Wall climbing robot for building facade

Abstract

The utility model relates to a wall climbing robot for a building facade, which comprises a robot body capable of detecting the building facade, a wheel group, a climbing device, a double-wing propelling wall attaching device and a knocking device. The climbing device comprises a safety rope, a mounting mechanism and a transmission mechanism, the safety rope is mounted on the outer facade of the building wall, and the head end and the tail end of the safety rope are mounted on the outer facade of the building wall through external mechanisms and kept in a tensioned state; meanwhile, a front small hole and a rear small hole are formed in the front end and the rear end of the robot body, and the moving safety rope enters and exits from the front small hole and the rear small hole during movement; the double-wing propelling wall attaching device generates thrust to enable the wall climbing robot to be attached to the outer vertical face of the wall. The robot can stably climb up and down on the outer vertical face of the wall, and hollowing and cracks are detected through the knocking device and the camera. And high safety and stability are achieved in the operation process.

Description

Technical Field

[0001] The present application relates to a wall-climbing robot, which is applied in the field of building safety inspection, and specifically to a safety inspection wall-climbing robot which can stably crawl up and down on a vertical facade. Background Art

[0002] With the development of urbanization and the increase in the number of buildings, building safety hazards and safety accidents have become a matter of great concern. The most common are safety hazards and accidents caused by wall cracks and wall gaps. Traditional manual inspection methods have safety hazards, low efficiency and high time cost. The use of safety inspection wall climbing robots can avoid these problems, making inspection more efficient and intelligent, and can provide support for building maintenance.

[0003] At present, using wall-climbing robots to detect defects and damage on vertical facades has become a development trend. Existing wall-climbing robots all use the negative pressure principle to make the wall-climbing robots adhere to the vertical facades. Different facade materials, smoothness and other factors will make the wall-climbing robots unstable when crawling, resulting in shaking or even falling of the wall-climbing robots during operation.

[0004] Specifically, existing wall-climbing robots mostly use adsorption methods to achieve wall climbing, such as negative pressure adsorption, magnetic adsorption, and bionic adsorption. Climbing on facades in the engineering field requires a certain degree of robustness and safety, which adsorption-type wall-climbing robots cannot guarantee. First, adsorption-type wall-climbing robots are greatly affected by the wall itself. Their adsorption surface needs to be smooth and flat without obstacles. When encountering uneven positions, the robot is easily stuck, resulting in failure to go up and down normally, and even the possibility of falling. In practical applications, the wall surface needs to be cleaned and polished to ensure its adsorption effect, which increases the difficulty and cost of operation; secondly, the power consumption of adsorption-type wall-climbing robots is large. Once the battery power is exhausted, the wall-climbing robot may fall directly; finally, in order to ensure the safety of the project, the robots in most current implementation schemes will use safety ropes and tethered power supply methods, but this method will increase the weight of the wall-climbing robot, thereby requiring more adsorption force. It is very likely that the adsorption force of the wall-climbing robot will not be enough to support the problem due to the increased weight of the wires and safety ropes, so high-rise buildings cannot be used safely. In summary, the use of adsorption-type wall-climbing robots cannot guarantee robustness and safety in engineering. Summary of the invention

[0005] In view of the potential safety hazards and safety accidents caused by cracks and hollows on building facades, the utility model designs a wall-climbing robot for building facades. The robot can stably crawl up and down on the vertical facade and perform safety inspections.

[0006] The present application provides for the first time a wall-climbing robot for building facades to replace or optimize existing wall-climbing robots, thereby solving the problems mentioned in the above technical background.

[0007] The wall-climbing robot of the present application can crawl safely and stably on a variety of walls.

[0008] Technical solution of this utility model:

[0009] A wall-climbing robot for building facades, comprising a robot body (100) capable of detecting the building wall facade and a wheel group (104), characterized in that it also comprises a climbing device (200); the wheel group (104) is mounted on the robot body (100) and is used to separate the robot body (100) from the building wall facade to avoid direct friction; a circuit control system and a power supply are installed inside the robot body (existing technology);

[0010] The climbing device (200) is arranged on the robot body (100), and enables the robot to crawl up and down on the facade of the building wall through rope mechanism constraint and motor rotation.

[0011] Furthermore, the robot body (100) comprises: a switch (101), an antenna (102) and a camera (103);

[0012] The switch (101) is used to turn on and off the entire circuit control system of the wall-climbing robot;

[0013] The antenna (102) is connected to the internal circuit control system and can communicate wirelessly with a ground control terminal (not included in the present invention);

[0014] The camera (103) is installed at the front of the robot body (100) and is used to collect images of the exterior facade of the wall in front of the robot.

[0015] Furthermore, the climbing device (200) comprises a safety rope (209), a mounting mechanism, and a transmission mechanism, wherein:

[0016] The safety rope (209) is installed on the outer wall of the building, and the front and rear ends are installed on the outer wall of the building through external mechanisms, and are kept in a taut state; at the same time, a front small hole (105) and a rear small hole (106) are opened at the front and rear ends of the robot body (100), and the moving safety rope (209) enters and exits the front small hole (105) and the rear small hole (106) during movement;

[0017] The mounting mechanism is used to mount the transmission mechanism on the robot body (100);

[0018] The safety rope (209) is engaged with the transmission mechanism;

[0019] The transmission mechanism pulls the robot body (100) through the safety rope (209) to achieve ascending or descending movement.

[0020] By way of example and not limitation, the transmission mechanism comprises: a reduction motor (201), a coupling (204), a gear (202) and a pulley (203), each of which is mounted on the mounting mechanism; wherein:

[0021] The output shaft of the reduction motor (201) is connected to the gear (202) via a coupling (204);

[0022] The gear (202) and the safety rope (209) are engaged for transmission;

[0023] The pulleys (203) are fixed pulleys, two in total, arranged on both sides below the gear (202), respectively. The three pulleys and the movement direction of the safety rope (209) are on the same working plane, so that:

[0024] The safety rope (209) enters and exits the robot body (100) through the front small hole (105) and the rear small hole (106), and the moving safety rope (209) passes through the pulley (203) on one side, the gear (202), and the pulley (203) on the other side in sequence.

[0025] Furthermore, for the sake of stability and reliability, a guide rail (107) is provided in the robot body (100) between the front small hole (105) and the rear small hole (106), and the movable safety rope (209) enters the guide rail (107).

[0026] By way of example and not limitation, the mounting mechanism is designed as a packaged box structure, which is disposed in the robot body (100); the box structure is composed of a climbing device top plate (205), a climbing device left side plate (206), a climbing device right side plate (207), and a climbing device bottom plate (208).

[0027] Furthermore, the wall-climbing robot for building facades also includes a double-wing propulsion wall-adhering device (300):

[0028] The double-wing propulsion wall-adhering device (300) comprises a propeller device (301) and a propeller fixing rod (302).

[0029] The propeller device (301) comprises a propeller and a matching motor, which are in two sets and are respectively installed on both sides of a propeller fixing rod (302); the propeller fixing rod (302) is installed at a front position in the running direction of the upper part of the robot body (100).

[0030] Furthermore, the wall-climbing robot for building facades further comprises a knocking device (400);

[0031] The knocking device (400) comprises a knocking hammer (401), a sound collecting microphone and a power amplifier module (402); when the wall-climbing robot is working, the knocking hammer (401) knocks the wall, and the sound collecting microphone and the power amplifier module (402) collect the knocking sound of the wall, so that ground personnel can easily judge whether there is a hollow drum.

[0032] Beneficial Effects

[0033] The utility model overcomes the lack of stability and safety of adsorption-type crawling and designs a climbing device that crawls up and down along a rope, which can not only realize the vertical crawling function of the wall-climbing robot, but also ensure the safety of operation and prevent the wall-climbing robot from falling directly due to factors such as exhaustion of power.

[0034] The vertical climbing function of the utility model adopts a climbing device as the main method, supplemented by dual propeller propulsion and four-wheel travel. The propulsion force generated by the rotation of the dual propellers allows the wall-climbing robot to stick to the wall surface, which can effectively prevent the wall-climbing robot from shaking or rotating due to wind, and ensure higher safety and stability during the operation of the wall-climbing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a schematic diagram of the overall structure of the wall-climbing robot body (a, appearance; b, internal view).

[0036] Figure 2 is a schematic diagram of the overall structure of the main body of the climbing device.

[0037] FIG3 is a schematic diagram of the disassembled structure of the main body of the climbing device.

[0038] FIG4 is a top view of the structure of the twin propellers.

[0039] FIG5 is a schematic diagram of the overall structure of the striking device.

[0040] FIG6 is a schematic diagram of the operation mode of the climbing device.

[0041] Figure 7 is a top view of the wall-climbing robot climbing.

[0042] Description of reference numerals: 100, robot body; 101, switch; 102, antenna; 103, camera; 104, wheel set; 105, front small hole; 106, rear small hole; 107, guide rail;

[0043] 200, climbing device; 201, reduction motor; 202, gear; 203, pulley; 204, coupling; 205, top plate of climbing device; 206, left plate of climbing device; 207, right plate of climbing device; 208, bottom plate of climbing device; 209, safety rope;

[0044] 300, double-wing propulsion wall device; 301, propeller device; 302, propeller fixing rod;

[0045] 400, striking device; 401, striking hammer; 402, sound pickup microphone and power amplifier module. DETAILED DESCRIPTION

[0046] The technical solution provided by the present application will be further described below in conjunction with specific embodiments and accompanying drawings. The advantages and features of the present application will become more apparent with the following description.

[0047] like Figure 1 , a wall-climbing robot for building facades, comprising a robot body (100) capable of detecting the building wall facade and a wheel set (104), wherein the wheel set (104) is mounted on the robot body (100) and is used to separate the robot body (100) from the building wall facade to avoid direct friction; a circuit control system and a power supply are installed inside the robot body (existing technology, not shown in the figure);

[0048] The innovation of the present application is that the wall-climbing robot is designed with a climbing device (200):

[0049] The climbing device (200) is arranged on the robot body (100), and enables the robot to crawl up and down on the facade of the building wall through rope mechanism constraint and motor rotation.

[0050] The design of the climbing device (200) is further described in detail:

[0051] like Figure 2 The climbing device (200) comprises a safety rope (209), a mounting mechanism, and a transmission mechanism, wherein:

[0052] The safety rope (209) is installed on the outer wall of the building, and the front and rear ends are installed on the outer wall of the building through external mechanisms, and are kept in a taut state; at the same time, a front small hole (105) and a rear small hole (106) are opened at the front and rear ends of the robot body (100), and the moving safety rope (209) enters and exits the front small hole (105) and the rear small hole (106) during movement;

[0053] The mounting mechanism is used to mount the transmission mechanism on the robot body (100);

[0054] The safety rope (209) is engaged with the transmission mechanism;

[0055] The transmission mechanism pulls the robot body (100) through the safety rope (209) to achieve ascending or descending movement.

[0056] By way of example and not limitation, the transmission mechanism is designed as follows: Figure 3 )

[0057] It is composed of a reduction motor (201), a coupling (204), a gear (202), and a pulley (203), and each component can be installed on a mounting mechanism, wherein:

[0058] The output shaft of the reduction motor (201) is connected to the gear (202) via a coupling (204);

[0059] The gear (202) and the safety rope (209) are engaged for transmission;

[0060] The pulleys (203) are fixed pulleys, two in total, arranged on both sides below the gear (202), respectively. The three pulleys and the movement direction of the safety rope (209) are on the same working plane, so that:

[0061] The safety rope (209) enters and exits the robot body (100) through the front small hole (105) and the rear small hole (106), and the moving safety rope (209) passes through the pulley (203) on one side, the gear (202), and the pulley (203) on the other side in sequence.

[0062] For further optimization, in order to ensure stability and reliability, a guide rail (107) is provided in the robot body (100) between the front small hole (105) and the rear small hole (106), and a movable safety rope (209) enters the guide rail (107).

[0063] By way of example and not limitation, the mounting mechanism is designed as a packaged box structure, which is disposed in the robot body (100). As an embodiment, the box structure is composed of a climbing device top plate (205), a climbing device left side plate (206), a climbing device right side plate (207), and a climbing device bottom plate (208).

[0064] By way of example and not limitation, a working end of the safety rope (209) is fixed above the outer facade of the wall of the building to be inspected, and a heavy object (such as a weight) is tied to the end of the rope, which is in a drooping state.

[0065] When the climbing device (200) is working, the reduction motor (201) drives the gear (202) to rotate forward or reverse through the coupling (204), and the gear (202) drives the safety rope (209) and the pulley (203) to rotate in the corresponding direction, so that the wall-climbing robot climbs up or down along the safety rope (209).

[0066] The reduction motor (201) is powered by a power battery, so that even if an abnormal situation such as power failure occurs during operation, the reduction motor (201) will not rotate, and the climbing device will get stuck to prevent it from falling directly.

[0067] For further optimization, a double-wing propulsion wall-attaching device (300) is also designed to stably and reliably adhere to the exterior wall surface to be tested:

[0068] The double-wing propulsion wall-adhering device (300) comprises a propeller device (301) and a propeller fixing rod (302).

[0069] The propeller device (301) includes a propeller and a matching motor, which are two sets and are respectively installed on both sides of the propeller fixing rod (302). Figure 4 .

[0070] Further technical details and innovations are disclosed. The propeller device (301) is installed on the front half of the wall-climbing robot to generate thrust so that the front wheels are pressed against the outer wall surface, and the rear wheels are pressed against the outer wall surface by gravity. In this way, this installation method requires less thrust than traditional methods (such as four-axis propellers).

[0071] Designed in conjunction therewith: the propeller fixing rod (302) is installed at a front position in the running direction of the upper part of the robot body (100).

[0072] When the wall-climbing robot is working, the propeller device (301) generates thrust, so that the robot is close to the wall surface. This can make the operation of the wall-climbing robot more stable and avoid the situation where the wall-climbing robot shakes or rotates due to wind during operation.

[0073] As a further additional function, a striking device (400) is also provided. Figure 5 :

[0074] The knocking device (400) comprises a knocking hammer (401), a sound collecting microphone and a power amplifier module (402). When the wall-climbing robot is working, the knocking hammer (401) knocks the wall, and the sound collecting microphone and the power amplifier module (402) collect the knocking sound of the wall, so that the ground personnel can judge the hollow drum.

[0075] The robot body (100) further includes structural details, which are examples but not limitations, and are all existing technologies: a switch (101), an antenna (102), and a camera (103);

[0076] The switch (101) is used to turn on and off the entire circuit control system of the wall-climbing robot;

[0077] The antenna (102) is connected to the internal circuit control system and can communicate wirelessly with a ground control terminal (not included in the present invention);

[0078] The camera (103) is installed at the front of the robot body (100) and is used to collect an image of the wall facade in front of the robot;

[0079] The wheel set (104) is installed at the bottom of the robot body (100) to prevent the robot bottom plate from directly contacting the wall facade, and is used for traveling on the wall facade.

[0080] Based on the above structural design introduction, its usage is further introduced, such as Figure 6 , Figure 7 :

[0081] Start: Pass the safety rope (209) through the front small hole (105) of the wall-climbing robot, wrap it around the gear (202) and the pulley (203) of the climbing device (200), and then pass it through the guide rail (107) and the rear small hole (106). The tail end of the safety rope (209) is tied to a weight such as a weight, and the top end is fixed to the roof of the building. Turn on the ground control terminal and the wall-climbing robot switch (101), start the circuit control system in the wall-climbing robot and connect it to the ground control terminal. The ground control terminal remotely controls the climbing device (200), the double-wing propulsion wall-attaching device (300) and the knocking device (400) to complete the robot's climbing and descending, and the collection of crack and hollow information.

[0082] The details are as follows:

[0083] Ascending and descending: The rotation direction of the reduction motor (201) of the climbing device (200) is controlled by a circuit control system. The reduction motor (201) drives the gear (202), the safety rope (209) and the pulley (203) to rotate in the corresponding direction through the coupling (204). The weight tied to the bottom end of the safety rope (209) can keep the safety rope (209) in a taut state, thereby achieving the ascent and descent of the wall-climbing robot. When ascending, the gear (202) rotates in a counterclockwise direction; when descending, the gear (202) rotates in a clockwise direction. When ascending and descending, the rotation speed of the double propeller (301) can be controlled according to factors such as wind force and the flatness of the building facade, and the degree of fit between the wall-climbing robot and the wall surface can be adjusted, thereby ensuring the climbing stability of the wall-climbing robot.

[0084] Hollow drum detection: The working state of the striking hammer (401) fixed to the bottom of the wall-climbing robot is controlled by a circuit control system.

[0085] Crack detection: During operation, the image of the building facade is collected through a camera (103) installed on the robot body (100).

[0086] The circuit control system is a conventional technology and does not belong to the invention content of this application.

[0087] According to the requirements of the implementation scheme, the safety rope (209) can also be arranged obliquely on the outer wall of the building to be inspected through the two working ends.

[0088] The above description is only a description of the preferred embodiments of the present application, and is not intended to limit the scope of the present application. Any changes or modifications made by any person skilled in the art based on the above disclosed technical contents shall be deemed as equivalent effective embodiments and shall fall within the scope of protection of the technical solution of the present application.

Claims

1. A wall-climbing robot for use on building facades, comprising a robot body (100) capable of detecting the building facade and a wheel set (104), characterized in that: Also includes a climbing device (200); The wheel set (104) is mounted on the robot body (100) and is used to separate the robot body (100) from the outer surface of the building wall to avoid direct friction; a circuit control system and a power supply are installed inside the robot body (100); The climbing device (200) is arranged on the robot body (100), and enables the robot to climb up and down on the facade of the building wall through rope mechanism constraint and motor rotation.

2. A wall-climbing robot for building facades as claimed in claim 1, characterized in that: The robot body (100) comprises: a switch (101), an antenna (102) and a camera (103); The switch (101) is used to turn on and off the entire circuit control system of the wall-climbing robot; The antenna (102) is connected to the internal circuit control system and is used for wireless communication with the ground control terminal; The camera (103) is installed at the front of the robot body (100) and is used to collect an image of the wall facade in front of the robot when it is running.

3. A wall-climbing robot for building facades as claimed in claim 1, characterized in that: The climbing device (200) comprises a safety rope (209), a mounting mechanism and a transmission mechanism, wherein: The safety rope (209) is installed on the outer wall of the building, and the front and rear ends are installed on the outer wall of the building through external mechanisms, and are kept in a taut state; at the same time, a front small hole (105) and a rear small hole (106) are opened at the front and rear ends of the robot body (100), and the moving safety rope (209) enters and exits the front small hole (105) and the rear small hole (106) during movement; The mounting mechanism is used to mount the transmission mechanism on the robot body (100); The safety rope (209) is engaged with the transmission mechanism; The transmission mechanism pulls the robot body (100) through the safety rope (209) to achieve ascending or descending movement.

4. A wall-climbing robot for building facades as claimed in claim 3, characterized in that: The transmission mechanism comprises: a reduction motor (201), a coupling (204), a gear (202) and a pulley (203), each of which is mounted on the mounting mechanism; wherein: The output shaft of the reduction motor (201) is connected to the gear (202) via a coupling (204); The gear (202) and the safety rope (209) are engaged and transmitted; The pulleys (203) are fixed pulleys, two in total, arranged on both sides below the gear (202), respectively. The three pulleys and the movement direction of the safety rope (209) are on the same working plane, so that: The safety rope (209) enters and exits the robot body (100) through the front small hole (105) and the rear small hole (106), and the moving safety rope (209) passes through the pulley (203) on one side, the gear (202), and the pulley (203) on the other side in sequence.

5. A wall-climbing robot for building facades as claimed in claim 3, characterized in that: A guide rail (107) is provided in the robot body (100) between the front small hole (105) and the rear small hole (106), and a movable safety rope (209) enters the guide rail (107).

6. A wall-climbing robot for building facades as claimed in claim 3, characterized in that: The mounting mechanism is designed as a packaged box structure, which is arranged in the robot body (100); the box structure is composed of a climbing device top plate (205), a climbing device left side plate (206), a climbing device right side plate (207), and a climbing device bottom plate (208).

7. A wall-climbing robot for building facades as claimed in claim 1, characterized in that: Also includes a double-wing propulsion wall device (300): The double-wing propulsion wall-adhering device (300) comprises a propeller device (301) and a propeller fixing rod (302); The propeller device (301) comprises a propeller and a matching motor, which are in two sets and are respectively installed on both sides of a propeller fixing rod (302); the propeller fixing rod (302) is installed at a front position in the running direction of the upper part of the robot body (100).

8. A wall-climbing robot for building facades as claimed in claim 1, characterized in that: Also included is a striking device (400); The knocking device (400) comprises a knocking hammer (401), a sound collecting microphone and a power amplifier module (402); when the wall-climbing robot is working, the knocking hammer (401) knocks the wall, and the sound collecting microphone and the power amplifier module (402) collect the knocking sound of the wall, so that ground personnel can easily judge whether there is a hollow drum.

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