CN118129654A - Wall climbing robot for detecting building flatness - Google Patents

Wall climbing robot for detecting building flatness Download PDF

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Publication number
CN118129654A
CN118129654A CN202410544431.8A CN202410544431A CN118129654A CN 118129654 A CN118129654 A CN 118129654A CN 202410544431 A CN202410544431 A CN 202410544431A CN 118129654 A CN118129654 A CN 118129654A
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China
Prior art keywords
climbing robot
wall climbing
assembly
building
flatness
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CN202410544431.8A
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Chinese (zh)
Inventor
刘振洋
刘振宇
刘同亮
孙晓宇
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Harbin University of Science and Technology
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Harbin University of Science and Technology
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Application filed by Harbin University of Science and Technology filed Critical Harbin University of Science and Technology
Priority to CN202410544431.8A priority Critical patent/CN118129654A/en
Publication of CN118129654A publication Critical patent/CN118129654A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
    • G01B11/306—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces for measuring evenness
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L21/00—Vacuum gauges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0028—Force sensors associated with force applying means
    • G01L5/0038—Force sensors associated with force applying means applying a pushing force

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Analytical Chemistry (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a wall climbing robot for detecting building flatness, which relates to the technical field of wall climbing robots and comprises a shell, a driving mechanism and a detecting mechanism, wherein the driving mechanism is arranged on the shell and is used for driving the shell to move on a building surface, the detecting mechanism is arranged on the shell, and the detecting mechanism is used for detecting the flatness of the building surface. The method and the device can accurately detect the sinking degree of the building, and further improve the accuracy of the flatness detection of the building.

Description

Wall climbing robot for detecting building flatness
Technical Field
The invention relates to the technical field of wall climbing robots, in particular to a wall climbing robot for detecting building flatness.
Background
In the processes of construction, acceptance and deformation observation of a building, the building flatness is required to be detected, the building flatness refers to the degree of uneven surface or uneven thickness of the building, and the building flatness is one of important indexes for building quality detection and acceptance. With the development of the wall climbing robot technology, the wall climbing robot is widely used for replacing manual high-altitude operation, such as building quality detection, high-altitude cleaning, ship rust removal, bridge detection and the like.
At present, the publication day is 2023, 06 and 02, and the Chinese patent of publication number CN116202501A proposes a standardized construction detection system and a standardized construction detection method, wherein the system comprises an auxiliary device and a wall climbing robot, the auxiliary device is used for controlling the adsorption of the wall climbing robot on a wall surface, the wall climbing robot comprises a robot body and a pneumatic claw assembly used for controlling the robot body to move on the wall surface, a mounting plate is arranged on the robot body, and a laser ranging sensor used for detecting the flatness of the wall surface is arranged on one end surface of the mounting plate far away from the robot body; the method comprises the step of detecting the wall surface in the process of adjusting the posture of the robot body on the wall surface and walking.
When detecting the roughness of wall, start auxiliary device and carry out the supply of atmospheric pressure, adsorb the robot body on the wall through atmospheric pressure, fix a position the robot body, after the location is accomplished, pneumatic jack catch subassembly drives the robot body and removes with appointed stride on the wall, at removal and stationary in-process, the distance of laser ranging sensor continuous monitoring and wall, and then obtains the roughness information of wall.
According to the technical scheme, the laser ranging sensor arranged on the mounting plate is limited in detection area, and when the wall surface area opposite to the wall climbing robot is in the pit, the flatness of the building is difficult to accurately detect.
Disclosure of Invention
In order to improve accuracy of building flatness detection, the invention provides a wall climbing robot for detecting building flatness.
The invention provides a wall climbing robot for detecting building flatness, which adopts the following technical scheme:
The utility model provides a detect wall climbing robot of building roughness, includes casing, actuating mechanism, detection mechanism, actuating mechanism includes moving assembly, adsorption component, moving assembly sets up on the casing, moving assembly is used for driving the casing and removes, adsorption component sets up on moving assembly, detection mechanism sets up on the casing, detection mechanism is used for detecting the roughness, its characterized in that:
the detection mechanism comprises a transmitting assembly and a receiving assembly, the transmitting assembly comprises a first laser transmitter and a second laser transmitter, the first laser transmitter and the second laser transmitter are all arranged on the ground, the receiving assembly comprises a first sensor array and a second sensor array, the first sensor array and the second sensor array are all arranged on a shell, the first laser transmitter is in signal connection with the first sensor array, and the second laser transmitter is in signal connection with the second sensor array.
By adopting the technical scheme, the wall climbing robot is placed on the building surface, the adsorption component is started, the shell is parallel to the building surface in an initial state, the adsorption component is driven by the moving component to be adsorbed on the building surface, the laser emitted by the first laser emitter irradiates the central position of the first sensor array, the laser emitted by the second laser emitter irradiates the central position of the second sensor array, and the wall climbing robot moves along a specified direction under the drive of the moving component; when the front end of the wall climbing robot is concave or convex, the moving component drives the adsorption component to adsorb on the building surface, laser emitted by the first laser emitter deviates from the central position of the first sensor array, laser emitted by the second laser emitter deviates from the central position of the second sensor array, and the deviation directions are opposite, so that the flatness of the building surface corresponding to the wall climbing robot is obtained; when the whole wall climbing robot that is arranged in the recess, the central point that first laser emitter sent deviates from first sensor array puts, and the central point that the laser that the second laser emitter sent deviates from second sensor array puts, and the direction of skew is the same, through the offset direction and the offset position of discernment laser to obtain the roughness of wall climbing robot corresponding building surface, so set up, when the wall area that wall climbing robot is relative all is in the recess, can accurately detect the recessed degree of building, and then improve the degree of accuracy that building roughness detected.
Optionally, detection mechanism still includes range finding subassembly, flexible subassembly, range finding subassembly includes displacement sensor, measuring rod, flexible subassembly sets up on the casing, flexible subassembly is used for driving the measuring rod and removes, displacement sensor sets up the one end that is close to the measuring rod at the casing.
By adopting the technical scheme, in the initial state, the adsorption component drives the movable component to adsorb on the building surface, in the process that the wall climbing robot moves along the appointed direction, the movement of the movable component is controlled to enable the laser emitted by the first laser emitter to be kept at the central position of the first sensor array, the laser emitted by the second laser emitter is kept at the central position of the second sensor array, the telescopic component and the measuring rod are positioned at the initial position, and one end of the measuring rod is abutted to the building surface; when the front end of the wall climbing robot is concave, the moving assembly drives the adsorption assembly to be adsorbed on the building surface, the laser irradiation position is offset, in order to enable the emitted laser to be still positioned at the center of the sensor array, the moving assembly is controlled to adjust the action by identifying the offset direction of the laser, the laser irradiation position is kept in an initial state, at the moment, the telescopic assembly is started, the telescopic assembly drives the measuring rod to move towards the building surface, the measuring rod is abutted to the building surface, and the displacement sensor detects the moving distance of the measuring rod, so that the flatness of the building surface is obtained; when the front end of the wall climbing robot is provided with a bulge, the moving assembly drives the adsorption assembly to be adsorbed on the building surface, the laser irradiation position is deviated, in order to enable the emitted laser to be still positioned at the center of the sensor array, the telescopic assembly drives the measuring rod to retract towards the direction of the shell, the moving assembly adjusts to act, the adsorption assembly is driven to be adsorbed on the building surface again, the laser irradiation position is returned to an initial state, and the displacement sensor detects the movement distance of the measuring rod, so that the flatness of the building surface is obtained; when the wall climbing robot is wholly arranged in the recess, the laser irradiation position is offset and the offset direction is the same, the moving assembly adjusts the motion, the adsorption assembly is driven to adsorb on the building surface, the laser irradiation position is enabled to return to the initial state, the telescopic assembly drives the pulley to move towards the building surface until the measuring rod is abutted to the building surface again, the displacement sensor detects the moving distance of the measuring rod, and accordingly flatness of the building surface corresponding to the pulley is obtained, the recess degree of the building can be accurately detected, and then the accuracy of building flatness detection is improved.
Optionally, the distance measuring assembly further comprises a pulley, and the pulley is rotatably arranged on the measuring rod.
Through adopting above-mentioned technical scheme, when initial state, flexible subassembly drives the measuring rod and removes, and the pulley butt that the measuring rod drove one end installation is at the building surface to reduce the wearing and tearing to the building surface, improved convenience and the reliability that the device used.
Optionally, the range finding subassembly still includes a plurality of pressure sensor, pressure sensor sets up on the pulley, be provided with the rotation resistance between pulley and the measuring beam, pressure sensor and adsorption component signal connection.
By adopting the technical scheme, in the initial state, the pulley at one end of the measuring rod is abutted against the building surface, the pressure received by the pressure sensor is an initial value, the pulley rotates on the building surface in the moving process of the wall climbing robot, when the pressure received by the pressure sensor is overlarge, the pulley rotates to the bulge or contacts an obstacle, when the pressure received by the pressure sensor is overlarge, the pulley is in a suspended state and possibly is located in the pit or a telescopic component for failure and other reasons, and a worker timely judges the position and the working state of the wall climbing robot through the numerical value of the pressure sensor, so that the convenience and the reliability of the device are improved; be provided with certain rotation resistance between pulley and the measuring beam, when placing wall climbing robot on building surface, pressure sensor gives adsorption component with pressure signal, obtain the initial coefficient of friction of building surface and the minimum adsorption strength intensity of adsorption component through the rotation resistance and the pressure data calculation of pulley, when wall climbing robot removes, the coefficient of friction change on adsorption surface is further judged through pressure sensor's numerical variation, and then when handling different building surfaces, in time adjust adsorption strength of adsorption component, reduce the probability that wall climbing robot drops from building surface, the security and the convenience of device use have further been improved.
Optionally, the moving assembly includes a plurality of mechanical feet, the mechanical feet are disposed on the housing, and the adsorbing assembly is disposed on the mechanical feet.
By adopting the technical scheme, in the initial state, the shell and the mechanical foot are parallel to the building surface, the wall climbing robot moves on the building surface under the drive of the mechanical foot, when the front end of the wall climbing robot is concave or convex, the sent laser is still positioned at the center of the sensor array, the adsorption component is adsorbed on the building surface by adjusting the front end bending state of the first mechanical foot or the second mechanical foot, and the flatness of the building surface corresponding to the pulley is obtained by detecting the moving distance of the measuring rod; so set up, compare in mobile mode such as crawler-type, colloid absorption formula, magnetism inhale formula, use the machinery sufficient as drive the casing and remove, reduced the unsmooth influence to the degree of accuracy and the stability of adsorption component that detects of wall, improved detection accuracy.
Optionally, the driving mechanism further comprises a steering assembly, the steering assembly comprises a plurality of steering engines, the steering engines are arranged on the shell, and the mechanical feet are arranged on the steering engines and correspond to the steering engines one by one.
Through adopting above-mentioned technical scheme, when climbing wall robot needs the turn to carry out the detection of another direction, steering engine drives the mechanical sufficient rotation of part and appointed angle to adsorb on the wall, the sufficient desorption of remaining machinery, afterwards steering engine drives casing and the sufficient rotation of remaining machinery and appointed angle, makes the sufficient absorption of remaining machinery again on the wall, makes climbing wall robot get back to initial state, adjusts first laser emitter, second laser emitter's position, thereby carries out the building roughness detection of another direction, has improved the convenience and the application scope of device.
Optionally, the adsorption component includes vacuum pump, sucking disc, the vacuum pump sets up on the casing, the sucking disc sets up a plurality of, every all be provided with the sucking disc on the mechanical foot, the output of vacuum pump passes through the pipeline and is connected with the sucking disc, pressure sensor and vacuum pump signal connection.
By adopting the technical scheme, the wall climbing robot is placed on the building surface, the vacuum pump is started, the shell and the mechanical foot are parallel to the building surface in the initial state, and the sucker is in a negative pressure state and is adsorbed on the building surface; so set up, compare in adsorption mode such as crawler-type, colloid absorption formula, magnetism inhale formula, use the sucking disc to adsorb, reduced the unsmooth influence to the stability of adsorption component of wall, improved the degree of accuracy and the reliability that detect.
Optionally, the adsorption component further comprises a plurality of vacuum sensors, wherein the vacuum sensors are arranged on the sucker, and the vacuum sensors are used for detecting the vacuum degree of the sucker.
Through adopting above-mentioned technical scheme, when the sucking disc adsorbs at the building surface, vacuum sensor detects the inside vacuum of sucking disc, if the vacuum does not reach the setting value, adsorbs building surface again, so sets up, has improved absorptive stability, and then has improved the reliability that the device used.
Optionally, the suction cups are flat suction cups.
Through adopting above-mentioned technical scheme, compare in oval sucking disc, ripple sucking disc, select flat sucking disc to be favorable to making snatch time reduction, improve leakproofness and positioning accuracy, provide Gao Cexiang power, be difficult for appearing not hard up landing's phenomenon, be favorable to improving the degree of accuracy that building roughness detected.
Optionally, the suction cups are rigid material suction cups.
Through adopting above-mentioned technical scheme, flexible sucking disc whole hardness is less, generally only receives the force of perpendicular to adsorption face, compares with flexible sucking disc, and rigid sucking disc hardness is great, can bear the parallel force of adsorption face, has good leakproofness, is difficult for appearing not hard up landing's phenomenon, is favorable to improving the degree of accuracy that the building roughness detected.
In summary, the present invention includes at least one of the following beneficial technical effects:
1. When the whole wall climbing robot that is arranged in the recess, the central point that first laser emitter sent deviates from first sensor array puts, and the central point that the laser that the second laser emitter sent deviates from second sensor array puts, and the direction of skew is the same to obtain the roughness of wall climbing robot corresponding building surface, through actuating mechanism and detection mechanism's setting, when the wall area that wall climbing robot is relative all is in the recess, can accurately detect the recessed degree of building, and then improve the degree of accuracy that building roughness detected.
2. When the wall climbing robot is wholly arranged in the recess, the laser irradiation position is deviated and the deviation direction is the same, the direction of deviation is generated through identifying laser, and then the moving assembly is controlled to adjust the action, the adsorption assembly is driven to adsorb on the building surface, the laser irradiation position returns to the initial state, the pulley is not abutted to the building surface at the moment, the telescopic assembly drives the pulley to move towards the building surface until the pulley is abutted to the building surface again, the displacement sensor detects the moving distance of the measuring rod, and accordingly the flatness of the building surface corresponding to the pulley is obtained, the recess degree of the building can be accurately detected through the arrangement of the ranging assembly and the telescopic assembly, and the accuracy of building flatness detection is improved.
3. Through setting up of steering assembly, when climbing wall robot needs to carry out the detection of another direction, steering engine drives the rotation of partial mechanical foot and appointed angle to adsorb on the wall, the absorption is released to remaining mechanical foot, afterwards steering engine drives casing and remaining mechanical foot and rotates appointed angle, makes remaining mechanical foot adsorb on the wall again, makes climbing wall robot get back to initial condition, adjusts first laser emitter, second laser emitter's position, thereby carries out the building roughness detection of another direction, has improved the convenience and the application scope of device.
4. Through pulley, pressure sensor's setting, at the removal in-process, when pressure sensor received pressure is too big, then the explanation pulley rotates protruding department or the pulley has contacted the barrier, when pressure sensor received pressure is too little, then the explanation pulley is in unsettled state, in time judge the position and the operating condition of climbing the wall robot through pressure sensor's numerical value, simultaneously, further judge the adsorption state of adsorption component, in order to deal with the adsorption strength of in time adjusting the adsorption component when different building surfaces, reduce the probability that climbing the wall robot dropped from the building surface, further improved the security and the convenience that the device was used.
Drawings
FIG. 1 is a schematic view of a portion of a structure of an embodiment of the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is a schematic view of another view of an embodiment of the present invention;
FIG. 4 is an enlarged cross-sectional view of portion B of FIG. 3;
fig. 5 is an enlarged view of a portion C in fig. 3.
Reference numerals: 1. a housing; 2. a driving mechanism; 21. a moving assembly; 211. a mechanical foot; 2111. the first steering engine; 2112. a first connector; 2113. the second steering engine; 2114. a second connector; 2115. the third steering engine; 2116. a third connecting member; 22. an adsorption assembly; 221. a vacuum pump; 222. a suction cup; 223. a vacuum sensor; 23. a steering assembly; 231. steering engine; 3. a detection mechanism; 31. a transmitting assembly; 311. a first laser transmitter; 312. a second laser transmitter; 32. a receiving assembly; 321. a first sensor array; 322. a second sensor array; 33. a ranging assembly; 331. a displacement sensor; 332. a measuring rod; 333. a pulley; 334. a pressure sensor; 34. a telescoping assembly; 341. a motor; 342. a screw; 343. and (3) a nut.
Detailed Description
The present invention is described in further detail below in conjunction with fig. 1-5.
The embodiment discloses a detect wall climbing robot of building roughness, referring to fig. 1, including casing 1, actuating mechanism 2, detection mechanism 3, actuating mechanism 2 sets up on casing 1, actuating mechanism 2 is used for driving casing 1 and removes on the building surface, detection mechanism 3 sets up on casing 1, detection mechanism 3 is used for detecting the roughness on building surface.
Referring to fig. 1 to 3 and fig. 5, the driving mechanism 2 includes a moving assembly 21, an absorbing assembly 22 and a steering assembly 23, the steering assembly 23 includes four steering engines 231 all connected to the housing 1 by bolts, the moving assembly 21 includes four mechanical feet 211, the mechanical feet 211 are connected to the steering engines 231 by bolts and are in one-to-one correspondence with the steering engines 231, the absorbing assembly 22 includes a vacuum pump 221, suction cups 222 and a vacuum sensor 223, the vacuum pump 221 is fixedly connected to the housing 1 by bolts, one end of each mechanical foot 211 far from the housing 1 is fixedly connected with three suction cups 222, the output end of the vacuum pump 221 is connected with the suction cups 222 by a pipeline, the vacuum sensor 223 is fixedly connected to the suction cups 222, the vacuum sensor 223 is used for detecting the vacuum degree of the suction cups 222, the suction cups 222 are all flat rigid material suction cups 222, the total weight of the wall climbing robot is 5kg, the vacuum degree is 80kPa, the suction force of each suction cup 222 is 9.5N, and the diameter is 46 mm;
The mechanical foot 211 comprises a first steering engine 2111, a first connecting piece 2112, a second steering engine 2113, a second connecting piece 2114, a third steering engine 2115 and a third connecting piece 2116, wherein the first steering engine 2111 is fixedly connected to the steering engine 231 through a bolt, the first connecting piece 2112 is fixedly connected to the first steering engine 2111 through a bolt, the second steering engine 2113 is fixedly connected to the first connecting piece 2112 through a bolt, the second connecting piece 2114 is fixedly connected to the second steering engine 2113 through a bolt, the third steering engine 2115 is fixedly connected to the second connecting piece 2114 through a bolt, the third connecting piece 2116 is fixedly connected to the third steering engine 2115 through a bolt, and the sucker 222 is arranged on the third connecting piece 2116.
In other embodiments, the moving component 21 may also be a track, where the housing 1 is disposed on the track, and the track drives the housing 1 to move along the building surface; the adsorption component 22 may also be an adsorption colloid or a magnetic attraction device, which drives the housing 1 to be adsorbed on the building surface.
Placing the wall climbing robot on the building surface, starting the vacuum pump 221, wherein in an initial state, the shell 1 and the mechanical foot 211 are parallel to the building surface, the suction disc 222 is in a negative pressure state and is adsorbed on the building surface, the vacuum sensor 223 detects the vacuum degree in the suction disc 222, if the vacuum degree does not reach a set value, the wall climbing robot adsorbs the building surface again, and the wall climbing robot moves along a designated direction on the building surface under the drive of the mechanical foot 211, so that the detection mechanism 3 is kept in the designated state;
In the initial state, the first steering engine 2111, the second steering engine 2113 and the third steering engine 2115 are not rotated, the first connecting piece 2112, the second connecting piece 2114 and the third connecting piece 2116 are parallel to the wall surface, during the moving process, suction cups 222 on two mechanical feet 211 opposite to the moving direction are desorbed, the first steering engine 2111, the second steering engine 2113 and the third steering engine 2115 of the other two mechanical feet 211 same to the moving direction rotate, the mechanical feet 211 are bent and drive the shell 1 to move, then suction cups 222 of the two mechanical feet 211 opposite to the moving direction are adsorbed on the building surface again, suction cups 222 of the two mechanical feet 211 same to the moving direction are desorbed, the first steering engine 2111, the second steering engine 2113 and the third steering engine 2115 on the first connecting piece 2112, the second connecting piece 2114 and the third connecting piece 2116 on the first connecting piece are rotated to the initial state, and the second connecting piece 2116 are restored to be parallel to the wall surface, and reciprocate, and therefore the shell 1 is moved; so set up, compare in the removal modes such as crawler-type, colloid absorption formula, magnetism inhale formula, use mechanical foot 211 to drive casing 1 and remove, reduced the unsmooth influence to the degree of accuracy and the stability of adsorption component 22 that detects of wall.
When the front end of the wall climbing robot is concave or convex, the offset state of the detection mechanism 3 is recognized, the action of the mechanical foot 211 is adjusted, the sucker 222 is adsorbed on the building surface again, so that the detection mechanism 3 is kept in a specified state, the detection mechanism 3 detects the flatness of the building surface, the concave degree of the building can be accurately detected, and the accuracy of detecting the flatness of the building is improved;
when the wall climbing robot needs to turn to detect in the other direction, the steering engine 231 drives the two mechanical feet 211 to rotate to a specified angle and to be adsorbed on the wall surface, the residual mechanical feet 211 are desorbed, and then the steering engine 231 drives the shell 1 and the residual mechanical feet 211 to rotate to the specified angle, so that the residual mechanical feet 211 are adsorbed on the wall surface again, the wall climbing robot returns to the initial state, the positions of the first laser transmitter 311 and the second laser transmitter 312 are adjusted, and the building flatness in the other direction is detected.
Referring to fig. 1 to 4, the detection mechanism 3 includes a transmitting assembly 31, a receiving assembly 32, a ranging assembly 33, and a telescopic assembly 34, the transmitting assembly 31 includes a first laser transmitter 311 and a second laser transmitter 312, the receiving assembly 32 includes a first sensor array 321 and a second sensor array 322, the ranging assembly 33 includes a displacement sensor 331, a measuring rod 332, a pulley 333, and a plurality of pressure sensors 334, and the telescopic assembly 34 includes a motor 341, a screw 342, and a nut 343; the first laser emitter 311 and the second laser emitter 312 are all arranged on the ground, the first sensor array 321 and the second sensor array 322 are all fixedly connected on one end face of the shell 1 far away from the pulley 333 through bolts, the first laser emitter 311 is in signal connection with the first sensor array 321, the second laser emitter 312 is in signal connection with the second sensor array 322, the motor 341 is fixedly connected on the shell 1 through bolts, the screw 342 is rotationally connected on the shell 1, the screw 342 is in transmission connection with an output shaft of the motor 341, the nut 343 is rotationally connected on the screw 342, the measuring rod 332 is fixedly connected on the nut 343 through bolts, the displacement sensor 331 is fixedly connected on one end of the shell 1 close to the measuring rod 332, the displacement sensor 331 is used for detecting the moving distance of the measuring rod 332, the pulley 333 is rotationally connected on the measuring rod 332, the pressure sensor 334 is fixedly connected on the pulley 333, rotational resistance is arranged between the pulley 333 and the measuring rod 332, and the pressure sensor 334 is in signal connection with the vacuum pump 221.
In the initial state, the laser emitted by the first laser emitter 311 is located at the central position of the first sensor array 321, the laser emitted by the second laser emitter 312 is located at the central position of the second sensor array 322, the pulley 333 is abutted against the building surface, the pressure received by the pressure sensor 334 is an initial value, during the moving process, when a dent exists at the front end of the wall climbing robot or the wall climbing robot is wholly located in the dent, the laser irradiation position is shifted, in order to enable the emitted laser to be still located at the center of the sensor array, the mechanical foot 211 adjusts the action and bends, the pulley 333 is not abutted against the building surface, the motor 341 is started, the motor 341 drives the screw 342 to rotate, the nut 343 drives the measuring rod 332 to move towards the building surface until the pulley 333 is abutted against the building surface again, and the displacement sensor 331 detects the moving distance of the measuring rod 332, so that the flatness of the building surface is obtained;
When the front end of the wall climbing robot is provided with a bulge or is wholly at the bulge position, in order to ensure that the emitted laser is still positioned at the center of the sensor array, a motor 341 is started, the motor 341 drives a screw 342 to rotate, so that a nut 343 drives a measuring rod 332 to move away from the building surface, the measuring rod 332 drives a pulley 333 to retract, a mechanical foot 211 bends and adjusts the adsorption position, a sucker 222 is adsorbed on the building surface again, and a displacement sensor 331 detects the moving distance of the measuring rod 332, so that the flatness of the building surface is obtained;
In the moving process of the wall climbing robot, the pulley 333 rotates on the building surface, when the pressure received by the pressure sensor 334 is too large, the pulley 333 rotates to the protrusion or the pulley 333 contacts an obstacle, when the pressure received by the pressure sensor 334 is too small, the pulley 333 is in a suspended state, possibly due to the fact that the wall climbing robot is located at a depression or the telescopic component 34 breaks down, and the like, and a worker timely judges the position and the working state of the wall climbing robot through the numerical value of the pressure sensor 334, so that the convenience and the reliability of the device are improved; a certain rotational resistance is arranged between the pulley 333 and the measuring rod 332, when the wall climbing robot is placed on a building surface, the pressure sensor 334 transmits a pressure signal to the vacuum pump 221, an initial friction coefficient of the building surface and the minimum adsorption strength of the vacuum pump 221 are obtained through calculation of the rotational resistance of the pulley 333 and pressure data, when the wall climbing robot moves, the change of the friction coefficient of the adsorption surface can be further judged through the numerical change of the pressure sensor 334, and then when the wall climbing robot is applied to different building surfaces, the adsorption strength of the vacuum pump 221 is timely adjusted, the falling probability of the wall climbing robot from the building surface is reduced, and the safety and convenience of the device are further improved;
So set up, utilize measuring rod 332 and displacement sensor 331's relative movement to carry out the detection of building surface roughness, when wall area that wall climbing robot corresponds had sunkenly or protruding, can accurately detect the sunkenly or protruding degree of building, and then improve the degree of accuracy that building roughness detected, reduce the wearing and tearing to building surface, improved convenience and the reliability that the device used.
The implementation principle of the wall climbing robot for detecting building flatness in the embodiment is as follows:
Placing the wall climbing robot on the building surface, starting the vacuum pump 221, wherein in an initial state, the shell 1 and the mechanical foot 211 are parallel to the building surface, the suction cup 222 is in a negative pressure state and is adsorbed on the building surface, the vacuum sensor 223 detects the vacuum degree in the suction cup 222, if the vacuum degree does not reach a set value, the suction is carried out on the building surface again, the laser emitted by the first laser emitter 311 is positioned at the central position of the first sensor array 321, the laser emitted by the second laser emitter 312 is positioned at the central position of the second sensor array 322, and the pulley 333 is abutted against the building surface;
The wall climbing robot moves along the appointed direction under the drive of the mechanical foot 211, in the moving process, when the front end of the wall climbing robot is sunken or the wall climbing robot is wholly positioned in the sunken, in order to ensure that the emitted laser is still positioned at the center of the sensor array, the mechanical foot 211 adjusts the action and bends to ensure that the sucker 222 is re-adsorbed on the building surface, at the moment, the pulley 333 is not abutted to the building surface, the motor 341 is started, the motor 341 drives the screw 342 to rotate, the nut 343 drives the measuring rod 332 to move towards the building surface until the pulley 333 is abutted to the building surface again, and the displacement sensor 331 detects the moving distance of the measuring rod 332, so that the flatness of the building surface is obtained;
When the front end of the wall climbing robot is provided with a bulge or is wholly at the bulge position, in order to ensure that the emitted laser is still positioned at the center of the sensor array, a motor 341 is started, the motor 341 drives a screw 342 to rotate, so that a nut 343 drives a measuring rod 332 to move away from the building surface, the measuring rod 332 drives a pulley 333 to retract, a mechanical foot 211 bends and adjusts the adsorption position, a sucker 222 is adsorbed on the building surface again, and a displacement sensor 331 detects the moving distance of the measuring rod 332, so that the flatness of the building surface is obtained;
when the wall climbing robot needs to turn to detect in the other direction, the steering engine 231 drives the two mechanical feet 211 to rotate to a specified angle and to be adsorbed on the wall surface, the residual mechanical feet 211 are desorbed, and then the steering engine 231 drives the shell 1 and the residual mechanical feet 211 to rotate to the specified angle, so that the residual mechanical feet 211 are adsorbed on the wall surface again, the wall climbing robot returns to the initial state, the positions of the first laser transmitter 311 and the second laser transmitter 312 are adjusted, and the building flatness in the other direction is detected.
The above embodiments are not intended to limit the scope of the present invention, so: all equivalent changes in structure, shape and principle of the invention should be covered in the scope of protection of the invention.

Claims (10)

1. The utility model provides a detect wall climbing robot of building roughness, includes casing (1), actuating mechanism (2), detection mechanism (3), actuating mechanism (2) are including moving subassembly (21), adsorption component (22), moving subassembly (21) set up on casing (1), moving subassembly (21) are used for driving casing (1) and remove, adsorption component (22) set up on moving subassembly (21), detection mechanism (3) set up on casing (1), detection mechanism (3) are used for detecting the roughness, its characterized in that:
The detection mechanism (3) comprises a transmitting assembly (31) and a receiving assembly (32), the transmitting assembly (31) comprises a first laser transmitter (311) and a second laser transmitter (312), the first laser transmitter (311) and the second laser transmitter (312) are all arranged on the ground, the receiving assembly (32) comprises a first sensor array (321) and a second sensor array (322), the first sensor array (321) and the second sensor array (322) are all arranged on the shell (1), the first laser transmitter (311) is in signal connection with the first sensor array (321), and the second laser transmitter (312) is in signal connection with the second sensor array (322).
2. The wall climbing robot for detecting building flatness of claim 1, wherein: the detection mechanism (3) further comprises a ranging component (33) and a telescopic component (34), the ranging component (33) comprises a displacement sensor (331) and a measuring rod (332), the telescopic component (34) is arranged on the shell (1), the telescopic component (34) is used for driving the measuring rod (332) to move, and the displacement sensor (331) is arranged at one end, close to the measuring rod (332), of the shell (1).
3. The wall climbing robot for detecting building flatness of claim 2, wherein: the distance measuring assembly (33) further comprises a pulley (333), and the pulley (333) is rotatably arranged on the measuring rod (332).
4. A wall climbing robot for detecting building flatness according to claim 3, wherein: the distance measuring assembly (33) further comprises a plurality of pressure sensors (334), the pressure sensors (334) are arranged on the pulleys (333), rotation resistance is arranged between the pulleys (333) and the measuring rod (332), and the pressure sensors (334) are in signal connection with the adsorption assembly (22).
5. A wall climbing robot for detecting flatness of buildings according to any of claims 1-4, characterized in that: the moving assembly (21) comprises a plurality of mechanical feet (211), the mechanical feet (211) are arranged on the shell (1), and the adsorption assembly (22) is arranged on the mechanical feet (211).
6. The wall climbing robot for detecting building flatness of claim 5, wherein: the driving mechanism (2) further comprises a steering assembly (23), the steering assembly (23) comprises a plurality of steering engines (231), the steering engines (231) are arranged on the shell (1), and the mechanical feet (211) are arranged on the steering engines (231) and correspond to the steering engines (231) one by one.
7. The wall climbing robot for detecting flatness of buildings according to any one of claims 4, wherein: the adsorption component (22) comprises a vacuum pump (221) and suction discs (222), wherein the vacuum pump (221) is arranged on the shell (1), the suction discs (222) are arranged in a plurality, each mechanical foot (211) is provided with a suction disc (222), the output end of the vacuum pump (221) is connected with the suction disc (222) through a pipeline, and the pressure sensor (334) is connected with the vacuum pump (221) through signals.
8. The wall climbing robot for detecting building flatness of claim 7, wherein: the adsorption assembly (22) further comprises a plurality of vacuum sensors (223), wherein the vacuum sensors (223) are arranged on the suction cups (222), and the vacuum sensors (223) are used for detecting the vacuum degree of the suction cups (222).
9. The wall climbing robot for detecting building flatness of claim 7, wherein: the suction cups (222) are flat suction cups.
10. The wall climbing robot for detecting building flatness of claim 7, wherein: the suction cups (222) are rigid material suction cups.
CN202410544431.8A 2024-05-06 2024-05-06 Wall climbing robot for detecting building flatness Pending CN118129654A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202410544431.8A CN118129654A (en) 2024-05-06 2024-05-06 Wall climbing robot for detecting building flatness

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202410544431.8A CN118129654A (en) 2024-05-06 2024-05-06 Wall climbing robot for detecting building flatness

Publications (1)

Publication Number Publication Date
CN118129654A true CN118129654A (en) 2024-06-04

Family

ID=91236176

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202410544431.8A Pending CN118129654A (en) 2024-05-06 2024-05-06 Wall climbing robot for detecting building flatness

Country Status (1)

Country Link
CN (1) CN118129654A (en)

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