Negative pressure wall-climbing robot carrying device of integrated perspective radar

Abstract

The utility model discloses a negative pressure wall-climbing robot carrying device of an integrated perspective radar, and relates to the technical field of integrated perspective radar detection. Comprising a negative pressure wall-climbing robot used for walking on a to-be-detected surface, a lifting assembly used for being connected with an integrated perspective radar and enabling a detection working face of the integrated perspective radar to be close to or away from the to-be-detected surface, and a clamping assembly used for clamping the integrated perspective radar and enabling the detection working face of the integrated perspective radar to face the to-be-detected surface. The lifting assembly is installed on the negative pressure wall-climbing robot, the clamping assembly is installed at the lifting end of the lifting assembly, stable and reliable adsorption force and walking power are provided through the negative pressure wall-climbing robot, and it can be guaranteed that the integrated perspective radar stably walks on a high wall surface; during detection, it is guaranteed that the detection working face of the integrated perspective radar can be accurately matched with the to-be-detected face, and it is guaranteed that the detection precision is high, operation is convenient, and safety is high.

Description

Technical Field

[0001] This utility model relates to the field of integrated perspective radar detection technology, and in particular to a negative pressure wall-climbing robot mounting device for integrated perspective radar. Background Technology

[0002] Integrated penetrating radar inspection is one of the commonly used methods in non-destructive testing technology. It can detect defects in building structures, materials, parts or equipment without damaging or affecting the performance of the object being inspected.

[0003] However, the aforementioned integrated perspective radar still has some limitations, mainly in that: when detecting targets such as wall structures, it usually requires manual operation of the integrated perspective radar, making it difficult to detect higher walls; a known detection method involves adding an extension rod to raise the integrated perspective radar to a higher position on the wall, which can expand the detection range of the integrated perspective radar, but this detection device occupies a large space, and the operator needs to manually hold the extension rod to adjust its length and angle, which is very inconvenient. Furthermore, the stability of the integrated perspective radar is poor when raised to a high position, which can easily affect the integrated perspective radar. The inventors are aware of another detection method: using a drone to deliver an integrated perspective radar to a high wall. However, drones are greatly affected by the environment during flight, and it is difficult to operate the drone to aim the integrated perspective radar at the wall, which can easily lead to drone instability. This not only affects the detection accuracy of the integrated perspective radar but may also cause safety issues such as drone collisions or falls. Therefore, providing a mounting device that can stably carry an integrated perspective radar to detect high walls, ensuring convenient operation, high detection accuracy, and improved safety during detection is an urgent problem to be solved. Utility Model Content

[0004] The purpose of this invention is to provide a negative pressure wall-climbing robot mounting device with an integrated perspective radar to solve the problems existing in the prior art, thereby stably mounting the integrated perspective radar to detect high walls, ensuring convenient operation, high detection accuracy, and improved safety during detection.

[0005] To achieve the above objectives, this utility model provides the following solution:

[0006] A negative pressure wall-climbing robot mounting device for an integrated perspective radar includes a negative pressure wall-climbing robot for walking on a surface to be measured, a lifting assembly for connecting the integrated perspective radar and moving the detection working surface of the integrated perspective radar closer to or away from the surface to be measured, and a clamping assembly for clamping the integrated perspective radar and facing the detection working surface of the integrated perspective radar toward the surface to be measured. The lifting assembly is mounted on the negative pressure wall-climbing robot, and the clamping assembly is mounted on the lifting end of the lifting assembly.

[0007] In an exemplary embodiment, the negative pressure wall-climbing robot includes a body, a chassis disposed below the body, a walking mechanism disposed on both sides of the chassis, and a steering mechanism for controlling the turning of the walking mechanism. The chassis includes a negative pressure suction cup for adsorbing the surface to be tested and a negative pressure air chamber for communicating with the negative pressure suction cup to form negative pressure. A negative pressure fan is disposed inside the negative pressure air chamber.

[0008] In one exemplary embodiment, the lifting assembly is a screw jack, scissor jack, hydraulic guide rail jack, rack and pinion jack, or swing jack.

[0009] In an exemplary embodiment, the clamping assembly is a floating clamping mechanism, which includes a top plate for connecting to the lifting end of the lifting assembly, a floating guide post fixedly connected to the bottom of the top plate, a floating spring sleeved on the outer periphery of the floating guide post and fixed at its top end to the bottom surface of the top plate, a floating plate fixed at its top end to the bottom end of the floating spring, and a gripper connected to the floating plate for clamping an integrated perspective radar. The floating plate is provided with a guide hole for the floating guide post to pass through.

[0010] In one exemplary embodiment, an integrated see-through radar screen recording assembly is also installed on the floating plate. The integrated see-through radar screen recording assembly includes a recording mechanism facing the integrated see-through radar display screen and an information transmission module for transmitting the image information recorded by the recording mechanism to a control terminal. The recording mechanism is electrically connected to the information transmission module.

[0011] In one exemplary embodiment, the recording mechanism is a camera.

[0012] In one exemplary embodiment, the floating plate is further equipped with an integrated see-through radar recording button trigger assembly, which includes a telescopic mechanism extending in the direction of the integrated see-through radar recording button, and a trigger head is installed at the moving end of the telescopic mechanism.

[0013] In one exemplary embodiment, the telescopic mechanism is an electric push rod or a pneumatic push rod.

[0014] In one exemplary embodiment, the integrated see-through radar recording button trigger component further includes a controller, the controller including a control module for controlling the extension and retraction of the telescopic mechanism.

[0015] In an exemplary embodiment, the walking mechanism includes two walking parts symmetrically arranged on both sides of the chassis. Each walking part includes at least one drive wheel, at least one driven wheel, and a belt sleeved on the outer periphery of the drive wheel and the driven wheel for contacting the surface to be measured. The walking mechanism also includes a drive motor for driving the drive wheel to rotate and a control system for controlling the start, stop and speed adjustment of the drive motor.

[0016] This invention utilizes a negative pressure wall-climbing robot equipped with an integrated perspective radar to move across the surface to be tested. A lifting component moves the radar's detection surface closer to or further away from the surface, while a clamping component stably holds the radar. The negative pressure wall-climbing robot provides stable and reliable suction and propulsion, eliminating the need for handheld operation. This design is convenient and minimizes the risk of collisions or falls during testing, ensuring the radar can move stably across high walls. Furthermore, the design ensures precise alignment between the radar's detection surface and the surface being tested, guaranteeing high accuracy.

[0017] In another embodiment of this utility model, when the operator performs manual control, he / she only needs to stand at a distance to perform simple remote control operation, without the need for complex operation or handheld integrated see-through radar operation, which is convenient to operate and highly safe. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of an exemplary embodiment of the negative pressure wall-climbing robot mounting device with integrated perspective radar disclosed in this utility model;

[0020] Figure 2 for Figure 1 The main view;

[0021] Figure 3 for Figure 1 The right view;

[0022] Figure 4 for Figure 1 Top view;

[0023] Figure 5 for Figure 1 Rear view;

[0024] Figure 6 This is a schematic diagram of an exemplary embodiment of the clamping component disclosed in this utility model;

[0025] Figure 7 This is a schematic diagram of an exemplary embodiment of the integrated see-through radar screen recording component disclosed in this utility model;

[0026] Figure 8 This is a schematic diagram of an exemplary embodiment of the integrated see-through radar recording button triggering component disclosed in this utility model;

[0027] The components include: 1. Negative pressure wall-climbing robot; 2. Lifting assembly; 3. Clamping assembly; 4. Integrated perspective radar; 5. Integrated perspective radar recording button trigger assembly; 6. Integrated perspective radar screen recording assembly; 7. Body; 8. Chassis; 9. Walking mechanism; 10. Top plate; 11. Floating guide column; 12. Floating spring; 13. Floating plate; 14. Gripper; 15. Recording mechanism; 16. Information transmission module; 17. Integrated perspective radar display screen; 18. Telescopic mechanism; 19. Trigger head; 20. Integrated perspective radar recording button; 21. Walking unit; 22. Drive wheel; 23. Driven wheel; 24. Belt. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0029] The purpose of this invention is to provide a negative pressure wall-climbing robot mounting device with an integrated perspective radar to solve the problems existing in the prior art. It can stably mount the integrated perspective radar to detect high walls, ensuring convenient operation, high detection accuracy, and improved safety during detection.

[0030] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] This embodiment provides a negative pressure wall-climbing robot mounting device with integrated see-through radar, referenced. Figure 1The device includes a negative pressure wall-climbing robot 1 for walking on the surface to be tested, a lifting assembly 2 for connecting an integrated perspective radar 4 and moving the detection working surface of the integrated perspective radar 4 closer to or further away from the surface to be tested, and a clamping assembly 3 for clamping the integrated perspective radar 4 and facing the detection working surface of the integrated perspective radar 4 toward the surface to be tested. In use, the lifting assembly 2 is installed on the negative pressure wall-climbing robot 1, the clamping assembly 3 is installed on the lifting end of the lifting assembly 2, and the integrated perspective radar 4 is clamped onto the clamping assembly 3. Then, the negative pressure wall-climbing robot 1 is activated, causing it to adhere to the wall surface to be tested. The lifting assembly 2 is then controlled to move the robot. The lowering component 2 gradually lowers the integrated perspective radar 4, bringing its detection surface into contact with the wall to be inspected. Then, the negative pressure wall-climbing robot 1 drives the integrated perspective radar 4 along the wall to be inspected, enabling it to reach higher positions on the wall for inspection without the need for manual handheld operation. The negative pressure wall-climbing robot 1 and the lifting component 2 can be automatically controlled by a preset program or manually controlled by a remote control. Both automatic control and manual control by remote control can be achieved using existing technologies. The improvement of this utility model does not involve the control method of the negative pressure wall-climbing robot and the lifting component.

[0032] Among them, the integrated perspective radar is preferably the PS1000 integrated perspective radar.

[0033] As one implementation method of this embodiment, in order to achieve the adsorption between the negative pressure wall-climbing robot 1 and the wall surface to be tested, and the walking and turning of the negative pressure wall-climbing robot 1 on the wall surface to be tested, refer to Figures 1-5 The negative pressure wall-climbing robot 1 includes a body 7, a chassis 8 located below the body 7, walking mechanisms 9 located on both sides of the chassis 8, and a steering mechanism for controlling the turning of the walking mechanisms 9. The chassis 8 includes a negative pressure suction cup for adsorbing the surface to be tested and a negative pressure air chamber for communicating with the negative pressure suction cup to form negative pressure. A negative pressure fan is installed inside the negative pressure air chamber.

[0034] In one embodiment of this invention, the lifting assembly 2 is a screw jack, scissor jack, hydraulic guide rail jack, rack and pinion jack, or swing jack. The screw jack includes a motor, a screw connected to the motor, a nut meshing with the screw and rising and falling with its rotation, a lifting platform on one side of the nut, and a guide and limiting mechanism for restricting the rotation of the lifting platform. The scissor jack includes a base, at least one set of scissor arms mounted above the base, a driver for driving the scissor arms to perform scissor movements, and a lifting platform mounted on top of the scissor arms. The hydraulic guide rail jack includes a hydraulic cylinder with its output end facing upwards, a lifting platform fixedly mounted on top of its output end, and a mechanism to ensure linear vertical movement of the lifting platform. The guide rail mechanism has one end of the lifting platform slidingly engaged with it via a slider. The gear and rack type lifting platform includes a support frame, a vertically mounted rack on the support frame, a gear meshing with the rack, a motor for driving the gear to rotate, a lifting platform rotatably connected to both ends of the gear, and a guide rail mechanism for ensuring the gear and lifting platform move up and down along the rack. One end of the lifting platform slides with the guide rail mechanism via a slider. The swing type lifting platform includes a support arm and a swing lifting mechanism fixed to one end of the support arm. The swing lifting mechanism includes a housing, a swing block hinged inside the housing, and a motor for driving the swing block to pitch and swing. When the motor rotates, the swing block pitches and swings, driving the clamping assembly and integrated perspective radar mounted on the swing block to achieve swing lifting.

[0035] As one implementation method of this embodiment, in order to ensure that the detection working surface of the integrated see-through radar 4 can always fit well with the wall surface to be detected, refer to Figure 6 The clamping assembly 3 is a floating clamping mechanism, which includes a top plate 10 for connecting to the lifting end of the lifting assembly 2, a floating guide column 11 fixedly connected to the bottom of the top plate 10, a floating spring 12 sleeved on the outer periphery of the floating guide column 11 and fixed at the top end to the bottom surface of the top plate 10, a floating plate 13 fixed at the top end to the bottom end of the floating spring 12, and a gripper 14 connected to the floating plate 13 for clamping the integrated perspective radar 4. The floating plate 13 is provided with a guide hole for the floating guide column 11 to pass through. When the integrated perspective radar 4 detects the wall surface, the floating plate 13 can float up and down under the action of the floating spring 12 and the floating guide column 11, thereby providing a certain amount of rotational floating (including the deflection of the integrated perspective radar 4 relative to its initial reference plane) and vertical movement floating when the integrated perspective radar 4 detects uneven walls, ensuring that the detection working surface of the integrated perspective radar 4 can always fit well with the wall surface to be detected.

[0036] When the integrated see-through radar is used for detection on a high wall, the detection results are displayed on the integrated see-through radar screen, making it impossible to show the results to the operator in real time. To achieve real-time recording and display of the detection information from the integrated see-through radar 4, as one implementation method in this embodiment, refer to... Figure 1 and Figure 7 An integrated perspective radar screen recording component 6 is also installed on the floating plate 13. The integrated perspective radar screen recording component 6 includes a recording mechanism 15 facing the integrated perspective radar display screen 17 and an information transmission module 16 for transmitting the image information recorded by the recording mechanism 15 to the control terminal. The recording mechanism 15 is electrically connected to the information transmission module 16. The integrated perspective radar screen recording component 6 and the integrated perspective radar 4 float together with the floating plate 13 to ensure the consistency of movement and ensure that the recording mechanism 15 can always face the integrated perspective radar display screen 17, thereby accurately recording the detection data on the integrated perspective radar display screen 17. The image information is then transmitted to the control terminal through the information transmission module 16, thereby displaying the detection results to the operator in real time from a distance.

[0037] As one implementation of this embodiment, the recording mechanism 15 is a camera, the field of view of which covers the integrated see-through radar display screen 17, and the information transmission module 16 displays the image recorded by the camera on the screen of the control terminal.

[0038] Since the recording button of the integrated see-through radar is directly located on the integrated see-through radar, the operator cannot perform remote triggering when the integrated see-through radar is detecting on a high wall. In order to enable the integrated see-through radar recording button 20 to be triggered in real time after the negative pressure wall-climbing robot 1 moves the integrated see-through radar 4 to a high position on the wall, as one implementation method of this embodiment, refer to... Figure 1 , Figure 6 and Figure 8 The floating plate 13 is also equipped with an integrated perspective radar recording button trigger assembly 5. The integrated perspective radar recording button trigger assembly 5 includes a telescopic mechanism 18 whose extension direction is aligned with the integrated perspective radar recording button 20. The moving end of the telescopic mechanism 18 is equipped with a trigger head 19. The integrated perspective radar recording button trigger assembly 5 can also float together with the integrated perspective radar 4 with the floating plate 13 to ensure the consistency of movement, thereby ensuring that the trigger head 19 can accurately trigger the integrated perspective radar recording button 20 under any circumstances.

[0039] As one embodiment of this invention, the telescopic mechanism 18 is an electric push rod or a pneumatic push rod.

[0040] As one implementation of this embodiment, the integrated perspective radar recording button trigger component 5 also includes a controller. The controller includes a control module for controlling the extension and retraction of the telescopic mechanism. The control module can be automatically controlled by a preset program or manually controlled by a remote control. In the scenario of manual control by a remote control, the controller also includes a signal receiving module for receiving remote control signal commands. When in use, a control signal is sent by pressing a button on the remote control. After receiving the signal, the signal receiving module transmits it to the control module. The control module controls the electric push rod or pneumatic push rod to extend, so that the trigger head 19 presses the integrated perspective radar recording button 20, thereby realizing the trigger action.

[0041] As one implementation method of this embodiment, in order to improve the stability of the negative pressure wall-climbing robot 1 when walking on the wall, refer to Figures 1-5 The walking mechanism 9 of the negative pressure wall-climbing robot 1 includes two walking parts 21 symmetrically arranged on both sides of the chassis 8. Each walking part 21 includes at least one drive wheel 22, at least one driven wheel 23, and a belt 24 sleeved on the outer periphery of the drive wheel 22 and the driven wheel 23 for contacting the surface to be measured and walking. The walking mechanism 9 also includes a drive motor for driving the drive wheel 22 to rotate and a control system for controlling the start, stop and speed adjustment of the drive motor. The symmetrical arrangement improves the balance of the negative pressure wall-climbing robot 1 when walking. The belt 24 can increase the contact area between the walking mechanism 9 and the wall, provide a more stable walking driving force, prevent the walking mechanism 9 from sliding on the wall, and improve the stability of the negative pressure wall-climbing robot 1 when walking on the wall.

[0042] It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the implementation of this utility model and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of this utility model, should still fall within the scope of the technical content disclosed herein. In the description of this utility model, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are merely for the convenience of describing this utility model. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0043] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0044] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A negative pressure wall-climbing robot mounting device with integrated see-through radar, characterized in that: The negative pressure wall-climbing robot for walking on the surface to be detected, the lifting assembly for connecting the integrated perspective radar and making the detection working surface of the integrated perspective radar close to or away from the surface to be detected, and the clamping assembly for clamping the integrated perspective radar and making the detection working surface of the integrated perspective radar face the surface to be detected, the lifting assembly is installed on the negative pressure wall-climbing robot, and the clamping assembly is installed on the lifting end of the lifting assembly.

2. The all-in-one see-through radar negative pressure wall-climbing robot carrying device according to claim 1, characterized in that: The negative pressure wall-climbing robot comprises a body, a chassis arranged below the body, a walking mechanism arranged on both sides of the chassis, and a steering mechanism for controlling the turning of the walking mechanism, the chassis comprises a negative pressure suction cup for adsorbing the surface to be detected and a negative pressure air chamber for forming negative pressure in communication with the negative pressure suction cup, and a negative pressure fan is arranged in the negative pressure air chamber.

3. The all-in-one see-through radar negative pressure wall-climbing robot carrying device according to claim 1, characterized in that: The lifting assembly is a screw rod lifter, a scissor lifter, a hydraulic guide rail lifter, a gear and rack lifter or a swing lifter.

4. The all-in-one see-through radar negative pressure wall-climbing robot carrying device according to claim 1, characterized in that: The clamping assembly is a floating clamping mechanism, the floating clamping mechanism comprises a top plate for connecting with the lifting end of the lifting assembly, a floating guide column fixedly connected with the bottom of the top plate, a floating spring sleeved on the outer periphery of the floating guide column and fixed at the top end of the top plate, a floating plate fixedly connected with the bottom end of the floating spring, and a clamping jaw connected on the floating plate for clamping the integrated perspective radar, and a guide hole is arranged on the floating plate for the floating guide column to pass through.

5. The all-in-one see-through radar negative pressure wall-climbing robot carrying device according to claim 4, characterized in that: An integrated perspective radar screen recording assembly is further installed on the floating plate, the integrated perspective radar screen recording assembly comprises a recording mechanism opposite to the display screen of the integrated perspective radar and an information transmission module for transmitting image information recorded by the recording mechanism to a control terminal, and the recording mechanism is electrically connected with the information transmission module.

6. The all-in-one see-through radar-equipped wall-climbing robot of negative pressure according to claim 5, characterized in that: The recording mechanism is a camera.

7. The all-in-one see-through radar negative pressure wall-climbing robot carrying device according to claim 4, characterized in that: An integrated perspective radar recording button triggering assembly is further installed on the floating plate, the integrated perspective radar recording button triggering assembly comprises a telescopic mechanism with an extension direction aligned with the recording button of the integrated perspective radar, and a triggering rubber head is installed on the movement end of the telescopic mechanism. 8.The all-in-one see-through radar wall-climbing robot carrying device of claim 7, wherein: The telescopic mechanism is an electric push rod or a pneumatic push rod.

9. The all-in-one see-through radar negative pressure wall-climbing robot carrying device according to claim 7, characterized in that: The integrated perspective radar recording button triggering assembly further comprises a controller, and the controller comprises a control module for controlling the extension and retraction of the telescopic mechanism.

10. The all-in-one see-through radar negative pressure wall-climbing robot carrying device according to claim 2, characterized in that: The walking mechanism comprises two walking parts symmetrically arranged on both sides of the chassis, each walking part comprises at least one driving wheel, at least one driven wheel, a belt sleeved on the outer periphery of the driving wheel and the driven wheel for contacting the surface to be detected for walking, the walking mechanism further comprises a driving motor for driving the driving wheel to rotate and a control system for controlling the driving motor to start, stop and adjust the speed.

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