CN113291991A - Self-climbing tower crane robot for tower crane safety detection and use method thereof - Google Patents
Self-climbing tower crane robot for tower crane safety detection and use method thereof Download PDFInfo
- Publication number
- CN113291991A CN113291991A CN202110516508.7A CN202110516508A CN113291991A CN 113291991 A CN113291991 A CN 113291991A CN 202110516508 A CN202110516508 A CN 202110516508A CN 113291991 A CN113291991 A CN 113291991A
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- tower crane
- self
- robot
- safety detection
- climbing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Jib Cranes (AREA)
Abstract
The invention provides a self-climbing tower crane robot for tower crane safety detection and a use method thereof. The invention solves the potential safety hazard problem that climbing detection needs to be carried out manually in the traditional tower crane safety detection, and the modeling design is very suitable for the structure of the tower crane, thereby improving the detection efficiency. Can realize remote wireless control, need not artifical high-risk operation, but robot cyclic utilization once drops into and lasts the repayment.
Description
Technical Field
The invention relates to a self-climbing tower crane robot for tower crane safety detection and a use method thereof.
Background
A common remote control robot is similar to a vehicle in shape and is suitable for a flat surface, or a maintenance platform is built and then manually climbs up to overhaul, so that potential safety hazards exist.
Disclosure of Invention
The invention aims to provide a self-climbing tower crane robot for tower crane safety detection and a using method thereof.
In order to solve the above problems, the present invention provides a self-climbing tower crane robot for tower crane safety detection, comprising:
the central control box is internally provided with a control chip and a battery connected with the control chip;
with the magnetism adsorbs tire assembly that central control box is connected, magnetism adsorbs tire assembly includes: the magnetic adsorption hub is connected with the central control box and is communicated with the control chip, and the explosion-proof tire crawls on the corners of a standard knot of a tower crane;
the camera is arranged on the central control box and is communicated with the control chip;
a ground controller in communication with the control chip.
Further, in the self-climbing tower crane robot for tower crane safety detection, the number of the magnetic adsorption tires is 4.
Further, in the above-mentioned tower crane robot that climbs certainly that is used for tower crane safety inspection, still include: 2 connecting piece, every connecting piece include head rod and second connecting rod, the one end of head rod and the one end of second connecting rod are connected perpendicularly, a magnetism adsorbs wheel hub is connected to the other end of head rod, a magnetism adsorbs wheel hub is connected to the other end of second connecting rod.
Further, in the self-climbing tower crane robot for the tower crane safety detection, the run-flat tire is a cross-country run-flat tire.
Further, in the above-mentioned tower crane safety inspection's tower crane robot that climbs certainly, still including set up in robotic arm on the central control case, robotic arm with control chip communication, the camera connect in robotic arm's end.
Further, in the above-mentioned tower crane robot that climbs certainly that is used for tower crane safety inspection, still include: and the driving hammer is arranged on the central control box and is communicated with the control chip.
Further, in the above-mentioned tower crane robot that climbs certainly that is used for tower crane safety inspection, still include: and the vibration sensor is arranged in the central control box and is connected with the control chip.
Further, in the above-mentioned tower crane robot that climbs certainly that is used for tower crane safety inspection, still include: and the marking line is arranged at the joint of the standard section of the tower crane.
Further, in the self-climbing tower crane robot for tower crane safety detection, the impact hammer is arranged on the left side of the central control box, and the mechanical arm and the camera are arranged on the right side of the central control box.
According to another aspect of the invention, the invention provides a use method of a self-climbing tower crane robot for tower crane safety detection, which comprises the following steps: adopt above-mentioned any one be used for tower crane safety inspection from tower crane robot that climbs, include:
placing a self-climbing tower crane robot for tower crane safety detection on a corner of a tower crane standard knot;
the ground controller controls the control chip to lead in current of the battery for magnetism generation, and the self-climbing tower crane robot for the safety detection of the tower crane is adsorbed to the corner of the standard section of the tower crane;
the self-climbing tower crane robot for the safety detection of the tower crane is controlled by a ground controller to vertically and upwards run on the corners of a standard section of the tower crane;
when the self-climbing tower crane robot for the safety detection of the tower crane reaches the joint of a standard section of the tower crane and then stops, the shooting angle of the camera is adjusted through the mechanical arm so as to shoot and store the screws and nuts at the joint of the standard section of the tower crane and the mark line at the joint, the beating hammer is controlled to beat the tower crane, and the sensor records the vibration frequency of the tower crane;
detecting whether the screws, the nuts and the marking lines at the joints in the shot pictures are aligned or not, and if so, judging that the joints of the standard section of the tower crane are not loosened; and if not, comparing the recorded vibration frequency of the tower crane.
Compared with the prior art, the robot can receive a control signal sent by a ground controller through the control chip, the magnetic adsorption wheel hub is arranged in the magnetic adsorption tire assembly, when the magnetic adsorption wheel hub is opened, the robot is adsorbed and fixed on the corner of the standard knot of the tower crane by utilizing the electromagnetic effect, and the robot can be pushed to climb upwards by rolling the tire. The invention solves the potential safety hazard problem that climbing detection needs to be carried out manually in the traditional tower crane safety detection, and the modeling design is very suitable for the structure of the tower crane, thereby improving the detection efficiency. Can realize remote wireless control, need not artifical high-risk operation, but robot cyclic utilization once drops into and lasts the repayment.
Drawings
Fig. 1 is a structural diagram of a self-climbing tower crane robot for tower crane safety detection according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the invention provides a self-climbing tower crane robot for tower crane safety detection, comprising:
the central control box 1 is internally provided with a control chip and a battery connected with the control chip;
with magnetic adsorption tire assembly 2 that well center control box 1 is connected, magnetic adsorption tire assembly includes: the magnetic adsorption hub is connected with the central control box and is communicated with the control chip, and the explosion-proof tire crawls on a corner 6 of a standard knot of a tower crane;
the camera 3 is arranged on the central control box 1, and the camera 3 is communicated with the control chip;
a ground controller in communication with the control chip.
Here, control chip can receive the control signal that ground controller sent, has magnetism to adsorb wheel hub in the tire assembly through magnetism, and magnetism adsorbs wheel hub when opening and utilizes electromagnetic effect will adsorb the robot and fix on the angle of tower crane standard festival, can roll through the tire again and promote the robot and climb up. The invention solves the potential safety hazard problem that climbing detection needs to be carried out manually in the traditional tower crane safety detection, and the modeling design is very suitable for the structure of the tower crane, thereby improving the detection efficiency. Can realize remote wireless control, need not artifical high-risk operation, but robot cyclic utilization once drops into and lasts the repayment.
As shown in fig. 1, in an embodiment of the self-climbing tower crane robot for tower crane safety detection of the present invention, the number of the magnetic adsorption tires is 4.
Here, the magnetic adsorption tire assembly includes a magnetic adsorption hub and a run-flat tire, four in number in front and rear like an automobile.
As shown in fig. 1, in an embodiment of the self-climbing tower crane robot for tower crane safety detection of the present invention, the self-climbing tower crane robot further includes: 2 connecting piece 4, every connecting piece 4 includes head rod and second connecting rod, the one end of head rod and the one end of second connecting rod are connected perpendicularly, a magnetism adsorbs wheel hub is connected to the other end of head rod, a magnetism adsorbs wheel hub is connected to the other end of second connecting rod.
Here, the one end of head rod and the one end of second connecting rod are connected perpendicularly, can realize that per two magnetism adsorb wheel hub and be 90 degrees pastes on tower crane standard festival.
In an embodiment of the self-climbing tower crane robot for tower crane safety detection, the anti-explosion tire is a cross-country anti-explosion tire.
Herein, through assembling cross-country explosion-proof tire, can adapt to the seam obstacle problem of the standard festival of various tower cranes.
In an embodiment of the self-climbing tower crane robot for tower crane safety detection, the self-climbing tower crane robot further comprises a mechanical arm 7 arranged on the central control box, the mechanical arm 7 is communicated with the control chip, and the camera 3 is connected to the tail end of the mechanical arm 7.
Herein, the camera is located robotic arm's end, can change the shooting angle of camera through adjusting robotic arm is nimble.
As shown in fig. 1, in an embodiment of the self-climbing tower crane robot for tower crane safety detection of the present invention, the self-climbing tower crane robot further includes: and the hammer 5 is arranged on the central control box 1 and is communicated with the control chip.
Herein, can select the hammer dynamics of beating through ground controller, control and strike tower crane standard festival and experience feedback, whether the photo analysis screw of lining up of joint camera is not hard up.
In an embodiment of the self-climbing tower crane robot for tower crane safety detection of the present invention, the self-climbing tower crane robot further includes: and the vibration sensor is arranged in the central control box and is connected with the control chip.
Here, by performing photo and vibration detection simultaneously, it is achieved that no security issues are left.
In an embodiment of the self-climbing tower crane robot for tower crane safety detection of the present invention, the self-climbing tower crane robot further includes: and the marking line is arranged at the joint of the standard section of the tower crane.
In an embodiment of the self-climbing tower crane robot for tower crane safety detection, the hammer is arranged on the left side of the central control box, and the mechanical arm and the camera are arranged on the right side of the central control box.
According to another aspect of the invention, a use method of a self-climbing tower crane robot for tower crane safety detection is further provided, where the self-climbing tower crane robot for tower crane safety detection according to any of the above embodiments is adopted, and the method includes:
step S1, placing a self-climbing tower crane robot for tower crane safety detection on a corner of a tower crane standard knot;
step S2, the ground controller controls the control chip to lead in current of the battery for magnetism generation, and the self-climbing tower crane robot for the safety detection of the tower crane is adsorbed to the corner of the standard knot of the tower crane;
step S3, the self-climbing tower crane robot for the tower crane safety detection is made to vertically and upwards run on the corners of the standard section of the tower crane through a ground controller;
step S4, stopping the self-climbing tower crane robot for the safety detection of the tower crane after the self-climbing tower crane robot reaches the joint of a standard section of the tower crane, adjusting the shooting angle of a camera through a mechanical arm to shoot and store the screws, nuts and mark lines at the joint of the standard section of the tower crane, controlling a hammer to strike the tower crane, and recording the vibration frequency of the tower crane by the sensor;
step S5, detecting whether the marks at the screw, the nut and the joint in the shot picture are aligned, if so, judging that the joint of the standard section of the tower crane is not loosened; and if not, comparing the recorded vibration frequency of the tower crane.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides a self-climbing tower crane robot for tower crane safety inspection which characterized in that includes:
the central control box is internally provided with a control chip and a battery connected with the control chip;
with the magnetism adsorbs tire assembly that central control box is connected, magnetism adsorbs tire assembly includes: the magnetic adsorption hub is connected with the central control box and is communicated with the control chip, and the explosion-proof tire crawls on the corners of a standard knot of a tower crane;
the camera is arranged on the central control box and is communicated with the control chip;
a ground controller in communication with the control chip.
2. The self-climbing tower crane robot for tower crane safety detection as recited in claim 1, wherein the number of the magnetic adsorption tires is 4.
3. The self-climbing tower crane robot for tower crane safety detection as recited in claim 1, further comprising: 2 connecting pieces, every connecting piece include head rod and second connecting rod, the one end of head rod and the one end of second connecting rod are connected perpendicularly, a magnetism adsorbs wheel hub is connected to the other end of head rod, a magnetism adsorbs wheel hub is connected to the other end of second connecting rod.
4. The self-climbing tower crane robot for tower crane safety detection as recited in claim 1, wherein the run-flat tire is an off-road run-flat tire.
5. The self-climbing tower crane robot for tower crane safety detection according to claim 1, further comprising a mechanical arm arranged on the central control box, wherein the mechanical arm is in communication with the control chip, and the camera is connected to the tail end of the mechanical arm.
6. The self-climbing tower crane robot for tower crane safety detection as recited in claim 5, further comprising: and the driving hammer is arranged on the central control box and is communicated with the control chip.
7. The self-climbing tower crane robot for tower crane safety detection as recited in claim 1, further comprising: and the vibration sensor is arranged in the central control box and is connected with the control chip.
8. The self-climbing tower crane robot for tower crane safety detection as recited in claim 1, further comprising: and the marking line is arranged at the joint of the standard section of the tower crane.
9. The self-climbing tower crane robot for tower crane safety detection as recited in claim 6, wherein the hammer is disposed on the left side of the central control box, and the mechanical arm and the camera are disposed on the right side of the central control box.
10. The use method of the self-climbing tower crane robot for the tower crane safety detection is characterized in that the self-climbing tower crane robot for the tower crane safety detection as claimed in any one of claims 1 to 9 is adopted, and comprises the following steps:
placing a self-climbing tower crane robot for tower crane safety detection on a corner of a tower crane standard knot;
the ground controller controls the control chip to lead in current of the battery for magnetism generation, and the self-climbing tower crane robot for the safety detection of the tower crane is adsorbed to the corner of the standard section of the tower crane;
the self-climbing tower crane robot for the safety detection of the tower crane is controlled by a ground controller to vertically and upwards run on the corners of a standard section of the tower crane;
when the self-climbing tower crane robot for the safety detection of the tower crane reaches the joint of a standard section of the tower crane and then stops, the shooting angle of the camera is adjusted through the mechanical arm so as to shoot and store the screws and nuts at the joint of the standard section of the tower crane and the mark line at the joint, the beating hammer is controlled to beat the tower crane, and the sensor records the vibration frequency of the tower crane;
detecting whether the screws, the nuts and the marking lines at the joints in the shot pictures are aligned or not, and if so, judging that the joints of the standard section of the tower crane are not loosened; and if not, comparing the recorded vibration frequency of the tower crane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110516508.7A CN113291991B (en) | 2021-05-12 | 2021-05-12 | Self-climbing tower crane robot for tower crane safety detection and using method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110516508.7A CN113291991B (en) | 2021-05-12 | 2021-05-12 | Self-climbing tower crane robot for tower crane safety detection and using method thereof |
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| CN113291991A true CN113291991A (en) | 2021-08-24 |
| CN113291991B CN113291991B (en) | 2023-09-01 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114105008A (en) * | 2021-12-20 | 2022-03-01 | 中国建筑第二工程局有限公司 | Can have enough to meet need formula tower crane passageway of going up people that climbs along with climbing frame |
| CN114572836A (en) * | 2022-01-24 | 2022-06-03 | 杭州大杰智能传动科技有限公司 | Intelligent auxiliary robot for tower crane maintenance and control method thereof |
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| CN112678084A (en) * | 2020-12-30 | 2021-04-20 | 中国农业大学 | Strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of wind driven generator tower body |
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| CN109141618A (en) * | 2018-10-11 | 2019-01-04 | 武汉科技大学 | A kind of steel structure bolt loosening detection robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114105008A (en) * | 2021-12-20 | 2022-03-01 | 中国建筑第二工程局有限公司 | Can have enough to meet need formula tower crane passageway of going up people that climbs along with climbing frame |
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| CN114572836A (en) * | 2022-01-24 | 2022-06-03 | 杭州大杰智能传动科技有限公司 | Intelligent auxiliary robot for tower crane maintenance and control method thereof |
| CN114572836B (en) * | 2022-01-24 | 2023-06-02 | 杭州大杰智能传动科技有限公司 | Intelligent auxiliary robot for maintenance of tower crane and control method thereof |
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| CN113291991B (en) | 2023-09-01 |
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