Wall-climbing detection robot

Abstract

The utility model provides a wall climbing detection robot which comprises a wheel type robot body and a roof, the top end of the roof is provided with a hoisting assembly, the hoisting assembly is connected with the wheel type robot body, two sides of a shell of the wheel type robot body are respectively provided with two climbing wheel trains in a rotating mode, and the two climbing wheel trains are connected with the hoisting assembly. A measuring camera is installed at the tail end of the wheeled robot body, three hanging lugs distributed at equal intervals are fixedly connected to the head end of the wheeled robot body, bearings are arranged in the hanging lugs, and the hanging lugs are used for being connected with a hanging assembly. According to the ship lift tower column structure detection device, the tower column structure of the ship lift can be detected, a traditional manual detection process is replaced, the detection efficiency is effectively improved, the detection operation quality is guaranteed, and the operation safety is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of building detection, in particular to a wall climbing detection robot. Background Art

[0002] A ship lift is a "navigation structure" set up for ships to pass through the concentrated water level difference on the waterway. It consists of upper and lower locks, a ship-carrying compartment (ship-carrying vehicle), a supporting guide structure and a driving device. Among them, the tower column structure occupies an important position in the overall structure of the ship lift, and the outer surface of the tower column needs to be inspected. However, due to the large inspection area and large height difference of the outer surface of the tower column, its inspection poses a safety hazard. In view of the characteristics of the large inspection area, large height difference and high safety requirements of the outer surface of the tower column, this application designs a safe wall-climbing inspection robot. Utility Model Content

[0003] In order to solve the current technical problems, the main purpose of the utility model is to provide a wall-climbing inspection robot, which can inspect the tower structure of the ship lift, thereby replacing the traditional manual inspection process, effectively improving the inspection efficiency, ensuring the quality of the inspection operation, and improving the safety of the operation.

[0004] In order to achieve the above-mentioned technical features, the purpose of the utility model is achieved as follows: a wall-climbing detection robot, comprising a wheeled robot body and a roof, a hanging assembly is installed on the top of the roof, and the hanging assembly is connected to the wheeled robot body, two crawling gear trains are rotatably installed on both sides of the outer shell of the wheeled robot body, a measuring camera is installed at the tail end of the wheeled robot body for collecting images of the outer surface of the roof, and three equidistantly distributed hanging ears are fixedly connected to the head end of the wheeled robot body, and bearings are provided in the hanging ears, and the hanging ears are used to connect the hanging ears.

[0005] Preferably, a cover plate is fixedly mounted on the front side of the outer shell of the wheeled robot body, and two symmetrically arranged negative pressure axial flow fans are mounted on the cover plate.

[0006] Preferably, three parallel bottom brackets are fixedly connected to the inner wall of the wheeled robot body, a drive controller is installed on the middle bottom bracket, and two thrust motors are fixedly installed on the other two bottom brackets, and thrust paddles are fixedly connected to the output ends of the thrust motors.

[0007] Preferably, the same number of drive motors as the crawling gear train is fixedly mounted on the inner wall of the wheeled robot body, and the output ends of the drive motors are fixedly connected to the shaft ends of the crawling gear trains.

[0008] Preferably, the hoisting assembly includes a double-rope hoist and two single-rope hoists arranged on the top of the roof, and the double-rope hoist is located between the two single-rope hoists, the two single-rope hoists are connected to load-bearing cables, and the load-bearing cables are fixed to the middle hanging ears, the double-rope hoists are connected to safety ropes, and the safety ropes are fixed to the hanging ears on both sides, and the wheeled robot body is connected to a signal cable for power supply.

[0009] Preferably, the creeper gear train adopts a Mecanum gear train.

[0010] The utility model has the following beneficial effects:

[0011] 1. Aiming at the characteristics of large detection area, large height difference and high safety requirements of the outer surface of the tower column, the present invention has developed a heavy-duty wall-climbing robot with a cable. The wheeled robot body equipped with a multi-eye high-definition camera can realize the shooting of the wall surface and is used to collect images of the outer surface of the tower column with a wide detection range.

[0012] 2. The robot of the present invention has three hanging ears on the upper part, and bearings are arranged in the hanging ears, which can be connected to signal cables or safety ropes. Three cranes are arranged on the roof of the ship lift. The detection robot is towed and moved by the cranes installed on the roof to complete the robot's inspection of the external wall. The operation quality is guaranteed and the safety is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0014] Figure 1 Shown is a stereoscopic view of the wall-climbing detection robot provided by the utility model.

[0015] Figure 2 Shown is a schematic diagram of the internal structure of the wheeled robot body.

[0016] Figure 3 Shown is a schematic diagram of the operation of the wall-climbing detection robot provided by the utility model.

[0017] In the figure: 1-wheeled robot body; 11-hanging ear; 12-crawling gear train; 13-measuring camera; 14-cover plate; 15-negative pressure axial flow fan; 16-bottom bracket; 17-thrust motor; 18-thrust propeller; 19-driving motor; 2-roof; 21-double-cable hoist; 22-single-cable hoist; 23-carrying cable; 24-safety rope; 25-signal cable; 3-drive controller. DETAILED DESCRIPTION

[0018] The embodiments of the present utility model are further described below in conjunction with the accompanying drawings.

[0019] Embodiment 1:

[0020] See also Figure 1-3 , the utility model provides the following embodiments:

[0021] A wall climbing inspection robot comprises a wheeled robot body 1 and a roof 2, a hanging assembly is installed on the top of the roof 2, and the hanging assembly is connected to the wheeled robot body 1, two crawling gear trains 12 are rotatably installed on both sides of the outer shell of the wheeled robot body 1, a measuring camera 13 is installed at the tail end of the wheeled robot body 1 for collecting images of the outer surface of the roof 2, the measuring camera 13 is a multi-eye high-definition camera, which can realize rapid regional blind spot detection, and the head end of the wheeled robot body 1 is fixedly connected with three equidistantly distributed hanging ears 11, and the hanging ears 11 are provided with bearings, and the hanging ears 11 are used to connect the hanging assembly. By adopting the above-mentioned inspection robot, the tower column structure of the ship lift can be inspected, thereby replacing the traditional manual inspection process, effectively improving the inspection efficiency, ensuring the quality of the inspection operation, and improving the safety of the operation. By carrying a wheeled robot body equipped with a multi-eye high-definition camera, the wall can be photographed to collect images of the outer surface of the tower column, and the inspection range is wide.

[0022] Specifically, a cover plate 14 is fixedly installed on the front of the outer shell of the wheeled robot body 1, and two symmetrically arranged negative pressure axial flow fans 15 are installed on the cover plate 14. Three parallel bottom brackets 16 are fixedly connected to the inner wall of the wheeled robot body 1, and a driving controller 3 is installed on the middle bottom bracket 16. Two thrust motors 17 are fixedly installed on the other two bottom brackets 16, and thrust paddles 18 are fixedly connected to the output ends of the thrust motors 17. By adopting the above-mentioned negative pressure axial flow fans 15, the wheeled robot body 1 can walk closely on the outer surface of the tower structure.

[0023] Specifically, the same number of drive motors 19 as the crawling gear train 12 are fixedly installed on the inner wall of the wheeled robot body 1, and the output end of the drive motor 19 is fixedly connected to the shaft end of the crawling gear train 12. The crawling gear train 12 adopts a Mecanum gear train, which can move freely without increasing the movement resistance. At the same time, the rubber sleeve on the outside of the gear train will not damage the wall.

[0024] Specifically, the hoisting assembly includes a double-cable crane 21 and two single-cable cranes 22 arranged at the top of the roof 2, and the double-cable crane 21 is located between the two single-cable cranes 22. Both single-cable cranes 22 are connected with a load-bearing cable 23, and the load-bearing cable 23 is fixed on the middle hanging ear 11. The double-cable crane is connected with a safety rope 24, and the safety rope 24 is fixed on the hanging ears 11 on both sides. The wheeled robot body 1 is connected with a signal cable 25 for power supply. To ensure the quality and safety of the operation, three cranes are installed on the top of the tower column during the robot inspection operation, wherein the cable carrying the suspension cable is fixed on the hanging ear 11 in the middle of the upper part of the robot, and the left and right hanging ears 11 are connected with the safety rope 24 to ensure the safety of the wall-climbing robot suspended on the cable.

[0025] The specific implementation method of this embodiment is as follows: negative pressure is generated by a pair of negative pressure axial flow fans 15 to ensure that the robot can fit the wall surface in a windy environment. A modular measuring camera 13 is installed at the bottom of the robot to realize the shooting of the wall surface. There are three hanging ears 11 on the upper part of the robot. There are bearings in the hanging ears 11, which can be connected to the load-bearing cable 23 or the safety rope 24. Three cranes are arranged on the roof of the ship lift. The detection robot is towed and moved by the crane installed on the roof to complete the robot's detection of the outer wall. An encoder is installed on the motor of the crane. The encoder detects the laying length of the cable and can calculate the specific position of the robot. During operation, the position of the robot on the outer wall is adjusted by controlling the cable length of the left and right cranes. At the same time, the position coordinate information of the robot is recorded to match it with the picture, which is used for the spatiotemporal positioning of the image collected during post-processing, so as to realize large-area detection.

[0026] It should be noted that: when installing the machine, the signal cable 25 needs to be connected by two plugs, and the fixed braids are used to lock it repeatedly, and checked to ensure that the system can work safely;

[0027] Two professionals are equipped to carry out field operations. During the climbing inspection work, it is strictly forbidden for any other personnel to enter the workplace. During the climbing operation, other personnel should leave the site immediately. If they encounter others, it is strictly forbidden to pass under the inspection operation surface to ensure safety. During the operation, they must wear safety helmets and gloves to prevent accidents. Fix the top hanging point, pass the signal cable 25 through the pulley block to connect to the power supply and the robot. Before starting the power supply, it is necessary to ensure that there is no interference from personnel and cables in front, behind and on both sides of the robot;

[0028] Before using the wall-climbing robot, you must carefully check whether all components and bolts are tightened, whether the cables and safety ropes 24 are firmly connected, and the connection conditions of all parts. Then, carry out no-load operation and forward and reverse movement tests, each of which should not be less than 1 minute. Pay attention to check whether there is any impact and vibration in each transmission part; whether the controller is sensitive and reliable. When climbing the wall by adsorption, the safety rope 24 and the signal cable 25 should not slide down more than 300mm. If the slide is too large, it should be adjusted in time to prevent the cable from being rolled into the thrust paddle 18. The machine can only be officially operated after it is confirmed to be in normal condition.

[0029] When the robot is in use, the cables need to be kept normally connected and the power cannot be cut off. When the machine is running, it cannot be cleaned and overloading is strictly prohibited. When the machine is found to be abnormal, especially the push-off parts are not working properly, the machine should be stopped for inspection or adjustment to eliminate hidden dangers and faults and ensure safety.

Claims

1. A wall-climbing inspection robot, characterized in that: The invention comprises a wheeled robot body (1) and a roof (2), wherein a hanging assembly is installed at the top of the roof (2), and the hanging assembly is connected to the wheeled robot body (1), two crawling gear trains (12) are rotatably installed on both sides of the outer shell of the wheeled robot body (1), a measuring camera (13) is installed at the tail end of the wheeled robot body (1), and the measuring camera (13) is used to collect images of the outer surface of the roof (2), and three equidistantly distributed hanging ears (11) are fixedly connected to the head end of the wheeled robot body (1), and a bearing is provided in the hanging ear (11), and the hanging ear (11) is used to connect the hanging assembly.

2. A wall-climbing detection robot according to claim 1, characterized in that: A cover plate (14) is fixedly mounted on the front side of the outer shell of the wheeled robot body (1), and two symmetrically arranged negative pressure axial flow fans (15) are mounted on the cover plate (14).

3. A wall-climbing detection robot according to claim 2, characterized in that: Three parallel bottom brackets (16) are fixedly connected to the inner wall of the wheeled robot body (1), a driving controller (3) is installed on the middle bottom bracket (16), and two thrust motors (17) are fixedly installed on the other two bottom brackets (16), and thrust paddles (18) are fixedly connected to the output ends of the thrust motors (17).

4. A wall-climbing detection robot according to claim 3, characterized in that: The same number of drive motors (19) as the number of the crawling gear trains (12) are fixedly mounted on the inner wall of the wheeled robot body (1), and the output ends of the drive motors (19) are fixedly connected to the shaft ends of the crawling gear trains (12).

5. The wall-climbing detection robot according to claim 1, characterized in that: The hoisting assembly comprises a double-cable hoist (21) and two single-cable hoists (22) arranged at the top of the roof (2), wherein the double-cable hoist (21) is located between the two single-cable hoists (22), the two single-cable hoists (22) are both connected to a load-bearing cable (23), and the load-bearing cable (23) is fixed to a middle hanging ear (11), the double-cable hoist is connected to a safety rope (24), and the safety rope (24) is fixed to the hanging ears (11) on both sides, and the wheeled robot body (1) is connected to a signal cable (25) and is powered.

6. The wall-climbing detection robot according to claim 1, characterized in that: The creeper gear train (12) adopts a Mecanum gear train.

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