CN212887601U - Rail type tall building detection robot - Google Patents
Rail type tall building detection robot Download PDFInfo
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- CN212887601U CN212887601U CN202020798571.5U CN202020798571U CN212887601U CN 212887601 U CN212887601 U CN 212887601U CN 202020798571 U CN202020798571 U CN 202020798571U CN 212887601 U CN212887601 U CN 212887601U
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Abstract
The utility model relates to a high big building of rail mounted detects robot relates to the robotechnology field for the detection and the maintenance work of high big building. The utility model discloses a high big building detection robot of rail mounted, including lift dolly, guide rail, haulage rope, drive mechanism and driven wheel subassembly, the lift dolly includes the frame and sets up detection device on the frame, the below of frame is provided with wheel and spacing wheel respectively, sets up wheel and spacing wheel in the guide rail both sides through setting up, makes high big building detection robot of rail mounted first (Y) ascending degree of freedom and second (X) ascending degree of freedom on the guide rail by the restriction to high big building detection robot of rail mounted can only follow third (Z) direction motion, thereby guarantees high big building detection robot of rail mounted stability and security of operation.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a track type tall building detection robot.
Background
With the development of building technology, tall and bright buildings are increasingly displayed in front of people, and the key parts of some tall buildings (such as bridge towers, columns of giant wind driven generators and the like) need to be frequently detected so as to grasp the state of the buildings in time and avoid safety accidents caused by the expansion of the defects of the buildings.
Taking a bridge tower as an example, the bridge tower is a strut of a suspension bridge or a cable-stayed bridge, the safety of the bridge tower is the key of the whole bridge, the height of the bridge tower is very high, and the height of a plurality of bridge towers is more than one hundred meters (the height of the domestic highest flat pond extra-large bridge tower reaches 332 meters, and the height of the world highest bridge tower reaches 343 meters), but at present, the detection of the bridge tower with the height can only be observed by depending on a manual hand-held telescope, so the detection difficulty, the detection precision and the detection convenience are low.
With the rise of the robot industry, the detection difficulty of the robot applied to the building (bridge tower) can be greatly reduced, the detection precision is improved, and the detection convenience is also improved. However, since the robot needs to be detected in the height direction of the building (bridge tower), a requirement is made for safe traveling and stable operation of the robot.
SUMMERY OF THE UTILITY MODEL
The utility model provides a track type tall building detection robot for the detection and maintenance work of tall building.
The utility model discloses a high big building of rail mounted detects robot, including lift dolly, guide rail, haulage rope, drive mechanism and driven wheel subassembly, the lift dolly sets up on the guide rail, drive mechanism with driven wheel subassembly passes through the haulage rope with the lift dolly links to each other, so that the lift dolly can walk on the guide rail:
the lift dolly includes:
the wheel limiting device comprises a frame, wherein wheels and limiting wheels are arranged below the frame respectively; and
the detection device is arranged on the frame and used for detecting a building;
the wheels and the limiting wheels are arranged on the guide rail and are respectively positioned on two sides of the guide rail, the wheels and the limiting wheels enable the degree of freedom of the rail type high and large building detection robot in the first direction and the degree of freedom of the rail type high and large building detection robot in the second direction on the guide rail to be limited, and the rail type high and large building detection robot can only move in the third direction;
the first direction, the second direction and the third direction form a rectangular coordinate system.
In one embodiment, the bearing surface of the wheel contacts with the supporting surface on one side of the guide rail, and the bearing surface of the limiting wheel contacts with the supporting surface on the opposite side of the guide rail, so that the degree of freedom of the rail-type tall building detection robot in the first direction on the guide rail is limited.
In one embodiment, the guide surface of the wheel is in contact with the guide surface of one side of the guide rail, and the guide surface of the limit wheel is in contact with the guide surface of the opposite side of the guide rail, so that the degree of freedom of the rail-type tall building detection robot in the second direction on the guide rail is limited.
In one embodiment, the bottom of the frame is provided with a connecting seat, and two ends of the wheel are respectively connected with the connecting seat in a rotating manner.
In one embodiment, the limiting wheel is provided with a limiting wheel frame, and the limiting wheel frame is connected with the connecting seat through a limiting wheel support.
In one embodiment, a traction rope fastening device is further arranged at the lower middle position of the frame.
In one embodiment, the detection device comprises an articulated mechanical arm connected with the frame and a detection probe arranged at the tail end of the articulated mechanical arm.
In one embodiment, a joint type mechanical arm control cabinet is further arranged on the vehicle frame, and the joint type mechanical arm control cabinet is electrically connected with the joint type mechanical arm so as to control the position and the posture of the joint type mechanical arm.
In one embodiment, a battery assembly is further disposed on the frame, and the battery assembly provides power to the detection probe, the joint type mechanical arm and the joint type mechanical arm control cabinet.
In one embodiment, the traction mechanism comprises a motor and a movable pulley connected with the motor, a traction rope is connected between the movable pulley and the driven wheel assembly, and the traction rope penetrates through the traction rope fastening device to draw the frame.
Compared with the prior art, the utility model has the advantages of: the wheels and the limiting wheels are arranged on two sides of the guide rail, so that the degree of freedom of the rail type high and large building detection robot in the first (Y) direction and the second (X) direction on the guide rail are limited, the rail type high and large building detection robot can only move in the third (Z) direction, the stability and the safety of the operation of the rail type high and large building detection robot are ensured, and the rail type high and large building detection robot plays an active role in the detection and maintenance work of the high and large building.
Drawings
The present invention will be described in more detail hereinafter based on embodiments and with reference to the accompanying drawings.
Fig. 1 is a schematic structural view of a rail-mounted tall building detection robot according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of FIG. 1 at A-A;
fig. 3 is a cross-sectional view at B-B of fig. 1.
Reference numerals:
1-a traction mechanism; 2-a guide rail; 3-a guide rail bracket; 4-lifting the trolley; 5-a battery assembly; 6-articulated mechanical arm; 7-joint type mechanical arm control cabinet; 8-detecting the probe; 9-a traction rope; 10-a driven wheel assembly; 12-a building;
401-a frame; 402-a wheel; 403-a first bearing; 404-a first bearing seat; 405-a pull-cord fastening device; 406-a spacing wheel; 407-limit wheel carrier; 408-a spacing wheel support;
101-a second bearing block; 102-a second bearing; 103-a movable pulley; 104-a coupling; 105-a motor base; 106-motor.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
As shown in fig. 1 and 2, according to the first aspect of the present invention, the present invention provides a rail-mounted tall building detection robot, which includes a lifting trolley 4, a guide rail 2, a rail bracket 3, a traction mechanism 1, a traction rope 9, and a driven wheel assembly 10. Wherein, the lifting trolley 4 is arranged on the guide rail 2, the traction mechanism 1 and the driven wheel component 10 are connected with the lifting trolley 4 through the traction rope 9, so that the lifting trolley 4 can walk on the guide rail 2. The guide rail 2 is laid on the guide rail bracket 1, and the guide rail bracket 3 is fixedly connected with the building (bridge tower) 12 so that the guide rail 2 can be supported. The lifting trolley 4 comprises a frame 401 and a detection device arranged on the frame 401. Wherein the detection device is used for detecting the building (the bridge tower 12). When the lifting trolley 4 runs on the guide rail 2, the detection device is driven to move along a preset track, and the specific area of the building (bridge tower) 12 or the building (bridge tower) 12 can be comprehensively detected.
Specifically, wheels 402 and limit wheels 406 are provided below the frame 401 of the lifting cart 4, respectively. Typically, the number of wheels 402 and limit wheels 406 is 4 each. If the lift car 4 is larger or smaller, the number of wheels 402 and limit wheels 406 can be increased or decreased accordingly, which is not limited by the present invention.
The following describes the lifting trolley 4 in detail by taking the example that the 4 wheels 402 and the 4 limit wheels 406 are respectively arranged below the frame 401 of the lifting trolley 4. Since the 4 wheels 402 are identical in structure, the wheels 402 will be described and differentiated hereinafter. Likewise, the 4 limit wheels 406 are not distinguished in the following.
The wheels 402 and the limiting wheels 406 of the lifting trolley 4 are both in contact with the guide rail 2 and are respectively positioned on two sides of the guide rail 2. Since the wheels 402 and the limit wheels 406 of the lifting trolley 4 enable the freedom of the lifting trolley 4 in the first direction and the freedom of the lifting trolley 4 in the second direction on the guide rail 2 to be limited, the lifting trolley 4 can only move in the third direction; the first direction, the second direction and the third direction form a rectangular coordinate system. That is, the first direction, the second direction, and the third direction are the Y direction, the X direction, and the Z direction in the rectangular coordinate system, respectively.
Specifically, as shown in fig. 2, the first direction is a radial direction of the wheel 402 or the limiting wheel 406 (i.e., a Y-axis direction shown in fig. 2), the second direction is an axial direction of the wheel 402 or the limiting wheel 406 (i.e., an X-axis direction shown in fig. 2), and the third direction is an extending direction of the guide rail 2.
As shown in fig. 2, in the radial direction of the wheel 402 and the spacing wheel 406, the wheel 402 and the spacing wheel 406 are arranged oppositely, and the bearing surface of the wheel 402 (i.e. the cylindrical surface of the wheel 402, such as the surface a1 shown in fig. 2) contacts with the bearing surface (the surface a2 shown in fig. 2) on one side of the guide rail 2, while the bearing surface of the spacing wheel 406 (i.e. the cylindrical surface of the wheel 402, such as the surface B1 shown in fig. 2) contacts with the bearing surface (the surface B2 shown in fig. 2) on the opposite side of the guide rail 2, so that the degree of freedom of the lifting carriage 4 in the first direction on the guide rail 2 is limited, i.e. the lifting carriage 4 cannot move back and forth on the.
Further, as shown in fig. 2, the guide surface of the wheel 402 (i.e., the inner side of the protruding rim of the wheel 402, such as the C1 surface shown in fig. 2) contacts the guide surface (C2 surface shown in fig. 2) on one side of the guide rail 2, and the guide surface of the limit wheel 406 (i.e., the inner side of the protruding rim of the limit wheel 406, such as the D1 surface shown in fig. 2) contacts the guide surface (D2 surface shown in fig. 2) on the opposite side of the guide rail 2, so that the degree of freedom of the lift car 4 in the second direction on the guide rail 2 is limited, i.e., the lift car 4 cannot move left and right on the guide rail 2.
The freedom of the lift carriage 4 in both the front-rear direction and the left-right direction is thereby limited so that it can only move in the up-down direction, i.e., in the direction of extension of the guide rail 2.
In addition, the contact gap between the wheels 402 and the guide rail 2 and the contact gap between the limiting wheels 406 and the guide rail 2 can be adjusted, so that the friction force between the lifting trolley 4 and the guide rail 2 and the vibration coefficient during movement can be adjusted.
In some embodiments, the bottom of the frame 401 is provided with a connecting seat 404, and both ends of the wheel 402 are respectively rotatably connected with the connecting seat. For example, wheel 402 is coupled to coupling block 404 via first bearing 403, and thus coupling block 404 may also be referred to as a first bearing block.
In addition, a limiting wheel frame 407 is arranged on the limiting wheel 406, and the limiting wheel 406 frame is connected with the connecting seat 404 through a limiting wheel support 408, so that the limiting wheel 406 is fixedly connected to the frame 401.
In some embodiments, a tow rope fastening device 405 is also provided at a lower middle position of the frame 401. The tow rope fastening device 405 is used to pass the tow rope 9 through and clamp it in place, thereby towing the frame 401.
The detection device on the carriage 401 will be described in detail below.
The detection device comprises a joint type mechanical arm 6 connected with the frame 401 and a detection probe 8 arranged at the tail end of the joint type mechanical arm 6. In addition, a joint type mechanical arm control cabinet 7 is further arranged on the frame 401, and the joint type mechanical arm control cabinet 7 is electrically connected with the joint type mechanical arm 6 so as to control the pose of the joint type mechanical arm 6.
The joint type robot arm 6 includes a plurality of robot arms and joints between the robot arms, and the joints function to adjust the angles of the robot arms. The joint type robot arm control cabinet 7 transmits a signal for changing the angle of the joint type robot arm 6 to adjust the angle of the joint type robot arm 6, thereby changing the detection orientation of the detection probe 8. Articulated arm 6 can adopt current arm, the utility model discloses no longer describe to this.
In some embodiments, a battery assembly 5 is further disposed on the carriage 401, and the battery assembly 5 provides power to the detection probe 8, the articulated mechanical arm 6, and the articulated mechanical arm 6 control cabinet. Because the buildings (bridge towers) 12 are very high, and some buildings can reach the height of hundreds of meters, operators need to synchronously perform cable releasing and winding operations when the lifting trolley 4 is lifted, so that the operation process is difficult; meanwhile, the gravity of the lifting trolley 4 acted on the cable is changed when the lifting trolley is at different heights, so that the movement stability of the lifting trolley 4 is influenced, and the movement stability of the lifting trolley 4 can be improved by arranging the battery component 5 on the frame 401.
The following describes the traction mechanism 1 in detail.
As shown in fig. 1, the traction mechanism 1 is disposed at the bottom of a building (pylon) 12, and the driven wheel assembly 10 is disposed at the top of the building (pylon) 12; the traction rope 9 is arranged between the two. I.e. the traction mechanism 1 and the driven wheel assembly 10 are located at the two ends of the guide rail 2, respectively.
Specifically, as shown in fig. 3, the traction mechanism 1 includes a motor (e.g., a reduction motor) 106 and a movable sheave 103 connected to the motor 106. The motor 106 is fixed on the motor base 105 and connected with the movable pulley 103 through the coupling 104, so that the movable pulley 103 can be driven to rotate. A second bearing seat 101 is further arranged on one side of the movable pulley 103 away from the motor 106, and the movable pulley 103 is rotatably connected with the second bearing seat 101 through a second bearing 102.
The bottom end of the motor base 105 is also provided with an adjusting pad 107 for adjusting the installation height of the motor 106.
A traction rope 9 is arranged between the movable pulley 103 and the driven wheel assembly 10, the traction rope 9 is wound on the pulleys of the movable pulley 103 and the driven wheel assembly 10, the pulleys are locked by a lock catch after being tensioned, and then the traction rope 9 penetrates through a traction rope fastening device 405 on the frame 401 to be fixedly connected with the lifting trolley 4.
The method for controlling the lifting trolley 4 to detect comprises the following steps:
the switch of a traction mechanism control cabinet (not shown) is started, the control cabinet is powered on, an operator can input an operation instruction (or turn on the operation switch), a motor 106 in the traction mechanism 1 works, a movable pulley 103 is driven to rotate through a coupler 104, so that a traction rope 9 is driven to move, and the lifting trolley 4, and the joint type mechanical arm 6 and the detection probe 8 which are arranged on the lifting trolley can be driven to do lifting motion.
Further, the joint type mechanical arm 6 drives the detection probe 8 to move according to a preset track according to actual detection requirements, and detects a specific area of the building (bridge tower) 12 or the whole area of the building (bridge tower) 12.
It should be noted that the term "tall building" as used herein refers to a building having a height of more than one hundred meters.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. The present invention is not limited to the particular embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (10)
1. The utility model provides a high building detection robot of rail mounted which characterized in that, includes lift dolly, guide rail, haulage rope, drive mechanism and driven wheel subassembly, the lift dolly sets up on the guide rail, drive mechanism with driven wheel subassembly passes through the haulage rope with the lift dolly links to each other, so that the lift dolly can walk on the guide rail:
the lift dolly includes:
the wheel limiting device comprises a frame, wherein wheels and limiting wheels are arranged below the frame respectively; and
the detection device is arranged on the frame and used for detecting a building;
the wheels and the limiting wheels are arranged on the guide rail and are respectively positioned on two sides of the guide rail, the wheels and the limiting wheels enable the degree of freedom of the rail type high and large building detection robot in the first direction and the degree of freedom of the rail type high and large building detection robot in the second direction on the guide rail to be limited, and the rail type high and large building detection robot can only move in the third direction;
the first direction, the second direction and the third direction form a rectangular coordinate system.
2. The rail-mounted tall building detection robot of claim 1, wherein the bearing surface of the wheel contacts the bearing surface of one side of the guide rail, and the bearing surface of the limiting wheel contacts the bearing surface of the opposite side of the guide rail, so that the degree of freedom of the rail-mounted tall building detection robot in the first direction on the guide rail is limited.
3. The rail-type tall building detection robot according to claim 1 or 2, wherein the guide surfaces of the wheels are in contact with the guide surface of one side of the guide rail, and the guide surfaces of the limit wheels are in contact with the guide surface of the opposite side of the guide rail, so that the degree of freedom of the rail-type tall building detection robot in the second direction on the guide rail is limited.
4. The rail-mounted tall building detection robot according to claim 1 or 2, wherein a connecting seat is provided at the bottom of the frame, and both ends of the wheel are rotatably connected with the connecting seat respectively.
5. The rail-mounted tall building detection robot as claimed in claim 4, wherein the limiting wheel is provided with a limiting wheel frame, and the limiting wheel frame is connected with the connecting seat through a limiting wheel support.
6. The rail-mounted tall building detection robot according to claim 1 or 2, wherein a traction rope fastening device is further provided at a lower middle position of the frame.
7. The rail-mounted tall building detection robot according to claim 1 or 2, wherein the detection means comprises a joint-type robot arm connected to the frame and a detection probe provided at a distal end of the joint-type robot arm.
8. The rail-mounted tall building detection robot of claim 7, wherein a joint-type mechanical arm control cabinet is further disposed on the frame, and the joint-type mechanical arm control cabinet is electrically connected to the joint-type mechanical arm to control the pose of the joint-type mechanical arm.
9. The rail-mounted tall building detection robot of claim 8, wherein a battery assembly is further disposed on the frame, and the battery assembly provides power to the detection probe, the joint-type mechanical arm and the joint-type mechanical arm control cabinet.
10. The rail-mounted tall building detection robot as claimed in claim 6, wherein the traction mechanism comprises a motor and a movable pulley connected with the motor, a traction rope is connected between the movable pulley and the driven wheel assembly, and the traction rope passes through the traction rope fastening device to pull the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020798571.5U CN212887601U (en) | 2020-05-14 | 2020-05-14 | Rail type tall building detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020798571.5U CN212887601U (en) | 2020-05-14 | 2020-05-14 | Rail type tall building detection robot |
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| CN212887601U true CN212887601U (en) | 2021-04-06 |
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| CN202020798571.5U Active CN212887601U (en) | 2020-05-14 | 2020-05-14 | Rail type tall building detection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114749449A (en) * | 2022-03-29 | 2022-07-15 | 崔慧生 | Photovoltaic board cleaning machines people transfer apparatus |
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2020
- 2020-05-14 CN CN202020798571.5U patent/CN212887601U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114749449A (en) * | 2022-03-29 | 2022-07-15 | 崔慧生 | Photovoltaic board cleaning machines people transfer apparatus |
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