CN112223312B - Inspection robot for inspecting connection stability of scaffold - Google Patents
Inspection robot for inspecting connection stability of scaffold Download PDFInfo
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- CN112223312B CN112223312B CN202011081861.9A CN202011081861A CN112223312B CN 112223312 B CN112223312 B CN 112223312B CN 202011081861 A CN202011081861 A CN 202011081861A CN 112223312 B CN112223312 B CN 112223312B
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- 238000007689 inspection Methods 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 233
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 48
- 229910052742 iron Inorganic materials 0.000 claims description 24
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 239000011435 rock Substances 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000009435 building construction Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
Abstract
The invention discloses an inspection robot for inspecting the connection stability of a scaffold, which comprises a remote control device and a remote control mobile detection robot, wherein the remote control device is wirelessly connected with the remote control mobile detection robot, the remote control mobile detection robot comprises a remote control car base, a fixed base, a lead screw sliding device, a levelness detection mechanism, a shaking detection mechanism and a robot control assembly, a supporting rod is arranged on the upper wall of the remote control car base, the fixed base is arranged above the supporting rod, the lead screw sliding device is arranged on the fixed base, the levelness detection mechanism and the shaking detection mechanism are arranged on the lead screw sliding device, and the robot control assembly is arranged on the lead screw sliding device and the remote control car base. The invention belongs to the technical field of detection tools, and particularly provides a patrol robot for detecting scaffold connection stability, which is high in practicability, simple to operate, convenient for accurately detecting scaffold connection stability and convenient to control and move.
Description
Technical Field
The invention belongs to the technical field of detection tools, and particularly relates to a patrol robot for detecting the connection stability of a scaffold.
Background
The scaffold is various supports which are erected for workers to operate and solve vertical and horizontal transportation on a construction site, and is mainly used for safety net enclosure, high-altitude installation members and the like on a construction site. Therefore, the scaffold is an important enclosure structure in the building construction process, and the detection of the scaffold is the important factor for ensuring the building construction safety and the construction quality.
At present, no detection tool can accurately detect the connection stability of the scaffold, and the traditional detection tool is heavy and cumbersome in detection method, so that the detection tool which can completely detect the scaffold and is convenient to control is urgently needed.
Disclosure of Invention
In order to solve the existing problems, the invention provides the inspection robot for inspecting the connection stability of the scaffold, which has high practicability and simple operation, is convenient for accurately detecting the connection stability of the scaffold and is convenient to control and move.
The technical scheme adopted by the invention is as follows: the invention discloses a patrol robot for testing scaffold connection stability, which comprises a remote control device and a remote control mobile detection robot, the remote control device is wirelessly connected with the remote control mobile detection robot, the remote control mobile detection robot comprises a remote control car base, a fixed base, a lead screw sliding device, a levelness detection mechanism, a shaking detection mechanism and a robot control assembly, the upper wall of the remote control car base is provided with a support rod, the fixed base is arranged above the support rod, the screw rod sliding device is arranged on the fixed base, the levelness detection mechanism and the shaking detection mechanism are arranged on the lead screw sliding device, the robot control assembly is arranged on the lead screw sliding device and the remote control car base, the levelness detection mechanism is convenient for detecting whether the scaffold is inclined or not in connection, and the shaking detection mechanism is convenient for detecting the shaking degree of the scaffold when being impacted by applying impact force to the scaffold so as to be convenient for detecting the connection stability of the scaffold; the screw sliding device comprises a driving screw, a driven screw, a synchronous belt, a sliding motor and a detection fixing plate, wherein the driving screw and the driven screw are rotatably arranged on a fixed base and are arranged in parallel, the synchronous belt is wound on the driving screw and the driven screw, the synchronous belt drives the driving screw and the driven screw to synchronously rotate, the sliding motor is arranged on a remote control car base, an output shaft of the sliding motor is connected with a central shaft part of the driving screw, the detection fixing plate is slidably arranged on the driving screw and the driven screw in a penetrating way, a driving sliding through hole and a driven sliding through hole are arranged on the detection fixing plate, the driving screw and the driven screw are respectively arranged in the driving sliding through hole and the driven sliding through hole, and are respectively in threaded connection with the driving sliding through hole and the driven sliding through hole, the sliding motor drives the driving screw rod to rotate, the driving screw rod drives the driven screw rod to rotate through the synchronous belt, and the driving screw rod and the driven screw rod drive the detection fixing plate to slide along the driving screw rod and the driven screw rod, so that the scaffolds with different heights can be detected conveniently; the levelness detection mechanism comprises a rotating shaft, a level detection connecting rod, a level gauge, a first detection baffle, a second detection baffle, a first level detection pressure sensor and a second level detection pressure sensor, wherein the rotating shaft is arranged on the front wall of a detection fixing plate, the middle part of the level detection connecting rod is rotatably arranged on the rotating shaft, the level detection connecting rod is arranged in a zigzag shape, the level gauge is arranged in the middle of the level detection connecting rod and detects whether the scaffold is connected or not through detecting the inclination degree of the level detection connecting rod, the first detection baffle and the second detection baffle are symmetrically arranged at the two ends of the level detection connecting rod, the first level detection pressure sensor is arranged on the upper wall of the first detection baffle, the second level detection pressure sensor is arranged on the upper wall of the second detection baffle, and the first level detection pressure sensor and the second level detection pressure sensor are convenient for detecting whether the first detection baffle and the second detection baffle are tightly attached to the scaffold or not, guarantee that the testing result is accurate, initiative lead screw and driven lead screw drive and detect the fixed plate and shift up, it shifts up to drive the pivot to detect the fixed plate, the pivot drives the horizontal detection connecting rod and shifts up, the horizontal detection connecting rod drives and detects baffle one and detects the second scaffold that moves up of baffle, when the scaffold slope, along with detecting the fixed plate and driving the horizontal detection connecting rod and shift up, thereby the horizontal detection connecting rod drives and detects baffle one and detects the different positions that baffle two laminated the scaffold respectively and make the horizontal detection connecting rod parallel with the scaffold, when the numerical value that horizontal detection pressure sensor one and horizontal detection pressure sensor two show tends to be stable and close, detect baffle one and detect baffle two and closely laminate with the scaffold, thereby the inclination of scaffold can be obtained through the inclination that reads the spirit level, be convenient for the accurate gradient that detects the scaffold.
Further, the shake detection mechanism comprises a shake detection electric telescopic rod, an electromagnet, a detection spring, a detection iron plate, a shake detection pressure sensor, a contact electric push rod, an L-shaped push rod, a clinging plate, a clinging pressure sensor and an infrared distance measurement sensor, wherein the shake detection electric telescopic rod is arranged on a detection fixed plate, the electromagnet is arranged on the movable end of the shake detection electric telescopic rod, the detection spring is arranged on the front wall of the detection fixed plate, the detection iron plate is arranged on the detection spring, the electromagnet is magnetically connected with the rear wall of the detection iron plate, the shake detection pressure sensor is arranged on the front wall of the detection iron plate, the electromagnet is driven to contract by the shake detection electric telescopic rod, the detection iron plate is driven to contract and move backwards by the electromagnet, the detection iron plate drives the detection spring to compress and deform, the electromagnet is powered off after a certain degree is reached, the detection spring drives the detection iron plate to rapidly move forwards under the action of elasticity to apply an impact force to the scaffold, the device is enabled to generate shaking so as to detect the connection stability and the impact bearing capacity of a scaffold, different impact forces with different sizes can be conveniently applied to the scaffold by shaking the detection electric telescopic rod, one side of the detection fixing plate, which is close to the shaking detection electric telescopic rod, is provided with a push rod fixing plate, the contact electric push rod is arranged on the push rod fixing plate, one side wall of the detection fixing plate, which is close to the push rod fixing plate, is provided with a chute, one end of the L-shaped push rod is slidably clamped in the chute, the clinging plate is arranged on the other end of the L-shaped push rod, the clinging pressure sensor is arranged on the side wall of the clinging plate, which is far away from the L-shaped push rod, the contact electric push rod is arranged between the push rod fixing plate and the L-shaped push rod, the movable end of the contact electric push rod is in contact with the L-shaped push rod, and the infrared distance measuring sensor is arranged on the side wall of the push rod fixing plate, which is close to the contact electric push rod, infrared range finding sensor locates and pastes the dead astern of tight board, infrared range finding sensor real-time detection pastes tight board to infrared range finding sensor's width, when needs detect the scaffold frame degree of rocking, touch electric putter extension through control and drive L shape push rod and be close to the scaffold frame, L shape push rod drives and pastes tight board and be close to the scaffold frame, when pasting tight pressure sensor and detecting pressure value and tend to the stability, paste tight board and scaffold frame and paste tightly, control touches and connects electric putter shrink and keeps away from L shape push rod, when detecting that iron plate applys impact force to the scaffold frame and make it rock, the scaffold frame of rocking promotes to paste tight board and slides backward along the spout and keeps away from the scaffold frame, infrared range finding sensor real-time detection pastes tight board to infrared range finding sensor's width, the degree of rocking of scaffold frame is detected through the degree of sliding of pasting tight board.
Further, the pivot is rotated and is run through and locate on detecting the fixed plate, it is equipped with the steering motor to detect the fixed plate back wall, the output shaft that turns to the motor is connected with the pivot, thereby drives the pivot through turning to the motor and rotates and drive the level and detect the connecting rod rotation, and the straightness that hangs down of scaffold frame also is convenient for when both being convenient for detect the levelness of scaffold frame.
Further, the robot control subassembly includes power, mobile controller and removes wireless transceiver module, power and mobile controller locate on the telecar base, initiative lead screw upper end is rotated the joint and is equipped with the lead screw even board, and the lead screw even board is connected with driven lead screw, and driven lead screw rotates to be located on the lead screw even board, removes wireless transceiver module and locates on the lead screw even board, sets up to better in the removal wireless transceiver module signal of eminence, and data transmission is more stable quick.
Further, remote control device includes control cabinet, control panel, display screen, fixed controller and fixed wireless transceiver module locate in the control cabinet, fixed wireless transceiver module and removal wireless transceiver module wireless connection, fixed wireless transceiver module and removal wireless transceiver module be convenient for remote control device and remote control mobile detection robot be connected, and then remote control mobile detection robot.
Furthermore, the fixed detection board is provided with an adjusting electric push rod, a shooting support and a camera are arranged on a movable end of the adjusting electric push rod, the shooting support is arranged on the movable end of the adjusting electric push rod, the camera is arranged on the shooting support, the shooting support is convenient for fixing and supporting the camera, the camera shoots images and videos of the scaffold in real time, so that workers can check the conditions and connection conditions of the scaffold through the videos, and the adjusting electric push rod is convenient for adjusting the position of the camera.
Furthermore, a remote control device is arranged on the console and is wirelessly connected with the remote control car base, and the remote control device is convenient for controlling the remote control car base to move.
The invention with the structure has the following beneficial effects: this scheme inspection scaffold frame connection steadiness patrol and examine robot reasonable in design, easy and simple to handle, be convenient for detect not co-altitude scaffold frame through the lead screw, the slope degree of scaffold frame is convenient for detect through spirit level and the horizontal detection connecting rod that rotates the setting, the impact that probably meets in the impact force to imitating scaffold frame actual conditions when driving the spring shrink through the electro-magnet and releasing, infrared distance measuring sensor detects the range reflection scaffold frame's that the scaffold frame that hugs closely the board promoted that is rocked rocking degree, the steadiness of accurate detection scaffold frame connection of being convenient for, shoot scaffold frame image video in real time through the camera, the staff of being convenient for passes through video detection scaffold frame connection situation, remote operation, light safety.
Drawings
FIG. 1 is a schematic structural view of an inspection robot for inspecting the connection stability of a scaffold according to the present invention;
FIG. 2 is a schematic structural view of a remote control mobile inspection robot for inspecting the stability of scaffold connection according to the present invention;
FIG. 3 is a schematic perspective view of the inspection robot remote control mobile detection robot for testing the connection stability of the scaffold according to the present invention;
fig. 4 is a schematic structural diagram of the inspection robot remote control device for checking the connection stability of the scaffold.
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings: 1. remote control device, 2, remote control movement detection robot, 3, remote control car base, 4, fixed base, 5, lead screw sliding device, 6, levelness detection mechanism, 7, shake detection mechanism, 8, robot control component, 9, support rod, 10, driving lead screw, 11, driven lead screw, 12, synchronous belt, 13, sliding motor, 14, detection fixed plate, 15, driving sliding through hole, 16, driven sliding through hole, 17, rotating shaft, 18, level detection connecting rod, 19, level meter, 20, detection baffle I, 21, detection baffle II, 22, level detection pressure sensor I, 23, level detection pressure sensor II, 24, shake detection electric telescopic rod, 25, electromagnet, 26, detection spring, 27, detection iron plate, 28, shake detection pressure sensor, 29, contact electric push rod, 30, L-shaped push rod, 31, The device comprises a tight attaching plate, 32, a tight attaching pressure sensor, 33, an infrared distance measuring sensor, 34, a push rod fixing plate, 35, a sliding groove, 36, a steering motor, 37, a power supply, 38, a mobile controller, 39, a mobile wireless transceiving module, 40, a screw rod connecting plate, 41, a control console, 42, a control panel, 43, a display screen, 44, a fixed controller, 45, a fixed wireless transceiving module, 46, an adjusting electric push rod, 47, a shooting support, 48, a camera, 49 and a remote control device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-4, the inspection robot for inspecting scaffold connection stability of the present invention includes a remote control device 1 and a remote mobile inspection robot 2, wherein the remote control device 1 is wirelessly connected with the remote mobile inspection robot 2, the remote mobile inspection robot 2 includes a remote control car base 3, a fixed base 4, a lead screw sliding device 5, a levelness inspection mechanism 6, a shake inspection mechanism 7 and a robot control assembly 8, a support rod 9 is disposed on an upper wall of the remote control car base 3, the fixed base 4 is disposed above the support rod 9, the lead screw sliding device 5 is disposed on the fixed base 4, the levelness inspection mechanism 6 and the shake inspection mechanism 7 are disposed on the lead screw sliding device 5, and the robot control assembly 8 is disposed on the lead screw sliding device 5 and the remote control car base 3; the lead screw sliding device 5 comprises a driving lead screw 10, a driven lead screw 11, a synchronous belt 12, a sliding motor 13 and a detection fixing plate 14, the driving lead screw 10 and the driven lead screw 11 are rotatably arranged on a fixing base 4, the driving lead screw 10 and the driven lead screw 11 are arranged in parallel, the synchronous belt 12 is wound on the driving lead screw 10 and the driven lead screw 11, the sliding motor 13 is arranged on a remote control car base 3, an output shaft of the sliding motor 13 is connected with a central shaft part of the driving lead screw 10, the detection fixing plate 14 is slidably arranged on the driving lead screw 10 and the driven lead screw 11 in a penetrating way, a driving sliding through hole 15 and a driven sliding through hole 16 are arranged on the detection fixing plate 14, the driving lead screw 10 and the driven lead screw 11 are respectively arranged in the driving sliding through hole 15 and the driven sliding through hole 16, and the driving lead screw 10 and the driven lead screw 11 are respectively connected with the driving sliding through hole 15, the driven sliding through hole 11, 16 threaded connection of driven slip through-hole, levelness detection mechanism 6 includes pivot 17, level detection connecting rod 18, spirit level 19, detects baffle one 20, detects baffle two 21, level detection pressure sensor one 22 and level detection pressure sensor two 23, pivot 17 is located on detecting the 14 antethecas of fixed plate, level detection connecting rod 18 middle part is rotated and is located on pivot 17, level detection connecting rod 18 is the setting of several fonts, the middle part of level detection connecting rod 18 is located to spirit level 19, detect baffle one 20 and detect the two 21 symmetries of baffle and locate level detection connecting rod 18 both ends, level detection pressure sensor one 22 is located and is detected baffle one 20 upper wall, level detection pressure sensor two 23 are located and are detected on the two 21 upper walls of baffle.
Wherein, the shake detection mechanism 7 comprises a shake detection electric telescopic rod 24, an electromagnet 25, a detection spring 26, a detection iron plate 27, a shake detection pressure sensor 28, a contact electric push rod 29, an L-shaped push rod 30, a close plate 31, a close pressure sensor 32 and an infrared distance measurement sensor 33, the shake detection electric telescopic rod 24 is arranged on a detection fixing plate 14, the electromagnet 25 is arranged on the movable end of the shake detection electric telescopic rod 24, the detection spring 26 is arranged on the front wall of the detection fixing plate 14, the detection iron plate 27 is arranged on the detection spring 26, the electromagnet 25 is magnetically connected with the rear wall of the detection iron plate 27, the shake detection pressure sensor 28 is arranged on the front wall of the detection iron plate 27, a push rod fixing plate 34 is arranged on one side of the detection fixing plate 14 close to the shake detection electric telescopic rod 24, the contact electric push rod 29 is arranged on the push rod fixing plate 34, the detection fixing plate 14 is provided with a sliding groove 35 on one side wall close to the push rod fixing plate 34, one end of the L-shaped push rod 30 is slidably clamped in the sliding groove 35, the tight attaching plate 31 is arranged at the other end of the L-shaped push rod 30, the tight attaching pressure sensor 32 is arranged on one side wall close to the tight attaching plate 31 and far away from the L-shaped push rod 30, the contact electric push rod 29 is arranged between the push rod fixing plate 34 and the L-shaped push rod 30, the movable end of the contact electric push rod 29 is in contact with the L-shaped push rod 30, the infrared distance measuring sensor 33 is arranged on one side wall close to the contact electric push rod fixing plate 34, the infrared distance measuring sensor 33 is arranged right behind the tight attaching plate 31, the rotating shaft 17 is rotatably arranged on the detection fixing plate 14, the rear wall of the detection fixing plate 14 is provided with a steering motor 36, an output shaft of the steering motor 36 is connected with the rotating shaft 17, the robot control assembly 8 comprises a power supply 37, The remote control device comprises a mobile controller 38 and a mobile wireless transceiving module 39, wherein the power supply 37 and the mobile controller 38 are arranged on a remote control car base 3, the upper end of a driving screw rod 10 is rotatably clamped with a screw rod connecting plate 40, the screw rod connecting plate 40 is connected with a driven screw rod 11, the driven screw rod 11 is rotatably arranged on the screw rod connecting plate 40, the mobile wireless transceiving module 39 is arranged on the screw rod connecting plate 40, the remote control device 1 comprises a control console 41, a control panel 42, a display screen 43, a fixed controller 44 and a fixed wireless transceiving module 45, the fixed controller 44 and the fixed wireless transceiving module 45 are arranged in the control console 41, and the fixed wireless transceiving module 45 is wirelessly connected with the mobile wireless transceiving module 39; the fixed detection plate is provided with an adjusting electric push rod 46, the movable end of the adjusting electric push rod 46 is provided with a shooting support 47 and a camera 48, the shooting support 47 is arranged on the movable end of the adjusting electric push rod 46, the camera 48 is arranged on the shooting support 47, the console 41 is provided with a remote control device 49, and the remote control device 49 is in wireless connection with the remote control car base 3.
When the device is used, the remote control device 49 controls the remote control car base 3 to be close to the scaffold and enables one side of the remote control car base 3 close to the detection iron plate 27 to be close to the scaffold, when the position of the remote control car base 3 is adjusted, the position of the remote control car base 3 stops moving, the control panel 42 sends a command of adjusting the height and shooting to the fixed controller 44, the fixed controller 44 sends the command of adjusting the height and shooting to the mobile controller 38 through the fixed wireless transceiver module 45 and the mobile wireless transceiver module 39, the mobile controller 38 controls the sliding motor 13 to rotate, the sliding motor 13 drives the driving lead screw 10 to rotate, the driving lead screw 10 drives the driven lead screw 11 to rotate through the synchronous belt 12, the driving lead screw 10 and the driven lead screw 11 drive the detection fixing plate 14 to slide along the driving lead screw 10 and the driven lead screw 11, thereby facilitating the detection of scaffolds with different heights, meanwhile, the mobile controller 38 controls the camera 48 to shoot the image video of the scaffold in real time and sends the image video to the fixed controller 44 through the mobile wireless transceiving module 39 and the fixed wireless transceiving module 45 to be displayed on the display screen 43, so that the working personnel can conveniently check the condition and the connection condition of the scaffold through the video, and the working personnel can adjust the position of the camera 48 by controlling and adjusting the telescopic of the electric push rod 46 through the control panel 42; when reaching the proper detection height, the control panel 42 controls the sliding motor 13 to stop rotating, the detection fixing plate 14 stops at the current height, when the inclination degree of the horizontal connection of the scaffold needs to be detected, the remote control device 49 controls the remote control car base 3 to approach the scaffold so that the first detection baffle 20 and the second detection baffle 21 are inserted into the scaffold, when the position of the first detection baffle 20 and the second detection baffle 21 is properly adjusted, the remote control car base 3 is stopped to be adjusted, the control panel 42 sends a horizontal detection instruction to the fixed controller 44, the fixed controller 44 sends the instruction to the mobile controller 38 through the fixed wireless transceiver module 45 and the mobile wireless transceiver module 39, the mobile controller 38 controls the sliding motor 13 to rotate, the sliding motor 13 drives the driving lead screw 10 to rotate, the driving lead screw 10 drives the driven lead screw 11 to rotate through the synchronous belt, the driving lead screw 10 and the driven lead screw 11 drive the detection fixing plate 14 to move upwards, the detection fixing plate 14 moves upwards to drive the rotating shaft 17 to move upwards, the rotating shaft 17 drives the horizontal detection connecting rod 18 to move upwards, the horizontal detection connecting rod 18 drives the first detection baffle 20 and the second detection baffle 21 to move upwards to be attached to the scaffold, when the scaffold inclines, along with the detection fixing plate 14 driving the horizontal detection connecting rod 18 to move upwards, the horizontal detection connecting rod 18 drives the first detection baffle 20 and the second detection baffle 21 to be respectively attached to different positions of the scaffold so that the horizontal detection connecting rod 18 is parallel to the scaffold, the horizontal detection pressure sensor I22 and the horizontal detection pressure sensor II 23 detect the pressure value between the first detection baffle 20 and the scaffold and the pressure value between the second detection baffle 21 and the scaffold in real time and send the pressure values to the fixed controller 44 through the mobile wireless transceiving module 39 and the fixed wireless transceiving module 45 to be displayed on the display screen 43, and when the values displayed by the horizontal detection pressure sensor I22 and the horizontal detection pressure sensor II 23 tend to be stable and close, the first detection baffle 20 and the second detection baffle 21 are tightly attached to the scaffold, at the moment, the sliding motor 13 is controlled to stop rotating through the control panel 42, the detection fixing plate 14 stops at the current height, the level gauge 19 detects the inclination degree of the horizontal detection connecting rod 18 and sends the inclination degree to the fixed controller 44 through the mobile wireless transceiving module 39 and the fixed wireless transceiving module 45 to be displayed on the display screen 43, a worker can obtain the inclination angle of the scaffold by reading the inclination angle of the level gauge 19, so as to accurately detect the inclination degree of the scaffold in the horizontal direction, when the inclination degree of the scaffold in the vertical direction needs to be detected, the steering motor 36 is controlled to rotate 90 degrees through the control panel 42, the steering motor 36 drives the rotating shaft 17 to rotate, the rotating shaft 17 drives the horizontal detection connecting plate to rotate 90 degrees and then changes from horizontal to vertical, the remote control device 49 drives the remote control car base 3 to move so that the first detection baffle 20 and the second detection baffle 21 are tightly attached to the scaffold, when the scaffold is inclined, the horizontal detection connecting rod 18 is driven by the remote control car base 3 to move close to the scaffold, the horizontal detection connecting rod 18 drives the first detection baffle 20 and the second detection baffle 21 to be respectively attached to different positions of the scaffold, so that the horizontal detection connecting rod 18 is parallel to the scaffold, the first horizontal detection pressure sensor 22 and the second horizontal detection pressure sensor 23 detect the pressure value between the first detection baffle 20 and the scaffold and the pressure value between the second detection baffle 21 and the scaffold in real time and send the pressure values to the fixed controller 44 through the mobile wireless transceiving module 39 and the fixed wireless transceiving module 45 to be displayed on the display screen 43, when the values displayed by the first horizontal detection pressure sensor 22 and the second horizontal detection pressure sensor 23 tend to be stable and close, the first detection baffle 20 and the second detection baffle 21 are closely attached to the scaffold, and at the moment, the sliding motor 13 is controlled to stop rotating through the control panel 42, when the inclination degree of the horizontal detection connecting rod 18 is detected by the level gauge 19 and is sent to the fixed controller 44 through the mobile wireless transceiving module 39 and the fixed wireless transceiving module 45 to be displayed on the display screen 43, a worker can obtain the inclination angle of the scaffold by reading the inclination angle of the level gauge 19, so as to accurately detect the inclination angle in the vertical direction of the scaffold, when the shaking degree of the scaffold needs to be detected, firstly, the control panel 42 controls the contact electric push rod 29 to extend to drive the L-shaped push rod 30 to approach the scaffold, the L-shaped push rod 30 drives the clinging plate 31 to approach the scaffold, the clinging pressure sensor 32 detects the pressure between the clinging plate 31 and the scaffold in real time and sends the pressure to the fixed controller 44 through the mobile wireless transceiving module 39 and the fixed wireless transceiving module 45 to be displayed on the display screen 43, and when the clinging pressure sensor 32 detects the pressure value and the pressure value tends to be stable, the clinging plate 31 clings to the scaffold, at the moment, a worker controls the contact electric push rod 29 to contract and be away from the L-shaped push rod 30 through the control panel 42, the shake detection electric telescopic rod 24 is controlled to contract through the control panel 42, the electromagnet 25 is in an electrified state in an initial state, the electromagnet 25 is in contact with the detection iron plate 27 at the moment and is magnetically adsorbed, the detection spring 26 is not deformed, the shake detection electric telescopic rod 24 drives the electromagnet 25 to contract, the electromagnet 25 drives the detection iron plate 27 to contract and move backwards, the detection iron plate 27 drives the detection spring 26 to compress and deform, the electromagnet 25 is powered off through the control panel 42 after reaching a certain degree, the detection iron plate 27 is adsorbed with the electromagnet 25, the detection spring 26 drives the detection iron plate 27 to rapidly move forwards under the action of elastic force to apply an impact force to the scaffold, so that the scaffold is shaken, and the connection stability and the impact bearing capacity of the scaffold are detected, rock the difference that detects electric telescopic handle 24 degree of contraction through control panel 42 control, be convenient for exert the impact force of equidimension not to the scaffold, when detecting that iron plate 27 applys the impact force to the scaffold and make it rock, the scaffold frame that rocks promotes to paste tie plate 31 and slides backward along spout 35 and keeps away from the scaffold frame, mobile controller 38 control infrared distance measuring sensor 33 real-time detection pastes tie plate 31 to infrared distance measuring sensor 33's width and sends through removing wireless transceiver module 39 and fixed wireless transceiver module 45 and shows for fixed control 44 on display screen 43, the staff detects the degree of rocking of scaffold frame through the degree of sliding that pastes tie plate 31.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a check and examine robot of steadiness is connected to inspection scaffold frame which characterized in that: the remote control device is wirelessly connected with the remote control mobile detection robot, the remote control mobile detection robot comprises a remote control car base, a fixed base, a lead screw sliding device, a levelness detection mechanism, a shake detection mechanism and a robot control assembly, a support rod is arranged on the upper wall of the remote control car base, the fixed base is arranged above the support rod, the lead screw sliding device is arranged on the fixed base, the levelness detection mechanism and the shake detection mechanism are arranged on the lead screw sliding device, the robot control assembly is arranged on the lead screw sliding device and the remote control car base, the lead screw sliding device comprises a driving lead screw, a driven lead screw, a synchronous belt, a sliding motor and a detection fixed plate, the driving lead screw and the driven lead screw are rotatably arranged on the fixed base, and the driving lead screw and the driven lead screw are arranged in parallel, the synchronous belt is wound on the driving screw rod and the driven screw rod, the sliding motor is arranged on the remote control car base, the output shaft of the sliding motor is connected with the central shaft part of the driving screw rod, the detection fixing plate is arranged on the driving screw rod and the driven screw rod in a sliding and penetrating way, the detection fixing plate is provided with a driving sliding through hole and a driven sliding through hole, the driving screw rod and the driven screw rod are respectively arranged in the driving sliding through hole and the driven sliding through hole, the driving screw rod and the driven screw rod are respectively in threaded connection with the driving sliding through hole and the driven sliding through hole, the levelness detection mechanism comprises a rotating shaft, a level detection connecting rod, a level meter, a first detection baffle, a second detection baffle, a first level detection pressure sensor and a second level detection pressure sensor, the rotating shaft is arranged on the front wall of the detection fixing plate, the middle part of the level detection connecting rod is arranged on the rotating shaft, the level detects the connecting rod and is the setting of several fonts, the spirit level is located the middle part of level detection connecting rod, detect baffle one and detect the two symmetries of baffle and locate the level and detect the connecting rod both ends, level detection pressure sensor one is located and is detected baffle one upper wall, level detection pressure sensor two is located and is detected on the two upper walls of baffle.
2. The inspection robot for inspecting scaffold connection stability according to claim 1, wherein: the shaking detection mechanism comprises a shaking detection electric telescopic rod, an electromagnet, a detection spring, a detection iron plate, a shaking detection pressure sensor, a contact electric push rod, an L-shaped push rod, a clinging plate, a clinging pressure sensor and an infrared distance measuring sensor, wherein the shaking detection electric telescopic rod is arranged on a detection fixed plate, the electromagnet is arranged at the movable end of the shaking detection electric telescopic rod, the detection spring is arranged on the front wall of the detection fixed plate, the detection iron plate is arranged on the detection spring, the electromagnet is magnetically connected with the rear wall of the detection iron plate, the shaking detection pressure sensor is arranged on the front wall of the detection iron plate, one side of the detection fixed plate, which is close to the shaking detection electric telescopic rod, is provided with a push rod fixed plate, the contact electric push rod is arranged on the push rod fixed plate, and one side wall of the detection fixed plate, which is close to the push rod fixed plate, is provided with a chute, l shape push rod one end slip joint is located in the spout, paste tight board and locate on the other end of L shape push rod, paste tight pressure sensor and locate on pasting tight board and keeping away from one side lateral wall of L shape push rod, touch and connect electric putter and locate between push rod fixed plate and the L shape push rod, touch and connect electric putter's expansion end and L shape push rod and touch and connect, infrared ranging sensor locates on the push rod fixed plate is close to touch and connects electric putter's one side lateral wall, and infrared ranging sensor locates and pastes tight board dead back.
3. The inspection robot for inspecting scaffold connection stability according to claim 1, wherein: the pivot rotates to run through and locates on detecting the fixed plate, it is equipped with the steering motor to detect the fixed plate back wall, the output shaft and the pivot of steering motor are connected.
4. The inspection robot for inspecting scaffold connection stability according to claim 1, wherein: the robot control assembly comprises a power supply, a mobile controller and a mobile wireless transceiving module, the power supply and the mobile controller are arranged on the base of the remote control car, the upper end of the driving screw rod is connected with a screw rod connecting plate in a rotating mode, the screw rod connecting plate is connected with a driven screw rod, the driven screw rod is arranged on the screw rod connecting plate in a rotating mode, and the mobile wireless transceiving module is arranged on the screw rod connecting plate.
5. The inspection robot for inspecting scaffold connection stability according to claim 1, wherein: the remote control device comprises a control console, a control panel, a display screen, a fixed controller and a fixed wireless transceiving module, wherein the fixed controller and the fixed wireless transceiving module are arranged in the control console, and the fixed wireless transceiving module is in wireless connection with the mobile wireless transceiving module.
6. The inspection robot for inspecting scaffold connection stability according to claim 1, wherein: the fixed detection plate is provided with an adjusting electric push rod, the movable end of the adjusting electric push rod is provided with a shooting support and a camera, the shooting support is arranged on the movable end of the adjusting electric push rod, and the camera is arranged on the shooting support.
7. The inspection robot for inspecting scaffold connection stability according to claim 1, wherein: the control console is provided with a remote control device, and the remote control device is wirelessly connected with the remote control car base.
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| CN202011081861.9A CN112223312B (en) | 2020-10-12 | 2020-10-12 | Inspection robot for inspecting connection stability of scaffold |
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| CN202011081861.9A CN112223312B (en) | 2020-10-12 | 2020-10-12 | Inspection robot for inspecting connection stability of scaffold |
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| JP2010261798A (en) * | 2009-05-07 | 2010-11-18 | Seiko Epson Corp | Attitude-detecting device, attitude control device, and control method of the attitude control device |
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Address after: 361000 702, Hengyi building, No.1-3, Zhongling Road, Huli District, Xiamen City, Fujian Province Patentee after: Xiamen Anke Technology Co.,Ltd. Country or region after: China Address before: 361000 702, Hengyi building, No.1-3, Zhongling Road, Huli District, Xiamen City, Fujian Province Patentee before: XIAMEN ANKE TECHNOLOGY Co.,Ltd. Country or region before: China |