CN117949533A - Intelligent wall climbing machine - Google Patents
Intelligent wall climbing machine Download PDFInfo
- Publication number
- CN117949533A CN117949533A CN202410290543.5A CN202410290543A CN117949533A CN 117949533 A CN117949533 A CN 117949533A CN 202410290543 A CN202410290543 A CN 202410290543A CN 117949533 A CN117949533 A CN 117949533A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- traction
- ink
- rod
- mechanisms
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 84
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 238000004040 coloring Methods 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 4
- 238000005192 partition Methods 0.000 claims 6
- 239000000976 ink Substances 0.000 description 43
- 230000000694 effects Effects 0.000 description 4
- 238000010009 beating Methods 0.000 description 3
- 239000003086 colorant Substances 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Landscapes
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of wall detection devices, and particularly discloses an intelligent wall climbing machine which comprises a detection mechanism and four moving mechanisms, wherein the four moving mechanisms are respectively and fixedly arranged at four corners of a wall, and the detection mechanism is connected with each moving mechanism through a connecting rope; the detection mechanism comprises a carrying mechanism and two positioning mechanisms, and the two positioning mechanisms are respectively and fixedly connected to two sides of the carrying mechanism; the positioning mechanism comprises a traction table, a division plate, a vacuum pump, a sucker and two traction rods, wherein the division plate is fixedly connected to the middle position of the traction table, the division plate is parallel to a wall body, the two traction rods are fixedly connected to the rear side of the division plate and the space surrounded by the traction table, and the two traction rods are distributed up and down; the vacuum pump is fixedly connected in a space surrounded by the front side of the dividing plate and the traction table. The invention can automatically climb the wall and strike the wall, detect and analyze the wall, and has short detection time, higher safety coefficient and high precision.
Description
Technical Field
The invention relates to the technical field of wall body detection devices, in particular to an intelligent wall climbing machine.
Background
When the wall body is knocked, compared with the wall body which is not knocked, the wall body is inconsistent in energy absorption, different sounds can be generated, and therefore, the wall body is analyzed by comparing sound signals generated in the knocking process and can be used for judging the wall body hollowing condition.
The empty part has a lower frequency band, and the compact part has a relatively higher frequency band, so that the components in the knocking sound are easy to analyze in the frequency domain, and the integrity of the wall body is judged. The signal features are apparent in the frequency domain and then the acquired signal is fourier transformed.
The prior art still has the following to be improved: today, to the detection of wall body hollowing, rely on the manual work to climb the wall generally and strike, take place the accident easily, the manual work also can't carry out the accurate analysis, leads to the fact the misjudgement easily, can't carry out the whole condition detection of wall body, and the manual work strikes time is long, and the precision is low, and the danger is strong.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an intelligent wall climbing machine which can automatically climb a wall and strike the wall, and is short in detection time, high in safety coefficient and high in precision, and the wall is detected and data analyzed.
The aim of the invention can be achieved by the following technical scheme:
The intelligent wall climbing machine comprises a detection mechanism and four moving mechanisms, wherein the four moving mechanisms are respectively and fixedly arranged at four corners of a wall body, and the detection mechanism is connected with each moving mechanism through a connecting rope;
the detection mechanism comprises a carrying mechanism and two positioning mechanisms, wherein the two positioning mechanisms are respectively and fixedly connected to two sides of the carrying mechanism;
The positioning mechanism comprises a traction table, a division plate, a vacuum pump, a sucker and two traction rods, wherein the division plate is fixedly connected to the middle position of the traction table, the division plate is parallel to the wall body, the two traction rods are fixedly connected to the rear side of the division plate and the space surrounded by the traction table, and the two traction rods are distributed up and down;
the vacuum pump is fixedly connected in a space surrounded by the front side of the dividing plate and the traction table, one end of the vacuum pump is fixedly connected to the dividing plate, and the other end of the vacuum pump is fixedly connected with the sucker through a vacuum rod.
Further, the carrying mechanism comprises an objective table, a screw rod, a rotating member, a rotating motor and a plurality of knocking mechanisms, one end of the screw rod is connected with the inner side wall of the objective table through a connecting piece, one end of the rotating motor is fixedly connected with the objective table and away from one side of the inner part of the connecting piece, a motor shaft is rotatably arranged at the other end of the rotating motor, the motor shaft is fixedly connected with the screw rod through a shaft coupling, the rotating member is sleeved on the screw rod, and the knocking mechanisms are uniformly and fixedly arranged on the rotating member.
Further, strike the mechanism and include dead lever, detect head and telescopic link, dead lever fixed connection is in on the rotating member, telescopic link sliding connection is in one side of dead lever, the opposite side fixedly connected with of dead lever detect the head, the inside of rotating member is provided with the ink sac, detect the inside slip of head and be provided with out the china ink ware, the one end of going out the china ink ware is fixed and is provided with the nib that colors, the nib that colors with connect through connecting the china ink pole between the ink sac, the cover is equipped with the elastic component on the connection china ink pole, the elastic component is located the telescopic link with rotate between the piece.
Further, the moving mechanism comprises a winch, a supporting frame and a moving motor, wherein the winch and the moving motor are fixedly connected to the supporting frame, the winch and the moving motor are connected through gear meshing, and the supporting frame is fixedly connected to the wall body.
Further, the two traction tables are respectively and fixedly connected to two sides of the objective table.
Further, each traction rod is connected with the corresponding winch through the connecting rope.
Further, a plurality of the ink ejectors, a plurality of the connecting ink sticks and the ink bag are communicated.
Further, each detection head is provided with a sound detector, and an information analysis device is arranged in the objective table.
Further, the four moving motors are controllable and used for adjusting the length of the connecting rope.
Further, the rotary motor is controllable and is used for adjusting the rotation and displacement of the knocking mechanisms.
The beneficial effects of the invention are as follows:
(1) Through setting up four moving mechanism, the technical effect that can reach is that can realize automatic wall climbing through four moving mechanism, can remove and fix a position detection mechanism through connecting the rope, need not the manual work and detect, and factor of safety is higher, can carry out the removal of arbitrary displacement in the vertical plane, can four moving mechanism of remote control, controls detection mechanism.
(2) Through setting up the year thing mechanism, the technical effect that can reach is through carrying the thing mechanism and can strike the wall body to detect and data analysis to the wall body, detection time is shorter, can carry out many times quick strike test under the circumstances of not removing the objective table, reduces the error, automatic transmission data, the later stage data collection of being convenient for.
(3) Through setting up two positioning mechanism, the technical effect that can reach is fixed the objective table through two positioning mechanism, prevents because wind-force or external force influence, causes the skew of objective table, influences the location of objective table.
(4) Through setting up a plurality of mechanisms of beating, the technical effect that can reach is beating the wall body through a plurality of mechanisms of beating, marks the wall body through the nib that colors, and the ink sac is used for providing ink, increases the live time of mark, can provide ink for a plurality of ink outlets.
Drawings
The present invention is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a detection mechanism according to the present invention;
FIG. 3 is a schematic view of a carrying mechanism according to the present invention;
FIG. 4 is a schematic view of the traction table of the present invention;
FIG. 5 is a schematic view of a moving mechanism according to the present invention;
FIG. 6 is a schematic view of a striking mechanism according to the present invention;
Description of main reference numerals:
In the figure: 1. a wall body; 2. a hoist; 3. a support frame; 4. a moving motor; 5. a connecting rope; 6. an objective table; 7. a traction table; 8. a traction rod; 9. a connecting piece; 10. a screw rod; 11. a fixed rod; 12. a detection head; 13. a rotating member; 14. a motor shaft; 15. a telescopic rod; 16. a coupling; 17. a rotating motor; 18. coloring the pen point; 19. an ink outlet device; 20. connecting an ink stick; 21. an elastic member; 22. an ink bag; 23. a dividing plate; 24. a vacuum pump; 25. a suction cup; 26. a vacuum rod.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application; it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments, and that all other embodiments obtained by persons of ordinary skill in the art without making creative efforts based on the embodiments in the present application are within the protection scope of the present application.
In the description of the present application, it should be noted that the positional or positional relationship indicated by the terms such as "upper", "lower", "inner", "outer", "top/bottom", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "configured to," "engaged with," "connected to," and the like are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1, the intelligent wall climbing machine disclosed by the invention comprises a detection mechanism and four moving mechanisms, wherein the four moving mechanisms are respectively and fixedly arranged on four corners of a wall body 1, the detection mechanism is connected with each moving mechanism through a connecting rope 5, and the connecting rope 5 is a steel wire rope.
Can realize automatic wall climbing through four moving mechanism, can remove and fix a position detection mechanism through connecting rope 5, need not the manual work and detect, factor of safety is higher, can carry out the removal of arbitrary displacement in the vertical plane, four moving mechanism of remote control, control detection mechanism.
The detection mechanism comprises a carrying mechanism and two positioning mechanisms, wherein the two positioning mechanisms are respectively and fixedly connected to two sides of the carrying mechanism.
Referring to fig. 4, the positioning mechanism includes a traction table 7, a dividing plate 23, a vacuum pump 24, a suction cup 25 and two traction rods 8, the traction table 7 is in a rectangular cavity structure, the dividing plate 23 is fixedly connected to the middle position of the traction table 7, the dividing plate 23 is parallel to the wall 1, the two traction rods 8 are fixedly connected to the rear side of the dividing plate 23 and the space surrounded by the traction table 7, and the two traction rods 8 are distributed up and down.
The object stage 6 is fixed through the two positioning mechanisms, so that the object stage 6 is prevented from being deviated due to the influence of wind power or external force, and the positioning of the object stage 6 is prevented from being influenced.
The vacuum pump 24 is fixedly connected in the space surrounded by the front side of the dividing plate 23 and the traction table 7, one end of the vacuum pump 24 is fixedly connected on the dividing plate 23, and the other end of the vacuum pump 24 is fixedly connected with the sucking disc 25 through the vacuum rod 26.
Referring to fig. 2 and 3, the carrying mechanism comprises an objective table 6, a screw rod 10, a rotating member 13, a rotating motor 17 and four knocking mechanisms, wherein the objective table 6 is of a square cavity structure, one end of the screw rod 10 is connected with the inner side wall of the objective table 6 through a connecting member 9, one end of the rotating motor 17 is fixedly connected to one side of the objective table 6 far away from the connecting member 9, the other end of the rotating motor 17 is rotationally provided with a motor shaft 14, the motor shaft 14 is fixedly connected with the screw rod 10 through a coupler 16, the rotating member 13 is sleeved on the screw rod 10, and the four knocking mechanisms are uniformly and fixedly arranged on the rotating member 13.
The wall body 1 can be knocked through the loading mechanism, the wall body 1 is detected and data are analyzed, the detection time is short, multiple rapid knocking tests can be carried out under the condition that the objective table 6 is not moved, errors are reduced, data are automatically transmitted, and later data acquisition is facilitated.
Referring to fig. 6, the knocking mechanism includes a fixing rod 11, a detecting head 12 and a telescopic rod 15, the fixing rod 11 is fixedly connected to the rotating member 13, the telescopic rod 15 is slidably connected to one side of the fixing rod 11, the detecting head 12 is fixedly connected to the other side of the fixing rod 11, the detecting head 12 is of a circular structure, a through hole is formed in the detecting head 12, an ink bag 22 is arranged in the rotating member 13, an ink outlet 19 is slidably arranged at the position of the through hole in the detecting head 12, a coloring pen point 18 is fixedly arranged at one end of the ink outlet 19, the coloring pen point 18 is connected with the ink bag 22 through a connecting ink rod 20, an elastic member 21 is sleeved on the connecting ink rod 20, the elastic member 21 is located between the telescopic rod 15 and the rotating member 13, and the elastic member 21 is a spring.
The four ink discharging devices 19, the four connecting ink rods 20 and the ink bag 22 are communicated, the rotating piece 13 and the ink bag 22 are annular, erasable liquid is arranged in the ink bag 22, and the ink bag can be cleaned by washing with water to prevent the wall body 1 from being polluted.
The wall body 1 is knocked through a plurality of knocking mechanisms, the wall body 1 is marked through the coloring pen head 18, the ink bag 22 is used for providing ink, the using time of the marking is prolonged, and the ink can be provided for a plurality of ink ejectors 19.
Referring to fig. 5, the moving mechanism comprises a winch 2, a support frame 3 and a moving motor 4, wherein the winch 2 and the moving motor 4 are fixedly connected to the support frame 3, one end of a connecting rope 5 is wound on the winch 2, the other end of the connecting rope 5 is wound on a traction rod 8, the winch 2 and the moving motor 4 are connected through gear engagement, and the support frame 3 is fixedly connected to the wall 1.
The two traction tables 7 are respectively and fixedly connected to the two sides of the objective table 6, and each traction rod 8 is connected with the corresponding winch 2 through a connecting rope 5. Each detection head 12 is provided with a sound detector, and the stage 6 is internally provided with an information analysis device for collecting data information of the sound detector, analyzing the data information in real time and transmitting the data information to external equipment.
The four moving motors 4 are controllable and are used for adjusting the length of the connecting rope 5, so that the object stage 6 is convenient to move rapidly. The rotary motor 17 is controllable, and is used for adjusting the rotation and displacement of the four knocking mechanisms, and can knock the wall body 1 through the rotation of the rotary member 13, when the ink outlet device 19 is positioned below, the ink in the ink bag 22 naturally moves to the ink outlet device 19 through the connecting ink rod 20, and when the rotary member 13 is rotated, the ink outlet device 19 positioned below knocks and marks the wall body 1, and then the rotary member continues to rotate, so that the ink delivery is completed.
The working principle and the using flow of the invention are as follows: four support frames 3 are respectively arranged at four corners of the wall body 1, the winch 2 is controlled to rotate through four moving motors 4, four connecting ropes 5 are controlled to drive the objective table 6 to move, after the objective table 6 reaches a designated position, two vacuum pumps 24 are started, and two sucking discs 25 fix the objective table 6 at the designated position, so that movement and suspension are prevented.
The moving motor 4 is started, the screw rod 10 rotates to drive the rotating piece 13 to rotate, ink in the ink bag 22 moves to the ink outlet device 19 through the connecting ink rod 20, the detecting head 12 moves inwards under force, the telescopic rod 15 moves inwards, the elastic piece 21 compresses under force, the coloring pen point 18 stretches out of the wall body 1 to mark, the elastic piece 21 recovers and stretches, the telescopic rod 15 moves outwards, the detecting head 12 moves outwards, and the coloring pen point 18 is located inside the detecting head 12.
The present invention is not limited to the above embodiments, but is not limited to the above embodiments, and any technical modifications, equivalents and modifications made to the above embodiments according to the technical principles of the present invention can be made by those skilled in the art without departing from the scope of the invention.
Claims (8)
1. An intelligence wall climbing machine, its characterized in that: the detection device comprises a detection mechanism and four moving mechanisms, wherein the four moving mechanisms are respectively and fixedly arranged at four corners of a wall body (1), and the detection mechanism is connected with each moving mechanism through a connecting rope (5);
the detection mechanism comprises a carrying mechanism and two positioning mechanisms, wherein the two positioning mechanisms are respectively and fixedly connected to two sides of the carrying mechanism;
The positioning mechanism comprises a traction table (7), a partition plate (23), a vacuum pump (24), a sucker (25) and two traction rods (8), wherein the partition plate (23) is fixedly connected to the middle position of the traction table (7), the partition plate (23) is parallel to the wall body (1), the two traction rods (8) are fixedly connected to the rear side of the partition plate (23) and the space surrounded by the traction table (7), and the two traction rods (8) are distributed up and down;
the vacuum pump (24) is fixedly connected in a space surrounded by the front side of the partition plate (23) and the traction table (7), one end of the vacuum pump (24) is fixedly connected to the partition plate (23), and the other end of the vacuum pump (24) is fixedly connected with the sucker (25) through a vacuum rod (26);
The object carrying mechanism comprises an object stage (6), a screw rod (10), a rotating member (13), a rotating motor (17) and a plurality of knocking mechanisms, one end of the screw rod (10) is connected with the inner side wall of the object stage (6) through a connecting piece (9), one end of the rotating motor (17) is fixedly connected with one side, far away from the connecting piece (9), of the object stage (6), a motor shaft (14) is rotatably arranged at the other end of the rotating motor (17), the motor shaft (14) is fixedly connected with the screw rod (10) through a coupler (16), the rotating member (13) is sleeved on the screw rod (10), and the knocking mechanisms are uniformly and fixedly arranged on the rotating member (13);
The knocking mechanism comprises a fixed rod (11), a detection head (12) and a telescopic rod (15), wherein the fixed rod (11) is fixedly connected to the rotating member (13), the telescopic rod (15) is slidably connected to one side of the fixed rod (11), the other side of the fixed rod (11) is fixedly connected with the detection head (12), an ink bag (22) is arranged in the rotating member (13), an ink outlet device (19) is slidably arranged in the detection head (12), a coloring pen point (18) is fixedly arranged at one end of the ink outlet device (19), the coloring pen point (18) is connected with the ink bag (22) through a connecting ink rod (20), an elastic piece (21) is sleeved on the connecting ink rod (20), and the elastic piece (21) is positioned between the telescopic rod (15) and the rotating member (13).
2. The intelligent wall climbing machine according to claim 1, wherein: the moving mechanism comprises a winch (2), a supporting frame (3) and a moving motor (4), wherein the winch (2) and the moving motor (4) are fixedly connected to the supporting frame (3), the winch (2) and the moving motor (4) are connected through gear meshing, and the supporting frame (3) is fixedly connected to the wall body (1).
3. The intelligent wall climbing machine according to claim 1, wherein: the two traction tables (7) are respectively and fixedly connected to the two sides of the objective table (6).
4. The intelligent wall climbing machine according to claim 2, wherein: each traction rod (8) is connected with the corresponding winch (2) through the connecting rope (5).
5. The intelligent wall climbing machine according to claim 1, wherein: -a plurality of said ink ejectors (19), a plurality of said connecting ink sticks (20) and said ink bag (22).
6. The intelligent wall climbing machine according to claim 1, wherein: each detection head (12) is provided with a sound detector, and the objective table (6) is internally provided with an information analysis device.
7. The intelligent wall climbing machine according to claim 2, wherein: the four mobile motors (4) are controllable and are used for adjusting the length of the connecting rope (5).
8. The intelligent wall climbing machine according to claim 1, wherein: the rotary motor (17) is controllable and is used for adjusting the rotation and displacement of a plurality of knocking mechanisms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410290543.5A CN117949533B (en) | 2024-03-14 | 2024-03-14 | Intelligent wall climbing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410290543.5A CN117949533B (en) | 2024-03-14 | 2024-03-14 | Intelligent wall climbing machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117949533A true CN117949533A (en) | 2024-04-30 |
| CN117949533B CN117949533B (en) | 2024-06-11 |
Family
ID=90805350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410290543.5A Active CN117949533B (en) | 2024-03-14 | 2024-03-14 | Intelligent wall climbing machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117949533B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013193198A (en) * | 2012-03-23 | 2013-09-30 | National Institute Of Advanced Industrial Science & Technology | Wall surface traveling robot |
| CN105015640A (en) * | 2015-06-30 | 2015-11-04 | 长安大学 | Wall surface detecting rescue robot and control method thereof |
| CN207129038U (en) * | 2017-08-16 | 2018-03-23 | 潘长偌 | One kind is magnetic-type to climb wall nailing device |
| CN110865128A (en) * | 2019-12-18 | 2020-03-06 | 上海市建筑科学研究院有限公司 | Automatic wall climbing type outer wall detection system and detection method thereof |
| AU2020100699A4 (en) * | 2020-05-05 | 2020-06-18 | Cheng, Weilin Mr | A sort of special hexapod robot with climbing vertical walls ability |
| CN113789941A (en) * | 2021-09-16 | 2021-12-14 | 湖南康瑞涂料科技有限公司 | Four-pile positioning sucker type wall-climbing paint spraying robot and working method thereof |
| KR20220025338A (en) * | 2020-08-24 | 2022-03-03 | 에이아이안전연구원 주식회사 | Comprehensive inspection system for facility by wall climbing robot |
| CN116429885A (en) * | 2023-04-12 | 2023-07-14 | 盐城市天恒建设工程质量检测有限公司 | Building outer wall hollowing detection device and detection method |
-
2024
- 2024-03-14 CN CN202410290543.5A patent/CN117949533B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013193198A (en) * | 2012-03-23 | 2013-09-30 | National Institute Of Advanced Industrial Science & Technology | Wall surface traveling robot |
| CN105015640A (en) * | 2015-06-30 | 2015-11-04 | 长安大学 | Wall surface detecting rescue robot and control method thereof |
| CN207129038U (en) * | 2017-08-16 | 2018-03-23 | 潘长偌 | One kind is magnetic-type to climb wall nailing device |
| CN110865128A (en) * | 2019-12-18 | 2020-03-06 | 上海市建筑科学研究院有限公司 | Automatic wall climbing type outer wall detection system and detection method thereof |
| AU2020100699A4 (en) * | 2020-05-05 | 2020-06-18 | Cheng, Weilin Mr | A sort of special hexapod robot with climbing vertical walls ability |
| KR20220025338A (en) * | 2020-08-24 | 2022-03-03 | 에이아이안전연구원 주식회사 | Comprehensive inspection system for facility by wall climbing robot |
| CN113789941A (en) * | 2021-09-16 | 2021-12-14 | 湖南康瑞涂料科技有限公司 | Four-pile positioning sucker type wall-climbing paint spraying robot and working method thereof |
| CN116429885A (en) * | 2023-04-12 | 2023-07-14 | 盐城市天恒建设工程质量检测有限公司 | Building outer wall hollowing detection device and detection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117949533B (en) | 2024-06-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115979382B (en) | Drilling water level measuring device for hydrogeology investigation | |
| CN114371027A (en) | Geological environment monitoring device | |
| CN117949533B (en) | Intelligent wall climbing machine | |
| CN115575176A (en) | Decomposition type soil sample collector | |
| CN220398543U (en) | L-shaped simple and rapid leveling device | |
| CN218725654U (en) | Ore pulp sampling device | |
| CN211042821U (en) | Water sampling device for environmental detection | |
| CN219016344U (en) | Wind direction and wind speed testing device | |
| CN218540791U (en) | Be used for municipal works pile foundation quality detection device | |
| CN116024953A (en) | Soil compactness detection device for pile foundation | |
| CN216307117U (en) | Image acquisition device | |
| CN215004798U (en) | Resilience instrument for supervision | |
| CN111855292B (en) | Disturbance-free water body near-bottom continuous rotation sampling device | |
| CN208621349U (en) | A kind of soil sampler | |
| CN216283808U (en) | Telemetering measurement radar water level all-in-one | |
| CN220568439U (en) | Deep soil sampling device in farmland | |
| CN220469847U (en) | Automatic collecting and cleaning device for geological logging cuttings | |
| CN212201967U (en) | Automatic portable inclinometer | |
| CN213364264U (en) | Soil sampling device with sealing structure for building amusement park entertainment facilities | |
| CN220819497U (en) | Sampling device | |
| CN219694626U (en) | Unmanned aerial vehicle sampling monitoring device | |
| CN220650160U (en) | Water environment detection sampling equipment | |
| CN219956972U (en) | Soil heavy metal sampling detects integrative device | |
| CN212378801U (en) | Ecological environment monitor based on Internet of things | |
| CN219284421U (en) | Observation well water level observation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |