CN215944723U - Building curtain wall check out test set carries on structure based on wall climbing robot - Google Patents
Building curtain wall check out test set carries on structure based on wall climbing robot Download PDFInfo
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- CN215944723U CN215944723U CN202122165106.5U CN202122165106U CN215944723U CN 215944723 U CN215944723 U CN 215944723U CN 202122165106 U CN202122165106 U CN 202122165106U CN 215944723 U CN215944723 U CN 215944723U
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Abstract
The utility model discloses a building curtain wall detection equipment carrying structure based on a wall-climbing robot, which comprises a robot body, a movement mechanism and a plurality of negative pressure adsorption devices, wherein the robot body is provided with a plurality of vacuum suction holes; the negative pressure adsorption devices are respectively arranged in the robot body, air vents are formed in the positions, corresponding to the negative pressure adsorption devices, of the robot body, the air vents are used for the negative pressure adsorption devices to extract air, the robot body is used for walking on a building curtain wall, and the negative pressure adsorption devices are used for enabling the robot body to be adsorbed on the building curtain wall; the moving mechanism is arranged on the robot body, the moving mechanism is used for placing the detection equipment and is used for drawing the detection equipment to realize transverse and vertical movement, and the detection equipment is used for realizing detection of the building curtain wall. The utility model can be matched with the concave-convex non-plane surface of the building curtain wall, can adapt to the adsorption of a rough surface, can effectively control the movement precision and the shaking precision of the detection equipment, improves the detection precision and is suitable for carrying high-precision detection equipment.
Description
Technical Field
The utility model relates to the technical field of building curtain walls, in particular to a building curtain wall detection equipment carrying structure based on a wall climbing robot.
Background
The building curtain wall is an external wall maintenance structure without bearing the weight of the building, and is a light wall with decorative effect commonly used by modern large and high-rise buildings. Over time, the curtain wall components may be aged and fail to cause water leakage and other conditions of reduced service performance, and even fall from high altitude threatens the life safety of people. The service life of the existing curtain wall is generally 25 years, and the existing curtain wall exceeding or approaching the service life is large in scale, so that urgent need to be detected is provided.
The prior art mainly depends on the detection personnel to carry small-size check out test set and take the hanging flower basket to inspect the building curtain, and this kind of detection mode detection efficiency is low, and detection personnel need high altitude construction, exists certain safety risk. In order to solve the problem that detection personnel need to work high above the ground in curtain wall detection, a curtain wall detection scheme based on a robot is provided in the market, but is influenced by factors such as flatness and roughness of the surface of a building curtain wall, and the robot is not suitable for carrying high-precision detection equipment regardless of being handheld or climbing to control the moving precision and the shaking precision of the detection equipment.
Accordingly, the prior art is deficient and needs improvement.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art and provides a building curtain wall detection equipment carrying structure based on a wall climbing robot.
The technical scheme of the utility model is as follows:
a building curtain wall detection equipment carrying structure based on a wall climbing robot comprises a robot body, a movement mechanism and a plurality of negative pressure adsorption devices; the negative pressure adsorption devices are respectively arranged in the robot body, air vents are formed in the positions, corresponding to the negative pressure adsorption devices, of the robot body, the air vents are used for the negative pressure adsorption devices to extract air, the robot body is used for walking on a building curtain wall, and the negative pressure adsorption devices are used for enabling the robot body to be adsorbed on the building curtain wall; the moving mechanism is arranged on the robot body, the moving mechanism is used for placing detection equipment and is used for drawing the detection equipment to realize transverse and vertical movement, and the detection equipment is used for realizing detection of the building curtain wall.
Further, the robot body comprises a shell, an end cover, a plurality of driving motors and wheels, wherein the number of the wheels is matched with that of the driving motors; the negative pressure adsorption devices are respectively arranged in the shell, the positions of the bottom of the shell, which correspond to the air inlet ends of the negative pressure adsorption devices, are respectively provided with the vent holes, and the left side wall and the right side wall of the shell are respectively provided with a plurality of through exhaust holes for exhausting air; the bottom of the shell is also provided with a flexible sealing ring which is used for automatically filling a gap generated by uneven wall surfaces so as to adapt to the adsorption of a rough surface; the shell is provided with a plurality of driving motors on the left side and the right side of the negative pressure adsorption device respectively, an output shaft of each driving motor penetrates out of the shell, one end, penetrating out of the shell, of the output shaft of each driving motor is provided with a wheel, and the driving motors pull the wheels to rotate so as to enable the shell to move and change the position; the movement mechanism is arranged at the rear end of the shell and moves in the same direction along with the movement of the shell; the end cover is arranged on the top of the shell, and the end cover and the shell are connected with each other to form a closed space, so that a protection effect is achieved.
Furthermore, each negative pressure adsorption device comprises a ducted fan and a fan fixing seat; the ducted fan is arranged on the fan fixing seat, and the fan fixing seat is arranged in the shell.
Further, the motion mechanism comprises a vertical motion assembly and a transverse motion assembly; the vertical motion assembly is arranged at the rear end of the shell, the transverse motion assembly is arranged on the vertical motion assembly, the transverse motion assembly is used for placing detection equipment and is used for drawing the detection equipment to realize transverse motion, and the vertical motion assembly is used for drawing the transverse motion assembly to realize vertical motion so as to draw the detection equipment arranged on the transverse motion assembly to realize vertical motion.
Further, the vertical motion assembly comprises a vertical motor, a vertical ball screw, two slide rails, two slide blocks and a cross beam; the inner side of the rear side wall of the shell is provided with the vertical motor, an output shaft of the vertical motor penetrates out of the shell, and the vertical ball screw is connected to one end, penetrating out of the shell, of the output shaft of the vertical motor; the two slide rails are respectively connected to the rear end of the shell at the left side and the right side of the vertical ball screw, and each slide rail is correspondingly connected with one slide block in a sliding connection mode; the two ends of the cross beam are respectively connected to the two slide rails, and the cross beam is further connected with the vertical ball screw in a rotating connection mode; and the transverse movement assembly is respectively connected with the slide block and the output end of the vertical ball screw.
Further, the transverse movement assembly comprises a transverse bottom plate, a transverse motor, a transverse ball screw, two guide pieces and an equipment mounting plate; the transverse bottom plate is respectively connected with the slide block and the output end of the vertical ball screw, and the transverse motor is arranged on the transverse bottom plate; one end of the transverse ball screw is connected to an output shaft of the transverse motor, and the other end of the transverse ball screw is arranged on the transverse bottom plate in a rotary connection mode; the two guide pieces are respectively arranged on the front side and the rear side of the transverse ball screw on the transverse bottom plate, the equipment mounting plate can be movably arranged on the two guide pieces, and the equipment mounting plate is also connected with the output end of the transverse ball screw.
Furthermore, a safety buckle is arranged at the front end of the shell and used for connecting a safety rope.
Further, the fan fixing seat comprises a first fixing seat and a second fixing seat; the first fixing seat and the second fixing seat are respectively arranged in the shell, and the first fixing seat and the second fixing seat are matched with each other and used for clamping and fixing the ducted fan through a plurality of bolts.
By adopting the scheme, the utility model has the following beneficial effects:
1. the design of the utility model can be matched with the uneven surface of the building curtain wall, can automatically fill the gap generated by the uneven wall surface of the building curtain wall, can adapt to the adsorption of rough surfaces, can effectively control the movement precision and the shaking precision of the detection equipment, improves the detection precision, has exquisite design, is suitable for the carrying of high-precision detection equipment, and is worthy of great social popularization;
2. in the preferred scheme, the detection of the high-rise building curtain wall can be realized without the high-altitude operation of detection personnel, the detection of the whole outer vertical surface of the building curtain wall can be completed by one-time arrangement through the matching of the movement of the robot body and the movement of the movement mechanism, the robot body and the building curtain wall are relatively static when the detection is carried out, the movement mechanism carries detection equipment for scanning detection, the omission is avoided, and the detection precision is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a three-dimensional structure diagram of a building curtain wall detection device carrying structure based on a wall-climbing robot according to an embodiment of the present invention;
fig. 2 is a perspective structural view of a building curtain wall detection device carrying structure based on a wall-climbing robot at another angle according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a building curtain wall detection device carrying structure based on a wall-climbing robot, which is provided by an embodiment of the present invention, after an end cover is removed;
FIG. 4 is an exploded view of a vacuum suction device according to an embodiment of the present invention;
fig. 5 is a perspective structural view of the slide rail, the slide block, and the transverse bottom plate provided in the embodiment of the present invention when they are not combined together.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting of the utility model. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
Referring to fig. 1 to 5, the utility model provides a building curtain wall detection equipment carrying structure based on a wall-climbing robot, which comprises a robot body, a movement mechanism and a plurality of negative pressure adsorption devices, wherein the robot body is provided with a plurality of vacuum suction holes; the robot body is used for walking on a building curtain wall, the robot body is adsorbed on the building curtain wall, namely, when the robot body is placed on the building curtain wall, air in a space enclosed by the robot body and the building curtain wall is pumped out through the air holes by the negative pressure adsorption device, so that the space enclosed by the robot body and the building curtain wall is vacuumized, and the robot body can adsorb the building curtain wall; the motion sets up on the robot, the motion is used for laying check out test set 20 to and be used for drawing check out test set 20 who is connected with it and realize horizontal, vertical motion, check out test set 20 is used for realizing the detection to the building curtain, that is to say, when the robot adsorbs on the building curtain wall, when the robot is in the state of hovering promptly, detects the building curtain wall through laying check out test set 20 on the motion to draw check out test set 20 to be horizontal motion or vertical operation through the motion, make check out test set 20 change the detection position and detect in order to realize the comprehensive scanning to the building curtain.
In this embodiment, the robot body includes a housing 1, an end cover 2, a plurality of driving motors 3, and wheels 4 whose number matches that of the plurality of driving motors 3; the shell 1 is a structure with an open top and closed other sides and is used for providing an installation space; the negative pressure adsorption devices are respectively arranged in the shell 1, the positions of the bottom of the shell 1 corresponding to the air inlet ends of the negative pressure adsorption devices are respectively provided with the vent holes, the left side wall and the right side wall of the shell 1 are respectively provided with a plurality of through exhaust holes for exhausting air, and in another preferred embodiment, the front side wall/the rear side wall/the top of the shell 1 can be provided with a plurality of exhaust holes, namely, when the negative pressure adsorption devices exhaust air in a space enclosed by the robot body and the building curtain wall, the air can enter the shell 1 and then is exhausted through the exhaust holes, so that negative pressure is formed to realize the adsorption of the robot body on the building curtain wall; the bottom of the shell 1 (actually, the lower side of the bottom of the shell 1) is also provided with a flexible sealing ring 5, the flexible sealing ring 5 can be matched with a concave-convex plane on a building curtain wall and is used for automatically filling a gap generated by uneven wall surfaces, so that the flexible sealing ring can adapt to adsorption of rough surfaces, the moving precision and the shaking precision of the detection equipment 20 can be effectively controlled, and the detection precision is improved, namely, when the robot body is placed on the building curtain wall, the robot body forms a sealed cavity with the building curtain wall through the flexible sealing ring 5, gas is extracted from the sealed cavity through a negative pressure adsorption device and is exhausted through an exhaust hole to form negative pressure so that the robot body is adsorbed on the building curtain wall; the left side and the right side of the negative pressure adsorption device of the shell 1 are respectively provided with a plurality of driving motors 3, an output shaft of each driving motor 3 outwards penetrates through the shell 1, one end of each driving motor 3 outwards penetrating through the shell 1 is provided with a wheel 4, and the driving motors 3 are used for drawing the wheels 4 to rotate, namely, in practical application, the wheels 4 are drawn to rotate through the action of the driving motors 3, so that the shell 1 moves to change the position, and the robot body walks on a building curtain wall; the movement mechanism is arranged at the rear end of the shell 1 and moves in the same direction along with the movement of the shell 1; the end cover 2 is arranged on the top of the shell 1, the end cover 2 and the shell 1 are connected with each other to form a complete shell of the robot body, namely the end cover 2 and the shell 1 are connected with each other to form a closed space, so that equipment in the shell 1 can be protected;
in order to avoid accidental falling when the robot body fails, a safety buckle 6 is further arranged at the front end of the shell 1, and the safety buckle 6 is used for connecting a safety rope; in practical application, the safety buckle 6 is connected with a safety rope fixed on the roof of a building, so that the damage to equipment or personnel caused by accidental falling of the robot body due to faults can be avoided, and the safety is improved.
In this embodiment, all the structures of the negative pressure adsorption devices are the same, and the difference is only that the installation positions are different, in the drawings shown in this embodiment, the number of the negative pressure adsorption devices is two, but the number of the negative pressure adsorption devices is not limited to two, and the number of the negative pressure adsorption devices can be increased according to actual requirements to improve the load capacity; each negative pressure adsorption device comprises a ducted fan 7 and a fan fixing seat, wherein the ducted fan 7 is arranged on the fan fixing seat, and the fan fixing seat is arranged in the shell 1; when the robot is applied, the air is pumped out from the sealed cavity through the action of the ducted fan 7 and is exhausted through the exhaust hole, so that negative pressure is formed, and the robot body is adsorbed on the building curtain wall. Further, the air conditioner is provided with a fan,
the fan fixing seat is of a split structure and comprises a first fixing seat 8 and a second fixing seat 9; the first fixing seat 8 and the second fixing seat 9 are respectively arranged in the casing 1, and the first fixing seat 8 and the second fixing seat 9 are mutually matched and used for clamping and fixing the ducted fan 7 through a plurality of bolts, that is, the ducted fan 7 is fixed in a space enclosed by the first fixing seat 8 and the second fixing seat 9.
In this embodiment, the movement mechanism includes a vertical movement assembly and a transverse movement assembly, the vertical movement assembly is disposed on the rear end of the housing 1, the transverse movement assembly is disposed on the vertical movement assembly, the detection device 20 is disposed on the transverse movement assembly, the transverse movement assembly is used for placing the detection device 20 and for pulling the detection device 20 to realize transverse movement, and the vertical movement assembly is used for pulling the transverse movement assembly to realize vertical movement so as to pull the detection device 20 disposed on the transverse movement assembly to realize vertical movement, so that the detection device 20 can realize transverse and vertical movement. Further, the air conditioner is provided with a fan,
the vertical motion assembly comprises a vertical motor 10, a vertical ball screw 11, two slide rails 12, two slide blocks 13 and a cross beam 14, the vertical motor 10 is arranged on the inner side of the rear side wall of the shell 1, and an output shaft of the vertical motor 10 penetrates out of the shell 1; the vertical ball screw 11 is connected to one end of the output shaft of the vertical motor 10, which penetrates out of the housing 1, and more specifically, a screw member (the ball screw comprises a screw member and a screw nut member movably arranged on the screw member, the same applies below) of the vertical ball screw 11 is connected to one end of the output shaft of the vertical motor 10, which penetrates out of the housing 1, through a coupling; the two slide rails 12 are respectively connected to the rear end of the housing 1 at the left and right sides of the vertical ball screw 11, that is, the slide rails 12 are respectively arranged at the left and right sides of the vertical ball screw 11 at the rear end of the housing 1, and each slide rail 12 is correspondingly connected with one slide block 13 in a sliding connection manner; two ends of the cross beam 14 are respectively connected to the two slide rails 12, and the cross beam 14 is further connected with a screw rod component of the vertical ball screw 11 in a rotating connection manner; the transverse movement assembly is respectively connected with the slide block 13 and the output end of the vertical ball screw 11 (namely a screw nut component of the vertical ball screw 11); in practical application, the vertical ball screw 11 is pulled to rotate by the vertical motor 10, so that the screw nut component of the vertical ball screw 11 moves to pull the transverse movement assembly to move along the slide rail 12, and the detection equipment 20 moves in the same direction along with the movement of the transverse movement assembly, so that the vertical movement of the detection equipment 20 is pulled.
The transverse movement assembly comprises a transverse bottom plate 15, a transverse motor 16, a transverse ball screw 17, two guide pieces 18 and an equipment mounting plate 19, wherein the transverse bottom plate 15 is respectively connected with the slide block 13 and a screw nut component (namely an output end of the vertical ball screw 11) of the vertical ball screw 11, and the transverse motor 16 is arranged on the transverse bottom plate 15; one end of a screw rod component of the transverse ball screw 17 is connected to an output shaft of the transverse motor 16, and the other end of the screw rod component of the transverse ball screw 17 is arranged on the transverse bottom plate 15 in a rotating connection mode; the two guide pieces 18 are respectively arranged on the transverse bottom plate 15 at the front side and the rear side of the transverse ball screw 17, and the two guide pieces 18 are preferably optical axes; the device mounting plate 19 is movably arranged on the two guide members 18, the device mounting plate 19 is further connected with the output end of the transverse ball screw 17 (namely, a screw nut component of the transverse ball screw 17), and the device mounting plate 19 is used for placing a detection device 20; in practical application, the transverse motor 16 pulls the transverse ball screw 17 to rotate, so that the screw nut on the transverse ball screw 17 moves to pull the equipment mounting plate 19 to move along the guide member 18, and the detection equipment 20 arranged on the equipment mounting plate 19 moves in the same direction along with the movement of the equipment mounting plate 19, thereby realizing the transverse movement of the detection equipment 20.
In this embodiment, the detection device 20 at least includes a perspective imaging device for detecting metal members inside the curtain wall panel, and can be flexibly selected according to the item detection requirement.
The working process and principle of the utility model are as follows: when detection operation is required, the detection equipment 20 is fixed on the equipment mounting plate 19, the robot body is attached to the wall surface of the building curtain wall, the negative pressure adsorption device is opened, the robot body is adsorbed to the wall surface of the building curtain wall, and at the moment, the robot body is in a hovering state; then, the detection device 20 is started to detect the building curtain wall, the vertical motor 10 and the horizontal motor 16 are started, the detection device 20 can move horizontally and vertically, the detection device 20 can move along the S moving path to detect an area of the building curtain wall, after the area is detected, the driving motor 3 is started to enable the robot body to move upwards for a distance, the robot body is enabled to hover again, the vertical motor 10 and the horizontal motor 16 are started again, the detection device 20 moves along the S moving path to continuously detect the building curtain wall, and scanning detection of the whole building curtain wall outer vertical surface is completed in sequence.
It is worth mentioning that the number of the negative pressure adsorption devices can be increased according to actual requirements so as to improve the load capacity.
Compared with the prior art, the utility model has the following beneficial effects:
1. the design of the utility model can be matched with the uneven surface of the building curtain wall, can automatically fill the gap generated by the uneven wall surface of the building curtain wall, can adapt to the adsorption of rough surfaces, can effectively control the movement precision and the shaking precision of the detection equipment, improves the detection precision, has exquisite design, is suitable for the carrying of high-precision detection equipment, and is worthy of great social popularization;
2. in the preferred scheme, the detection of the high-rise building curtain wall can be realized without the high-altitude operation of detection personnel, the detection of the whole outer vertical surface of the building curtain wall can be completed by one-time arrangement through the matching of the movement of the robot body and the movement of the movement mechanism, the robot body and the building curtain wall are relatively static when the detection is carried out, the movement mechanism carries detection equipment for scanning detection, the omission is avoided, and the detection precision is improved.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A building curtain wall detection equipment carrying structure based on a wall climbing robot is characterized by comprising a robot body, a movement mechanism and a plurality of negative pressure adsorption devices; the negative pressure adsorption devices are respectively arranged in the robot body, air vents are formed in the positions, corresponding to the negative pressure adsorption devices, of the robot body, the air vents are used for the negative pressure adsorption devices to extract air, the robot body is used for walking on a building curtain wall, and the negative pressure adsorption devices are used for enabling the robot body to be adsorbed on the building curtain wall; the moving mechanism is arranged on the robot body, the moving mechanism is used for placing detection equipment and is used for drawing the detection equipment to realize transverse and vertical movement, and the detection equipment is used for realizing detection of the building curtain wall.
2. The building curtain wall detection equipment carrying structure based on the wall-climbing robot is characterized in that the robot body comprises a shell, an end cover, a plurality of driving motors and wheels, wherein the number of the wheels is matched with that of the driving motors; the negative pressure adsorption devices are respectively arranged in the shell, the positions of the bottom of the shell, which correspond to the air inlet ends of the negative pressure adsorption devices, are respectively provided with the vent holes, and the left side wall and the right side wall of the shell are respectively provided with a plurality of through exhaust holes for exhausting air; the bottom of the shell is also provided with a flexible sealing ring which is used for automatically filling a gap generated by uneven wall surfaces so as to adapt to the adsorption of a rough surface; the shell is provided with a plurality of driving motors on the left side and the right side of the negative pressure adsorption device respectively, an output shaft of each driving motor penetrates out of the shell, one end, penetrating out of the shell, of the output shaft of each driving motor is provided with a wheel, and the driving motors pull the wheels to rotate so as to enable the shell to move and change the position; the movement mechanism is arranged at the rear end of the shell and moves in the same direction along with the movement of the shell; the end cover is arranged on the top of the shell, and the end cover and the shell are connected with each other to form a closed space, so that a protection effect is achieved.
3. The building curtain wall detection equipment carrying structure based on the wall-climbing robot as claimed in claim 2, wherein each negative pressure adsorption device comprises a ducted fan and a fan fixing seat; the ducted fan is arranged on the fan fixing seat, and the fan fixing seat is arranged in the shell.
4. The building curtain wall detection equipment carrying structure based on the wall-climbing robot as claimed in claim 2, wherein the movement mechanism comprises a vertical movement assembly and a transverse movement assembly; the vertical motion assembly is arranged at the rear end of the shell, the transverse motion assembly is arranged on the vertical motion assembly, the transverse motion assembly is used for placing detection equipment and is used for drawing the detection equipment to realize transverse motion, and the vertical motion assembly is used for drawing the transverse motion assembly to realize vertical motion so as to draw the detection equipment arranged on the transverse motion assembly to realize vertical motion.
5. The building curtain wall detection equipment carrying structure based on the wall-climbing robot is characterized in that the vertical motion assembly comprises a vertical motor, a vertical ball screw, two slide rails, two slide blocks and a cross beam; the inner side of the rear side wall of the shell is provided with the vertical motor, an output shaft of the vertical motor penetrates out of the shell, and the vertical ball screw is connected to one end, penetrating out of the shell, of the output shaft of the vertical motor; the two slide rails are respectively connected to the rear end of the shell at the left side and the right side of the vertical ball screw, and each slide rail is correspondingly connected with one slide block in a sliding connection mode; the two ends of the cross beam are respectively connected to the two slide rails, and the cross beam is further connected with the vertical ball screw in a rotating connection mode; and the transverse movement assembly is respectively connected with the slide block and the output end of the vertical ball screw.
6. The building curtain wall detection device carrying structure based on the wall-climbing robot as claimed in claim 5, wherein the transverse moving assembly comprises a transverse bottom plate, a transverse motor, a transverse ball screw, two guide members and a device mounting plate; the transverse bottom plate is respectively connected with the slide block and the output end of the vertical ball screw, and the transverse motor is arranged on the transverse bottom plate; one end of the transverse ball screw is connected to an output shaft of the transverse motor, and the other end of the transverse ball screw is arranged on the transverse bottom plate in a rotary connection mode; the two guide pieces are respectively arranged on the front side and the rear side of the transverse ball screw on the transverse bottom plate, the equipment mounting plate can be movably arranged on the two guide pieces, and the equipment mounting plate is also connected with the output end of the transverse ball screw.
7. The building curtain wall detection equipment carrying structure based on the wall-climbing robot as claimed in claim 2, wherein a safety buckle is arranged at the front end of the shell and used for connecting a safety rope.
8. The building curtain wall detection equipment carrying structure based on the wall-climbing robot as claimed in claim 3, wherein the fan fixing seat comprises a first fixing seat and a second fixing seat; the first fixing seat and the second fixing seat are respectively arranged in the shell, and the first fixing seat and the second fixing seat are matched with each other and used for clamping and fixing the ducted fan through a plurality of bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122165106.5U CN215944723U (en) | 2021-09-08 | 2021-09-08 | Building curtain wall check out test set carries on structure based on wall climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122165106.5U CN215944723U (en) | 2021-09-08 | 2021-09-08 | Building curtain wall check out test set carries on structure based on wall climbing robot |
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| CN215944723U true CN215944723U (en) | 2022-03-04 |
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| CN202122165106.5U Active CN215944723U (en) | 2021-09-08 | 2021-09-08 | Building curtain wall check out test set carries on structure based on wall climbing robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114537549A (en) * | 2022-03-09 | 2022-05-27 | 西安工程大学 | Wall climbing vehicle for ultrasonic flaw detection and ultrasonic flaw detection method |
| CN114537550A (en) * | 2022-03-29 | 2022-05-27 | 北京能工荟智机器人有限责任公司 | Wall-climbing robot |
| CN115541072A (en) * | 2022-10-20 | 2022-12-30 | 南京大学 | Foot pressure detection structure of wall climbing robot |
| CN115610545A (en) * | 2022-10-20 | 2023-01-17 | 南京大学 | Foot structure of a wall-climbing robot |
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2021
- 2021-09-08 CN CN202122165106.5U patent/CN215944723U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114537549A (en) * | 2022-03-09 | 2022-05-27 | 西安工程大学 | Wall climbing vehicle for ultrasonic flaw detection and ultrasonic flaw detection method |
| CN114537549B (en) * | 2022-03-09 | 2022-12-02 | 西安工程大学 | Wall-climbing vehicle for ultrasonic flaw detection and ultrasonic flaw detection method |
| CN114537550A (en) * | 2022-03-29 | 2022-05-27 | 北京能工荟智机器人有限责任公司 | Wall-climbing robot |
| CN115541072A (en) * | 2022-10-20 | 2022-12-30 | 南京大学 | Foot pressure detection structure of wall climbing robot |
| CN115610545A (en) * | 2022-10-20 | 2023-01-17 | 南京大学 | Foot structure of a wall-climbing robot |
| CN115541072B (en) * | 2022-10-20 | 2023-09-22 | 南京大学 | A foot pressure detection structure of a wall-climbing robot |
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