Automatic inspection robot for monitoring deformation of building structure

Abstract

The utility model relates to an automatic inspection robot for building structure deformation monitoring, which comprises a monitoring module, a robot mechanism and a positioning mechanism, the monitoring module is used for monitoring images of graphic targets, the robot mechanism comprises a visual monitor, and the robot mechanism is used for carrying the monitoring module to each datum point to monitor the graphic targets. And the positioning mechanism is used for positioning with a positioning base arranged on the reference point. According to the utility model, the inspection type robot mechanism is arranged to inspect a reference point so as to replace a fixedly-mounted visual monitor, the problem that the visual monitor is damaged and dirty outdoors is reduced, and the oppositely-opened arc-shaped baffle plate is also arranged to drive the arc-shaped baffle plate to be opened when the robot mechanism and the positioning base are clamped and fixed, so that the visual monitor is protected from being damaged and dirty outdoors. And when the robot mechanism leaves the positioning base, the robot mechanism is closed, so that the exposure time of the visual monitor in the external environment is further shortened, and the visual precision of the visual monitor is protected.

Description

Technical Field

[0001] This utility model belongs to the field of building structure monitoring, specifically relating to an automatic inspection robot for monitoring building structural deformation. Background Technology

[0002] Building structural deformation monitoring systems are widely used to monitor settlement, tilt, and minute displacement of structures such as buildings and dams. For example, a visual recognition-based building deformation monitoring system sets multiple graphic targets on the surface of the building and then selects reference points around the building. After the visual monitoring instrument is positioned at the reference points, it identifies the graphic targets at a specific angle. In subsequent monitoring, it identifies the same targets at the same reference points at the same angle. By analyzing the differences in the graphic target images before and after, the deformation of the building can be obtained.

[0003] To eliminate the differences caused by the settlement of the base points themselves, multiple reference points are usually set. However, visual monitoring instruments have high requirements for lenses, and it is difficult to maintain visual monitoring instruments with multiple reference points in the open air. Dirty or damaged lenses have a significant impact on the recognition effect of graphic targets. Utility Model Content

[0004] The purpose of this invention is to provide an automatic inspection robot for monitoring structural deformation of buildings in order to solve the above-mentioned problems.

[0005] This utility model achieves the above objectives through the following technical solutions:

[0006] An automated inspection robot for monitoring structural deformation of buildings, including

[0007] A monitoring module, including a visual monitoring device, is used to monitor images of graphic targets.

[0008] A robotic mechanism for carrying a monitoring module to monitor graphic targets at each reference point, including a housing and moving components, wherein the surface of the housing is provided with a mounting platform to accommodate a vision monitoring instrument, and the mounting platform is provided with a sliding, open, arc-shaped baffle.

[0009] A positioning mechanism, used for positioning with a positioning base set on a reference point;

[0010] The transmission mechanism is used to drive the arc-shaped baffle to open when the positioning mechanism is in position.

[0011] As a further optimization of this utility model, the monitoring module includes a first rotating seat set on the mounting platform and a second rotating seat set on the first rotating seat. The visual monitoring instrument is set on the second rotating seat. By setting the rotating seat, the visual monitoring instrument can adjust its direction and face different graphic targets.

[0012] As a further optimization of this utility model, the mounting platform is provided with an arc-shaped sliding groove that cooperates with an arc-shaped baffle, and the arc-shaped sliding groove extends into the inside of the housing. The purpose of extending the arc-shaped sliding groove into the inside of the housing is to facilitate the retraction of the arc-shaped baffle when the visual monitoring instrument is working, so as to prevent the visual monitoring instrument from being obstructed.

[0013] As a further optimization of this utility model, the housing is provided with a side groove for docking with the positioning base. The positioning mechanism includes a sliding sleeve fixedly disposed on the housing and a driving part slidably disposed within the sliding sleeve. The driving part is slidably disposed within the sliding sleeve, and a pressure plate is provided at the output end of the driving part. A positioning part is provided on the lower surface of the pressure plate. The surface of the positioning base is provided with a positioning groove that docks with the positioning part. This solution further improves the positioning method of the positioning mechanism by driving the pressure plate down through the driving part, causing the positioning part to enter the positioning groove. The positioning base is clamped between the pressure plate and the housing to complete the positioning and fixing. The driving part is provided as a cylinder.

[0014] As a further optimization of this utility model, the transmission mechanism includes a rotating base fixedly connected inside the housing, an internally threaded sleeve rotatably disposed within the rotating base, a threaded rod at the tail end of the drive unit that mates with the internally threaded sleeve, and a shaft at the axis of the two arc-shaped baffles. The shaft is rotatably connected to the housing, and a connecting rod connected to the arc-shaped baffle is provided on the surface of the shaft. A gear meshes between the two shafts. The internally threaded sleeve and one of the shafts are transmitted through the transmission unit. In this solution, by further configuring the transmission mechanism, the drive unit contacts the positioning base when the pressure plate is pressed down, and the drive unit body moves upward in the opposite direction. The internally threaded sleeve is rotated through the threaded rod. The thread is a wide-pitch thread to prevent thread self-locking. The internally threaded sleeve drives the shaft to rotate, opening the two arc-shaped baffles. Then the threaded rod further pushes against the housing, causing the housing to rise. The upward-facing surface inside the side groove contacts the lower surface of the positioning base, clamping and fixing the positioning base.

[0015] As a further optimization of this utility model, the transmission part consists of a first sprocket mounted on an internally threaded sleeve and a second sprocket mounted on one of the shafts, with a chain sleeved between the first sprocket and the second sprocket. This solution specifically achieves transmission through a chain and sprocket mechanism.

[0016] The beneficial effects of this utility model are as follows:

[0017] This invention replaces the fixed-installation vision monitoring instrument by setting up an inspection-type robot mechanism to inspect the reference point, thereby reducing the problem of outdoor damage and dirt to the vision monitoring instrument. In addition, it is equipped with a split arc-shaped baffle that opens when the robot mechanism is clamped and fixed to the positioning base and closes when the robot mechanism leaves the positioning base, further reducing the time the vision monitoring instrument is exposed to the external environment and helping to protect the vision accuracy of the vision monitoring instrument. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0019] Figure 2 This is a cross-sectional structural diagram of the robot mechanism of this utility model.

[0020] Figure 3 This is the utility model Figure 2 Enlarged view of the structure of part A in the middle.

[0021] Figure 4 This is the utility model Figure 2 Top-down sectional view.

[0022] In the diagram: 1. Monitoring module; 11. First rotating seat; 12. Second rotating seat; 13. Vision monitoring instrument; 2. Robot mechanism; 21. Housing; 22. Side groove; 23. Moving component; 24. Mounting platform; 25. Arc-shaped slide; 26. Arc-shaped baffle; 3. Positioning base; 31. Positioning groove; 4. Positioning mechanism; 41. Sliding sleeve; 42. Drive unit; 43. Pressure plate; 44. Positioning unit; 5. Transmission mechanism; 51. Rotating base; 52. Internal threaded sleeve; 53. First sprocket; 54. Threaded rod; 55. Chain; 56. Shaft; 57. Gear; 58. Second sprocket; 59. Connecting rod; 6. Graphic target. Detailed Implementation

[0023] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0024] Example 1

[0025] like Figure 1-4 As shown, an automated inspection robot for monitoring building structural deformation includes...

[0026] Monitoring module 1, which is used to monitor the image of graphic target 6, includes visual monitoring device 13;

[0027] The robot mechanism 2, which carries the monitoring module 1 to each reference point to monitor the graphic target 6, includes a housing 21 and a moving component 23. The surface of the housing 21 is provided with a mounting platform 24 to accommodate the visual monitoring instrument 13. The mounting platform 24 is provided with a sliding split arc-shaped baffle 26.

[0028] Positioning mechanism 4, which is used to position itself relative to positioning base 3 set on reference point;

[0029] The transmission mechanism 5 is used to drive the arc-shaped baffle 26 to open when the positioning mechanism 4 is in position.

[0030] This solution replaces the fixed-installation vision monitoring instrument 13 by setting up an inspection-type robot mechanism 2 to inspect the reference point, thereby reducing the problem of outdoor damage and dirt to the vision monitoring instrument 13. In addition, a split-type arc-shaped baffle 26 is set up. When the robot mechanism 2 is clamped and fixed with the positioning base 3, the arc-shaped baffle 26 is driven to open and closes when the robot mechanism 2 leaves the positioning base 3, further reducing the time that the vision monitoring instrument 13 is exposed to the external environment, which helps to protect the visual accuracy of the vision monitoring instrument 13.

[0031] The monitoring module 1 includes a first rotating seat 11 set on the mounting platform 24, a second rotating seat 12 set on the first rotating seat 11, and a visual monitor 13 set on the second rotating seat 12. By setting the rotating seat, the visual monitor 13 can adjust its direction to face different graphic targets 6.

[0032] The mounting platform 24 is provided with an arc-shaped slide 25 that cooperates with an arc-shaped baffle 26, and the arc-shaped slide 25 extends into the housing 21. The purpose of extending the arc-shaped slide 25 into the housing 21 is to facilitate the retraction of the arc-shaped baffle 26 when the visual monitor 13 is working, so as to prevent the visual monitor 13 from being obstructed.

[0033] The housing 21 has a side groove 22 for docking with the positioning base 3. The positioning mechanism 4 includes a sliding sleeve 41 fixedly mounted on the housing 21 and a drive part 42 slidably mounted inside the sliding sleeve 41. The drive part 42 is slidably mounted inside the sliding sleeve 41. A pressure plate 43 is provided at the output end of the drive part 42. A positioning part 44 is provided on the lower surface of the pressure plate 43. The surface of the positioning base 3 has a positioning groove 31 that docks with the positioning part 44. In this solution, by further setting the positioning method of the positioning mechanism 4, the drive part 42 drives the pressure plate 43 to press down, and the positioning part 44 enters the positioning groove 31. The positioning base 3 is clamped between the pressure plate 43 and the housing 21 to complete the positioning and fixing. The drive part 42 can be set as a cylinder.

[0034] The transmission mechanism 5 includes a rotating base 51 fixedly connected inside the housing 21, an internally threaded sleeve 52 rotatably disposed within the rotating base 51, a threaded rod 54 at the tail end of the drive unit 42 that mates with the internally threaded sleeve 52, and shafts 56 at the axes of the two arc-shaped baffles 26. The shafts 56 are rotatably connected to the housing 21, and a connecting rod 59 connected to the arc-shaped baffles 26 is provided on the surface of the shafts 56. A gear 57 meshes between the two shafts 56. The internally threaded sleeve 52 and one of the shafts 56 are connected by a transmission unit. This solution further incorporates a transmission mechanism 5. When the drive unit 42 presses down the pressure plate 43, it contacts the positioning base 3. The drive unit 42 body moves upward in the opposite direction, driving the internal threaded sleeve 52 to rotate via the threaded rod 54. This thread is a wide-pitch thread to prevent thread self-locking. The internal threaded sleeve 52 drives the shaft 56 to rotate, opening the two arc-shaped baffles 26. Then, the threaded rod 54 further pushes against the housing 21, causing the housing 21 to rise. The upward-facing surface inside the side groove 22 contacts the lower surface of the positioning base 3, clamping and fixing the positioning base 3 to the robot mechanism 2.

[0035] The transmission unit consists of a first sprocket 53 mounted on an internal threaded sleeve 52 and a second sprocket 58 mounted on one of the shafts 56. A chain 55 is sleeved between the first sprocket 53 and the second sprocket 58. In this design, the transmission is achieved through the chain 55 and the sprocket.

[0036] The specific implementation method is as follows: The robot mechanism 2 moves to a certain reference point and is positioned and fixed with the positioning base 3 of the reference point. The side groove 22 moves to dock with the positioning base 3. Then, the drive unit 42 drives the pressure plate 43 to descend, and the positioning unit 44 enters the positioning groove 31. Then, the drive unit 42 slides upward in the reverse direction and drives the internal threaded sleeve 52 to rotate through the threaded rod 54. The internal threaded sleeve 52 drives one of the shafts 56 to rotate through the chain 55. The shaft 56 drives the other shaft 56 to rotate through the gear 57, so that the two arc-shaped baffles 26 enter the housing 21 along the arc-shaped sliding groove 25. Then, the vision monitoring instrument 13 identifies and collects each graphic target 6 and uses it as a reference for comparison during the next inspection. After the reference point monitoring is completed, the drive unit 42 retracts. First, the housing 21 lands. Then, the drive unit 42 drives the threaded rod 54 to move downward by its own weight. The internal threaded sleeve 52 rotates in the reverse direction, so that the shaft 56 drives the arc-shaped baffles 26 to close again.

[0037] The embodiments described above are merely examples of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. An automated inspection robot for monitoring structural deformation of buildings, characterized in that: include The monitoring module (1), which is used to monitor the image of the graphic target (6), includes a visual monitoring device (13); The robot mechanism (2), which is used to carry the monitoring module (1) to each reference point to monitor the graphic target (6), includes a housing (21) and a moving component (23), wherein the surface of the housing (21) is provided with a mounting platform (24) for accommodating the visual monitoring instrument (13), and the mounting platform (24) is provided with a sliding split arc-shaped baffle (26); Positioning mechanism (4), which is used to position itself with positioning base (3) set on reference point; The transmission mechanism (5) is used to drive the arc-shaped baffle (26) to open when the positioning mechanism (4) is positioned.

2. The automatic inspection robot for monitoring structural deformation of buildings according to claim 1, characterized in that: The monitoring module (1) includes a first rotating seat (11) set on the mounting platform (24) and a second rotating seat (12) set on the first rotating seat (11), and the visual monitoring instrument (13) is set on the second rotating seat (12).

3. An automated inspection robot for monitoring structural deformation of buildings according to claim 1, characterized in that: The mounting platform (24) is provided with an arc-shaped sliding groove (25) that cooperates with an arc-shaped baffle (26), and the arc-shaped sliding groove (25) extends into the interior of the housing (21).

4. An automated inspection robot for monitoring structural deformation of buildings according to claim 1, characterized in that: The housing (21) has a side groove (22) for docking with the positioning base (3). The positioning mechanism (4) includes a sliding sleeve (41) fixedly disposed on the housing (21) and a drive part (42) slidably disposed in the sliding sleeve (41). The output end of the drive part (42) is provided with a pressure plate (43). The lower surface of the pressure plate (43) is provided with a positioning part (44). The surface of the positioning base (3) is provided with a positioning groove (31) that docks with the positioning part (44).

5. An automatic inspection robot for monitoring structural deformation of buildings according to claim 4, characterized in that: The transmission mechanism (5) includes a rotating base (51) fixedly connected inside the housing (21), an internally threaded sleeve (52) rotatably disposed inside the rotating base (51), a threaded rod (54) that cooperates with the internally threaded sleeve (52) at the tail end of the drive unit (42), a shaft (56) disposed at the axis of the two arc-shaped baffles (26), the shaft (56) being rotatably connected to the housing (21), and a connecting rod (59) that connects to the arc-shaped baffles (26) on the surface of the shaft (56), and a gear (57) that meshes with each other between the two shafts (56), and the internally threaded sleeve (52) and one of the shafts (56) are transmitted through the transmission unit.

6. An automatic inspection robot for monitoring structural deformation of buildings according to claim 5, characterized in that: The transmission unit consists of a first sprocket (53) mounted on an internal threaded sleeve (52) and a second sprocket (58) mounted on one of the shafts (56), with a chain (55) sleeved between the first sprocket (53) and the second sprocket (58).

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