A path-variable primary-secondary traction type wall-climbing system and detection method

Abstract

The application provides a path-variable sub-mother traction type wall-climbing system and a detection method. The path-variable sub-mother traction type wall-climbing system is used for surveying operation on a curved surface and comprises a carrying robot, a magnetic wall-climbing operation trolley and an anchoring robot. The carrying robot is internally provided with a winding mechanism and a cable wound on the winding mechanism. The magnetic wall-climbing operation trolley is provided with a plurality of guide rings. The plurality of guide rings are arranged at intervals and are sleeved on the position where the cable extends out of the winding mechanism. One end of the cable not connected with the winding mechanism is connected with the anchoring robot. The magnetic wall-climbing operation trolley and the anchoring robot are arranged in the interior of the carrying robot. The anchoring robot comprises a moving unit and a fixing unit. The moving unit drives the anchoring robot to move so as to pull the cable out of the winding mechanism. The fixing unit can lock the anchoring robot. The magnetic wall-climbing operation trolley moves along the cable through the plurality of guide rings after leaving the carrying robot.

Claims

1. A path variable sub-mother traction type wall climbing system for surveying work on a curved surface, characterized in that, The system includes a transport robot, a magnetic wall-climbing trolley, and an anchoring robot. The transport robot contains a cable winding mechanism and a cable wound around it. The magnetic wall-climbing trolley has multiple guide rings spaced apart and fitted around the cable where it extends out of the winding mechanism. The end of the cable not connected to the winding mechanism is connected to the anchoring robot. Both the magnetic wall-climbing trolley and the anchoring robot are located inside the transport robot. The anchoring robot includes a moving unit and a fixing unit. The moving unit drives the anchoring robot to move and pull the cable out of the winding mechanism, while the fixing unit locks the anchoring robot in place. After leaving the transport robot, the magnetic wall-climbing trolley moves along the cable via multiple guide rings to perform surveying work on curved surfaces along the cable path.

2. The variable path child-parent wall-climbing system of claim 1, wherein, The anchoring robot includes an anchoring body and a drive unit set inside the anchoring body. The moving unit includes an omnidirectional wheel assembly and multiple moving wheels. The omnidirectional wheel assembly is located on the front side of the anchoring body, and the moving wheels are located on both sides of the anchoring body and connected to the drive unit.

3. The variable path child-parent wall-climbing system of claim 2, wherein, The omnidirectional wheel assembly includes a bullseye wheel and a mounting bracket. The bullseye wheel is mounted on the mounting bracket, which is rotatably mounted on the anchored vehicle body so that the bullseye wheel always vertically abuts against the curved surface.

4. The path-variable mother-daughter traction wall-climbing system according to claim 2, characterized in that, The anchoring robot also includes a control unit and an identification unit connected to the control unit. The identification unit is located on the top of the anchoring vehicle body, and the control unit is located inside the anchoring vehicle body. The identification unit includes a gimbal camera and a lighting lamp. The control unit is used to control the identification direction of the gimbal camera and the brightness of the lighting lamp.

5. The path-variable mother-daughter traction wall-climbing system according to any one of claims 2 or 4, characterized in that, The fixing unit is a magnet, and the magnet is located at the bottom of the anchored vehicle body.

6. The path-variable mother-daughter traction wall-climbing system according to claim 2, characterized in that, The anchoring robot also includes a cable fixing ring, which is set on the anchoring vehicle body and connected to the anchoring robot at the end of the cable that is not connected to the cable winding mechanism.

7. The path-variable mother-daughter traction wall-climbing system according to claim 1, characterized in that, The transport robot includes a transport vehicle body, with a cable winding mechanism located on the front side of the interior of the transport vehicle body and a cable outlet located on the rear side of the transport vehicle body. The anchoring robot leaves the interior of the transport vehicle body through the cable outlet and pulls the cable out of the cable winding mechanism.

8. The path-variable mother-daughter traction wall-climbing system according to claim 1, characterized in that, The winding mechanism includes: Support frame; A rotating shaft is rotatably mounted on a support frame, and cables are wound around the rotating shaft; The servo motor is connected to the rotating shaft and is used to maintain the tension of the cable during the laying process.

9. The path-variable mother-daughter traction wall-climbing system according to claim 1, characterized in that, The cable contains internal metal wires and signal sensors, which are used to detect the cable tension during installation.

10. A detection method for a path-variable parent-child traction wall-climbing system, characterized in that, The method of using the path-variable mother-daughter traction wall-climbing system as described in any one of claims 1-9 includes the following steps: S1. The transport robot carries the magnetic wall-climbing trolley and the anchoring robot to the designated working position on the curved surface; S2. Start the anchoring robot. While the anchoring robot leaves the carrier robot, the cable is laid until the anchoring robot reaches the designated working position. The anchoring robot is locked to the curved surface by the fixing unit. S3. The magnetic climbing trolley leaves the transport robot along the cable laid by the anchoring robot; S4. The magnetic climbing trolley performs surveying work on the curved surface along the cable path; S5. Open the fixing unit, and the transport robot and the anchoring robot move back to the next designated working position. The anchoring robot is locked to the curved surface by the fixing unit. S6. Repeat steps S4 and S5 until the surface survey is completed. S7. The magnetic climbing trolley enters the transport robot along the cable path, and the anchoring robot returns to the transport robot under the action of the cable winding mechanism.

Images