Full-space intelligent walking robot

Abstract

The utility model discloses a full-space intelligent walking robot. The full-space intelligent walking robot comprises a frame, a magnetic front wheel mechanism located at the front bottom, a rear wheel mechanism located at the rear bottom, an electromagnetic adsorption mechanism located at the middle bottom and an electric power system for power supply are arranged on the frame. The robot has the beneficial effects that the electromagnetic adsorption principle is used for adsorbing steel bars in a building structure, walking of the robot on the horizontal surface, the vertical surface of a wall and the surface of a ceiling is achieved, and full-space application is achieved; by applying the principles of perception, sensing, control and the like, the robot can walk flexibly, judgment is carried out according to the actual situation of an operation space, and the stability and accuracy of operation are guaranteed. Meanwhile, an emergency risk avoiding function is achieved, and direct falling of the robot is avoided; the water spraying system is used for spraying on the surface of the building structure, maintenance of all-space and all-position structures is achieved, and danger caused by manual high-altitude operation is avoided.

Description

Technical Field

[0001] The present application belongs to the technical field of construction robots, and specifically relates to a full-space intelligent walking robot. Background Art

[0002] With the development of mechanization, intelligence and industrialization, more and more robots are used to replace manual labor in the construction process. Robot operation can reduce the intensity of manual labor and ensure the quality of construction. It is the development direction of future construction. The current walking robots can only move on the surface of horizontal structures such as the ground and floor, but are not applicable to the vertical surface of the wall and ceiling, thus limiting their operating range. Utility Model Content

[0003] The purpose of this application is to provide a full-space intelligent walking robot to solve the problem of limited application space of existing walking robots.

[0004] The purpose of this application is achieved through the following technical solutions:

[0005] A full-space intelligent walking robot comprises a frame, a magnetic front wheel mechanism located at the front bottom of the frame, a rear wheel mechanism located at the rear bottom of the frame, an electromagnetic adsorption mechanism located at the middle bottom of the frame, and a power supply system on the frame.

[0006] Furthermore, the frame is provided with a visual perception system at the front end, and the frame is provided with an elevation control system at the rear end.

[0007] Furthermore, the frame is provided with a water spray system and an emergency avoidance system.

[0008] Furthermore, the power system, water spray system, and emergency avoidance system are respectively embedded in the front assembly groove, the middle assembly groove, and the rear assembly groove arranged on the top of the frame, and the electromagnetic adsorption mechanism is embedded in the bottom assembly groove of the frame.

[0009] Furthermore, the magnetic front wheel mechanism includes a wheel disc, on which a plurality of electromagnetic slots are arranged circumferentially, and in which detachable electromagnetic wheel legs are inserted.

[0010] Furthermore, the opening direction of the electromagnetic slot is radial, and the electromagnetic wheel leg includes a straight segment and an arc segment. The straight segment is inserted into the electromagnetic slot, and the outer end of the straight segment is connected to the arc segment. The center of the arc segment is the center of the wheel disc, and the arc segment is arranged in the opposite forward direction of the wheel disc.

[0011] Furthermore, the rear wheel mechanism includes a left rear wheel and a right rear wheel, a left drive connected to the left rear wheel is provided on the frame, and a right drive connected to the right rear wheel is provided on the frame.

[0012] Furthermore, the electromagnetic adsorption mechanism can be lifted and lowered on the vehicle frame.

[0013] Furthermore, the electromagnetic adsorption mechanism includes an electromagnetic adsorption plate, on which a distance measuring sensor is provided, and the vehicle frame is connected to the electromagnetic adsorption plate via a lifting bracket.

[0014] Furthermore, the water spraying system comprises a water tank, which is arranged on the vehicle frame, and the water tank is connected to a water spraying pipe through a water pump, and a nozzle is arranged on the water spraying pipe.

[0015] Furthermore, the water spray pipe includes a plurality of pipe sections, and two adjacent pipe sections are detachably connected and communicated.

[0016] Furthermore, the emergency avoidance system is a pop-up parachute.

[0017] Beneficial effects of this application:

[0018] (1) The electromagnetic adsorption principle is used to adsorb the steel bars in the building structure, allowing the robot to walk on horizontal surfaces, vertical walls, and ceiling surfaces, realizing full-space application.

[0019] (2) By applying the principles of perception, sensing, and control, the robot can move flexibly and make judgments based on the actual conditions of the working space to ensure the stability and accuracy of the operation. It also has an emergency avoidance function to prevent the robot from falling directly.

[0020] (3) Use a water spray system to spray the surface of the building structure to achieve maintenance of the structure in all spaces and locations, avoiding the dangers caused by manual high-altitude operations.

[0021] The aforementioned main scheme of the present application and its further options can be freely combined to form multiple schemes, all of which are schemes that can be adopted and claimed for protection in the present application; and in the present application, (non-conflicting options) can also be freely combined with each other and with other options. After understanding the present scheme, those skilled in the art can understand that there are many combinations based on the prior art and common knowledge, all of which are technical schemes to be protected by the present application, and they are not exhaustively listed here. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is an axonometric view of the structure of this application (viewed from above).

[0023] Figure 2 It is an axonometric view of the structure of this application (viewed from below).

[0024] Figure 3 It is a schematic diagram of the assembly of each system of this application.

[0025] Figure 4It is a structural schematic diagram of the magnetic front wheel mechanism of the present application.

[0026] In the figure: 1-frame, 2-magnetic front wheel mechanism, 3-rear wheel mechanism, 4-electromagnetic adsorption mechanism, 5-visual perception system, 6-elevation control system, 7-power system, 8-water spray system, 9-emergency avoidance system; 101-front assembly slot, 102-middle assembly slot, 103-rear assembly slot, 104-bottom assembly slot, 201-wheel disc, 202-electromagnetic slot, 203-electromagnetic wheel leg, 301-left rear wheel, 302-left drive, 303-right rear wheel, 304-right drive, 401-electromagnetic adsorption plate, 402-distance measuring sensor, 403-lifting bracket, 801-water tank, 802-water spray pipe, 803-pipe section. DETAILED DESCRIPTION

[0027] The present application is further described below in conjunction with specific embodiments and drawings.

[0028] refer to Figure 1 to Figure 4 As shown, a full-space intelligent walking robot includes a frame 1, a magnetic front wheel mechanism 2, a rear wheel mechanism 3, an electromagnetic adsorption mechanism 4, a visual perception system 5, an elevation control system 6, a power system 7, a water spray system 8, an emergency avoidance system 9 and a central control system.

[0029] The frame 1 is provided with a magnetic front wheel mechanism 2 located at the front bottom, which is used to form an electromagnetic attraction to the building structure (internal steel bars), forming an attraction force at the front end, and can rotate itself to achieve self-propelled walking. The frame 1 is provided with a rear wheel mechanism 3 located at the rear bottom, which can rotate itself to achieve self-propelled walking, and the left and right wheels are independently driven, and can achieve steering through the left and right wheel differential.

[0030] The frame 1 is provided with an electromagnetic adsorption mechanism 4 located at the middle bottom, which is used to form an electromagnetic adsorption effect on the building structure (internal steel bars), forming an adsorption force in the middle, and forming an overall adsorption effect of the frame 1 together with the front wheel, ensuring that the frame 1 is stable and reliable during adsorption.

[0031] The frame 1 is provided with a visual perception system 5 at the front end, which can obtain image and picture information for the robot to monitor the working position in real time. The frame 1 is provided with an elevation control system 6 at the rear end, which is used by the robot to judge the working distance (height) and ensure the accuracy of the working position. The frame 1 is provided with a power supply system 7, which supplies power to various mechanisms and systems.

[0032] The frame 1 is provided with a water spray system 8, which is used to spray water and sprinkle water to maintain the concrete surface. The frame 1 is provided with an emergency avoidance system 9, which is used to buffer, transition, and reduce injuries when the robot falls, so as to avoid falling accidents and damage to the robot. The processor of the central control system is used to process information and data of various mechanisms and systems, and control the working status of various mechanisms and systems.

[0033] The frame 1 is the main body of the robot and is used for the installation and fixation of other mechanisms and systems. The power system 7, the water spray system 8, and the emergency avoidance system 9 are respectively embedded in the front assembly groove 101, the middle assembly groove 102, and the rear assembly groove 103 arranged on the top of the frame 1, to ensure the stable placement of each system and to realize the detachable assembly of each system, which can be flexibly replaced according to needs later. The electromagnetic adsorption mechanism 4 is embedded in the bottom assembly groove 104 of the frame 1 to realize the storage of the electromagnetic adsorption mechanism 4 after the lifting is completed.

[0034] The magnetic front wheel mechanism 2 includes a wheel disc 201, an electromagnetic slot 202 and an electromagnetic wheel leg 203. The wheel disc 201 is driven by a power mechanism (motor, internal combustion engine) to rotate, driving the electromagnetic wheel leg 203 to realize the self-propelled function of moving forward and backward. A plurality of electromagnetic slots 202 are arranged circumferentially on the wheel disc 201, and a detachable electromagnetic wheel leg 203 is inserted in the electromagnetic slot 202. The electromagnetic slot 202 is used to realize the fixed placement of the electromagnetic wheel leg 203 and to energize and supply power to the electromagnetic wheel leg 203.

[0035] The magnetic front wheel mechanism 2 can adjust the number of electromagnetic wheel legs 203 arranged on the wheel disc 201 according to the required electromagnetic force. The more the number of electromagnetic wheel legs 203, the stronger the adsorption effect. The power system 7 supplies power to the electromagnetic wheel legs 203 through the electromagnetic slots 202, and the electromagnetic wheel legs 203 generate magnetism by electricity to generate adsorption force on the steel bars.

[0036] The opening direction of the electromagnetic slot 202 is radial, and the electromagnetic wheel leg 203 includes a straight segment and an arc segment of an integrated structure. The straight segment is inserted into the electromagnetic slot 202, and the electromagnetic wheel leg 203 can be detachably installed through an interference fit. The outer end of the straight segment is integrally connected to the arc segment, the center of the arc segment is the center of the wheel disc 201, and the arc segment is arranged in the reverse forward rotation direction of the wheel disc 201, and the arc segment is used to ensure the smooth movement of the front wheel.

[0037] The rear wheel mechanism 3 includes a left rear wheel 301 and a right rear wheel 303. The frame 1 is provided with a left drive 302 connected to the left rear wheel 301, and the frame 1 is provided with a right drive 304 connected to the right rear wheel 303. The left drive 302 and the right drive 304 can be motors or internal combustion engines, which drive the rear wheels to rotate and walk through belts, pulleys, etc. The rear wheels are driven by two independent power sources, which can realize the steering of the robot car.

[0038] The electromagnetic adsorption mechanism 4 can be raised and lowered on the frame 1, so the distance of electromagnetic adsorption can be adjusted, and the magnitude of the adsorption force can be adjusted. Specifically, the electromagnetic adsorption mechanism 4 includes an electromagnetic adsorption disk 401, a distance sensor 402 and a lifting bracket 403. The power system 7 supplies power to the electromagnetic adsorption disk 401, and the electromagnetic adsorption disk 401 generates magnetism by electricity to generate an adsorption force on the steel bars. A distance sensor 402 is provided on the electromagnetic adsorption disk 401, and the distance sensor 402 is used to monitor the distance between the disk body and the surface of the building structure, and to adjust the lifting height of the disk body based on the feedback information. The frame 1 is connected to the electromagnetic adsorption disk 401 through the lifting bracket 403, and the lifting bracket 403 adopts a foldable four-bar linkage mechanism, through which the disk body is driven to move up and down.

[0039] The electromagnetic adsorption mechanism 4 at the bottom mainly provides a range of adhesion to the trolley. On the one hand, the magnitude of the electromagnetic force can be adjusted in real time according to the change of the overall weight of the robot (passive adjustment) to achieve the purpose of energy saving. On the other hand, the adhesion force can be calculated and adjusted according to the thickness of the steel bar protective layer, that is, the distance between the bottom electromagnetic induction element and the steel bar (passive adjustment). Or the distance between the induction device and the steel bar can be adjusted through the telescopic frame of the induction device (active adjustment) to achieve the adjustment of the range of the trolley's adsorption force and ensure the smooth operation of the robot.

[0040] The visual perception system 5 is used to collect images and picture information in front of the robot. It can realize the walking positioning of the robot based on the BIM model (building components), import the model (building components) into the robot system or take photos of the maintenance area for identification, and manually set the walking boundary to realize unmanned autonomous operation of the robot car.

[0041] The elevation control system 6 is used for distance measurement. With the ground or floor as the reference point, the travel distance or height is set through the central control system to help the trolley to perform high-altitude exterior wall maintenance operations. The power system 7 is preferably a battery, which is embedded in the front end of the trolley and all power is controlled by the power system.

[0042] The water spraying system 8 includes a water tank 801, a water pump and a water spraying pipe. The water tank 801 is embedded in the middle mounting groove 102 of the vehicle frame 1. The water tank 801 is connected to the water spraying pipe 802 through the water pump. The water spraying pipe 802 is arranged on both sides of the water tank 801. A nozzle is provided on the water spraying pipe 802. The hydraulic pressure is provided by the water pump. The water pump is used to spray and disperse the water to the nozzle to perform water spraying on the surface of the building structure. The water spraying pipe 802 includes a plurality of pipe sections 803. The adjacent pipe sections 803 are detachably connected and connected, that is, the operator can extend or shorten the spraying span of the water spraying pipe 802 according to the range and area to be sprayed.

[0043] The water tank is located between the front and rear wheels and embedded in the frame. An additional pump is installed inside the water tank, and there are extendable or shortened nozzles on both sides. The nozzles are connected to the internal duct of the water tank. A gravity ball is set at the end of the duct to ensure that it can still work normally when the water level is low.

[0044] The emergency avoidance system 9 is a pop-up parachute, which is a disposable system, that is, if the emergency avoidance system is activated, it needs to be replaced again. The system is located on the upper part of the trolley frame and is provided with a falling speed sensor. When the trolley falls, the internal parachute bag can be automatically opened to achieve safe landing.

[0045] The robot is used for maintenance operations. During steel structure construction, it can also be equipped with video photography and weld inspection module systems to perform related quality inspections and avoid the risks of manual high-altitude operations.

[0046] The working process of this application is as follows: the entire robot uses the electromagnetic adsorption mechanism at the bottom to generate magnetic force between electricity and the steel bars inside the concrete, providing the robot car with adhesion to the wall. At the same time, the front wheels are also equipped with electromagnetic induction components, which provide adhesion on the one hand and driving force on the other hand. It can not only walk on the ground, but also walk vertically and realize automatic turning at vertical right angles (inner angles). At the same time, it can also walk on the ceiling (floor), thereby satisfying continuous walking in the entire space.

[0047] The aforementioned basic examples and their further selected examples can be freely combined to form multiple embodiments, all of which are embodiments that can be adopted and claimed for protection in this application. In the scheme of this application, each selected example can be arbitrarily combined with any other basic examples and selected examples.

[0048] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A full-space intelligent walking robot, comprising a frame (1), characterized in that: The frame (1) is provided with a magnetic front wheel mechanism (2) located at the front bottom, the frame (1) is provided with a rear wheel mechanism (3) located at the rear bottom, the frame (1) is provided with an electromagnetic adsorption mechanism (4) located at the middle bottom, and the frame (1) is provided with a power supply system (7).

2. The full-space intelligent walking robot according to claim 1, characterized in that: The frame (1) is provided with a visual perception system (5) located at the front end, and the frame (1) is provided with an elevation control system (6) located at the rear end.

3. The full-space intelligent walking robot according to claim 1 or 2, characterized in that: The frame (1) is provided with a water spray system (8), and the frame (1) is provided with an emergency avoidance system (9).

4. The full-space intelligent walking robot according to claim 3, characterized in that: The power system (7), water spray system (8), and emergency avoidance system (9) are respectively embedded in a front assembly groove (101), a middle assembly groove (102), and a rear assembly groove (103) arranged on the top of the frame (1), and the electromagnetic adsorption mechanism (4) is embedded in a bottom assembly groove (104) arranged on the frame (1).

5. The full-space intelligent walking robot according to claim 1, characterized in that: The magnetic front wheel mechanism (2) comprises a wheel disc (201), a plurality of electromagnetic slots (202) are arranged circumferentially on the wheel disc (201), and detachable electromagnetic wheel legs (203) are inserted into the electromagnetic slots (202).

6. The full-space intelligent walking robot according to claim 5, characterized in that: The electromagnetic slot (202) is opened in a radial direction, and the electromagnetic wheel leg (203) comprises a straight segment and an arc segment, the straight segment is inserted into the electromagnetic slot (202), the outer end of the straight segment is connected to the arc segment, the center of the arc segment is the center of the wheel disc (201), and the arc segment is arranged in the reverse direction of the wheel disc (201).

7. The full-space intelligent walking robot according to claim 1, characterized in that: The electromagnetic adsorption mechanism (4) can be lifted and lowered on the vehicle frame (1).

8. The full-space intelligent walking robot according to claim 1 or 7, characterized in that: The electromagnetic adsorption mechanism (4) comprises an electromagnetic adsorption plate (401), on which a distance measuring sensor (402) is provided, and the vehicle frame (1) is connected to the electromagnetic adsorption plate (401) via a lifting bracket (403).

9. The full-space intelligent walking robot according to claim 3, characterized in that: The water spray system (8) comprises a water tank (801), which is arranged on the vehicle frame (1). The water tank (801) is connected to a water spray pipe (802) via a water pump, and a spray head is arranged on the water spray pipe (802).

10. The full-space intelligent walking robot according to claim 3, characterized in that: The emergency avoidance system (9) is a pop-up parachute.

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