CN212689539U

CN212689539U - Inspection robot based on climbing frame

Info

Publication number: CN212689539U
Application number: CN202021097734.3U
Authority: CN
Inventors: 吴境莹; 王文剑; 袁琦堡; 陈金海; 赵金明; 谢汇华
Original assignee: Shanghai Yayue Intelligent Technology Co ltd
Current assignee: Shanghai Yayue Intelligent Technology Co ltd
Priority date: 2020-06-15
Filing date: 2020-06-15
Publication date: 2021-03-12
Anticipated expiration: 2030-06-15

Abstract

The utility model discloses a patrol and examine robot based on climb frame, including the chassis and set up module, running gear, travel drive, electric cabinet and the power supply unit of making a video recording on the chassis. The utility model aims to ensure the correct assembly of the climbing frame and maintain good use condition; the building outer wall construction and completion conditions are checked, problems are found in time, the efficiency of the construction process is improved, and the workload of operators is reduced; aiming at the problems that the service environment space is small, the turning corner is small, and the number of curves is large, the inspection robot needs to inspect the construction operation condition more flexibly and in real time, the operation safety is guaranteed, and the like.

Description

Inspection robot based on climbing frame

Technical Field

The utility model relates to the technical field of robot, specifically be a robot patrols and examines based on climb frame.

Background

The climbing frame is a novel scaffold system developed in recent years and is mainly applied to high-rise shear wall type buildings. The climbing frame can ascend or descend along the building, so that the number of scaffolds and the building difficulty are reduced. Due to the fact that the lowermost layer part needs to be disassembled and reassembled on the climbing frame as the uppermost layer in the process of using the climbing frame, various situations that the assembly is not in place, fasteners need to be replaced due to abrasion, the climbing frame is deformed and fails after being used for a long time and the like can occur in the process, and the climbing frame after being assembled needs to be checked. In addition, in the building construction process, whether the operations such as polishing, paint spraying, putty scraping, hole patching and the like are needed or not is judged according to the completion condition of the outer wall surface, and the operations need to be detected by operators.

The utility model aims to ensure the correct assembly of the climbing frame and maintain good use condition; the inspection robot has the advantages that the outer wall of a building is inspected and the conditions of construction and completion of the outer wall of the building are found out in time, the efficiency of the construction process is improved, the workload of operators is reduced, the inspection robot is required to inspect the construction operation condition more flexibly and in real time according to the characteristics of small space of a use environment, small turning corners and multiple curves, the operation safety is guaranteed, and the like, and the inspection robot based on the climbing frame is provided. The climbing frame is provided with an I-shaped steel guide rail, the guide rail is arranged at a height which does not influence field operation personnel, and the inspection robot moves along the I-shaped steel.

SUMMERY OF THE UTILITY MODEL

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a patrol and examine robot based on climb frame which characterized in that: the device comprises a chassis, and a camera module, a traveling mechanism and a traveling driving device which are arranged on the chassis.

The further improvement lies in that: the electric control box is electrically connected with the power supply device.

The further improvement lies in that: the electric cabinet comprises a motor controller, a wireless signal transmitter, a wireless signal receiver, a wiring terminal group and an expansion module.

The further improvement lies in that: the power supply device is a current collector; the current collector includes a collector brush.

The further improvement lies in that: the power supply device is a battery.

The further improvement lies in that: the camera module comprises a camera main body, a swing mechanism and a camera main body supporting seat; the camera shooting main body supporting seat is fixed at the bottom of the chassis; the camera shooting main body is movably connected with the camera shooting main body supporting seat; the slewing mechanism is used for driving the camera shooting main body to rotate.

The further improvement lies in that: the slewing mechanism comprises a second motor, a coupler, a third shaft, a third bearing and a third shaft cover; a third bearing is arranged on the camera shooting main body supporting seat; an output shaft of the second motor penetrates through the third bearing, and the tail end of the second motor is connected with a third shaft through a coupler; the third shaft is fixedly connected with the camera shooting main body; the third shaft is movably connected with the camera main body supporting seat through a third bearing; the third shaft cover is connected with the tail end of the third shaft.

The further improvement lies in that: the dust-proof cover is also included; the dust cover is connected with the camera shooting main body.

The further improvement lies in that: the intelligent control device is characterized by also comprising a shell, wherein the shell is provided with a switch, an indicator light and a control panel; the switch, the indicator light, the control panel and the electric cabinet are electrically connected.

The further improvement lies in that: the walking driving device comprises a first rotating shaft, a second rotating shaft, a driving device supporting seat, a roller and a first motor for driving the roller to rotate; the driving device supporting seat is fixedly connected with the chassis; the rollers, the roller driving device and the driving device supporting seat are respectively provided with two groups; the two groups of driving device supporting seats are respectively provided with a supporting seat bearing; the first rotating shaft penetrates through the driving device supporting seat and the roller; the other group of driving device supporting seats are connected with rollers through supporting seat bearings and a second rotating shaft; the second rotating shaft penetrates through the driving device supporting seat and the roller, and one end of the second rotating shaft is connected with the first motor.

The further improvement lies in that: two ends of the first rotating shaft are respectively provided with a first shaft cover; and the other end of the second rotating shaft is provided with a second shaft cover.

The further improvement lies in that: the walking mechanism comprises a bottom plate; two sides of the bottom plate are respectively provided with a side plate perpendicular to the bottom plate; the top parts of the two side plates are respectively provided with an end plate, and the bottom parts of the two end plates are connected with a second roller through a roller seat; a gap exists between the two end plates; the top of each of the two end plates is movably connected with a side wheel, and a gap is reserved between the two side wheels.

The further improvement lies in that: the bottom plate is movably connected with the chassis; a fourth rotating shaft is arranged at the bottom of the bottom plate; a fourth bearing matched with the fourth rotating shaft is arranged on the chassis; the bottom plate is movably connected with the chassis through a fourth rotating shaft and a fourth bearing; and a fourth shaft cover is arranged at the bottom of the fourth rotating shaft.

The further improvement lies in that: the camera module also comprises an illuminating lamp; the illuminating lamp is connected with the camera main body.

The further improvement lies in that: the camera module is a real-time monitoring camera.

The further improvement lies in that: the camera module is used for recording monitoring videos.

The utility model has the advantages that:

(1) the inspection robot is provided with a rotary camera module, the direction of the camera can be adjusted through a motor by the camera module, and the real-time monitoring of the building operation condition and the building condition of a wide angle in a large range can be realized by matching the whole movement of the robot.

(2) Be provided with the light on this module of making a video recording, no matter can both use night and day, make to patrol and examine and can go on at any time to ensure the security of building operation.

(3) This module of making a video recording is driven by the second motor when using and makes a video recording the main part and rotates to outside state, and the outside state of shield is rotated to when need not using to protect the main part of making a video recording, with the complicated environmental conditions of adaptation job site.

(4) The inspection robot runs on a track at a certain height above the ground in a reverse hanging manner, has a certain height on the construction ground, and can perform inspection without influencing the construction.

(5) The inspection robot is provided with the special travelling mechanism, so that the inspection robot is more flexible, is small in facing curvature and can be easily handled in a rail environment with multiple corners.

(6) This patrol and examine robot is provided with work pilot lamp and control panel to let the better assurance of user patrol and examine the working condition of robot, make simultaneously and patrol and examine the robot and possess multi-functional ductility.

Drawings

Fig. 1 is an appearance schematic diagram of the inspection robot based on the climbing frame;

fig. 2 is a schematic diagram of the internal structure of the inspection robot based on the climbing frame;

fig. 3 is a structural diagram of a walking driving device of the inspection robot based on the climbing frame;

fig. 4 is an installation structure diagram of the travelling mechanism and the chassis main body of the inspection robot based on the climbing frame;

fig. 5 is an installation structure diagram of the camera module and the chassis main body of the inspection robot based on the climbing frame;

fig. 6 is a schematic diagram of the close state of the inspection robot based on the climbing frame;

fig. 7 is a schematic diagram of the working and using state of the inspection robot based on the climbing frame;

fig. 8 is the utility model relates to a patrol and examine robot's whole outward appearance schematic diagram based on climb frame.

Description of reference numerals:

1-shell, 2-control panel, 3-indicator light, 4-switch, 5-camera module, 6-chassis, 7-battery, 8-walking driving device, 9-electric cabinet, 10-walking mechanism, 301-first motor, 302-supporting seat bearing, 303-second rotating shaft, 304-first shaft cover, 305-first rotating shaft, 306-roller, 307-second shaft cover, 401-side wheel, 402-end plate, 403-side plate, 404-bottom plate, 405-fourth bearing, 406-fourth shaft cover, 407-fourth rotating shaft, 408 second roller, 409-roller seat, 501 second motor, 502-coupler, 503-third shaft, 504-camera main body, 505-dust cover, 506-third bearing, 507-third shaft cover.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Referring to fig. 1 to 8, the present embodiment provides a frame-climbing-based inspection robot, which includes a chassis 6, and a camera module 5, a traveling mechanism 10, and a traveling driving device 8 disposed on the chassis 6.

Further, the electric control cabinet comprises an electric control box 9 and a power supply device, wherein the electric control box 9 and the power supply device are arranged on the chassis 6, and the electric control box 9 is electrically connected with the power supply device.

The electric cabinet 9 comprises a motor controller, a wireless signal transmitter, a wireless signal receiver, a wiring terminal group and an expansion module.

The power supply means is a battery 7. In another embodiment of the present invention, the power supply device may be a current collector; the current collector comprises a current collecting brush; the current collector is in contact with the sliding contact line through the current collecting brush to enable the inspection robot to obtain a power supply, the current collector moves in the closed wire groove, the wire groove is formed in the guide rail, the sliding contact line is arranged in the wire groove, and the closed wire groove avoids electric leakage. The use of the current collector can solve the influence of the battery capacity on the cruising of the inspection robot.

As shown in fig. 5, the camera module 5 includes a camera body 504, a rotation mechanism, and a camera body support base; the camera shooting main body supporting seat is fixed at the bottom of the chassis 6; the camera body 504 is movably connected with the camera body support seat; the swing mechanism is used for driving the camera body 504 to rotate.

The camera module 5 is a real-time monitoring camera. In another embodiment of the present invention, the camera module 5 can be used for recording the monitoring video.

The swing mechanism comprises a second motor 501, a coupler 502, a third shaft 503, a third bearing 506 and a third shaft cover 507; a third bearing 506 is arranged on the supporting seat of the camera shooting main body 504; an output shaft of the second motor 501 penetrates through a third bearing 506, and the tail end of the second motor is connected with a third shaft 503 through a coupling 502; the third shaft 503 is fixedly connected with the camera body 504; the third shaft 503 is movably connected with a supporting seat of the camera shooting main body 504 through a third bearing 506; the third shaft cover 507 is connected to the end of the third shaft 503. The swing mechanism can adjust the direction of the camera body 504 through the second motor 501, and can realize real-time monitoring of the building operation conditions and building conditions in a wide range and a wide angle by matching with the overall movement of the robot.

Further: the LED lamp also comprises a shell 1, wherein a switch 4, an indicator lamp 3 and a control panel 2 are arranged on the shell 1; the switch 4, the indicator light 3, the control panel 2 and the electric cabinet 9 are electrically connected. This patrol and examine robot is provided with pilot lamp 3 and control panel 2 to let the better assurance of user patrol and examine the operating condition of robot, make simultaneously and patrol and examine the robot and possess multi-functional ductility.

Further: a dust cover 505; the dust cover 505 is connected to the imaging main body 504. When module 5 when the closure state makes a video recording, shield 505 and shell 1 main part close combination to reach the effect of protecting the camera under the state of not using in the operational environment on building site.

Further: the camera module 5 also comprises an illuminating lamp; the illumination lamp is connected to the image pickup main body 504. The camera body 504 is prevented from capturing or recording video in a poor light. The system can be used in daytime and at night, so that the routing inspection can be carried out at any time, and the safety of construction operation is ensured.

The camera module 5 is driven by the second motor 501 to rotate the camera main body 504 to an outward state when in use, and then to rotate to an outward state of the dust cap 505 when not in use, so that the camera main body 504 is protected to adapt to complex environmental conditions of a construction site.

As shown in fig. 3, the walking driving device 8 includes a first rotating shaft 305, a second rotating shaft 303, a driving device supporting seat, a roller 306, and a first motor 301 for driving the roller 306 to rotate; the first motor 301 is a brushless motor; the driving device supporting seat is fixedly connected with the chassis 6; the roller 306, the roller driving device and the driving device supporting seat are respectively provided with two groups; a support seat bearing 302 is arranged on each of the two groups of drive device support seats; one group of driving device supporting seats are connected with a roller 306 through a supporting seat bearing 302 and a first rotating shaft 305, and the first rotating shaft 305 penetrates through the driving device supporting seats and the roller 306; the other group of driving device supporting seats are connected with rollers 306 through supporting seat bearings 302 and a second rotating shaft 303; the second rotating shaft 303 penetrates through the driving device supporting seat and the roller 306, and one end of the second rotating shaft 303 is connected with the first motor 301.

Two ends of the first rotating shaft 305 are respectively provided with a first shaft cover 304; the other end of the second rotating shaft 303 is provided with a second shaft cover 307.

As shown in fig. 4, the traveling mechanism 10 includes a base plate 404; two sides of the bottom plate 404 are respectively provided with a side plate 403 perpendicular to the bottom plate 404; the top parts of the two side plates 403 are respectively provided with an end plate 402, and the bottom parts of the two end plates 402 are connected with a second roller 408 through a roller seat 409; a gap exists between the two end plates 402; the tops of the two end plates 402 are respectively movably connected with side wheels 401, and a gap is formed between the two side wheels 401.

The bottom plate 404 is movably connected with the chassis 6; a fourth rotating shaft 407 is arranged at the bottom of the bottom plate 404; a fourth bearing 405 matched with the fourth rotating shaft 407 is arranged on the chassis 6; the bottom plate 404 is movably connected with the chassis 6 through a fourth rotating shaft 407 and a fourth bearing 405; the bottom of the fourth rotating shaft 407 is provided with a fourth shaft cover 406.

The inspection robot is provided with the special travelling mechanism 10, so that the inspection robot is more flexible, and can easily cope with a track environment with small facing curvature and multiple turning.

The principle of the utility model is as follows: in order to further explain the using principle of the utility model, the embodiment is described together with the guide rail and the climbing frame; as shown in fig. 6-8; the guide rail is in the shape of an I-shaped steel guide rail, and the I-shaped steel guide rail is arranged on the climbing frame; the top and two sides of the shell 1 are provided with inverted T-shaped openings matched with the I-shaped steel guide rails in shape; the robot extends into the robot through a T-shaped opening on one side of the shell 1; the vertical plate and the bottom plate of the I-shaped steel guide rail sequentially pass through the traveling mechanism 10, the traveling driving device 8 and the traveling mechanism 10 and finally penetrate out of the T-shaped opening on the other side of the shell 1; the vertical plate of the I-shaped steel guide rail is clamped between the two side wheels 401 and between the two rollers 306; the bottom surface plates of the i-shaped steel guide rails are clamped between the second rollers 408 and the bottom plate 404 and between the rollers 306 and the chassis 6; the top panel of the I-shaped steel guide rail is positioned above the top surface of the shell 1; the bottom of the roller 306 is abutted against the surface of the bottom panel of the I-shaped steel guide rail; when the roller 306 rotates on the surface of the bottom panel of the I-shaped steel guide rail, the whole robot is driven to move back and forth on the I-shaped steel guide rail, so that the purpose of inspection is achieved. The inspection robot runs on the I-shaped steel guide rail at a certain height above the ground in an inverted hanging manner, has a certain height with the construction ground, and can perform inspection without influencing construction.

The foregoing shows and describes the basic principles, features, advantages and experimental data of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a patrol and examine robot based on climb frame which characterized in that: the device comprises a chassis, and a camera module, a traveling mechanism and a traveling driving device which are arranged on the chassis, wherein the camera module comprises a camera main body, a slewing mechanism and a camera main body supporting seat; the camera shooting main body supporting seat is fixed at the bottom of the chassis; the camera shooting main body is movably connected with the camera shooting main body supporting seat; the slewing mechanism is used for driving the camera shooting main body to rotate.

2. The inspection robot based on the climbing frame according to the claim 1, characterized in that: the electric control box is electrically connected with the power supply device.

3. The inspection robot based on the climbing frame according to the claim 2, characterized in that: the electric cabinet comprises a motor controller, a wireless signal transmitter, a wireless signal receiver, a wiring terminal group and an expansion module.

4. The inspection robot based on the climbing frame according to the claim 2, characterized in that: the power supply device is a current collector; the current collector includes a collector brush.

5. The inspection robot based on the climbing frame according to the claim 2, characterized in that: the power supply device is a battery.

6. The inspection robot based on the climbing frame according to the claim 1, characterized in that: the slewing mechanism comprises a second motor, and the type of the second motor is a brushless motor, a coupler, a third shaft, a third bearing and a third shaft cover; a third bearing is arranged on the camera shooting main body supporting seat; an output shaft of the second motor penetrates through the third bearing, and the tail end of the second motor is connected with a third shaft through a coupler; the third shaft is fixedly connected with the camera shooting main body; the third shaft is movably connected with the camera main body supporting seat through a third bearing; the third shaft cover is connected with the tail end of the third shaft.

7. The inspection robot based on the climbing frame according to the claim 1, characterized in that: the dust-proof cover is also included; the dust cover is connected with the camera shooting main body.

8. The inspection robot based on the climbing frame according to the claim 1, characterized in that: the intelligent control device is characterized by also comprising a shell, wherein the shell is provided with a switch, an indicator light and a control panel; the switch, the indicator light, the control panel and the electric cabinet are electrically connected.

9. The inspection robot based on the climbing frame according to the claim 1, characterized in that: the walking driving device comprises a first rotating shaft, a second rotating shaft, a driving device supporting seat, a roller and a first motor for driving the roller to rotate; the driving device supporting seat is fixedly connected with the chassis; two groups of rollers and two groups of driving device supporting seats are respectively arranged; the two groups of driving device supporting seats are respectively provided with a supporting seat bearing; the first rotating shaft penetrates through the driving device supporting seat and the roller; the other group of driving device supporting seats are connected with rollers through supporting seat bearings and a second rotating shaft; the second rotating shaft penetrates through the driving device supporting seat and the roller, and one end of the second rotating shaft is connected with the first motor.

10. The inspection robot based on the climbing frame according to the claim 9, characterized in that: two ends of the first rotating shaft are respectively provided with a first shaft cover; and the other end of the second rotating shaft is provided with a second shaft cover.

11. The inspection robot based on the climbing frame according to the claim 1, characterized in that: the walking mechanism comprises a bottom plate; two sides of the bottom plate are respectively provided with a side plate perpendicular to the bottom plate; the top parts of the two side plates are respectively provided with an end plate, and the bottom parts of the two end plates are connected with a second roller through a roller seat; a gap exists between the two end plates; the top of each of the two end plates is movably connected with a side wheel, and a gap is reserved between the two side wheels.

12. The inspection robot based on the climbing frame according to the claim 11, characterized in that: the bottom plate is movably connected with the chassis; a fourth rotating shaft is arranged at the bottom of the bottom plate; a fourth bearing matched with the fourth rotating shaft is arranged on the chassis; the bottom plate is movably connected with the chassis through a fourth rotating shaft and a fourth bearing; and a fourth shaft cover is arranged at the bottom of the fourth rotating shaft.

13. The inspection robot based on the climbing frame according to the claim 1, characterized in that: the camera module also comprises an illuminating lamp; the illuminating lamp is connected with the camera main body.

14. The inspection robot based on the climbing frame according to the claim 1, characterized in that: the camera module is a real-time monitoring camera.

15. The inspection robot based on the climbing frame according to the claim 1, characterized in that: the camera module is used for recording monitoring videos.