CN211137136U

CN211137136U - Disease detection device of building

Info

Publication number: CN211137136U
Application number: CN201921549058.6U
Authority: CN
Inventors: 陈勤践; 曾福灵; 林航宇; 陈哲人; 周景
Original assignee: Shaoguan Hanrun Information Technology Co ltd
Current assignee: Shaoguan Hanrun Information Technology Co ltd
Priority date: 2019-09-17
Filing date: 2019-09-17
Publication date: 2020-07-31
Anticipated expiration: 2029-09-17

Abstract

The utility model discloses a disease detection device for a building, which comprises a detection robot, a power supply guide rail, a translation truss and a control assembly; the power supply guide rail is provided with a first conductive piece, and the translation truss is connected with the power supply guide rail through the hanger walking mechanism and can translate along the power supply guide rail; the hanger frame walking mechanism is provided with a first power receiving part; the first power receiving part is abutted with and conducted with the first conductive part; the translation truss is provided with a track for the detection robot to walk, and the translation truss is provided with a second conductive piece; the second conductive part is electrically connected with the first power receiving part; the detection robot is conducted with the second conductive piece through the second power receiving piece, and the second power receiving piece is abutted to and conducted with the second conductive piece; the control assembly comprises a central control industrial personal computer, a hanger walking controller, an operation terminal and a display device. The utility model discloses a disease detection device can adapt to the structure of different structures of building, can detect the work for a long time.

Description

Disease detection device of building

Technical Field

The utility model belongs to construct the disease check out test set field of building, concretely relates to disease detection device of building.

Background

At present, in the disease detection of the bottom of a known building, most of disease inspection work is usually performed by adopting methods of manpower and auxiliary equipment, and in recent years, an unmanned aerial vehicle is gradually tried to perform detection to obtain a better effect, but the unmanned aerial vehicle cannot meet the detection requirements under the influence of multiple special environments and weather;

other existing detection equipment detects through walking guide rail and robot, and the power supply mode of walking guide rail and robot is cable power supply or battery power supply, and the cable of power supply can influence the activity of walking guide rail and robot, and the duration of battery is not strong, can't deal with long-time work.

Therefore, a new technology for detecting the disease of the building is needed.

SUMMERY OF THE UTILITY MODEL

For solving the above-mentioned problem among the prior art, the utility model provides a construct disease detection device of structure, its structure that can adapt to different structures of building can carry out detection achievement for a long time.

The utility model adopts the following technical scheme:

a disease detection device for a building comprises a detection robot, a power supply guide rail, a translation truss and a control assembly;

the power supply guide rail is provided with a first conductive piece arranged along the full length of the power supply guide rail, the first conductive piece is insulated from the power supply guide rail, one surface of the first conductive piece is an exposed first conductive contact surface, and the first conductive piece is electrically connected with a power supply;

the translation truss is connected with the power supply guide rail through a hanger travelling mechanism and can translate along the power supply guide rail;

the hanger travelling mechanism is provided with a first power receiving part which is electrically connected with a hanger travelling driving device of the hanger travelling mechanism; one end of the first power receiving part is abutted against the first conductive contact surface and is conducted with the first conductive contact surface;

the translation truss is provided with a track for the detection robot to walk, the track is perpendicular to the power supply guide rail, and the translation truss is provided with a second conductive piece arranged along the full length of the track; the second conductive piece is insulated from the translation truss, one surface of the second conductive piece is an exposed second conductive contact surface, and the second conductive piece is electrically connected with the first power receiving piece;

the detection robot comprises a walking vehicle, a mechanical arm arranged on the walking vehicle and a disease detector arranged on the mechanical arm, wherein a power device, the mechanical arm and the disease detector of the walking vehicle are communicated with the second conductive piece through a second conductive piece, and one end of the second conductive piece is abutted against and communicated with the second conductive contact surface;

the control assembly comprises a central control industrial personal computer, a hanger walking controller, an operation terminal and a display device; the hanger walking controller is arranged on the translation truss and is electrically connected with the first power receiving part and the hanger walking driving device; the central control industrial personal computer is arranged on the walking vehicle and is electrically connected with the power device, the mechanical arm and the disease detector; the control terminal is in wireless communication connection with the central control industrial personal computer; the central control industrial personal computer is in wireless communication connection with the hanger walking controller; the display device is electrically connected with the control terminal.

As a technical scheme of the utility model further improve, still be equipped with the first insulation mount on the power supply guide rail, the first insulation mount set up first electrically conductive piece with between the first piece that receives, the first insulation mount corresponds first electrically conductive contact surface and is equipped with the fluting that supplies first piece to stretch into.

As a further improvement of the technical solution of the present invention, the power supply rail is of an i-shape and includes an upper wing plate, a web plate and a lower wing plate; the runner frames of the hanger travelling mechanism are arranged on two sides of the web, and the two first conductive pieces are arranged on two sides of the web respectively.

As a further improvement of the technical scheme of the utility model, the pterygoid lamina is in down the outside of runner is equipped with bellied spacing strake, spacing strake with the web parallels, spacing strake with form the confession between the web the removal spacing groove of runner walking.

As a further improvement, the utility model discloses technical scheme still includes the insulating mount of second of establishing between the electrically conductive piece of second and the translation truss, the insulating mount of second will the electrically conductive piece of second is separated with the translation truss.

As a further improvement of the technical proposal of the utility model, the utility model also comprises anti-rollover hooks arranged at both sides of the walking vehicle; the translation truss is provided with an anti-side turning plate towards the outer edge of the track; one end of the side turning preventing hook is fixedly connected with the walking vehicle, the other end of the side turning preventing hook is provided with a hook, and the hook hooks the outer edge of the side turning preventing plate and can slide back and forth relative to the side turning preventing plate.

As a further improvement of the technical scheme of the utility model, the disease detector is a compound eye camera; the compound eye camera comprises a camera body and a plurality of cameras, wherein the cross section of the camera body is fan-shaped, and the cameras are installed on the arc-shaped surface of the camera body.

As a further improvement, both ends all are equipped with a safety sensor around the gallows running gear, a safety sensor with gallows walking controller electricity is connected.

As a technical scheme the utility model further improves, the both ends of walking car are equipped with second safety sensor, second safety sensor with well accuse industrial computer electricity is connected.

As the utility model discloses technical scheme's further improvement, be equipped with third safety sensor on the disease detector, third safety sensor with well accuse industrial computer electricity is connected.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses in set up power supply guide rail, translation truss and detection robot, the setting of power supply guide rail, translation truss makes detection robot can freely move on a plane to the arm of robot can carry out further adjustment with the position of disease detector, can adapt to the building structure of different structures, and can carefully look over possible disease point to multi-angle;

2. the hanger walking mechanism and the robot are powered by a conductive piece-a powered piece, namely, the hanger walking mechanism and the robot are directly connected with a power supply, so that the hanger walking mechanism and the robot can work for a long time without worrying about the problem of electric power, and a messy cable is omitted, so that the walking and the action of the hanger walking mechanism and the robot are not influenced by the cable;

3. the control aspect adopts a wireless communication mode for control, and an operator can control the hanger travelling mechanism and the robot through the display device and the control terminal on the ground so as to detect the diseases of the building; meanwhile, due to the wireless communication control, redundant cable connection is avoided, and the walking and the action of the hanger walking mechanism and the robot are not influenced.

Drawings

The technology of the present invention will be further described in detail with reference to the accompanying drawings and detailed description:

fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic diagram of the control connections of the present invention;

fig. 3 is a front view of the power supply rail of the present invention;

fig. 4 is a cross-sectional view of the power supply rail of the present invention;

fig. 5 is a front view of the walking vehicle of the present invention on a translating truss;

fig. 6 is a cross-sectional view of the carriage of the present invention on a translating truss;

fig. 7 is a schematic structural view of the robot of the present invention;

fig. 8 is an exploded view of the robot arm of the present invention.

Reference numerals:

1-detection robot, 11-walking vehicle, 111-power device, 112-frame, 113-walking wheel, 12-mechanical arm, 121-base, 122-connecting arm pipe, 1221-first rotating part, 1222-connecting part, 1223-second rotating part, 123-driving motor, 13-disease detector, 131-body, 132-camera, 133-L ED lighting lamp, 14-anti-rollover hook and 15-second power receiving part;

2-supply rail; 21-a first conductive member; 22-a first insulating mount; 23-upper wing plate; 24-a web; 25-lower wing plate; 251-limit edge strips;

3-translating the truss; 31-a track; 32-a second electrically conductive member; 33-a second insulating mount; 34-side turning prevention plates;

4-a control component; 41-a central control industrial personal computer; 42-cradle travel controller; 43-a manipulation terminal; 44-a display device;

5-a hanger travelling mechanism; 51-a first power receiving element; 52-gantry travel drive; 53-a wheel;

6-a first safety sensor; 7-a second safety sensor; 8-third safety sensor.

Detailed Description

The conception, specific structure and technical effects of the present invention will be described clearly and completely with reference to the accompanying drawings and embodiments, so as to fully understand the objects, aspects and effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The same reference numbers will be used throughout the drawings to refer to the same or like parts.

It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, the description of the upper, lower, left, right, etc. used in the present invention is only relative to the mutual positional relationship of the components of the present invention in the drawings.

Referring to fig. 1 to 8, a disease detection device for a building comprises a detection robot 1, a power supply guide rail 2, a translation truss 3 and a control assembly 4.

The power supply device comprises a power supply guide rail 2, a first conductive piece 21 and a second conductive piece 21, wherein the first conductive piece 21 is arranged along the full length of the power supply guide rail, the first conductive piece 21 is insulated from the power supply guide rail 2, one surface of the first conductive piece 21 is an exposed first conductive contact surface, and the first conductive piece 21 is electrically connected with a power supply. The power supply is a dc power supply, typically 48V, located on the building structure, where the first conductive member 21 acts as a wire, but it does not affect the operation of the device as a wire.

The translation truss 3 is connected with the power supply guide rail 2 through a hanger travelling mechanism 5 and can translate along the power supply guide rail 2. The hanger walking mechanism 5 comprises a frame, 4 rotating wheels 53 arranged on the frame and a hanger walking driving device 52 for driving the 4 rotating wheels 53 to walk, wherein the hanger walking driving device 52 is a motor. The translation truss 3 is fixedly connected with the frame.

The hanger travelling mechanism 5 is provided with a first power receiving part 51, and the first power receiving part 51 is electrically connected with a hanger travelling driving device 52 of the hanger travelling mechanism 5; one end of the first current-receiving element 51 is in contact with the first conductive contact surface and is electrically connected to the first conductive contact surface. The first conductive member 51 is in communication with the first conductive member 21, so that the hanger travel driving device 52 can be powered on to obtain electric power for operation.

The power supply guide rail 2 is provided with two first conductive members 21, and the number and the positions of the first conductive members 51 of the hanger travelling mechanism 5 correspond to those of the first conductive members 21 one by one, so as to form a current loop.

Preferably, the number of the power supply guide rail 2 and the number of the hanger travelling mechanisms 5 are two, and two ends of the translation truss 3 are movably connected with the power supply guide rail 2 through the hanger travelling mechanisms 5 respectively, so that the hanger travelling mechanisms 5 are more stable in travelling.

A track 31 for the detection robot 1 to walk is arranged on the translation truss 3, the track 31 is perpendicular to the power supply guide rail 2, and the translation truss 3 is provided with a second conductive piece 32 arranged along the full length of the track 31; the second conductive member 32 is insulated from the translation truss 3, one surface of the second conductive member 32 is an exposed second conductive contact surface, the second conductive member 32 is electrically connected to the first power receiving member 51, and the second conductive member 32 is connected to the first power receiving member 51, so that the second conductive member 32 can transmit current.

The detection robot comprises a walking vehicle 11, a mechanical arm 12 arranged on the walking vehicle 11 and a fault detector 13 arranged on the mechanical arm 12, wherein a power device 111, the mechanical arm 12 and the fault detector 13 of the walking vehicle 11 are communicated with the second conductive piece 32 through a second conductive piece 15, and one end of the second conductive piece 15 is abutted to and communicated with the second conductive contact surface.

The power unit 111, the robot arm 12, and the fault detector 13 of the traveling vehicle 11 obtain the electric power conducted by the second conductive member 32 from the second conductive member 15 without any cable to affect the behavior thereof.

Similarly, two second conductive members 32 are provided on the translatory truss 3, and the number and the positions of the second conductive members 15 correspond to those of the second conductive members 32 one by one to form a current loop.

In fig. 2, a solid line connection indicates a connection by a wire, and a broken line connection indicates a wireless communication connection. The control assembly 4 comprises a central control industrial personal computer 41, a hanger walking controller 42, a control terminal 43 and a display device 44; the hanger walking controller 42 is arranged on the translation truss 3 and is electrically connected with the first power receiving part 51 and the hanger walking driving device 52; the central control industrial personal computer 41 is arranged on the walking vehicle 11 and is electrically connected with the power device 111, the mechanical arm 12 and the disease detector 13; the control terminal 43 is in wireless communication connection with the central control industrial personal computer 41; the central control industrial personal computer is in wireless communication connection with the hanger walking controller 42; the display device 44 is electrically connected to the control terminal 43.

That is, the central control industrial personal computer 41, the hanger walking controller 42 and the control terminal 43 are all provided with wireless information receiving and transmitting devices which are matched with each other, and can be a WiFi module or a GPRS module and the like. Control is carried out in a wireless communication mode, cables are omitted, and the device is more convenient.

The power supply guide rail 2 is further provided with a first insulating fixing frame 22, the first insulating fixing frame 22 is arranged between the first conductive piece 21 and the first power receiving piece 51, and the first insulating fixing frame 22 is provided with a slot for the first power receiving piece 51 to extend into corresponding to the first conductive contact surface. The first insulating fixing frame 22 is made of insulating plastic, and since the power supply rail 2 is made of steel for strength requirement, the first insulating fixing frame 22 is required to isolate the first power receiving element 51 and the power supply rail 2 in order to prevent the first power receiving element 51 and the power supply rail 2 from being connected to short circuit.

In particular, said power supply rail 2 is of the type comprising an upper wing 23, a web 24 and a lower wing 25; the runners 53 are erected on two sides of the web 24, two first conductive members 21 are arranged and are respectively arranged on two sides of the web 24, and two first conductive members 51 are arranged and are respectively communicated with the two first conductive members 21.

In order to fix the first insulating fixing frame 22, a mounting groove into which the first insulating fixing frame 22 can be inserted is formed on the web 24.

Preferably, the lower wing plate 25 is provided with a raised limit edge 251 on the outer side of the rotating wheel 53, the limit edge 251 is parallel to the web 24, and a movable limit groove for the rotating wheel 53 to walk is formed between the limit edge 251 and the web 24. The arrangement of the limit edge strips 251 can prevent the rotating wheels 53 from being separated from the power supply guide rail 2 when the vehicle travels, and the function of limiting and guiding is achieved.

Also, in order to prevent the second conductive member 32 and the translation truss 3 from short-circuiting, the present invention further includes a second insulating holder 33 disposed between the second conductive member 32 and the translation truss 3, wherein the second insulating holder 33 separates the second conductive member 32 and the translation truss 3. The second insulating fixing frame 33 is made of insulating plastic. In order to fix the second insulating fixing frame 33, a mounting groove capable of being embedded into the second insulating fixing frame 33 is correspondingly formed on the translation truss 3.

Preferably, the side-turning prevention device further comprises side-turning prevention hooks 14 arranged on two sides of the walking vehicle 11; the translation truss 3 is provided with an anti-side turning plate 34 towards the outer edge of the track 31; one end of the anti-rollover hook 14 is fixedly connected with the walking vehicle 11, and the other end of the anti-rollover hook is provided with a hook which hooks the outer edge of the anti-rollover turning plate 34 and can slide back and forth relative to the anti-rollover turning plate 34. The rollover prevention hooks 14 can prevent the traveling vehicle 11 from rolling over when traveling on the rails 31 of the translation truss 3.

Specifically, the walking vehicle 11 includes a frame 112, a walking wheel 113 and a power device 111, and the power device 111 is a motor, which may be a servo motor.

As shown in fig. 7 and 8, the robot arm 12 includes a base 121 and a movable arm, and the base 121 is fixed on the frame 112.

The movable arm comprises a plurality of connecting arm pipes 122 connected end to end in sequence, each connecting arm pipe 122 comprises a first rotating portion 1221, a connecting portion 1222 and a second rotating portion 1223, the rotating axes of the first rotating portion 1221 and the second rotating portion 1223 are perpendicular to each other, and the two ends of each connecting portion 1222 are connected with the first rotating portion 1221 and the second rotating portion 1223 respectively.

The first rotating part 1221 of the foremost connecting arm tube 122 is rotatably connected to the base 121; the first rotating portions 1221 of the remaining connecting arm tubes 122 are rotatably connected to the second rotating portions 1223 of the previous connecting arm tube 122, respectively; the damage detector 13 is rotatably connected to the second rotating portion 1223 of the endmost connecting arm tube 122.

And driving motors 123 for driving the first rotating part 1221/the disease detector 13 connected with the base 121 to rotate are further arranged in the second rotating parts 1223 of the connecting arm pipes 122 in the base 121, and each driving motor 123 is electrically connected with the central control industrial personal computer.

The plurality of connecting arm tubes 122 are connected end to end, so that the movable arm has a plurality of degrees of freedom, and can change the image at a plurality of angles.

Preferably, the number of the connection arm tubes 122 is 6.

Preferably, each of the connecting arm tubes 122 is made of a carbon fiber material, which reduces the weight of the entire robot arm 12 while providing rigidity and strength.

Specifically, the disease detector 13 is a compound eye camera; the compound eye camera comprises a body 131 and a plurality of cameras 132, wherein the cross section of the body 131 is fan-shaped, and each camera 132 is installed on the arc-shaped surface of the body 131.

The number of cameras 132 may be selected based on the particular image video software employed, and may be 3, 4, 5, 6, or more. Preferably, there are 6 cameras 132. Because each camera 132 is installed on the arcwall face, the distance of each camera 132 and check point is different, is favorable to presenting the particular case of check point from the multiaspect.

Preferably, an L ED lighting lamp 133 is further provided on the compound-eye camera to provide the camera 132 with brightness required for shooting in a dark environment.

Because the gallows, robot are far away from ground during detection, and operating personnel probably are on ground, and both distances are far away, and the operating personnel probably can not see the barrier in some place, collide easily during the control and lead to the robot damage. In order to prevent this, the hanger traveling mechanism 5 is provided with first safety sensors 6 at both front and rear ends thereof, and the first safety sensors 6 are electrically connected to the hanger traveling controller 42. The spreader traveling mechanism 5 can prevent the translating truss 3 from colliding with some structure of the building structure.

Similarly, a second safety sensor 7 is provided at both ends of the traveling vehicle 11, and the second safety sensor 7 is electrically connected to the central control industrial personal computer 41. The second safety sensor 7 can prevent the traveling vehicle 11 from colliding with the translation truss 3.

And a third safety sensor 8 is arranged on the disease detector 13, and the third safety sensor 8 is electrically connected with the central control industrial personal computer 41. The third safety sensor 8 can prevent the damage detector 13 from colliding with the building, the translation truss 3, or the power supply rail 2 when the robot arm 12 moves.

The first safety sensor 6, the second safety sensor 7 and the third safety sensor 8 can be proximity sensors, and when the distance that the proximity sensors move close to a building or an obstacle is lower than a preset safety distance threshold value, the central control industrial personal computer 41 stops responding to the corresponding components to enable the control action closer to the building or the obstacle, and gives an alarm.

The control terminal 43 is a handheld remote controller, and is convenient to move and carry; the display device 44 is a display screen.

The control terminal 43 and the display device 44 are both arranged on the ground for an operator to observe and control, the operator inputs a control instruction through the control terminal 43, the control instruction is transmitted to the central control industrial personal computer 41, and the central control industrial personal computer 41 controls the response actions of the hanger travelling mechanism 5, the travelling vehicle 11, the mechanical arm 12 and the disease detector 13.

Other contents of the disease detection device of building structure refer to the prior art, and are not repeated herein.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, so that any modification, equivalent change and modification made by the technical spirit of the present invention to the above embodiments do not depart from the technical solution of the present invention, and still fall within the scope of the technical solution of the present invention.

Claims

1. A disease detection device of building, its characterized in that: the device comprises a detection robot, a power supply guide rail, a translation truss and a control assembly;

2. The disease detection device of a building according to claim 1, characterized in that: the power supply guide rail is also provided with a first insulation fixing frame, the first insulation fixing frame is arranged between the first conductive piece and the first power receiving piece, and the first insulation fixing frame is provided with a groove for the first power receiving piece to extend into corresponding to the first conductive contact surface.

3. A disease detection device for a structure according to claim 2, wherein: the power supply guide rail is in an I shape and comprises an upper wing plate, a web plate and a lower wing plate; the runner frames of the hanger travelling mechanism are arranged on two sides of the web, and the two first conductive pieces are arranged on two sides of the web respectively.

4. A disease detection device for a structure according to claim 3, wherein: the lower wing plate is arranged on the outer side of the rotating wheel of the hanger travelling mechanism and provided with a raised limiting edge strip, the limiting edge strip is parallel to the web, and a movable limiting groove for the rotating wheel to travel is formed between the limiting edge strip and the web.

5. The disease detection device of a building according to claim 1, characterized in that: the second conductive piece and the translation truss are separated by the second insulating fixing frame.

6. The disease detection device of a building according to claim 1, characterized in that: the side-turning prevention hook is arranged on two sides of the walking vehicle; the translation truss is provided with an anti-side turning plate towards the outer edge of the track; one end of the side turning preventing hook is fixedly connected with the walking vehicle, the other end of the side turning preventing hook is provided with a hook, and the hook hooks the outer edge of the side turning preventing plate and can slide back and forth relative to the side turning preventing plate.

7. The disease detection device of a building according to claim 1, characterized in that: the disease detector is a compound eye camera; the compound eye camera comprises a camera body and a plurality of cameras, wherein the cross section of the camera body is fan-shaped, and the cameras are installed on the arc-shaped surface of the camera body.

8. The disease detection device of a building according to claim 1, characterized in that: the front end and the rear end of the hanger travelling mechanism are respectively provided with a first safety sensor, and the first safety sensors are electrically connected with the hanger travelling controller.

9. The disease detection device of a building according to claim 1, characterized in that: and second safety sensors are arranged at two ends of the walking vehicle and electrically connected with the central control industrial personal computer.

10. The disease detection device of a building according to claim 1, characterized in that: and a third safety sensor is arranged on the disease detector and is electrically connected with the central control industrial personal computer.