CN114954720A - Intelligent robot for steel structure high-altitude detection operation - Google Patents
Intelligent robot for steel structure high-altitude detection operation Download PDFInfo
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- CN114954720A CN114954720A CN202210688525.3A CN202210688525A CN114954720A CN 114954720 A CN114954720 A CN 114954720A CN 202210688525 A CN202210688525 A CN 202210688525A CN 114954720 A CN114954720 A CN 114954720A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/14—Draw-gear or towing devices characterised by their type
- B60D1/18—Tow ropes, chains or the like
- B60D1/182—Tow ropes, chains or the like comprising resilient members
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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Abstract
The invention relates to the technical field of high-altitude detection, in particular to an intelligent robot for steel structure high-altitude detection operation, which comprises a plurality of mobile modules, wherein detection modules with different functions are respectively installed on each mobile module; the moving module comprises a driving trolley, two groups of magnetic driving wheels are mounted on a frame of the driving trolley, the peripheral sides of the magnetic driving wheels are located at the foremost end of the moving module, a connecting seat is hinged to the rear of the moving module, and the detection module is mounted at the mounting groove of the connecting seat; at least two supporting bases are installed at one end, facing the connecting base, of the moving module, and the upper sides of the supporting bases are attached to the bottom of the connecting base to keep the connecting base horizontal; the two adjacent moving modules are connected through the elastic band, the magnetic driving wheel is adsorbed on the moving modules before and after the connection of the connecting seat and the elastic band which are hinged and installed on the surface of the steel structure, the obstacle crossing movement of the equipment on the steel structure is realized through the magnetic driving wheel, and each moving module drives the detecting module with a single function to move so as to ensure that the detecting position is the same.
Description
Technical Field
The invention relates to the technical field of high-altitude detection, in particular to an intelligent robot for steel structure high-altitude detection operation.
Background
The high-rise steel structure generally refers to a structural system formed by connecting or welding structural steel and steel plates into a component, and then connecting and welding the component. With the rapid development of economic construction in China, various complicated large-scale steel structure buildings continuously appear. Among them, the steel structure is widely used in large bridges, large space structures, high-rise buildings, large railway transportation hubs, petroleum pipelines, nuclear power plants, and the like. Because the steel structure buildings have higher requirements on the structural health, the steel structure health detection is enhanced, and the timely maintenance is very important.
Chinese patent application No. CN201910051418.8 discloses a robot detection system based on steel structure ultrasonic flaw detection, which comprises a mobile module, a control module and a detection module, wherein the mobile module comprises a frame, two wheel frames, four groups of magnetic wheels, a first battery and a first battery fixing sheet; the detection module comprises a spraying mechanism, a direct current motor, a third battery, a guide plate, a nut sleeve, an ultrasonic sensor fixing block, an ultrasonic sensor and a laser ranging sensor; the control module comprises a second battery, a second battery fixing piece, an analog-digital conversion unit, a main control unit, a GPS unit, an inertial navigation unit, a motor driving unit, a solid-state relay and a wireless communication unit.
This equipment has utilized the advantage of dolly, and its detection module who carries of rethread carries out steel construction damage detection achievement to being surveyed the surface, nevertheless when high altitude construction, the dolly can only remove at straight steel construction surface, and unable effectual obstacle crossing leads to the dolly overall quality too big behind the multiple detecting instrument of installation on the dolly, and every kind of instrument mounting leads to detecting position different on same dolly, easily causes the deviation of testing result.
Disclosure of Invention
Based on this, it is necessary to provide a steel construction high altitude intelligent robot for detection operation to solve the prior art problem.
In order to solve the problems of the prior art, the invention adopts the technical scheme that:
an intelligent robot for steel structure high-altitude detection operation comprises a plurality of mobile modules, wherein detection modules with different functions are respectively installed on each mobile module; the moving module comprises a driving trolley, two groups of magnetic driving wheels are mounted on a frame of the driving trolley, the moving module is adsorbed on the surface of the steel structure through the magnetic driving wheels to move, the peripheral sides of the magnetic driving wheels are located at the foremost end of the moving module, and the magnetic driving wheels are driven to rotate through the control module to drive the moving module to move; the rear part of the moving module is hinged with a connecting seat, a rotating shaft of the connecting seat is arranged in parallel to the axis of the magnetic driving wheel, and the detection module is arranged at the mounting groove of the connecting seat; at least two supporting bases are installed at one end, facing the connecting base, of the moving module, one end of each supporting base extends horizontally towards one side of the connecting base, and the upper sides of the supporting bases are attached to the bottom of the connecting base to keep the connecting base horizontal; the two adjacent mobile modules are connected through the elastic band, the two ends of the elastic band are fixedly installed on the fixed seat, the fixed seat on one side of the elastic band is fixedly installed on the rear side of the connecting seat of the previous mobile module, and the fixed seat on the other side of the elastic band is fixedly installed on the front side of the driving trolley of the next mobile module.
Preferably, the magnetic driving wheel is coaxially provided with a driving gear, the driving gears positioned on two sides of the frame are connected through a shaft lever, the axis of the shaft lever and the axis of the magnetic driving wheel are positioned on the same straight line, and the shaft lever is inserted on the frame of the moving module; a transmission gear is arranged between the two driving gears at one side of the driving trolley and is meshed with the two driving gears, and the transmission gear is coaxially arranged at the working end of the first rotary driving device; the first rotary driving device is fixedly arranged on the frame.
Preferably, the first rotary driving device and the control module are powered by a battery pack, and the battery pack is fixedly mounted on a frame of the driving trolley through a battery fixing piece.
Preferably, the driving trolley further comprises an upper mounting plate, the upper mounting plate is fixedly mounted above the frame, the battery pack is located on the lower side of the upper mounting plate, and the control module is fixedly mounted on the upper side of the upper mounting plate; the driving trolley further comprises a front baffle, the front baffle extends to the upper portion of the upper mounting plate from the front side of the trolley frame, and the front baffle protects the control module.
Preferably, the control module comprises a main control unit, a motor driving unit, an analog-to-digital conversion unit, a GPS unit, an inertial navigation unit, a wireless communication unit and related circuits, the motor driving unit, the analog-to-digital conversion unit, the GPS unit, the inertial navigation unit and the wireless communication unit are all connected with the main control unit through circuits, and the motor driving unit controls the start of the first rotary driving device.
Preferably, the support base is fixedly arranged on one side of the upper mounting plate, which faces the connecting seat, and at least one hinge seat is arranged on one side of the upper mounting plate, which faces the connecting seat; one side of the connecting seat facing the driving trolley is provided with a connecting shaft, the axis of the connecting shaft is parallel to the axis of the magnetic driving wheel, and the connecting shaft is inserted in the hinged seat.
Preferably, the bottom of the connecting seat is provided with a protective pad which covers the bottom of the connecting seat in a large area; be provided with on the protection pad and dodge the hole, dodge the hole and dodge detection module's work end and the contact site of support base on the driving trolley and connecting seat.
Preferably, the two ends of the upper side of the connecting seat are provided with supporting seats, and the supporting seats vertically extend to the surface of the connecting seat; the supporting seat is fixedly provided with a rubber pad towards the top end of one side of the driving trolley, and when the rubber pad is attached to the upper side of the upper mounting plate of the driving trolley, the connecting seat is vertical to the surface of the upper mounting plate.
Preferably, the detection module includes ultrasonic detection unit, and ultrasonic detection unit fixed mounting is on the connecting seat of removal module, and ultrasonic detection unit's work end passes the mounting groove setting downwards of connecting seat, and ultrasonic detection unit detects steel.
Preferably, the detection module still includes the laser rangefinder unit, and laser rangefinder unit fixed mounting is on the connecting seat that is located the removal module of ultrasonic detection unit rear side, and the mounting groove that the work end of laser rangefinder unit passed the connecting seat sets up downwards, and the laser rangefinder unit detects the distance of steel construction surface and laser rangefinder unit work end.
Compared with the prior art, the beneficial effect of this application is:
1. according to the invention, the detection equipment is modularized by the mobile modules and the detection modules, each mobile module is only provided with a detection module with a single function, and the detection modules with different functions are respectively arranged on different mobile modules, so that the working ends of the detection modules are positioned at the same position for detection, and the detection precision is improved.
2. According to the invention, the mobile module and the detection module are used for realizing that workers install different detection modules according to detection requirements, and pertinently detecting different steel structures, so that the detection comprehensiveness is improved.
3. The driving trolley of the moving module is adsorbed on the surface of a steel structure through the magnetic driving wheel, the control module can drive the driving trolley to stably move on the surface of the steel structure when driving the magnetic driving wheel to rotate, high-altitude operation is realized, the connecting seat is hinged and installed behind the moving module, and the hinged connection between the driving trolley and the connecting seat ensures that the connecting seat cannot influence the adsorption of the magnetic driving wheel when the driving trolley surmounts obstacles.
4. According to the invention, the elastic belt is connected with the two adjacent moving modules, and when the previous moving module gets over the obstacle, the elastic belt can be bent and stretched relative to the position of the moving module, so that the next moving module can move along with the elastic belt without influencing the movement of the previous moving module.
5. According to the invention, the hinge seat on the upper mounting plate is rotatably connected with the connecting shaft of the connecting seat, and the connecting seat is supported and kept horizontal by the support base at the bottom of the frame, so that a certain detection distance is ensured between the detection module and the surface of steel after the detection module is mounted on the connecting seat.
Drawings
FIG. 1 is a perspective view of the present application as it moves horizontally;
FIG. 2 is a perspective view of the present application during an obstacle crossing maneuver;
FIG. 3 is a perspective view of the present application;
FIG. 4 is an enlarged view of a portion of FIG. 3 at A;
FIG. 5 is a side view of the present application;
FIG. 6 is a perspective view of a single movement module and detection module of the present application;
FIG. 7 is a perspective exploded view of a single mobile module of the present application;
fig. 8 is a perspective exploded view of a single mobile module of the present application;
FIG. 9 is a perspective view of the carriage and magnetic drive wheel of the present application;
FIG. 10 is a perspective view of the upper mounting plate and control module of the present application;
FIG. 11 is a perspective view of the upper mounting plate of the present application;
fig. 12 is a first perspective view of the connector holder of the present application;
fig. 13 is a second perspective view of the connection receptacle of the present application;
the reference numbers in the figures are:
1-a mobile module; 1 a-driving the trolley; 1a 1-vehicle frame; 1a 2-support base; 1a 3-battery pack; 1a 4-battery stator; 1a 5-upper mounting plate; 1a 6-front baffle; 1a 7-hinge seat; 1 b-a magnetic drive wheel; 1b1 — drive gear; 1b 2-shaft; 1b3 — drive gear; 1b4 — first rotary drive; 1 c-a control module; 1c1 — master control unit; 1c 2-motor drive unit; 1c 3-analog-to-digital conversion unit; 1c4-GPS unit; 1c 5-inertial navigation unit; 1c 6-wireless communication unit; 1 d-a connecting seat; 1d 1-mounting groove; 1d 2-connecting shaft; 1d 3-protective pad; 1d 4-relief hole; 1d 5-support seat; 1d 6-rubber pad; 1 e-an elastic band; 1e 1-fixed seat;
2-a detection module; 2 a-an ultrasonic detection unit; 2 b-laser ranging unit.
Detailed Description
For further understanding of the features and technical means of the present invention, as well as the specific objects and functions attained by the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.
As shown in fig. 1 to 13, the present application provides:
an intelligent robot for steel structure high-altitude detection operation comprises a plurality of mobile modules 1, wherein detection modules 2 with different functions are respectively installed on each mobile module 1; the mobile module 1 comprises a driving trolley 1a, two groups of magnetic driving wheels 1b are mounted on a frame 1a1 of the driving trolley 1a, the mobile module 1 is adsorbed on the surface of a steel structure through the magnetic driving wheels 1b to move, the peripheral sides of the magnetic driving wheels 1b are located at the foremost end of the mobile module 1, and the magnetic driving wheels 1b are driven to rotate through a control module 1c to drive the mobile module 1 to move; the rear part of the mobile module 1 is hinged with a connecting seat 1d, a rotating shaft of the connecting seat 1d is arranged in parallel with the axis of the magnetic driving wheel 1b, and the detection module 2 is arranged in an installation groove 1d1 of the connecting seat 1 d; at least two supporting bases 1a2 are installed at one end of the mobile module 1 facing the connecting seat 1d, one end of the supporting base 1a2 extends horizontally to one side of the connecting seat 1d, and the upper side of the supporting base 1a2 is attached to the bottom of the connecting seat 1d to keep the connecting seat 1d horizontal; two adjacent mobile modules 1 are connected through an elastic belt 1e, two ends of the elastic belt 1e are fixedly installed on a fixed seat 1e1, a fixed seat 1e1 on one side of the elastic belt 1e is fixedly installed on the rear side of a connecting seat 1d of the previous mobile module 1, and a fixed seat 1e1 on the other side of the elastic belt 1e is fixedly installed on the front side of a driving trolley 1a of the next mobile module 1.
Based on the above embodiment, the technical problem that this application wants to solve is how to make check out test set have stable obstacle-surmounting ability and guarantee that each detection device's detection position is the same when detecting the steel construction at the high altitude. Therefore, the detection device is modularized by the mobile module 1 and the detection module 2, only the detection module 2 with a single function is installed on each mobile module 1, the driving trolley 1a of the mobile module 1 is adsorbed on the surface of a steel structure through the magnetic driving wheel 1b, the control module 1c drives the magnetic driving wheel 1b to rotate so as to drive the driving trolley 1a to stably move on the surface of the steel structure, high-altitude operation is realized, the back of the mobile module 1 is hinged with the connecting seat 1d, the connecting seat 1d is used for fixedly installing the detection module 2, when the driving trolley 1a normally moves, the connecting seat 1d is contacted with the supporting seat 1a2 under the action of gravity, the supporting seat 1a2 supports the connecting seat 1d to be kept horizontal, so that the working end of the detection module 2 can be aligned with the surface of the steel structure for entry detection, when the mobile module 1 needs entry crossing, the magnetic driving wheel 1b of the mobile module 1 positioned on the front side is attached to the surface of steel material, the driving trolley 1a inclines upwards along the surface of the steel structure, the driving trolley 1a rotates relative to the connecting seat 1d, when the driving trolley 1a climbs onto an obstacle in a bending way, the driving connecting seat 1d moves along with the obstacle, the detection module 2 is driven to cross the obstacle, the hinged connection between the driving trolley 1a and the connecting seat 1d ensures that the connecting seat 1d cannot influence the adsorption of the magnetic driving wheel 1b when the driving trolley 1a crosses the obstacle, two adjacent moving modules 1 are connected through an elastic belt 1e, the fixing seats 1e1 at two ends of the fixed elastic belt 1e are respectively arranged at the rear side of the connecting seat 1d of the previous moving module 1 and at the front side of the driving trolley 1a of the next moving module 1, when the previous moving module 1 crosses the obstacle, the elastic belt 1e can bend and stretch relative to the position of the moving module 1, guarantee that back mobile module 1 can follow and remove and do not influence the removal of previous mobile module 1, thereby detection module 2 that has different functions installs respectively on different mobile module 1 can be that detection module 2's work end is located same horizontal plane and detects, has improved the precision that detects, and the staff can be according to the different detection module of detection demand installation, carries out the detection of pertinence to the steel construction of difference.
Further, as shown in fig. 7 to 9:
the magnetic driving wheel 1b is coaxially provided with a driving gear 1b1, the driving gears 1b1 positioned at two sides of the frame 1a1 are connected through a shaft rod 1b2, the axis of the shaft rod 1b2 is in the same straight line with the axis of the magnetic driving wheel 1b, and the shaft rod 1b2 is inserted on the frame 1a1 of the moving module 1; a transmission gear 1b3 is arranged between the two driving gears 1b1 on one side of the driving trolley 1a, the transmission gear 1b3 is meshed with the two driving gears 1b1, and the transmission gear 1b3 is coaxially arranged at the working end of the first rotary driving device 1b 4; the first rotary drive device 1b4 is fixedly mounted on the frame 1a 1.
Based on the above embodiments, the technical problem to be solved by the present application is how to rotate the magnetic driving wheel 1b to drive the driving trolley 1a to move. Therefore, the driving gears 1b1 are installed on the magnetic driving wheels 1b of the present application, the magnetic driving wheels 1b are inserted on the frame 1a1 of the driving trolley 1a through the shaft rod 1b2 between the driving gears 1b1 to ensure the stability of the rotating shaft, when the moving module 1 is started, the control module 1c controls the first rotary driving device 1b4 to start and drive the transmission gear 1b3 to rotate, because the transmission gear 1b3 is meshed and connected with the two driving gears 1b1 on one side of the moving module 1, so as to drive the two magnetic driving wheels 1b to synchronously rotate, the movement of the driving trolley 1a is realized, and the first rotary driving device 1b4 can be a servo motor.
Further, as shown in fig. 7 to 9:
the first rotary driving device 1b4 and the control module 1c are powered by a battery pack 1a3, and the battery pack 1a3 is fixedly mounted on the frame 1a1 of the driving trolley 1a through a battery fixing piece 1a 4.
Based on the above-described embodiments, the technical problem that the present application intends to solve is how to maintain the operation of the first rotary drive device 1b4 when working aloft. Therefore, the power is supplied to the control module 1c and the first rotary driving device 1b4 through the battery pack 1a3, the movement of the moving module 1 is kept continuously during high-altitude operation, the battery pack 1a3 is fixedly arranged on the frame 1a1 of the driving trolley 1a through the battery fixing piece 1a4, and the position of the battery pack 1a3 is kept stable, so that the connection between the battery pack 1a3 and the first rotary driving device 1b4 and the control module 1c is ensured to be stable.
Further, as shown in fig. 7 to 11:
the driving trolley 1a further comprises an upper mounting plate 1a5, the upper mounting plate 1a5 is fixedly mounted above the vehicle frame 1a1, the battery pack 1a3 is positioned at the lower side of the upper mounting plate 1a5, and the control module 1c is fixedly mounted at the upper side of the upper mounting plate 1a 5; the driving trolley 1a further comprises a front baffle 1a6, the front baffle 1a6 extends from the front side of the frame 1a1 to the upper side of the upper mounting plate 1a5, and the front baffle 1a6 protects the control module 1 c.
Based on the above-described embodiment, the technical problem that the present application intends to solve is how to mount the control module 1 c. Therefore, the control module 1c is independently installed on the upper installation plate 1a5 arranged above the vehicle frame 1a1, the battery pack 1a3 and the magnetic driving wheel 1b can have independent installation spaces due to the existence of the upper installation plate 1a5, the control module 1c is installed on the upper installation plate 1a5, the installation position of the control module 1c is guaranteed, the front baffle plate 1a6 extends from the front side of the vehicle frame 1a1 to the upper side of the upper installation plate 1a5 to protect the control module 1c on the upper installation plate 1a5, accidental collision during high-altitude operation is prevented, the first rotary driving device 1b4 between the vehicle frame 1a1 and the upper installation plate 1a5, the battery pack 1a3 and the like are protected, impurities are prevented from entering the driving trolley 1a to damage the first rotary driving device 1b4 and the battery pack 1a3, and normal rotation of the magnetic driving wheel 1b is influenced.
Further, as shown in fig. 10:
the control module 1c includes a main control unit 1c1, a motor drive unit 1c2, an analog-to-digital conversion unit 1c3, a GPS unit 1c4, an inertial navigation unit 1c5, a wireless communication unit 1c6 and related circuits, the motor drive unit 1c2, the analog-to-digital conversion unit 1c3, the GPS unit 1c4, the inertial navigation unit 1c5 and the wireless communication unit 1c6 are all connected with the main control unit 1c1 through circuits, and the motor drive unit 1c2 controls the start of the first rotary drive device 1b 4.
Based on the above embodiments, the technical problem to be solved by the present application is how the control module 1c controls the movement of the moving module 1. Therefore, the analog-to-digital conversion unit 1c3, the GPS unit 1c4, the inertial navigation unit 1c5 and the wireless communication unit 1c6 of the present application are all connected with the main control unit 1c1 through circuits, the main control unit 1c1 sends out a pulse width modulation signal to control the motor driving unit 1c2 to start, the motor driving unit 1c2 controls the first rotary driving device 1b4 to start to drive the magnetic driving wheel 1b to rotate so as to drive the mobile module 1 to move, the GPS unit 1c4 and the inertial navigation unit 1c5 are connected with the wireless communication unit 1c6 through a universal asynchronous receiver and transmitter interface and the main control unit 1c1, the inertial navigation unit 1c5 controls the traveling posture of the detection robot, the GPS unit 1c4 performs target positioning on the detection module 2 on each mobile module 1, therefore, each mobile module 1 can move to the same position to drive the detection module 2 to detect, and the main control unit 1c1 transmits wireless signals with the ground server through the wireless communication unit 1c 6.
Further, as shown in fig. 4, 10 and 11:
the supporting base 1a2 is fixedly installed on one side of the upper mounting plate 1a5 facing the connecting socket 1d, and at least one hinge seat 1a7 is arranged on one side of the upper mounting plate 1a5 facing the connecting socket 1 d; one side of the connecting seat 1d facing the driving trolley 1a is provided with a connecting shaft 1d2, the axis of the connecting shaft 1d2 is parallel to the axis of the magnetic driving wheel 1b, and the connecting shaft 1d2 is inserted in the hinged seat 1a 7.
Based on the above-mentioned embodiment, the technical problem that this application wants to solve is how articulated the connection of connecting seat 1d guarantees on removing module 1 that detection module 2 and steel construction surface have certain detection space. For this reason, this application is rotated with connecting axle 1d2 of connecting seat 1d through articulated seat 1a7 on last mounting panel 1a5 and is connected, thereby when connecting seat 1d supported base 1a2 and supported and keep the level, there is the certain distance between connecting seat 1d bottom and the steel surface, guaranteed that detection module 2 installs back and steel surface between on connecting seat 1d and have certain detection distance, make things convenient for detection module 2 to detect, and detection module 2's work end is installed and can be changed and the steel surface between the distance in mounting groove 1d1 department of connecting seat 1d, thereby guarantee the detection effect of different function detection module 2 to steel.
Further, as shown in fig. 12 and 13:
the bottom of the connecting seat 1d is provided with a protective pad 1d3, and the protective pad 1d3 covers the bottom of the connecting seat 1d in a large area; the protection pad 1d3 is provided with an avoidance hole 1d4, the avoidance hole 1d4 avoids the working end of the detection module 2 and the contact part of the support base 1a2 on the driving trolley 1a and the connecting seat 1 d.
Based on above-mentioned embodiment, the technical problem that this application wanted to solve is that when drive dolly 1a climbs the obstacle, support base 1a2 with remove to drive dolly 1a and lead to connecting seat 1d laminating steel surface, how to prevent that the detection module 2 of installation is impaired on the connecting seat 1 d. For this reason, this application is through installing protection pad 1d3 in connecting seat 1d bottom, thereby protection pad 1d3 covers connecting seat 1d bottom by a large scale when driving dolly 1a climbs the obstacle, connecting seat 1d breaks away from the protection that can receive protection pad 1d3 when supporting back contact steel surface of supporting base 1a2, protection pad 1d3 can adopt rubber or sponge material to make, detection module 2's work end is located between protection pad 1d 3's the hole of dodging 1d4, thereby protection pad 1d3 can avoid detection module 2 work end and steel to produce and collide with steel surface contact, protect detection module 2.
Further, as shown in fig. 12 and 13:
the two ends of the upper side of the connecting seat 1d are provided with supporting seats 1d5, and the supporting seat 1d5 vertically extends with the surface of the connecting seat 1 d; rubber pad 1d6 is fixedly mounted on the top end of one side of support seat 1d5 facing to driving trolley 1a, and when rubber pad 1d6 is attached to the upper side of upper mounting plate 1a5 of driving trolley 1a, connection seat 1d is perpendicular to the surface of upper mounting plate 1a 5.
Based on the above embodiment, the technical problem that the present application intends to solve is how to prevent the connecting seat 1d from falling over the driving trolley 1a and being unable to reset after the driving trolley 1a gets over the obstacle. Therefore, the supporting seats 1d5 are arranged at two ends of the upper side of the connecting seat 1d, when the driving trolley 1a gets over the obstacle, the angle between the driving trolley 1a and the connecting seat 1d is changed, the front baffle plate 1a6 on one side of the upper mounting plate 1a5 is gradually close to the driving trolley 1a until the front baffle plate 1a6 is attached to the upper mounting plate 1a5 on the upper side of the driving trolley 1a, the connecting seat 1d is supported, at the moment, the minimum included angle between the connecting seat 1d and the driving trolley 1a is 90 degrees, when the driving trolley 1a gets over the obstacle and pulls the connecting seat 1d to move, the connecting seat 1d can reset under the action of gravity and is supported by the supporting base 1a2, the horizontal state of the driving trolley 1a and the connecting seat 1d is kept, and the situation that the connecting seat 1d is overturned on the driving trolley 1a to influence the detection of the subsequent detection module 2 is prevented.
Further, as shown in fig. 2:
Based on the above embodiments, the technical problem that the present application intends to solve is how to detect the steel by the detection module 2. For this reason, detection module 2 of this application includes ultrasonic detection unit 2a and laser range unit 2b, ultrasonic detection unit 2a installs alone on the connecting seat 1d of a preceding mobile module 1, laser range unit 2b installs on the connecting seat 1d of a back mobile module 1, form the dolly that need not detect the function, ultrasonic detection unit 2a can be under the prerequisite of not damaging part or raw and other materials operating condition, use the ultrasonic wave to the surface that can not be visual inspection and inside quality inspect, laser range unit 2b can send laser and judge the relative distance with the steel construction surface, thereby the staff also can be according to the different detection device of different demand installations realization more comprehensive detection.
The above examples, which are intended to represent only one or more embodiments of the present invention, are described in greater detail and with greater particularity, and are not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An intelligent robot for steel structure high-altitude detection operation is characterized by comprising a plurality of mobile modules (1), wherein detection modules (2) with different functions are respectively installed on each mobile module (1);
the moving module (1) comprises a driving trolley (1a), two groups of magnetic driving wheels (1b) are mounted on a frame (1a1) of the driving trolley (1a), the moving module (1) is adsorbed on the surface of a steel structure through the magnetic driving wheels (1b) to move, the peripheral sides of the magnetic driving wheels (1b) are located at the foremost end of the moving module (1), and the magnetic driving wheels (1b) are driven to rotate through a control module (1c) to drive the moving module (1) to move;
the rear part of the mobile module (1) is hinged with a connecting seat (1d), a rotating shaft of the connecting seat (1d) is arranged in parallel with the axis of the magnetic driving wheel (1b), and the detection module (2) is arranged in a mounting groove (1d1) of the connecting seat (1 d);
at least two supporting bases (1a2) are installed at one end, facing the connecting base (1d), of the mobile module (1), one end of each supporting base (1a2) horizontally extends towards one side of the connecting base (1d), and the upper side of each supporting base (1a2) is attached to the bottom of the connecting base (1d) to keep the connecting base (1d) horizontal;
two adjacent mobile modules (1) are connected through an elastic belt (1e), two ends of the elastic belt (1e) are fixedly installed on the fixed seat (1e1), the fixed seat (1e1) on one side of the elastic belt (1e) is fixedly installed on the rear side of the connecting seat (1d) of the previous mobile module (1), and the fixed seat (1e1) on the other side of the elastic belt (1e) is fixedly installed on the front side of the driving trolley (1a) of the next mobile module (1).
2. The intelligent robot for the steel structure high-altitude detection operation is characterized in that the magnetic driving wheel (1b) is coaxially provided with a driving gear (1b1), the driving gears (1b1) positioned on two sides of the vehicle frame (1a1) are connected through a shaft rod (1b2), the axis of the shaft rod (1b2) and the axis of the magnetic driving wheel (1b) are positioned on the same straight line, and the shaft rod (1b2) is inserted on the vehicle frame (1a1) of the mobile module (1);
a transmission gear (1b3) is arranged between two driving gears (1b1) positioned at one side of the driving trolley (1a), the transmission gear (1b3) is meshed with the two driving gears (1b1), and the transmission gear (1b3) is coaxially arranged at the working end of the first rotary driving device (1b 4);
the first rotary driving device (1b4) is fixedly arranged on the vehicle frame (1a 1).
3. The intelligent robot for steel structure high altitude detection work of claim 2, wherein the first rotation driving device (1b4) and the control module (1c) are powered by a battery pack (1a3), and the battery pack (1a3) is fixedly installed on the frame (1a1) of the driving trolley (1a) through a battery fixing piece (1a 4).
4. The intelligent robot for the steel structure high altitude detection work is characterized in that the driving trolley (1a) further comprises an upper mounting plate (1a5), the upper mounting plate (1a5) is fixedly mounted above the vehicle frame (1a1), the battery pack (1a3) is located on the lower side of the upper mounting plate (1a5), and the control module (1c) is fixedly mounted on the upper side of the upper mounting plate (1a 5);
the driving trolley (1a) further comprises a front baffle (1a6), the front baffle (1a6) extends to the upper part of the upper mounting plate (1a5) from the front side of the trolley frame (1a1), and the front baffle (1a6) protects the control module (1 c).
5. The intelligent robot for the steel structure high altitude detection work is characterized in that the control module (1c) comprises a main control unit (1c1), a motor driving unit (1c2), an analog-to-digital conversion unit (1c3), a host unit (1c4), an inertial navigation unit (1c5), a wireless communication unit (1c6) and related circuits, the motor driving unit (1c2), the analog-to-digital conversion unit (1c3), the host unit (1c4), the inertial navigation unit (1c5) and the wireless communication unit (1c6) are all connected with the main control unit (1c1) through circuits, and the motor driving unit (1c2) controls the starting of the first rotary driving device (1b 4).
6. The intelligent robot for steel structure altitude detection work is characterized in that the supporting base (1a2) is fixedly installed on one side of the upper mounting plate (1a5) facing the connecting seat (1d), and at least one hinged seat (1a7) is arranged on one side of the upper mounting plate (1a5) facing the connecting seat (1 d);
one side that connecting seat (1d) faced drive dolly (1a) is provided with connecting axle (1d2), and the axis of connecting axle (1d2) is parallel with the axis of magnetic force drive wheel (1b), and connecting axle (1d2) cartridge is in articulated seat (1a 7).
7. The intelligent robot for steel structure high altitude detection work according to claim 6, characterized in that a protective pad (1d3) is arranged at the bottom of the connecting base (1d), and the protective pad (1d3) covers the bottom of the connecting base (1d) in a large area;
the protection pad (1d3) is provided with an avoidance hole (1d4), the avoidance hole (1d4) avoids the working end of the detection module (2) and the contact part of the support base (1a2) on the driving trolley (1a) and the connecting seat (1 d).
8. The intelligent robot for steel structure high altitude detection work of claim 7, wherein the two ends of the upper side of the connecting seat (1d) are provided with supporting seats (1d5), and the supporting seat (1d5) vertically extends with the surface of the connecting seat (1 d);
a rubber pad (1d6) is fixedly arranged at the top end of one side, facing the driving trolley (1a), of the supporting seat (1d5), and when the rubber pad (1d6) is attached to the upper side of an upper mounting plate (1a5) of the driving trolley (1a), the connecting seat (1d) is vertical to the surface of the upper mounting plate (1a 5).
9. The intelligent robot for the steel structure high altitude detection work is characterized in that the detection module (2) comprises an ultrasonic detection unit (2a), the ultrasonic detection unit (2a) is fixedly installed on a connecting seat (1d) of the moving module (1), the working end of the ultrasonic detection unit (2a) penetrates through an installation groove (1d1) of the connecting seat (1d) to be arranged downwards, and the ultrasonic detection unit (2a) detects steel.
10. The intelligent robot for steel structure high altitude detection work according to claim 9, wherein the detection module (2) further comprises a laser ranging unit (2b), the laser ranging unit (2b) is fixedly installed on a connecting seat (1d) of the moving module (1) located at the rear side of the ultrasonic detection unit (2a), a working end of the laser ranging unit (2b) penetrates through an installation groove (1d1) of the connecting seat (1d) and faces downward, and the laser ranging unit (2b) detects the distance between the surface of the steel structure and the working end of the laser ranging unit (2 b).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210688525.3A CN114954720A (en) | 2022-06-17 | 2022-06-17 | Intelligent robot for steel structure high-altitude detection operation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210688525.3A CN114954720A (en) | 2022-06-17 | 2022-06-17 | Intelligent robot for steel structure high-altitude detection operation |
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| US20220071467A1 (en) * | 2018-12-21 | 2022-03-10 | Positec Power Tools (Suzhou) Co., Ltd | Cleaning robot and cleaning method |
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- 2022-06-17 CN CN202210688525.3A patent/CN114954720A/en active Pending
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| CN105856188A (en) * | 2016-05-06 | 2016-08-17 | 简燕梅 | Movable detection robot for flexible building structure |
| CN108248707A (en) * | 2016-12-28 | 2018-07-06 | 深圳供电局有限公司 | Adapt to the modularization robot of small space |
| CN109606495A (en) * | 2018-12-05 | 2019-04-12 | 武汉理工大学 | Magnetic suck climbing robot |
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