the device in the working state, and the terrain adaptability of the double-track structure ensures stable operation of the device in complex ground environments, further improving the safety factor of the overall operation. The combination of the first lifting mechanism (multi-stage telescopic cylinder) and the second lifting mechanism (rack and pinion transmission) can quickly realize large and small height adjustment, and compared with the traditional scaffold erection and manual operation mode, the construction efficiency is significantly improved, and it is suitable for operation requirements of different heights. Specifically, the first lifting mechanism is used to raise the equipment to the corresponding work surface, and the second lifting mechanism is used to move up and down on the work surface to cover the entire work surface.

[0015] The operation clamping mechanism is arranged at the top area of the device, and automatic grabbing, switching and operation of the detection tool are realized through the operation clamping mechanism, so that the time consumption of the operation link is greatly reduced without frequent tool replacement between different devices by manual operation. The detection mechanism adopts a partition storage design, and the protective layer thickness detector, the concrete strength detector and the code spraying instrument are arranged in order, and the corresponding positions of the clamping assembly and the tool are accurately positioned through the distance measuring module, so that the positioning error of the device switching is minimized. The dot matrix work of the concrete strength detector and the linear sliding work of the protective layer thickness detector are accurately controlled through the mechanical structure, so that the influence of physical fluctuations or attention deviations of manual operation on the detection data is avoided, the stability and accuracy of the detection results are improved, and the tasks of concrete strength detection, protective layer thickness detection and code spraying marking can be completed at the same time, without the need to carry multiple sets of equipment, the operation process is simplified, and the comprehensive utilization efficiency of the equipment is improved.

[0016] The beneficial effects of the above technical solutions are: in view of the problems of low safety factor, low construction efficiency and high operation difficulty of the existing concrete detection device in high-altitude operation, the multi-modal building detection device provided by the application realizes the operation and corresponding action requirements of the detection tool at high altitude through the track-type walking mechanism, the first lifting mechanism, the second lifting mechanism, the operation clamping mechanism and the detection mechanism, and the specific beneficial effects are as follows: The track-type walking mechanism is used as the moving basis, and the first and second lifting mechanisms are used to realize height adjustment, so that manual climbing to high-altitude operation is not needed throughout the process, and the safety hazard of high-altitude falling is fundamentally eliminated. At the same time, the diagonal bracing mechanism can diagonally brace and reinforce the device in the working state, and the terrain adaptability of the double-track structure ensures stable operation of the device in complex ground environments, and further improves the safety factor of the overall operation. The combination of the first lifting mechanism (multi-stage telescopic cylinder) and the second lifting mechanism (rack and pinion transmission) can quickly realize large and small height adjustment, and compared with the traditional scaffold erection and manual operation mode, the construction efficiency is significantly improved, and is suitable for operation requirements of different heights. Specifically, the first lifting mechanism is used to raise the device to the corresponding operation surface, and the second lifting mechanism is used to move up and down on the operation surface to cover the entire operation surface.

[0017] The application has novel structure, realizes automatic grabbing, switching and operation of detection tooling by configuring operation clamping mechanism in the top area of the device, and does not need manual frequent replacement of tools between different equipment, greatly reducing the time consumption of operation links. The detection mechanism adopts partition storage design, orderly arranges the protective layer thickness detector, concrete strength detector and code spraying instrument, and accurately positions the corresponding positions of the clamping assembly and the tooling through the ranging module, so that the positioning error is minimized when the equipment is switched. The dot matrix work of the concrete strength detector and the linear sliding work of the protective layer thickness detector are accurately controlled through mechanical structure, avoiding the influence of physical fluctuations or attention deviations of manual operation on detection data, improving the stability and accuracy of detection results, and completing the tasks of concrete strength detection, protective layer thickness detection and code spraying marking, without the need to carry multiple sets of equipment, simplifying the operation process and improving the comprehensive utilization efficiency of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is an implementation structure schematic diagram of the application; Figure 2 It is a front view structure schematic diagram of Figure 1 ; Figure 3 It is a right view structure schematic diagram of Figure 1 ; Figure 4 It is a rear view structure schematic diagram of Figure 1 ; Figure 5 It is a top view structure schematic diagram of Figure 1 ; Figure 6 It is an implementation structure schematic diagram of the operation clamping mechanism; Figure 7 It is an implementation structure schematic diagram of the inclined strut mechanism; Figure 8 It is an internal structure schematic diagram of the detection box; Figure 9 It is an implementation structure schematic diagram of the clamping head of the concrete strength tester; Figure 10 It is an implementation structure schematic diagram of the protective layer thickness detector and the code spraying instrument; Figure 11 It is an implementation structure schematic diagram of the clamping assembly; Figure 12 It is an installation structure schematic diagram of the clamping assembly; Figure 13 It is an implementation structure schematic diagram of the driving disc.

[0019] Fig. 1: track, 2: lifting base, 3: multi-stage telescopic support rod, 301: bottom support base of multi-stage telescopic support rod, 302: telescopic base of multi-stage support rod, 303: telescopic inclined support rod, 304: adjusting rod, 305: fixed seat, 306: inclined support base, 4: multi-stage telescopic cylinder, 5: first lifting seat, 6: second lifting seat, 7: rack, 8: lifting motor, 9: limiting rod, 10: side positioning plate, 11: detection box, 12: storage area, 13: swing frame, 14: positioning rod, 15: screw rod, 16: translation seat, 17: rotation seat, 18: translation motor, 19: swing shaft, 20: drive rod, 21: drive cylinder, 22: telescopic cylinder, 23: upper seat body, 24: telescopic seat, 25: clamping motor, 26: drive disc, 27: sliding block, 28: strip-shaped limiting groove, 29: shell, 30: clamping seat, 31: clamping head, 32: clamping block, 33: concrete strength detector, 34: code spraying instrument, 35: protective layer thickness detector. DETAILED DESCRIPTION

[0020] The application will be further described in detail below in combination with the drawings and specific embodiments: Embodiment 1 aims to provide a multi-modal building detection device, mainly used for performance detection of high concrete. In view of the problems of low detection efficiency, great detection difficulty and low safety factor of the current detection method, the embodiment provides a lifting multi-modal building detection device taking a track robot as a walking base to realize performance detection of high concrete.

[0021] As shown in Figures 1-4 A multi-modal building detection device, including a track walking mechanism, a first lifting mechanism, a second lifting mechanism, an operating clamping mechanism and a detection mechanism. The track walking mechanism in the embodiment is a track walking robot. The specific content of the track walking robot is prior art. The track walking robot is internally mounted with a path planning module, a visual recognition module and a laser ranging sensor. The path planning module moves the track walking robot to the corresponding construction site. The first lifting mechanism and the second lifting mechanism are mounted on the track walking robot and respectively realize large and small lifting adjustment of the device. The lifting seat at the top is lifted to the corresponding height to facilitate corresponding detection work on high concrete. The operating clamping mechanism is mounted on the second lifting mechanism and is used to operate the corresponding detection tool to realize swing, translation, telescopic and clamping actions. The detection mechanism is used to store the corresponding detection tool and realize loading of the corresponding device in combination with the operating clamping mechanism.

[0022] Specifically, the crawler walking mechanism includes a crawler belt 1 and a walking base; the walking base is provided with the crawler belt 1 for walking on a construction surface; the walking base is provided with a binocular camera, a laser distance sensor and a lifting base, a multi-stage telescopic cylinder 4 is arranged at the middle of the lifting base 2, and a multi-stage telescopic supporting rod 3 is arranged at each corner of the lifting base; in this embodiment, the lifting base 2 is hollow inside and has a square structure as a whole, and a mounting base is formed at each corner. This embodiment adopts a double-crawler belt structure to provide stable support and power source, can maintain good adaptability in complex terrain (such as rugged and soft ground), and ensure stable operation of the robot. At the same time, a power module and a control core board are installed on the chassis for power supply and control of the operation of each part of the robot, and the control core board is responsible for receiving data from various sensors (such as laser radar) and controlling the motor to drive the movement of the crawler belt.

[0023] The primary lifting mechanism includes a multi-stage telescopic supporting rod 3, a multi-stage telescopic cylinder 4 and a primary lifting base 5, wherein the multi-stage telescopic supporting rod 3 and the multi-stage telescopic cylinder 4 are arranged on the walking base, and the primary lifting base 5 is arranged at the top of the multi-stage telescopic supporting rod 3 and the multi-stage telescopic cylinder 4; in this embodiment, the multi-stage telescopic cylinder 4 is used as the driving power for lifting, and of course, a scissor lift or the like can also be used as the lifting base in specific implementation, In this embodiment, the multi-stage telescopic cylinder 4 is used as an implementation mode, and the multi-stage telescopic cylinder 4 is composed of a plurality of single-stage cylinder sleeves with diameters decreasing in turn, including: Cylinder barrel: divided into a primary cylinder barrel (outer sleeve), a secondary cylinder barrel, a tertiary cylinder barrel and the like, the diameters of the cylinder barrels decrease in turn, the primary cylinder barrel is a fixed part, and the remaining cylinder barrels can move relatively. Piston and piston rod: the bottom of each cylinder barrel is usually provided with a piston, the piston is tightly matched with the inner wall of the cylinder barrel, and plays a role of sealing and transmitting hydraulic oil pressure. The piston rod is connected with the piston and moves together with the piston, and the last-stage piston rod directly outputs thrust or pull. Sealing device: a sealing ring (such as an O-ring, a combined sealing ring and the like) is arranged between each cylinder barrel and between the piston and the cylinder barrel, so as to prevent hydraulic oil from leaking and ensure that the pressure in the cylinder is stable. Guide sleeve: installed at the port of each cylinder barrel, plays a role of guiding and supporting the piston rod or the secondary cylinder barrel, and reduces friction and eccentric load during movement. Oil inlet and oil outlet: arranged on the primary cylinder barrel, connected with a hydraulic system through a hydraulic pipeline, and control the direction and flow of the hydraulic oil.

[0024] The working of the multi-stage telescopic cylinder 4 is based on the principle of hydraulic transmission, and the telescopic action is realized by controlling the direction of the hydraulic oil: Extension process: hydraulic oil enters the oil chamber between the first-stage cylinder and the second-stage cylinder from the oil inlet, and under the action of pressure, it pushes the second-stage cylinder to extend outward; when the second-stage cylinder extends to the limit position, the hydraulic oil enters the oil chamber between the second-stage cylinder and the third-stage cylinder, and pushes the third-stage cylinder to continue to extend, and so on, until all the stage cylinders are fully extended, realizing the maximum stroke. During extension, the stage cylinders act in turn according to the order of diameter from large to small, and the larger-diameter cylinder extends first, which can provide larger thrust.

[0025] Contraction process: change the flow direction of the hydraulic oil, and the hydraulic oil enters the inside of the last-stage cylinder or the rodless cavity of each stage cylinder from the oil outlet, and under the action of external load or its own gravity, each stage cylinder retracts in turn according to the order of diameter from small to large. During contraction, the smaller-diameter cylinder retracts first, ensuring that the overall structure is compact after contraction.

[0026] As shown in FIG. 1, Figure 2 The second-stage lifting mechanism includes a rack 7, a second-stage lifting seat 6 and a lifting motor 8; the second-stage lifting seat 6 is adapted to be sleeved on the first-stage lifting seat 5, and the rack 7 is fixed on the side surface of the second-stage lifting seat 6; the lifting motor 8 is fixed on the first-stage lifting seat 5 and is in transmission connection with the rack 7 through a gear; in specific implementation, the first-stage lifting seat 5 is provided with a lifting groove, the first-stage lifting seat 5 is adapted to be sleeved in the lifting groove, and lifting movement is performed in the lifting groove.

[0027] The side surface of the second-stage lifting seat 6 is provided with a side positioning plate 10, the bottom of the side positioning plate 10 is provided with a limiting rod 9 and the rack 7, the first-stage lifting seat 5 is provided with an avoiding hole corresponding to the limiting rod 9 and the rack 7, and the bottom of the driving cylinder is hinged on the side positioning plate 10; in the non-use state, the side positioning plate 10 is attached to the first-stage lifting seat 5, so as to reduce the load of the lifting motor 8; in the use state, the position of the second-stage lifting seat 6 is maintained by relying on the self-locking of the motor.

[0028] In order to further reduce the load of the second-stage lifting seat 6 on the lifting motor 8, a triangular tooth is arranged on the limiting rod 9, and a telescopic rod body such as a gas cylinder is arranged on the first-stage lifting seat 5, and the end of the rod body is provided with a wedge-shaped anti-retraction block through a spring, the upward limiting rod 9 can pass over the anti-retraction block, and the downward limiting rod 9 is blocked in the triangular tooth under the action of the triangular tooth, so as to reduce the load of the lifting motor 8 during work.

[0029] In this embodiment, small-amplitude lifting and large-amplitude lifting are realized through the first-stage lifting mechanism and the second-stage lifting mechanism, the control detection mechanism and the operation clamping mechanism are lifted to the corresponding construction points; in work, the SLAM module combines the laser radar and the depth camera, uses 360° scanning and three-dimensional environment sensing to update the map in real time, provides assistance and signal input for the work of the operation clamping mechanism; through the data collected by the sensor, the SLAM module performs real-time data fusion and processing to generate the map of the surrounding environment, and cooperates with the chassis control system to perform autonomous navigation.

[0030] As Figure 6 The operation clamping mechanism includes a swing shaft 19, a swing frame, a rotating seat 17, a screw rod 15, a translation seat 16, an extension cylinder 22, an extension seat 24 and a clamping assembly. In this embodiment, end plates are arranged on the two sides of the swing frame, a positioning rod 14 is arranged between the end plates, and the screw rod 15 is rotatably arranged in the end plates and extends outward.

[0031] One end of the swing frame is fixed with the swing shaft 19, and the other end is fixed with the rotating seat 17. The swing shaft 19 is used to drive the swing frame to rotate, and the rotating seat 17 is used to be connected with the translation motor 18, so as to realize the rotation input of the screw rod 15 while realizing the rotation of the swing frame. In the implementation, the swing shaft 19 and the rotating seat 17 are both rotatably arranged on the secondary lifting seat 6, the two sides of the swing frame are provided with the positioning rod 14, and the screw rod 15 is rotatably arranged in the middle of the swing frame. The screw rod 15 and the positioning rod 14 form a translation driving basis driven by the screw rod 15. One end of the screw rod 15 is rotatably sleeved in the rotating seat 17, and the other end is led out from the rotating seat 17, that is, the screw rod 15 is rotatably sleeved in the rotating seat 17 through the bearing. The translation motor 18 is fixed on the rotating seat 17 and is in transmission connection with the screw rod 15.

[0032] The translation seat 16 is in threaded connection with the screw rod 15 and is slidably sleeved on the positioning rod 14. The translation seat 16 is translated on the screw rod 15 and the positioning rod 14 by the driving of the screw rod 15, that is, a reciprocating horizontal movement is realized.

[0033] The extension cylinder 22 is fixed on the translation seat 16, and the extension seat 24 is slidably sleeved on the translation seat 16 and is connected with the extension cylinder 22. Specifically, the bottom of the extension cylinder 22 is fixed on the translation seat 16, the upper part is connected with an upper seat body 23, the upper seat body 23 is connected with a lower seat body through two rod bodies, the lower seat body is the structure of the extension seat 24, the two rod bodies are sleeved on the translation seat 16 and pass through the gap between the screw rod 15 and the positioning rod 14, and the ends of the rod bodies are fixed on the extension seat 24. Therefore, when the extension cylinder 22 acts, the extension seat 24 can perform a vertical action relative to the translation seat 16.

[0034] The clamping assembly is arranged on the bottom of the extension seat 24. In this embodiment, the clamping assembly can be a cylinder driving mechanism, such as a double-head cylinder. Clamping seats are arranged on the two sides of the double-head cylinder, clamping claws are arranged on the clamping seats, and clamping work is realized.

[0035] The swing shaft 19 is drivingly connected to a driving part, and drives the swing shaft 19 to rotate. The driving part comprises a driving rod 20 fixed on the swing shaft 19 and having an end portion at an eccentric side of the swing shaft 19, and a driving cylinder 21 having two ends hingedly connected between the secondary lifting seat 6 and the driving rod, and the swing operation of the swing frame is realized through the driving cylinder.

[0036] The detection mechanism comprises a detection box and a plurality of detection tools arranged in the detection box, and a clamping head 31 is arranged on the detection tool; the detection box 11 is fixed on the secondary lifting seat 6. In the embodiment, the detection tool comprises a protective layer thickness detector 35, a concrete strength detector 33 and a code spraying instrument 34, the clamping head 31 is arranged on the protective layer thickness detector 35, the concrete strength detector 33 and the code spraying instrument 34 respectively, a plurality of storage areas 12 are arranged on the detection box 11 along the extension direction of the screw rod 15, the protective layer thickness detector 35, the concrete strength detector 33 and the code spraying instrument 34 are placed in the storage areas 12 correspondingly, and the clamping assembly can correspond to the corresponding detection tool under the translation action of the translation seat 16. The telescopic rod is used to drive the telescopic seat 24 to move, so that the clamping assembly corresponds to the clamping head 31.

[0037] In specific implementation, the concrete strength detector 33 is arranged vertically in the middle of the detection box 11, the protective layer thickness detector 35 and the code spraying instrument 34 are arranged on both sides of the detection box 11, and a notch is arranged in the middle of the detection box 11. According to the use specification, the concrete strength detector is in dot matrix working mode, and the protective layer thickness detector 35 and the code spraying instrument 34 are in linear sliding working mode, and the arrangement structure is convenient for the work of the tool.

[0038] In order to conveniently position the position of the clamping assembly so that it can correspond to the clamping head 31 of the detection tool, a distance measuring module for measuring the position of the translation seat 16 is arranged at the end of the swing frame in the embodiment, the position of the clamping head 31 is obtained through the distance measuring module, and the distance measuring module is stopped after reaching the position, the telescopic cylinder 22 is used to realize the elongation of the clamping assembly, and the clamping assembly is used to grab the detection tool after reaching the position.

[0039] In work, first, the crawler walking mechanism is started, and the path planning module, the visual recognition module and the laser distance sensor in the crawler walking mechanism work cooperatively. The binocular camera and the laser distance sensor collect surrounding environment data in real time, the path planning module plans an optimal moving path according to the data, and the control core board drives the crawler to run, so that the device moves stably to the high concrete construction site to be detected. In the moving process, the double-crawler structure ensures that the device can also maintain good adaptability on complex terrains such as rugged and soft terrains. After arriving at the detection site, the lifting mechanism is started. The first-stage lifting mechanism is first operated, and the multi-stage telescopic cylinder 224 is extended by controlling the oil inlet and outlet of the first-stage cylinder. The hydraulic oil first enters the oil cavity between the first-stage cylinder and the second-stage cylinder, pushing the second-stage cylinder to extend outward. When the second-stage cylinder reaches the limit position, the hydraulic oil enters the oil cavity between the second-stage cylinder and the third-stage cylinder, pushing the third-stage cylinder to continue to extend, until all the stage cylinders are fully extended, and the multi-stage telescopic support rod 3 is also lengthened, lifting the first-stage lifting seat 5 to the appropriate height. The second-stage lifting mechanism is started. The lifting motor 8 operates, and through the transmission action of the gear and rack 7, it drives the second-stage lifting seat 6 to move up and down in the lifting groove of the first-stage lifting seat 5, realizing small height adjustment, and accurately adjusting the second-stage lifting seat 6 to the required height for detection. In this process, the limit rod 9 on the side positioning plate 10 plays a guiding role, and the triangular teeth on the limit rod 9 cooperate with the anti-back block on the first-stage lifting seat 5, reducing the load of the lifting motor 8, and relying on the motor self-locking to ensure the position stability of the second-stage lifting seat 6. The operation of the clamping mechanism is started. The drive cylinder 21 is extended and retracted, driving the drive rod 20 to move, and then rotating the swing shaft 19, realizing the swing of the swing frame, and adjusting the telescopic assembly to the vertical downward state. The translation motor 18 drives the screw 15 to rotate through the rotating seat 17. Since the translation seat 16 is threadedly connected with the screw 15 and is sleeved on the positioning rod 14, the translation seat 16 is driven by the screw 15 to translate along the positioning rod 14, so that the clamping assembly is aligned with the required detection tool in the detection mechanism. The distance measuring module measures the position of the translation seat 16 in real time, and when the clamping head 31 of the clamping assembly corresponds to the target detection tool, the translation seat 16 stops moving.

[0040] The telescopic cylinder 22 operates, driving the telescopic seat 24 to move vertically relative to the translation seat 16, so that the clamping assembly approaches the clamping head 31 of the detection tool, and grabs the clamping head 31 on the detection tool, taking the detection tool out of the storage area 12 of the detection box 11. After grabbing the detection tool, the clamping mechanism is operated again through swing, translation, telescopic and other actions, swinging the detection tool by 90 degrees, moving the detection tool to the high concrete position to be detected, and keeping vertical with the concrete detection surface. If a concrete strength detector 33 is used, the translation and telescopic functions are combined to realize the detection of concrete strength in a dot matrix mode; if a protective layer thickness detector 35 or a code jet instrument 34 is used, the translation function realizes linear sliding mode operation, and performs protective layer thickness detection and marking work respectively. During the whole detection process, the SLAM module combines the laser radar and the depth camera to update the map in real time by using 360° scanning and three-dimensional environment perception, so as to provide accurate assistance and signal input for the action of the clamping mechanism, and ensure that the detection work is accurately and efficiently carried out. After the detection is completed, the clamping mechanism puts the detection tool back into the corresponding storage area 12 of the detection box 11, and the secondary lifting mechanism and the primary lifting mechanism are sequentially retracted and reset. The crawler walking mechanism drives the device to move to the next detection location or return to the initial position.

[0041] In this embodiment, a diagonal bracing mechanism is further provided on the basis of the embodiment 1, so as to ensure that the diagonal bracing mechanism can diagonally brace and reinforce the whole device in the working state, and ensure the working stability.

[0042] In this embodiment, as shown in Figure 7 The diagonal bracing mechanism includes a telescopic diagonal bracing rod 303, an adjusting rod 304, a diagonal bracing base 306 and a fixing seat 30. The telescopic diagonal bracing rod 303 includes a sleeve rod and a sleeve, which are sleeved together. The sleeve rod and the sleeve are telescopic and locked. The specific lock wire structure can adopt a stepless adjustment of thread connection and jack locking, or adopt a length adjustment of a bolt or an elastic protruding pin.

[0043] The bottom side of the sleeve is fixed with a hinged seat, and the bottom support base 301 of the multi-stage telescopic support rod is fixed with a support seat. The adjusting rod 304 is of a telescopic structure, and its two ends are hinged between the support seat and the hinged seat. The length of the adjusting rod 304 can be adjusted by the side jack locking or by the middle driving sleeve, and the length adjustment can be realized by configuring reverse threaded rods on both sides of the driving sleeve. A support point is provided in the middle. The fixing seat 30 and the diagonal bracing base 306 are respectively hinged at the ends of the sleeve and the sleeve rod. The fixing seat 30 is used for fixing on the telescopic base of the multi-stage support rod, and the diagonal bracing base 306 is used for supporting on the ground.

[0044] In this embodiment, after the lifting mechanism is lifted to the corresponding point, the telescopic diagonal bracing structure can establish a support system on the side to ensure the stable work of the device. The structure can automatically adjust the support point according to the lifting height, and has a wide range of adaptation.

[0045] In this embodiment, the implementation of the clamping assembly is further described.

[0046] In this embodiment, the implementation of the clamping assembly is further described. Figures 8-13As shown in the figure, the clamping assembly comprises a clamping motor 25, a driving disc 26, a sliding block 27 and a shell 29; the shell 29 is fixed on the telescopic base 24, the driving disc 26 is rotatably arranged in the shell 29, the driving disc 26 is provided with a spiral driving groove, the bottom of the shell 29 is provided with a plurality of central strip-shaped limiting grooves 28, the sliding block 27 is slidably sleeved in the limiting groove and embedded in the spiral driving groove, the clamping motor 25 is fixed on the telescopic base 24, and the rotating shaft of the clamping motor 25 is in transmission connection with the driving disc 26. The bottom of the shell 29 is further provided with a clamping seat 30, the upper part of the detection tool is provided with a clamping block 32, the clamping block 32 is clamped in the clamping seat 30, and the clamping head 31 is clamped in the clamping space composed of the sliding block 27.

[0047] The embodiment adopts a spiral clamping mode to clamp the clamping head 31, which is similar to the structure of a three-jaw chuck, and on this basis, the clamping seat 30 and the clamping block 32 are used for positioning clamping to avoid self-rotation. Meanwhile, for the structure of the concrete strength tester, the clamping block 32 can be used to limit the structure to avoid rotation, thereby improving the structural stability.

[0048] The above-described embodiments of the present application do not constitute a limitation on the protection scope of the present application, and the basic concept of the present application is to use a track-type walking mechanism to realize autonomous movement on complex terrain, to realize high-precision adjustment by combining a first-stage (multi-stage telescopic cylinder 224) and a second-stage (racks 7 and gears) lifting mechanism, and to enhance stability by matching a diagonal bracing mechanism; to automatically grab and switch a plurality of tools in the detection box 11 by means of a multi-degree-of-freedom operating clamping mechanism, to realize automatic and integrated high-altitude concrete multi-parameter detection by combining intelligent sensing and navigation modules. Any modification, equivalent replacement and improvement within the spirit and principles of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A multi-modal building inspection device, characterized by: The application relates to a track walking mechanism, a first lifting mechanism, a second lifting mechanism, an operating clamping mechanism and a detection mechanism. The track walking mechanism comprises a track and a walking base; the walking base is provided with the track and is used for walking on a construction surface. The first lifting mechanism comprises multistage telescopic supporting rods, multistage telescopic cylinders and a first lifting base; the multistage telescopic supporting rods and the multistage telescopic cylinders are arranged on the walking base; and the first lifting base is arranged on the top of the multistage telescopic supporting rods and the multistage telescopic cylinders. The second lifting mechanism comprises a rack, a second lifting base and a lifting motor; the second lifting base is adaptively sleeved on the first lifting base, the rack is fixed on the side of the second lifting base, and the lifting motor is fixed on the first lifting base and is in transmission connection with the rack through a gear. The detection mechanism comprises a detection box and a plurality of detection tools arranged in the detection box; the detection tools are provided with clamping heads; and the detection box is fixed on the second lifting base. The operating clamping mechanism comprises a swing shaft, a swing frame, a swing rod, a rotating base, a screw rod, a translation base, a telescopic cylinder, a telescopic base and a clamping assembly; one end of the swing frame is fixed with the swing shaft, the other end is fixed with the rotating base, the swing shaft and the rotating base are rotationally arranged on the second lifting base, the swing frame is provided with positioning rods on the two sides, the screw rod is rotationally arranged in the middle of the swing frame, one end of the screw rod is rotationally sleeved in the rotating base and is led out from the rotating base, a translation motor is fixed on the rotating base, the translation motor is in transmission connection with the screw rod, the translation base is in screw connection with the screw rod and is slidably sleeved on the positioning rods, the telescopic cylinder is fixed on the translation base, the telescopic base is slidably sleeved on the translation base and is connected with the telescopic cylinder, the clamping assembly is arranged on the bottom of the telescopic base, and the swing shaft is in transmission connection with a driving part and drives the swing shaft to rotate.

2. The multi-modal building detection apparatus of claim 1, wherein: The walking base is provided with a binocular camera, a laser distance sensor and a lifting base, multistage telescopic cylinders are arranged in the middle of the lifting base, and multistage telescopic supporting rods are arranged at the four corners of the lifting base.

3. The multi-modal building detection apparatus of claim 1, wherein: The application further comprises a diagonal support mechanism, the diagonal support mechanism comprises telescopic diagonal supporting rods, an adjusting rod, a diagonal support base and a fixing base; the telescopic diagonal supporting rods comprise sleeved sleeves and sleeves, the sleeves and the sleeves are telescopically and lockingly arranged; the bottom side of the sleeve is fixed with a hinged base, a supporting base is fixed on the bottom support of the multistage telescopic supporting rods, the adjusting rod is of telescopic structure, the two ends of the adjusting rod are hinged between the supporting base and the hinged base, and the fixing base and the diagonal support base are respectively hinged on the ends of the sleeves and the sleeves; the fixing base is used for being fixed on the multistage supporting rods, and the diagonal support base is used for being supported on the ground.

4. The multi-modal building detection apparatus of claim 1, wherein: The driving part comprises a driving rod and a driving cylinder, the driving rod is fixed on the swing shaft, the end of the driving rod is located on the eccentric side of the swing shaft, and the two ends of the driving cylinder are hinged between the second lifting base and the driving rod.

5. The multi-modal building detection apparatus of claim 4, wherein: The first lifting base is provided with a lifting groove, the side of the second lifting base is provided with a side positioning plate, the bottom of the side positioning plate is provided with a limiting rod and a rack, the first lifting base is provided with an avoiding hole corresponding to the limiting rod and the rack, the first lifting base is adaptively sleeved in the lifting groove, and the bottom of the driving cylinder is hinged on the side positioning plate.

6. The multi-modal building detection apparatus of claim 1, wherein: The detection tool includes a protective layer thickness detector, a concrete strength detector and a code spraying instrument, the protective layer thickness detector, the concrete strength detector and the code spraying instrument are respectively provided with a clamping head, the detection box is provided with a plurality of storage areas along the extension direction of the screw rod, the protective layer thickness detector, the concrete strength detector and the code spraying instrument are correspondingly placed in the storage areas, the clamping assembly is correspondingly arranged with the corresponding detection tool under the translation action of the translation seat, and the clamping assembly is correspondingly arranged with the clamping head by driving the telescopic seat to move through the telescopic rod.

7. The multi-modal building detection apparatus of claim 6, wherein: The concrete strength detector is arranged in the middle of the detection box in the vertical direction, and the protective layer thickness detector and the code spraying instrument are arranged on both sides of the detection box.

8. The multi-modal building detection apparatus of claim 6, wherein: The end of the swing frame is provided with a distance measuring module for measuring the position of the translation seat.

9. The multi-modal building detection apparatus of any of claims 1-8, wherein: The clamping assembly includes a clamping motor, a driving disc, a sliding block and a shell, the shell is fixed on the telescopic seat, the driving disc is rotatably arranged in the shell, the driving disc is provided with a spiral driving groove, the bottom of the shell is provided with a plurality of strip-shaped limiting grooves towards the center, the sliding block is slidably sleeved in the limiting groove and nested in the spiral driving groove, and the clamping motor is fixed on the telescopic seat and connected with the driving disc in transmission.

10. The multi-modal building detection apparatus of claim 7, wherein: The bottom of the shell is also provided with a clamping seat, the upper part of the detection tool is provided with a clamping block, the clamping block is adaptively clamped in the clamping seat, and the clamping head is adaptively clamped in the clamping space formed by the sliding block combination.

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