CN114179112A

CN114179112A - Building detection hexapod robot

Info

Publication number: CN114179112A
Application number: CN202210064561.2A
Authority: CN
Inventors: 张安佶; 齐年平; 高云龙; 薛伶俐
Original assignee: Sichuan Institute of Building Research
Current assignee: Sichuan Institute of Building Research
Priority date: 2022-01-20
Filing date: 2022-01-20
Publication date: 2022-03-15

Abstract

The invention discloses a hexapod type robot for building detection, which comprises a robot body and a controller for controlling the robot body, and is characterized in that a camera and a crack detector are arranged on the robot body, 6 positioning feet are symmetrically arranged on two sides of the robot body, suckers are arranged at the end parts of the positioning feet, the suckers are connected with a first vacuum pump, the robot body is connected with a first driving device for driving the robot body to move, and the first driving device, the camera and the crack detector are all in communication connection with the controller. The six-legged robot for building detection provided by the invention has the advantages that the robot body is light in weight and convenient to move on the outer vertical surface of a building and structural members (such as the positions of walls, beams, plate bottoms and the like) of the building, and when the outer wall is detected, the robot body can be fixed through the positioning feet, so that the robot body is prevented from shaking due to the influence of the external environment, and the detection effect of the robot body on the building is improved.

Description

Building detection hexapod robot

Technical Field

The invention relates to the technical field of industrial robots, in particular to a hexapod type robot for building detection.

Background

Scientific research and engineering practice prove that the existence of cracks is the inherent physical characteristic of materials, cracks of any structure are inevitable, and the structure is also the same, and once the width of the cracks of the building wall exceeds a certain limit value, the cracks become harmful cracks, so that the performances of strength, durability, earthquake resistance and the like of the building are reduced, and even water seepage or collapse is directly caused.

At present, along with the rapid development of urbanization in China, urban population is gathered, buildings such as houses and the like are increasingly repaired, and the traditional mode of slowly detecting cracks through manually holding a crack detector cannot adapt to the change, so that the crack detection of the buildings at present becomes a difficult problem to be solved urgently.

Disclosure of Invention

In order to solve the problems, the invention provides a hexapod type robot for building detection, which can reduce the difficulty of detecting an outer wall and greatly improve the detection efficiency.

The invention specifically adopts the following technical scheme for realizing the purpose:

the utility model provides a building detects six sufficient robots, includes robot and the controller of control robot, be provided with camera and crack detection appearance on the robot, and robot bilateral symmetry is provided with 6 location feet, the sufficient tip in location is provided with the sucking disc, the sucking disc is connected with first vacuum pump, the robot is connected with the first drive arrangement who drives the robot removal, first drive arrangement, camera, crack detection appearance all with controller communication connection.

Furthermore, the first driving device comprises a first driving assembly and a second driving assembly which are arranged in parallel, the first driving assembly and the second driving assembly comprise a first winding shaft and a second winding shaft which are symmetrically arranged, a first steel wire rope is wound on the first winding shaft and the second winding shaft, the first winding shaft and the second winding shaft are in transmission connection with a first motor, a first steel wire rope between the first winding shaft and the second winding shaft forms a first sliding rail, 2 second steel wire ropes with two ends connected with the first sliding rail are arranged between the first sliding rails, and the robot body moves along the second steel wire rope.

Furthermore, the robot body is fixedly connected with a third steel wire rope, a third driving assembly moving along with the first steel wire rope is arranged on a first sliding rail of the first driving assembly, the third driving assembly comprises a third winding shaft and a second motor driving the third winding shaft to rotate, one end, far away from the robot body, of the third steel wire rope is wound on the third winding shaft, and the robot body is connected with the second steel wire rope in a sliding mode.

Furthermore, the end of the second steel wire rope is fixedly connected with the first steel wire rope, and at least 2 second steel wire ropes are arranged side by side.

Furthermore, the second driving assembly further comprises 2 first mounting seats which are symmetrically arranged, the first winding shaft and the second winding shaft are respectively arranged on one first mounting seat, at least one adsorption disc is arranged on the first mounting seat, and the adsorption disc is connected with a second vacuum pump.

Furthermore, the adsorption plate is positioned at the bottom of the first mounting seat or on one side of the first mounting seat, which is far away from the first winding shaft/the second winding shaft.

Furthermore, the robot body is provided with a telescopic support, the crack detector is installed on the telescopic support and is connected with a second driving device which drives the crack detector to move along the telescopic support, and the second driving device is in communication connection with the controller.

Furthermore, the telescopic support comprises a first support, a second support and a third driving device, the third driving device is in communication connection with the controller, the third driving device drives the second support to slide along the first support, the second driving device comprises a fourth winding shaft and a fifth winding shaft, the fourth winding shaft and the fifth winding shaft are respectively connected with a fifth motor, the fourth winding shaft is fixed at one end, close to the robot body, of the first support, the fifth winding shaft is fixed at one end, far away from the robot body, of the second support, a fifth steel wire rope is arranged between the fourth winding shaft and the fifth winding shaft, the crack detector is fixedly connected with the fifth steel wire rope, and the crack detector is in sliding connection with the first support and the second support.

Further, first support middle part is provided with a spread groove that extends along first support length direction, be provided with the spout on the spread groove both sides wall, in the second support inserts the spread groove, and second support both sides are provided with the connecting plate that inserts in the spout, third drive arrangement sets up the sprocket at first support both ends and drives sprocket pivoted fourth motor including the symmetry, and is provided with the chain between 2 sprockets, a chain fixedly connected with slider, slider and second support fixed connection.

Furthermore, be provided with a revolving stage of being connected with the robot rotation on the robot, telescopic bracket fixes on the revolving stage, the revolving stage is connected with the pivot, the pivot is connected with and drives pivot pivoted fifth motor.

The invention has the following beneficial effects:

according to the six-legged robot for building detection, the independent first driving device is arranged to drive the robot body to move instead of directly installing the driving device on the robot body, so that the weight of the robot body is effectively reduced, the robot body is convenient to move, meanwhile, the robot body is provided with 6 positioning legs, the end parts of the positioning legs are provided with the suckers, when the appearance of a building and the apparent mass of a structural member are detected, the suckers on the 6 positioning legs can be adsorbed on the outer vertical surface or the structural member of the building, the robot body can be fixed on the building, the robot body is prevented from shaking due to the influence of an external environment in the detection process, and the detection accuracy is effectively improved.

Drawings

FIG. 1 is a schematic view of a robot engaging a building surface;

FIG. 2 is a schematic view of a robot body mounting structure;

FIG. 3 is a schematic view of a first drive assembly;

FIG. 4 is a schematic view of a first mounting block configuration;

FIG. 5 is a schematic side view of the robot body;

FIG. 6 is a schematic top view of the robot body;

FIG. 7 is a schematic view of a first bracket three-dimensional structure;

FIG. 8 is a schematic top view of the first bracket;

FIG. 9 is a schematic view of a second bracket configuration;

reference numerals: 1-a robot body, 101-a telescopic bracket, 102-a fifth winding shaft, 103-a fifth motor, 104-a first bracket, 105-a second bracket, 106-a fourth winding shaft, 109-a connecting groove, 110-a sliding groove, 111-a second guiding groove, 112-a connecting plate, 113-a first guiding groove, 114-a sliding block, 115-a chain, 116-a chain wheel, 117-a fourth motor, 2-a first driving component, 201-a first steel wire rope, 202-a first winding shaft, 203-a second winding shaft, 204-a first motor, 3-a second driving component, 301-a first mounting seat, 305-an adsorption disc, 306-a second vacuum pump, 4-a second steel wire rope, 5-a third steel wire rope, 6-a third driving component, 7-crack detector, 8-positioning foot, 9-sucker and 10-rotating table.

Detailed Description

In the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed" and "in communication" are to be construed broadly, e.g., as meaning in fixed communication, in removable communication, or in integral communication; either mechanically or electrically; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Examples

The embodiment provides a six-legged robot for building detection, please refer to fig. 1-3, which includes a robot body 1 and a controller for controlling the robot body 1, wherein a camera and a crack detector 7 are arranged on the robot body 1, and other instruments for assisting in exterior wall detection can be installed, and 6 positioning legs 8 are symmetrically arranged on two sides of the robot body 1, a suction cup 9 is arranged at the end of each positioning leg 8, the suction cup 9 is connected with a first vacuum pump, the robot body 1 is connected with a first driving device for driving the robot body 1 to move, the first driving device, the camera and the crack detector 7 are all in communication connection with the controller, the controller is an existing device, and can remotely control the actions of the robot body 1 and the operation of the detector, and no further description is given here.

Wherein, a drive arrangement peripheral hardware, and not direct as an organic whole with robot 1, can effectively alleviate the weight of robot, make things convenient for the robot to remove on facade or structural component outside the building, be provided with 6 location feet 8 on robot 1 simultaneously, and set up sucking disc 9 at the sufficient 8 tip in location, when examining the building outer wall, sucking disc 9 on 6 location feet 8 can adsorb on facade or structural component outside the building, make the robot can be fixed on the facade, avoid robot 1 to receive external environment influence and take place to rock in the testing process.

As a specific embodiment of the first driving device, the first driving device includes a first driving assembly 2 and a second driving assembly 3 which are arranged in parallel, one of the first driving assembly 2 and the second driving assembly 3 is located at the bottom of an outer wall of a building, and the other is located at the bottom of the outer wall of the building, the first driving assembly 2 and the second driving assembly 3 each include a first winding shaft 202 and a second winding shaft 203 which are symmetrically arranged, a first steel wire rope 201 is wound on the first winding shaft 202 and the second winding shaft 203, a first motor 204 is connected to the first winding shaft 202 and the second winding shaft 203 in a transmission manner, the first steel wire rope 201 between the first winding shaft 202 and the second winding shaft 203 forms a first sliding rail, a second steel wire rope 4 with two ends connected to the first sliding rail is arranged between 2 first sliding rails, the robot body 1 moves along the second steel wire rope 4, the controller controls 4 first motors 204 to synchronously rotate, so that the first steel wire rope 201 drives the second steel wire rope 4 to move horizontally, and the robot body 1 is driven to move smoothly.

Further, the robot body 1 is fixedly connected with a third steel wire rope 5, a third driving assembly 6 moving along with the first steel wire rope 201 is arranged on a first sliding rail of the first driving assembly 2, the third driving assembly 6 comprises a third spool and a second motor driving the third spool to rotate, one end, far away from the robot body 1, of the third steel wire rope 5 is wound on the third spool, the robot body 1 is in sliding connection with the second steel wire rope 4, the length of the third steel wire rope 5 is controlled through the second motor, so that the position of the robot body 1 is controlled, after the robot body 1 is adjusted in place, the robot body 1 can be fixed through the positioning feet 8, and then an outer wall is detected, so that the position adjustment of the robot body 1 is facilitated, and the robot can be prevented from shaking during detection, meanwhile, the condition that the robot falls off due to irregular shape of the outer wall when moving is reduced, and the safety of outer wall detection is improved.

Wherein, 4 tip and first wire rope 201 fixed connection of second wire rope, and second wire rope 4 is provided with 2 at least side by side, and second wire rope 4 leads robot body 1 when driving robot body 1 and remove, when robot body 1 reciprocates along the outer wall through third wire rope 5, guarantees that the robot can not take place cheaply because of circumstances such as external strong wind and removal orbit, has guaranteed the detection effect of outer wall.

Further, as shown in fig. 4, the second driving assembly 3 further includes 2 first mounting seats 301 symmetrically disposed, the first bobbin 202 and the second bobbin 203 are respectively disposed on one first mounting seat 301, at least one adsorption disc 305 is disposed on the first mounting seat 301, the adsorption disc 305 is connected to a second vacuum pump 306, the second driving assembly 3 is mounted on the ground, and the first mounting seat 301 is fixed on the ground through the adsorption disc 305 to prevent the second driving assembly 3 from shifting, so that the ground is not damaged during mounting, the mounting difficulty can be reduced, and the mounting and dismounting efficiency can be improved. Of course, the first driving unit 2 may be fixed to the top of the building by bolts or other means, or may be fixed to the second driving unit 3 by using the suction plate 305, which may be selected according to the field situation.

The adsorption disc 305 is located at the bottom of the first installation seat 301 or on the side of the first installation seat 301 far away from the first bobbin 202/the second bobbin 203, that is, the first installation seat 301 may be fixed on the wall of the building through the adsorption disc 305 or may be fixed on the ground through the adsorption disc 305, and of course, what kind of fixing method is specifically selected and used may be determined according to the actual situation of the building to be detected.

Further, please refer to fig. 5 to 9, an extensible bracket 101 is disposed on the robot body 1, the crack detector 7 is mounted on the extensible bracket 101, the crack detector 7 is connected to a second driving device for driving the crack detector to move along the extensible bracket 101, and the second driving device is in communication connection with the controller.

The crack detector 7 may be fixed on the telescopic bracket 101, and the second driving device controls the telescopic bracket 101 to extend or shorten to adjust the position of the detector, for example, the telescopic bracket 101 is composed of an inner rod and an outer rod sleeved outside the inner rod, the second driving device is a telescopic electric cylinder or a hydraulic cylinder, etc., the detector is fixed at the end of the inner rod, the second driving device drives the inner rod to slide along the outer rod, so as to adjust the position of the detector, of course, the crack detector 7 may also be slidably connected with the telescopic bracket 101, and the second driving device pushes the detector to slide along the telescopic bracket 101.

When the second driving device pushes the detecting instrument to slide along the telescopic bracket 101, the telescopic bracket 101 includes a first bracket 104, a second bracket 105 and a third driving device, the third driving device is in communication connection with the controller, the third driving device drives the second bracket 105 to slide along the first bracket 104, the second driving device includes a fourth winding shaft 106 and a fifth winding shaft 102, the fourth winding shaft 106 and the fifth winding shaft 102 are respectively connected with a fifth motor 103, a fifth steel wire rope is arranged between the fourth winding shaft 106 and the fifth winding shaft 102, the fourth winding shaft 106 is fixed at one end of the first bracket 104 close to the robot body 1, the fifth winding shaft 102 is fixed at one end of the second bracket 105 far away from the robot body 1, the crack detecting instrument 7 is fixedly connected with the fifth steel wire rope, and the crack detecting instrument 7 is in sliding connection with the first bracket 104 and the second bracket 105, that is, one end of the fifth steel wire rope is wound on the fourth winding shaft 106, the other end of the fifth steel wire rope is wound on the fifth winding shaft 102, and the crack detector 7 is driven to move along the length directions of the first bracket 104 and the second bracket 105 by the synchronous rotation of 2 fifth motors 103. When the length of the telescopic bracket 101 needs to be adjusted, the controller controls the third driving device to start, so that the second bracket 105 moves towards the direction close to or away from the first bracket 104, and the overall length of the telescopic bracket 101 is adjusted, and at this time, the fifth motor 103 is started synchronously to release or retract the fifth steel wire rope.

Further, a connecting groove 109 extending along the length direction of the first bracket 104 is disposed in the middle of the first bracket 104, two side walls of the connecting groove 109 are provided with sliding grooves 110, the second bracket 105 is inserted into the connecting groove 109, two sides of the second bracket 105 are provided with connecting plates 112 inserted into the sliding grooves 110, the connecting plates 112 slide along the sliding grooves 110, the movement of the second bracket 105 is guided by the connecting plates 112 and the sliding grooves 110, the third driving device includes chain wheels 116 symmetrically disposed at two ends of the first bracket 104 and fourth motors 117 driving the chain wheels 116 to rotate, a chain 115 is disposed between 2 chain wheels 116, the chain 115 is fixedly connected with a sliding block 114, the sliding block 114 is fixedly connected with the second bracket 105, the second bracket 105 is driven to move by the chain 115 and the fourth motors 117, so as to adjust the overall length of the telescopic bracket 101, and of course, the third driving device may also be a hydraulic cylinder, The parts of the telescopic electric cylinder or the air cylinder are relatively speaking, the adaptability of the use mode is stronger, the adjustability and the adjustable range are both more flexible, and the use is more convenient.

Specifically, slider 114 includes the bottom plate with first support 104 bottom laminating and the curb plate with first support 104 lateral wall laminating, curb plate tip extends to first support 104 upper surface, bottom plate and second support 105 fixed connection, first support 104 supports slider 114 promptly, and slider 114's setting not only makes things convenient for first support 104 and second support 105 equipment, also can support second support 105 better, promotes second support 105's stability and bearing capacity.

In addition, in order to avoid the separation of the crack detector 7 from the telescopic bracket 101, the middle of the second bracket 105 is provided with a first guide groove 113, the first bracket 104 is provided with a second guide groove 111 positioned at both sides of the first guide groove 113, both the first guide groove 113 and the second guide groove 111 are T-shaped, the crack detector 7 is mounted on a connecting seat, the bottom of the connecting seat is provided with a guide block slidably connected with the first guide groove 113 and the second guide groove 111, of course, the guide block is i-shaped or T-shaped adapted to the shape of the guide groove, the fifth steel wire rope is fixedly connected with the connecting seat, wherein, in order to facilitate the guide block to enter the guide groove, the second guide groove 111 on the first bracket 104 is arranged at an opening at one end far away from the robot body 1 and is arranged as a trumpet-shaped opening, and the first guide groove 113 on the second bracket 105 is arranged at an opening near the side of the robot body 1, and a trumpet-shaped opening is also formed, so that the guide block at the bottom of the connecting seat can be quickly clamped or separated with the first guide groove 113/the second guide groove 111 when moving.

In the actual detection process, in order to make the robot adjust the position homoenergetic at every turn and effectively detect great scope, reduce the adjustment number of times of 1 position of robot, promote detection efficiency, this embodiment is provided with one on the casing and rotates the revolving stage of being connected with the casing, telescopic bracket 101 installs on the revolving stage, the revolving stage is connected with the pivot, the pivot is connected with and drives pivot pivoted sixth motor, sixth motor and pivot are all installed in the casing, drive telescopic bracket 101 through the revolving stage and carry out 360 rotations on the horizontal direction, and crack detector 7 can remove along telescopic bracket 101's length direction again, and this makes robot 1 select the position after, only need stop at the relevant position, alright detect a great scope, effectively promoted detection efficiency.

The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention, the scope of the present invention is defined by the appended claims, and all structural changes that can be made by using the contents of the description and the drawings of the present invention are intended to be embraced therein.

Claims

1. The utility model provides a building detects six sufficient robots, includes robot (1) and the controller of control robot (1), its characterized in that, be provided with camera and crack detection appearance (7) on robot (1), and robot (1) bilateral symmetry is provided with 6 sufficient (8) of location, the sufficient (8) tip of location is provided with sucking disc (9), sucking disc (9) are connected with first vacuum pump, robot (1) is connected with the first drive arrangement who drives robot (1) and remove, first drive arrangement, camera, crack detection appearance (7) all with controller communication connection.

2. The building detection hexapod robot according to claim 1, wherein the first driving device comprises a first driving assembly (2) and a second driving assembly (3) arranged in parallel, the first driving component (2) and the second driving component (3) both comprise a first winding shaft (202) and a second winding shaft (203) which are symmetrically arranged, a first steel wire rope (201) is wound on the first winding shaft (202) and the second winding shaft (203), the first winding shaft (202) and the second winding shaft (203) are both connected with a first motor (204) in a transmission way, first wire rope (201) between first spool (202) and second spool (203) forms first slip rail, 2 be provided with between the first slip rail second wire rope (4) that both ends and first slip rail are connected, robot body (1) moves along second wire rope (4).

3. The building detection hexapod robot according to claim 2, wherein a third steel wire rope (5) is fixedly connected to the robot body (1), a third driving component (6) moving along with the first steel wire rope (201) is arranged on the first sliding rail of the first driving component (2), the third driving component (6) comprises a third winding shaft and a second motor driving the third winding shaft to rotate, one end, far away from the robot body (1), of the third steel wire rope (5) is wound on the third winding shaft, and the robot body (1) is slidably connected with the second steel wire rope (4).

4. The building detection hexapod robot as claimed in claim 3, wherein the end of the second steel wire rope (4) is fixedly connected with the first steel wire rope (201), and at least 2 second steel wire ropes (4) are arranged side by side.

5. The building detection hexapod robot as claimed in claim 4, wherein the second driving assembly (3) further comprises 2 first mounting seats (301) symmetrically arranged, and the first bobbin (202) and the second bobbin (203) are respectively arranged on one first mounting seat (301), at least one adsorption disc (305) is arranged on the first mounting seat (301), and the adsorption disc (305) is connected with a second vacuum pump (306).

6. The building detection hexapod robot as claimed in claim 5, wherein the suction pad (305) is located at a bottom of the first mounting seat (301) or a side of the first mounting seat (301) away from the first bobbin (202)/the second bobbin (203).

7. The building detection hexapod robot as claimed in claim 6, wherein the robot body (1) is provided with a telescopic bracket (101), the crack detector (7) is mounted on the telescopic bracket (101), the crack detector (7) is connected with a second driving device for driving the crack detector to move along the telescopic bracket (101), and the second driving device is in communication connection with the controller.

8. The building detection hexapod robot as claimed in claim 7, wherein the telescopic bracket (101) comprises a first bracket (104), a second bracket (105) and a third driving device, the third driving device is in communication connection with the controller, the third driving device drives the second bracket (105) to slide along the first bracket (104), the second driving device comprises a fourth winding shaft (106) and a fifth winding shaft (102), the fourth winding shaft (106) and the fifth winding shaft (102) are respectively connected with a fifth motor (103), the fourth winding shaft (106) is fixed at one end of the first bracket (104) close to the robot body (1), the fifth winding shaft (102) is fixed at one end of the second bracket (105) far away from the robot body (1), and a fifth steel wire rope is arranged between the fourth winding shaft (106) and the fifth winding shaft (102), the crack detector (7) is fixedly connected with the fifth steel wire rope, and the crack detector (7) is connected with the first support (104) and the second support (105) in a sliding mode.

9. The building detection hexapod robot as claimed in claim 8, wherein a connecting groove (109) extending along a length direction of the first support (104) is provided in a middle portion of the first support (104), sliding grooves (110) are provided on two side walls of the connecting groove (109), the second support (105) is inserted into the connecting groove (109), connecting plates (112) inserted into the sliding grooves (110) are provided on two sides of the second support (105), the third driving device comprises chain wheels (116) symmetrically provided at two ends of the first support (104) and a fourth motor (117) driving the chain wheels (116) to rotate, a chain (115) is provided between 2 chain wheels (116), a sliding block (114) is fixedly connected to the chain (115), and the sliding block (114) is fixedly connected to the second support (105).

10. The building detection hexapod robot as claimed in claim 9, wherein the robot body (1) is provided with a rotating platform (10) rotatably connected with the robot body (1), the telescopic bracket (101) is fixed on the rotating platform, the rotating platform (10) is connected with a rotating shaft, and the rotating shaft is connected with a fifth motor (103) for driving the rotating shaft to rotate.