CN209311397U - One kind climbing wall hollowing detection robot - Google Patents

Abstract

The utility model discloses one kind to climb wall hollowing detection robot, including bottom walking mechanism, steering mechanism and hollowing testing agency, the hollowing testing agency are mounted on the top of the bottom walking mechanism by the steering mechanism.The utility model, comprehensive hollowing detection can be carried out to surrounding metope, the efficiency that the manual operation that compares hollowing hammers the hollowing detection to metope into shape greatly improves, and it can effectively reduce the labor intensity of testing staff, controller will control buzzer and sound the alarm when analyzing metope hollowing signal notifies testing staff to handle the hollowing situation detected, the robot can be achieved, automatic detection is carried out to the hollowing situation of metope, it can also be detected by hollowing situation of the robot to metope simultaneously for amateur testing staff, it is required to reduce the profession of metope hollowing testing staff, the protective layer of preparation, it can effectively prolong its service life.

Description

One kind climbing wall hollowing detection robot

Technical field

The utility model relates to hollowing detection technique fields, more specifically, it relates to which one kind climbs wall hollowing detection machine People.

Background technique

It is succeeded in developing so far from the First robot fifties, the development of robot technology substantially experienced 3 stages: First segment is teaching playback, it repeats the work of initial teaching；Second, on behalf of the programmable type with perceptional function, has view The perceptional functions such as feel, power feel, tactile and close feel, the predominantly large-scale production of this two generations robot is used, as assembled, forging The work such as pressure, spray painting, welding and maintenance；For third on behalf of intelligent, this robot is equipped with multiple sensors, the thinking based on people Mode is judged, adaptable to operating environment, can be based on the variation automated programming of environment, so that it is determined that movement.The Three generations robot and fifth-generation computer technology are closely related, the exploitation and application for robot, domestic and international roboticist It is known as first developing the specialized robot worked under adverse circumstances.Building trade is to be only second to the second danger of mining industry Industry, accident is more in work progress, large labor intensity, productivity are low, and robot technology is introduced in building trade can be building The activity of building expands to the uncomfortable place of people, and operating efficiency can be improved, and mankind's substance of conforming to the principle of simplicity is multiple and heavy dangerous Substitution comes out in traditional work.

However existing hollowing detects robot, comprehensive cannot carry out hollowing detection, detection to surrounding metope Inefficiency can not achieve it and carry out automatic detection to the hollowing situation of metope so that the labor intensity of testing staff is larger, It is more demanding to the profession of metope hollowing testing staff simultaneously, while it lacks safeguard procedures, causes its service life shorter, is This proposes that one kind climbs wall hollowing detection robot.

Utility model content

In view of the deficienciess of the prior art, the purpose of this utility model is to provide one kind to climb wall hollowing detection machine People comprehensive can carry out hollowing detection to surrounding metope, and the manual operation that compares hollowing, which is hammered into shape, detects the hollowing of metope Efficiency greatly improve, and can effectively reduce testing staff labor intensity, it can be achieved that the robot to the hollowing situation of metope Automatic detection is carried out, can also be examined by hollowing situation of the robot to metope simultaneously for amateur testing staff It surveys, so that the profession for reducing metope hollowing testing staff requires, the protective layer of preparation can be prolonged its service life effectively, with Solve the problems mentioned above in the background art.

To achieve the above object, the utility model provides following technical solution:

One kind climbing wall hollowing detection robot, including bottom walking mechanism, steering mechanism and hollowing testing agency, the sky Drum testing agency is mounted on the top of the bottom walking mechanism by the steering mechanism；

The bottom walking mechanism includes pedestal, two support shafts, four wheels, first motor, two driven gears, masters Moving gear, the second motor, the second support shaft, the first disk, first boss and electric pushrod, the top of the pedestal are opened between two parties Equipped with the first mounting groove, second support shaft is fixedly mounted on the inside of first mounting groove by rolling bearing installation, First disk is fixedly set in the outside of second support shaft, and the first boss is integrally disposed upon first disk Arc surface on, the electric pushrod is fixedly mounted in the first boss, and second motor is fixedly mounted on the bottom The inside of seat, and the rotation axis of second motor is fixedly connected with one end of second support shaft, two support shafts The interior bottom portion of the pedestal is fixedly mounted on by rolling bearing installation, four wheels are respectively symmetrically fixedly mounted on In two support shafts, two driven gears are respectively symmetrically fixedly mounted in two support shafts, and two institutes It states driven gear and is intermeshed respectively with the driving gear and is arranged, the rotation axis of the first motor and the driving gear One side center position is fixedly connected, and the first motor is fixedly mounted on the inside of the pedestal by attachment base；

It is open end and one end is the first cylinder shape shell and third motor of closed end that the steering mechanism, which includes one end, And plectane, the closed end of the first cylinder shape shell are fixedly connected with the telescopic end end of the electric pushrod, described Three motors are fixedly mounted on the inside of the first cylinder shape shell, and the plectane fitting is arranged in the first cylinder shape shell Open end end, and at the center side position that fits of the plectane and the first cylinder shape shell aperture end end with The rotation axis end of the third motor is fixedly connected；

It is globoidal structure and one end is the shell, cover board, third branch of planar structure that the hollowing testing agency, which includes one end, Axis, the second disk, the 4th motor and second boss and electronic hollowing hammer are supportted, it is flat that the cover board, which is fixedly mounted on the shell, One end end of face structure, and side of the cover board far from the shell and the plectane are far from the first cylinder shape shell Side be fixedly connected, the shell is that one end end of globoidal structure offers the second mounting groove between two parties, the third support Axis is fixedly mounted on the inside of second mounting groove by rolling bearing installation, and one end of the third support shaft with it is described 4th motor rotation axis is fixedly connected, and the 4th motor is fixedly mounted on the inside of the shell, and second disk is fixed It is sleeved on the outside of the third support shaft, the second boss is integrally disposed upon on the arc surface of second disk, described Electronic hollowing hammer is fixedly mounted in the second boss.

By using above-mentioned technical proposal, bottom walking mechanism be used to driving the Robot horizontal ground along straight line Walking, while can also be rotated in perpendicular by second the first disk of motor driven, it is realized with this and adjusts hollowing detection machine Structure is located at the locating angle of perpendicular, to realize that the metope in front of the robot and lower section carries out hollowing detection；Turning machine Structure is for driving hollowing testing agency to rotate in horizontal plane, to realize the wall to the robot rear and left and right Face carries out hollowing detection；Hollowing testing agency is used to detect the hollowing situation of metope, while in the driving of the 4th motor Under, electronic hollowing hammer can carry out hollowing detection to the metope above the robot, so that pair that the robot can be comprehensive Surrounding metope carries out hollowing detection, and the efficiency that the manual operation that compares hollowing hammers the hollowing detection to metope into shape greatly improves, And it can effectively reduce the labor intensity of testing staff.

Further, also fixed on the side that the plectane and the first cylinder shape shell aperture end end fit to pacify Equipped with the ring-like sliding slot to match with the first cylinder shape shell aperture end end wall.

By using above-mentioned technical proposal, ring-like sliding slot is set and the first cylinder shape shell aperture end end wall is matched and can be dropped Frictional force when low third motor drives plectane rotation between the first cylinder shape shell aperture end end wall and plectane, while can prevent Frictional force between the first cylinder shape shell aperture end end wall and plectane is larger and generates harsh noise.

Further, the electronic hollowing hammer is closed end including one end and one end is outside the second cylinder shape of open end The round-meshed end cap of shell, center position, guide sleeve, round bar, connecting rod, lever arm and the 5th motor and tup, described The closed end of two cylinder-like shells is fixedly connected with the second boss far from the table top of second disk, and second circle Mounting hole is offered close to its closed end on the side wall of cylindrical case, the 5th motor is fixedly mounted on the interior of the mounting hole Portion, the connecting rod and the lever arm and the round bar are arranged at the inside of the second cylinder shape shell, the activity One end of arm is fixedly connected with the rotation axis end of the 5th motor, and the one of the other end of the lever arm and the connecting rod End articulated connection, the other end of the connecting rod are hinged on the inside of notch, and the notch is provided in the one end of the round bar Portion, the end cap are fixedly mounted on the second cylinder shape shell aperture end end, and the guide sleeve is fixedly mounted on the end It covers on the side far from the second cylinder shape shell, the other end of the round bar sequentially passes through the circular hole and the guide sleeve It is fixedly connected with the tup, the tup is located at the outside of the second cylinder shape shell.

By using above-mentioned technical proposal, the working principle of crank link mechanism is dexterously utilized, utilizes the 5th motor Drive activity arm swing carries out drive link motion, drives round bar to do linear reciprocation fortune under the guiding restriction effect of guide sleeve Dynamic, round bar drives tup to repeat to tap metope, and testing staff taps the sound that metope issues according to tup and judges whether metope is deposited In hollowing phenomenon.

Further, installation by adhering has buzzer and microphone on the one side of the shell, and the shell is interior Portion is also equipped with controller and amplifier and memory, the buzzer, the first motor, second motor, described The automatically controlled end of electric pushrod, the third motor and the 4th motor and the 5th motor passes through conducting wire and the control The control output end of device processed is electrically connected, and the signal output end of the microphone is defeated by the signal of signal wire and the amplifier Enter end to be electrically connected, the signal output end of the amplifier is electrically connected by the signal input part of signal wire and the controller It connects, the memory passes through data line and the two-way electric connection of the controller.

By using above-mentioned technical proposal, the sound that tup taps metope sending is converted into electric signal and sent to by microphone Amplifier, amplifier will send controller after received electric signal gain amplifier to, and controller is by received Electric signal processing It is parsed into the inside that data are stored in memory, while when controller analyzes metope hollowing signal will control buzzer sending Alarm song notify testing staff to handle the hollowing situation detected, it can be achieved that the robot to the hollowing situation of metope into Row automatic detection can also be detected simultaneously for amateur testing staff by hollowing situation of the robot to metope, It is required to reduce the profession of metope hollowing testing staff.

Further, touching display screen is also fixedly installed on the one side of the pedestal, the touching display screen passes through Data line and the two-way electric connection of the controller.

By using above-mentioned technical proposal, touching display screen be used for check memory inside storage cavity detection data and Parameter setting to the robot and the working condition for showing the robot.

Further, power switch is additionally provided on the one side of the pedestal, and the inside of the pedestal is also fixedly mounted Have a battery, the battery by conducting wire respectively with the power switch, the controller, the first motor, described the Two motors, the electric pushrod, the third motor and the 4th motor and the 5th motor are connected in series.

By using above-mentioned technical proposal, battery is used for as controller, first motor, the second motor, electric pushrod, the Three motors and the 4th motor and the 5th motor provide working power, and power switch is for cutting off and being connected battery and control The connection of device, first motor, the second motor, electric pushrod, third motor and the 4th motor and the 5th motor.

Further, USB interface and charging interface are additionally provided on the one side of the pedestal, the charging interface is by leading Line and the battery are connected in series, and the USB interface is electrically connected by data line and the controller.

By using above-mentioned technical proposal, charging interface is for charging a battery, and USB interface is for computer equipment and control Device processed is attached, convenient for upgrading or modifying the program of controller and call the cavity detection data of memory inside storage.

Further, the surface of the pedestal and the shell is additionally provided with protective layer, and the protective layer is made by the following method It is standby:

Following raw material is taken to weigh by weight: 17-21 parts of epoxy resin, 8-10 parts of calcium carbonate powder, aluminium oxide powder 13-17 parts last, 12-16 parts of titania powder, 10-14 parts of polytetrafluoroethylene (PTFE), 10-15 parts of graphite powder, 9-11 parts of talcum powder, at 2-4 parts of film auxiliary agent, 2-4 parts of promotor, 1-3 parts of defoaming agent and 20-30 parts of ethyl alcohol；

S1,22- will be stirred in load weighted coalescing agent, promotor, defoaming agent and ethyl alcohol addition blender Mixed solution is made in 28min, mixing speed 600-800r/min；

S2, by epoxy resin, calcium carbonate powder, aluminum oxide powder, titania powder, polytetrafluoroethylene (PTFE), graphite Powder and talcum powder, which are added in pulverizer, to be crushed, and mixed-powder material is made；

S3, by mixed-powder material obtained in mixed solution obtained in step S1 and step S2 be added reaction kettle in into Row stirring 20-30min, the mixing speed of the reaction kettle are set as 700-900r/min, 60-80 DEG C of temperature setting, are made with this Obtain protective coating；

S4, the surface of pedestal and shell is processed by shot blasting using sand paper, is then rinsed well using giant；

S5, by step S4 cleaning after pedestal and shell using air-heater dry up, then using high-pressure sprayer spray gun general Protective coating made from step S3 uniformly sprays the surface of the pedestal after drying 4 and shell 23；

S6, step S5 is coated with to the pedestal 4 of protective coating and shell 23 is put and solidification is dried in an oven, it is dry solid Changing temperature setting is 100-120 DEG C, and the time is set as 30-40min, i.e., protective layer is made on the surface of pedestal and shell.

By using above-mentioned technical proposal, the processing step for preparing protective coating is simple, easy to accomplish, and the protection of preparation applies Material modest viscosity is not easy to be layered, sufficiently combine convenient for spraying, bubble-free generation, each component, and comprehensive performance is preferable, so that protection Coating is capable of forming preferable film after spray coating, and film coated surface smoother is not likely to produce crackle, and film-formation result is preferable, system Standby protective layer has preferable anti-corrosion, wear-resisting and anti-aging performance, and adhesion is preferable, not easily to fall off, can effectively increase bottom Anti-corrosion, wear-resisting, the anti-aging performance of seat and shell can significantly have so that the service using life is longer Frictional force and the second disk and enclosure interior second between effect the first disk of reduction and the first mounting groove of chassis interior are installed Frictional force between slot can effectively reduce the abrasion of the first disk and the second disk.

Further, mixed-powder material particles diameter obtained is not more than 100um in the step S2.

By using above-mentioned technical proposal, so that manufactured protective coating is not easy to plug the spray head of high-pressure sprayer spray gun, And the moist composition granule sense of layer surface is protected made of making.

Further, the coalescing agent is alcohol ester 12, and the promotor is triethanolamine, and the defoaming agent is emulsification Silicone oil.

By using above-mentioned technical proposal, the film-formation result of alcohol ester 12 is preferable, and triethanolamine can effectively facilitate asphalt mixtures modified by epoxy resin The defoaming effect of the combination of rouge and other substances, silicone emulsion is preferable.

In conclusion the utility model mainly has the advantages that

1, the utility model comprehensive can carry out hollowing detection, the manual operation that compares hollowing to surrounding metope The efficiency for hammering the hollowing detection to metope into shape greatly improves, and can effectively reduce the labor intensity of testing staff；

2, the working principle of crank link mechanism is dexterously utilized in the utility model, utilizes the 5th motor drive activity Arm swing carries out drive link motion, drives round bar to do straight reciprocating motion, round bar band under the guiding restriction effect of guide sleeve Dynamic tup repeats to tap metope, and testing staff taps the sound that metope issues according to tup and judges that metope is existing with the presence or absence of hollowing As；

3, the sound that tup taps metope sending is converted into electric signal and sends amplifier to by the utility model, microphone, Amplifier will send controller to after received electric signal gain amplifier, and received Electric signal processing is parsed into number by controller According to the inside for being stored in memory, at the same when controller analyzes metope hollowing signal will control buzzer sound the alarm it is logical Know that testing staff is handled the hollowing situation detected, it can be achieved that the robot automates the hollowing situation of metope Detection, can also detect simultaneously for amateur testing staff by hollowing situation of the robot to metope, to reduce The profession of metope hollowing testing staff requires；

4, the utility model, the processing step for preparing protective coating is simple, easy to accomplish, and the protective coating viscosity of preparation is suitable In, be not easy to be layered, convenient for spraying, bubble-free generate, each component sufficiently combines, comprehensive performance is preferable, so that protective coating is spraying Preferable film is capable of forming after painting, film coated surface smoother is not likely to produce crackle, and film-formation result is preferable, the protection of preparation Layer has preferable anti-corrosion, wear-resisting and anti-aging performance, and adhesion is preferable, not easily to fall off, can effectively increase pedestal and shell Anti-corrosion, wear-resisting, anti-aging performance so that the service using life is longer significantly can effectively reduce Between the second mounting groove of frictional force and the second disk and enclosure interior between the first mounting groove of one disk and chassis interior Frictional force can effectively reduce the abrasion of the first disk and the second disk.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of embodiment of the utility model；

Fig. 2 is the enlarged structure schematic diagram in Fig. 1 at A；

Fig. 3 is a kind of structural schematic diagram of the different perspectives of embodiment of the utility model；

Fig. 4 is a kind of one of configuration schematic diagram of steering mechanism of embodiment of the utility model；

Fig. 5 is the two of a kind of configuration schematic diagram of the steering mechanism of embodiment of the utility model；

Fig. 6 is a kind of one of the schematic cross-sectional view of the bottom walking mechanism of embodiment of the utility model；

Fig. 7 is the two of the schematic cross-sectional view of the bottom walking mechanism of a kind of embodiment of the utility model；

Fig. 8 is a kind of present invention looks up structural representation of the bottom walking mechanism of embodiment of the utility model；

Fig. 9 is a kind of one of the configuration schematic diagram of the hollowing testing agency of embodiment of the utility model；

Figure 10 is the two of the configuration schematic diagram of the hollowing testing agency of a kind of embodiment of the utility model；

Figure 11 is a kind of schematic diagram of internal structure of the shell of embodiment of the utility model；

Figure 12 is one of the configuration schematic diagram that a kind of electronic hollowing of embodiment of the utility model is hammered into shape；

Figure 13 is the two of the configuration schematic diagram that a kind of electronic hollowing of embodiment of the utility model is hammered into shape.

In figure: 1, bottom walking mechanism；2, steering mechanism；3, hollowing testing agency；4, pedestal；5, the first mounting groove；6, Support shaft；7, wheel；8, driven gear；9, driving gear；10, first motor；11, attachment base；12, the second motor；13, electronic Push rod；14, battery；15, the second support shaft；16, the first disk；17, first boss；18, the first cylinder shape shell；19, Three motors；20, plectane；21, ring-like sliding slot；22, cover board；23, shell；24, the second mounting groove；25, the 4th motor；26, third Support shaft；27, the second disk；28, second boss；29, electronic hollowing hammer；30, buzzer；31, microphone；32, controller； 33, memory；34, amplifier；35, the second cylinder shape shell；36, the 5th motor；37, lever arm；38, connecting rod；39, notch； 40, round bar；41, end cap；42, guide sleeve；43, tup；44, mounting hole；45, circular hole；46, power switch；47, touch-control is shown Screen；48, charging interface；49, USB interface.

Specific embodiment

The utility model is described in further detail below in conjunction with attached drawing 1-13.

Embodiment 1

One kind climbing wall hollowing detection robot, as shown in figs. 1 and 3, including bottom walking mechanism 1, steering mechanism 2 and hollowing Testing agency 3, the hollowing testing agency 3 are mounted on the top of the bottom walking mechanism 1 by the steering mechanism 2；

As shown in figs 6-8, the bottom walking mechanism 1 includes pedestal 4, two support shafts 6, four wheels 7, first motor 10, two driven gears 8, driving gear 9, the second motor 12, the second support shaft 15, the first disk 16, first boss 17 and Electric pushrod 13, the top of the pedestal 4 offer the first mounting groove 5 between two parties, and second support shaft 15 passes through rolling bearing Installation is fixedly mounted on the inside of first mounting groove 5, and first disk 16 is fixedly set in second support shaft 15 Outside, the first boss 17 is integrally disposed upon on the arc surface of first disk 16, the fixed peace of the electric pushrod 13 In the first boss 17, second motor 12 is fixedly mounted on the inside of the pedestal 4, and second motor 12 Rotation axis be fixedly connected with one end of second support shaft 15, two support shafts 6 are installed by rolling bearing solid Dingan County is mounted in the interior bottom portion of the pedestal 4, and four wheels 7 are respectively symmetrically fixedly mounted in two support shafts 6, Two driven gears 8 are respectively symmetrically fixedly mounted in two support shafts 6, and two driven gears 8 are distinguished It is intermeshed and is arranged with the driving gear 9, the one side center of the rotation axis of the first motor 10 and the driving gear 9 It is fixedly connected at position, and the first motor 10 is fixedly mounted on the inside of the pedestal 4 by attachment base 11；

As shown in Fig. 4,5 and 6, the steering mechanism 2 is open end including one end and one end is the first cylinder of closed end Shape shell 18 and third motor 19 and plectane 20, closed end and the electric pushrod 13 of the first cylinder shape shell 18 Telescopic end end is fixedly connected, and the third motor 19 is fixedly mounted on the inside of the first cylinder shape shell 18, the circle Plate 20 is bonded the open end end that the first cylinder shape shell 18 is arranged in, and outside the plectane 20 and the first cylinder shape It is fixedly connected at the center side position that 18 open end end of shell fits with the rotation axis end of the third motor 19；

As shown in Figure 4,9 and 10, the hollowing testing agency 3 is globoidal structure including one end and one end is planar structure Shell 23, cover board 22, third support shaft 26, the second disk 27, the 4th motor 25 and second boss 28 and electronic hollowing hammer 29, The cover board 22 is fixedly mounted on one end end that the shell 23 is planar structure, and the cover board 22 is far from the shell 23 Side be fixedly connected with the plectane 20 far from the side of the first cylinder shape shell 18, the shell 23 be globoidal structure One end end offer the second mounting groove 24 between two parties, the third support shaft 26 is fixedly mounted on institute by rolling bearing installation The inside of the second mounting groove 24 is stated, and one end of the third support shaft 26 is fixedly connected with 25 rotation axis of the 4th motor, 4th motor 25 is fixedly mounted on the inside of the shell 23, and second disk 27 is fixedly set in the third support The outside of axis 26, the second boss 28 are integrally disposed upon on the arc surface of second disk 27, the electronic hollowing hammer 29 It is fixedly mounted in the second boss 28.

By using above-mentioned technical proposal, bottom walking mechanism 1 be used to driving the Robot horizontal ground along straight Line walking, while the first disk 16 can also be driven to rotate in perpendicular by the second motor 12, adjusting hollowing is realized with this Testing agency 3 is located at the locating angle of perpendicular, to realize that the metope in front of the robot and lower section carries out hollowing detection； Steering mechanism 2 for driving hollowing testing agency 3 to rotate in horizontal plane, to realize to the robot rear and left and The metope of right carries out hollowing detection；Hollowing testing agency 3 is used to detect the hollowing situation of metope, while in the 4th electricity Under the driving of machine 25, electronic hollowing hammer 29 can carry out hollowing detection to the metope above the robot, so that the robot Comprehensive hollowing detection can be carried out to surrounding metope, the manual operation that compares hollowing hammers the effect of the hollowing detection to metope into shape Rate greatly improves, and can effectively reduce the labor intensity of testing staff.

Preferably, as shown in figure 5, the side that the plectane 20 and the 18 open end end of the first cylinder shape shell fit The ring-like sliding slot 21 to match with the 18 open end end wall of the first cylinder shape shell is also fixedly installed on face.

By using above-mentioned technical proposal, ring-like sliding slot 21 is set and 18 open end end wall of the first cylinder shape shell matches Friction when third motor 19 drives plectane 20 to rotate between 18 open end end wall of the first cylinder shape shell and plectane 20 can be reduced Power, while can prevent that the frictional force between 18 open end end wall of the first cylinder shape shell and plectane 20 is larger and generates ear-piercing make an uproar Sound.

Preferably, the electronic hollowing hammer 29 is closed end including one end and one end is opening as shown in Fig. 9,12 and 13 End cap 41, guide sleeve 42, round bar 40, connecting rod 38, activity of the second cylinder shape shell 35, center position at end with circular hole 45 Arm 37 and the 5th motor 36 and tup 43, the closed end of the second cylinder shape shell 35 and the second boss 28 are far from institute The table top for stating the second disk 27 is fixedly connected, and offers peace close to its closed end on the side wall of the second cylinder shape shell 35 Fill hole 44, the 5th motor 36 be fixedly mounted on the inside of the mounting hole 44, the connecting rod 38 and the lever arm 37 with And the round bar 40 is arranged at the inside of the second cylinder shape shell 35, one end of the lever arm 37 and the 5th electricity The rotation axis end of machine 36 is fixedly connected, and one end of the other end of the lever arm 37 and the connecting rod 38 is articulated and connected, institute The other end for stating connecting rod 38 is hinged on the inside of notch 39, and the notch 39 is provided with inside the one end of the round bar 40, institute It states end cap 41 and is fixedly mounted on the 35 open end end of the second cylinder shape shell, the guide sleeve 42 is fixedly mounted on the end On side of the lid 41 far from the second cylinder shape shell 35, the other end of the round bar 40 sequentially passes through the circular hole 45 and institute It states guide sleeve 42 to be fixedly connected with the tup 43, the tup 43 is located at the outside of the second cylinder shape shell 35.

By using above-mentioned technical proposal, the working principle of crank link mechanism is dexterously utilized, utilizes the 5th motor The 36 drive swings of lever arm 37 carry out that connecting rod 38 is driven to move, and drive round bar 40 to do directly under the guiding restriction effect of guide sleeve 42 Line moves back and forth, and round bar 40 drives tup 43 to repeat to tap metope, and testing staff taps the sound that metope issues according to tup 43 Judge metope with the presence or absence of hollowing phenomenon.

Preferably, installation by adhering has 30 He of buzzer on the one side of the shell 23 as shown in 5,6,10,11 and 12 Microphone 31, and the inside of the shell 23 is also equipped with controller 32 and amplifier 34 and memory 33, the buzzer 30, the first motor 10, second motor 12, the electric pushrod 13, the third motor 19 and the 4th motor 25 and the automatically controlled end of the 5th motor 36 pass through the control output end of conducting wire and the controller 32 and be electrically connected, it is described The signal output end of microphone 31 is electrically connected by the signal input part of signal wire and the amplifier 34, the amplifier 34 Signal output end be electrically connected by the signal input part of signal wire and the controller 32, the memory 33 passes through data Line and the two-way electric connection of the controller 32.

By using above-mentioned technical proposal, tup 43 is tapped the sound that metope issues and is converted into electric signal biography by microphone 31 Amplifier 34 is given, amplifier 34 will send controller 32 to after received electric signal gain amplifier, controller 32 will receive Electric signal processing be parsed into the inside that data are stored in memory 33, while when controller 32 analyzes metope hollowing signal, will It buzzer 30 can be controlled sounds the alarm and testing staff is notified to handle the hollowing situation detected, it can be achieved that the robot Automatic detection is carried out to the hollowing situation of metope, it can also be by the robot to metope simultaneously for amateur testing staff Hollowing situation is detected, so that the profession for reducing metope hollowing testing staff requires.

Preferably, as shown best in figures 2 and 11, touching display screen 47 is also fixedly installed on the one side of the pedestal 4, it is described Touching display screen 47 passes through data line and the two-way electric connection of the controller 32.

By using above-mentioned technical proposal, touching display screen 47 is used to check the cavity testing number of 33 storage inside of memory According to the parameter setting to the robot and showing the working condition of the robot.

Preferably, power switch 46 is additionally provided on the one side of the pedestal 4 as shown in Fig. 2,5,6,10,11 and 12, and The inside of the pedestal 4 is also fixedly installed with battery 14, the battery 14 by conducting wire respectively with the power switch 46, The controller 32, the first motor 10, second motor 12, the electric pushrod 13, the third motor 19 and institute It states the 4th motor 25 and the 5th motor 36 is connected in series.

By using above-mentioned technical proposal, battery 14 is used for as controller 32, first motor 10, the second motor 12, electricity Dynamic push rod 13, third motor 19 and the 4th motor 25 and the 5th motor 36 provide working power, and power switch 46 is for cutting off With conducting battery 14 and controller 32, first motor 10, the second motor 12, electric pushrod 13, third motor 19 and the 4th electricity The connection of machine 25 and the 5th motor 36.

Preferably, being additionally provided with USB interface 49 and charging interface on the one side of the pedestal 4 as shown in Fig. 2,6 and 11 48, the charging interface 48 is connected in series by conducting wire and the battery 14, the USB interface 49 by data line with it is described Controller 32 is electrically connected.

By using above-mentioned technical proposal, charging interface 48 is used to charge to battery 14, and USB interface 49 is set for computer It is standby to be attached with controller 32, convenient for upgrading or modifying the program of controller 32 and call the sky of 33 storage inside of memory Chamber detection data.

The robot and vertical metope collide in order to prevent can install additional and controller 32 on the front and rear wall of pedestal 4 The model of Guangzhou Wei Heng Electronics Co., Ltd. production can be selected in the radar sensor of electric connection, the radar sensor The radar range finding sensor of WUB4000-30GM75-N-V15.

It should be noted that the PLC control of model 6ES72350KD220XA8 can be selected in controller 32 in the present embodiment Device, the buzzer of the model HYD-4216 of Xinhua Huayu Electronic Co., Ltd.'s production can be selected in the buzzer 30, described The microphone of the model microphone QX-6050 of Qing Xing great achievement Science and Technology Ltd., Shenzhen production can be selected in microphone 31, described The general-purpose operation amplifier of model AD201A can be selected in amplifier 34, and model can be selected in the memory 33 The memory of MX25L12845EMI-10G, the first motor 10, the second motor 12, third motor 19 and the 4th motor 25 with And the 5th motor 36 can be selected stepper motor or servo motor, the electric pushrod 13 can be selected Ningbo tool and be full of electronics technology The pen type tubular electric push rod of the model NKLA31 of Co., Ltd's production.

Embodiment 2

Difference from example 1 is that the surface of the pedestal 4 and the shell 23 is additionally provided with protective layer, it is described anti- Sheath is prepared by the following method:

Take following raw material to weigh by weight: 17 parts of epoxy resin, 8 parts of calcium carbonate powder, 13 parts of aluminum oxide powder, 12 parts of titania powder, 10 parts of graphite powder, 9 parts of talcum powder, 2 parts of coalescing agent, 2 parts of promotor, disappears at 10 parts of polytetrafluoroethylene (PTFE) 1 part and 20 parts of ethyl alcohol of infusion；

S1, it will be stirred 22min in load weighted coalescing agent, promotor, defoaming agent and ethyl alcohol addition blender, stirred Mixing speed is 600r/min, and mixed solution is made；

S2, by epoxy resin, calcium carbonate powder, aluminum oxide powder, titania powder, polytetrafluoroethylene (PTFE), graphite Powder and talcum powder, which are added in pulverizer, to be crushed, and mixed-powder material is made；

S3, by mixed-powder material obtained in mixed solution obtained in step S1 and step S2 be added reaction kettle in into Row stirring 20min, the mixing speed of the reaction kettle are set as 700r/min, 60 DEG C of temperature setting, protective coating are made with this；

S4, the surface of pedestal 4 and shell 23 is processed by shot blasting using sand paper, is then rinsed using giant dry Only；

S5, by step S4 cleaning after pedestal 4 and shell 23 using air-heater dry up, then utilize high-pressure sprayer spray gun Protective coating made from step S3 is uniformly sprayed to the surface of the pedestal after drying 4 and shell 23；

S6, step S5 is coated with to the pedestal 4 of protective coating and shell 23 is put and solidification is dried in an oven, it is dry solid Changing temperature setting is 100 DEG C, and the time is set as 30min, i.e., protective layer is made on the surface of pedestal 4 and shell 23.

Preferably, mixed-powder material particles diameter obtained is not more than 100um in the step S2.

By using above-mentioned technical proposal, so that manufactured protective coating is not easy to plug the spray head of high-pressure sprayer spray gun, And the moist composition granule sense of layer surface is protected made of making.

Preferably, the coalescing agent is alcohol ester 12, the promotor is triethanolamine, and the defoaming agent is emulsification silicon Oil

Embodiment 3

With embodiment 2 the difference is that the preparation of protective layer, it is specific the preparation method is as follows:

Take following raw material to weigh by weight: 19 parts of epoxy resin, 9 parts of calcium carbonate powder, 15 parts of aluminum oxide powder, 14 parts of titania powder, 12 parts of polytetrafluoroethylene (PTFE), 13 parts of graphite powder, 10 parts of talcum powder, 3 parts of coalescing agent, 3 parts of promotor, 2 parts and 25 parts of ethyl alcohol of defoaming agent；

S1, it will be stirred 25min in load weighted coalescing agent, promotor, defoaming agent and ethyl alcohol addition blender, stirred Mixing speed is 700r/min, and mixed solution is made；

S2, by epoxy resin, calcium carbonate powder, aluminum oxide powder, titania powder, polytetrafluoroethylene (PTFE), graphite Powder and talcum powder, which are added in pulverizer, to be crushed, and mixed-powder material is made；

S3, by mixed-powder material obtained in mixed solution obtained in step S1 and step S2 be added reaction kettle in into Row stirring 25min, the mixing speed of the reaction kettle are set as 800r/min, 70 DEG C of temperature setting, protective coating are made with this；

S4, the surface of pedestal 4 and shell 23 is processed by shot blasting using sand paper, is then rinsed using giant dry Only；

S5, by step S4 cleaning after pedestal 4 and shell 23 using air-heater dry up, then utilize high-pressure sprayer spray gun Protective coating made from step S3 is uniformly sprayed to the surface of the pedestal after drying 4 and shell 23；

S6, step S5 is coated with to the pedestal 4 of protective coating and shell 23 is put and solidification is dried in an oven, it is dry solid Changing temperature setting is 110 DEG C, and the time is set as 35min, i.e., protective layer is made on the surface of pedestal 4 and shell 23.

Embodiment 4

With embodiment 2 the difference is that the preparation of protective layer, it is specific the preparation method is as follows:

Following raw material is taken to weigh by weight: 21 parts of epoxy resin, 10 parts of calcium carbonate powder, aluminum oxide powder 17 Part, promotes 16 parts of titania powder, 10-14 parts of polytetrafluoroethylene (PTFE), 15 parts of graphite powder, 11 parts of talcum powder, 4 parts of coalescing agent 4 parts of agent, 3 parts of defoaming agent and 30 parts of ethyl alcohol；

S1, it will be stirred 28min in load weighted coalescing agent, promotor, defoaming agent and ethyl alcohol addition blender, stirred Mixing speed is 800r/min, and mixed solution is made；

S2, by epoxy resin, calcium carbonate powder, aluminum oxide powder, titania powder, polytetrafluoroethylene (PTFE), graphite Powder and talcum powder, which are added in pulverizer, to be crushed, and mixed-powder material is made；

S3, by mixed-powder material obtained in mixed solution obtained in step S1 and step S2 be added reaction kettle in into Row stirring 30min, the mixing speed of the reaction kettle are set as 900r/min, 80 DEG C of temperature setting, protective coating are made with this；

S4, the surface of pedestal 4 and shell 23 is processed by shot blasting using sand paper, is then rinsed using giant dry Only；

S5, by step S4 cleaning after pedestal 4 and shell 23 using air-heater dry up, then utilize high-pressure sprayer spray gun Protective coating made from step S3 is uniformly sprayed to the surface of the pedestal after drying 4 and shell 23；

S6, step S5 is coated with to the pedestal 4 of protective coating and shell 23 is put and solidification is dried in an oven, it is dry solid Changing temperature setting is 120 DEG C, and the time is set as 40min, i.e., protective layer is made on the surface of pedestal 4 and shell 23.

To in embodiment 1-4 pedestal 4 and shell 23 rub at identical conditions to the quiet of its upper surface in the lab Wipe coefficient use static and dynamic friction coefficient analyzer test and comparison the result is as follows:

	Confficient of static friction
		Embodiment 1	0.35
Embodiment 2	0.25
		Embodiment 3	0.23
Embodiment 4	0.27

It is optimum embodiment from embodiment 3 known to upper table test result comparative analysis, by using above-mentioned technical proposal, system The processing step of standby protective coating is simple, easy to accomplish, and the protective coating modest viscosity of preparation is not easy to be layered, is convenient for spraying, nothing Bubble generates, each component sufficiently combines, and comprehensive performance is preferable, so that protective coating is capable of forming preferable film after spray coating, Film coated surface smoother is not likely to produce crackle, and film-formation result is preferable, the protective layer of preparation have preferable anti-corrosion, it is wear-resisting and Anti-aging performance, adhesion is preferable, not easily to fall off, can effectively increase the anti-corrosion, wear-resisting, anti-aging of pedestal 4 and shell 23 Performance significantly can effectively reduce the first disk 16 and 4 inside of pedestal the so that the service using life is longer Frictional force between frictional force and the second disk 27 between one mounting groove 5 and 23 the second mounting groove 24 of inside of shell, can have Effect reduces the abrasion of the first disk 16 and the second disk 27.

Working principle: this climbs wall hollowing detection robot, bottom walking mechanism 1 be used to driving the Robot it is horizontal Ground is walked along straight line, while the first disk 16 can also be driven to rotate in perpendicular by the second motor 12, is realized with this The locating angle that hollowing testing agency 3 is located at perpendicular is adjusted, to realize that the metope in front of the robot and lower section carries out Hollowing detection；Steering mechanism 2 is for driving hollowing testing agency 3 to rotate in horizontal plane, to realize to the robot rear Hollowing detection is carried out with the metope of left and right；Hollowing testing agency 3 is for detecting the hollowing situation of metope, together Under the driving of tetra- motor 25 of Shi, electronic hollowing hammer 29 can carry out hollowing detection to the metope above the robot, to make Obtaining the robot comprehensive can carry out hollowing detection to surrounding metope, and the manual operation that compares hollowing hammers the sky to metope into shape The efficiency of drum detection greatly improves, and can effectively reduce the labor intensity of testing staff；Crank link mechanism is dexterously utilized Working principle, using the 5th motor 36 drive lever arm 37 swing carry out drive connecting rod 38 move, in the guiding of guide sleeve 42 Drive round bar 40 to do straight reciprocating motion under restriction effect, round bar 40 drives tup 43 to repeat to tap metope, testing staff according to Tup 43 taps the sound that metope issues and judges metope with the presence or absence of hollowing phenomenon.

Application method: in use, by the metope on its parallel one side of the robot, which is made by power switch 46 It is powered, the running parameter of the robot is adjusted by touching display screen 47, bottom walking mechanism 1 drives the Robot dampening Flat ground is walked along straight line, and the 5th motor 36 drives the swing of lever arm 37 to carry out that connecting rod 38 is driven to move, in guide sleeve 42 Round bar 40 is driven to do straight reciprocating motion under guiding restriction effect, round bar 40 drives tup 43 to repeat to tap metope, microphone 31 The sound that tup 43 taps metope sending is converted into electric signal and sends amplifier 34 to, amplifier 34 puts received electric signal Large gain sends controller 32 to later, and received Electric signal processing is parsed into data and is stored in memory 33 by controller 32 Inside, while when controller 32 analyzes metope hollowing signal, will control buzzer 30 and sound the alarm and notify testing staff couple The hollowing situation detected is handled, and drives the first disk 16 to rotate in perpendicular with the second motor 12 of cooperation, adjustable Section hollowing testing agency 3 is located at the locating angle of perpendicular, can control electronic hollowing hammer into shape 29 forward backward to the robot before The metope at side and rear and lower section carries out hollowing detection, may make electronic hollowing hammer 29 to from left to right pair using steering mechanism 2 The metope of the robot the left and right carries out hollowing detection, electronic hollowing hammer 29 can be driven perpendicular upwards using the 4th motor 25 It is vertical, hollowing detection can be carried out to the metope above the robot.

Installation method:

The first step assembles bottom walking mechanism 1 first, and the first disk 16 is first fixedly set in the outer of the second support shaft 15 Portion, then the second support shaft 15 is fixedly mounted on the inside of the first mounting groove 5 by rolling bearing installation, by battery 14 and the Two motors 12 are fixedly mounted on the inside of pedestal 4, while the rotation axis of the second motor 12 and one end of the second support shaft 15 being consolidated Fixed connection, four wheels 7 and two driven gears 8 are respectively symmetrically fixedly mounted in two support shafts 6, and two are supported Axis 6 is fixedly mounted on the interior bottom portion of pedestal 4 by rolling bearing installation, and driving gear 9 is fixedly mounted on first motor First motor 10 is fixedly mounted on the inside of pedestal 4 by attachment base 11, and guarantees two driven tooths by 10 rotation axis end Wheel 8 is intermeshed with driving gear 9 respectively, and electric pushrod 13 is fixedly mounted in first boss 17；

Second step, assembling steering mechanism 2, are fixedly mounted on electric pushrod 13 for the closed end of the first cylinder shape shell 18 Then third motor 19 is fixedly mounted on the inside of the first cylinder shape shell 18, then plectane 20 is bonded and is pacified by telescopic end end Plectane 20 and 19 rotation axis end of third motor are fixed mounted in the open end end of the first cylinder shape shell 18, and using screw Connection；

Third step, assembling electronic hollowing hammer 29, by the closed end of the second cylinder shape shell 35 and second boss 28 far from the The table top of two disks 27 is fixedly connected, and the 5th motor 36 is fixedly mounted on to the inside of mounting hole 44, by one end of lever arm 37 It is fixedly connected with the rotation axis end of the 5th motor 36, and one end of the other end of lever arm 37 and connecting rod 38 is articulated and connected, The other end of connecting rod 38 is hinged on to the inside of notch 39, end cap 41 is fixedly mounted on 35 open end end of the second cylinder shape shell Guide sleeve 42 is fixedly mounted on side of the end cap 41 far from the second cylinder shape shell 35 by portion, by the other end of round bar 40 according to It is secondary to be fixedly connected across circular hole 45 and guide sleeve 42 with tup 43；

Cover board 22 is fixedly mounted on one end end that shell 23 is planar structure by the 4th step, assembling hollowing testing agency 3 Portion, and the side by cover board 22 far from shell 23 is fixedly connected with plectane 20 far from the side of the first cylinder shape shell 18, by Two disks 27 are fixedly set in the outside of third support shaft 26, and third support shaft 26 is fixedly mounted on by rolling bearing installation The inside of second mounting groove 24, and one end of third support shaft 26 is fixedly connected with 25 rotation axis of the 4th motor, by the 4th electricity Machine 25 is fixedly mounted on the inside of shell 23, and electronic hollowing hammer 29 is fixedly mounted in second boss 28；

5th step, installation power switch 46, controller 32, buzzer 30, microphone 31, amplifier 34, memory 33, touching Display screen 47, USB interface 49 and charging interface 48 are controlled, then wiring is debugged, that is, is installed.

Part is not directed in the utility model to be the same as those in the prior art or can be realized by using the prior art.

This specific embodiment is only the explanation to the utility model, is not limitations of the present invention, ability Field technique personnel can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but As long as all by the protection of Patent Law in the scope of the claims of the utility model.

Claims (7)

1. one kind climbs wall hollowing detection robot, it is characterised in that: including bottom walking mechanism (1), steering mechanism (2) and hollowing Testing agency (3), the hollowing testing agency (3) are mounted on the bottom walking mechanism (1) by the steering mechanism (2) Top；

The bottom walking mechanism (1) includes pedestal (4), two support shafts (6), four wheels (7), first motor (10), two A driven gear (8), driving gear (9), the second motor (12), the second support shaft (15), the first disk (16), first boss (17) and electric pushrod (13), the top of the pedestal (4) offer the first mounting groove (5) between two parties, second support shaft (15) inside of first mounting groove (5), the first disk (16) fixing sleeve are fixedly mounted on by rolling bearing installation Mounted in the outside of second support shaft (15), the first boss (17) is integrally disposed upon the circular arc of first disk (16) On face, the electric pushrod (13) is fixedly mounted on the first boss (17), and second motor (12) is fixedly mounted on The inside of the pedestal (4), and the fixed company in one end of the rotation axis of second motor (12) and second support shaft (15) It connects, two support shafts (6) are fixedly mounted on the interior bottom portion of the pedestal (4), four institutes by rolling bearing installation It states wheel (7) to be respectively symmetrically fixedly mounted on two support shafts (6), two driven gears (8) are respectively symmetrically solid Dingan County is on two support shafts (6), and two driven gears (8) are mutually nibbled with the driving gear (9) respectively Setting is closed, the rotation axis of the first motor (10) is fixedly connected with the one side center position of the driving gear (9), and The first motor (10) is fixedly mounted on the inside of the pedestal (4) by attachment base (11)；

The steering mechanism (2) include one end be open end and one end be closed end the first cylinder shape shell (18) and third electricity Machine (19) and plectane (20), the closed end of the first cylinder shape shell (18) and the telescopic end end of the electric pushrod (13) Portion is fixedly connected, and the third motor (19) is fixedly mounted on the inside of the first cylinder shape shell (18), the plectane (20) fitting is arranged in the open end end of the first cylinder shape shell (18), and the plectane (20) and described the first cylinder Rotation axis end at the center side position that shape shell (18) open end end fits with the third motor (19) is fixed Connection；

The hollowing testing agency (3) include one end be globoidal structure and one end be the shell (23) of planar structure, cover board (22), Third support shaft (26), the second disk (27), the 4th motor (25) and second boss (28) and electronic hollowing hammer (29), it is described Cover board (22) is fixedly mounted on one end end that the shell (23) are planar structure, and the cover board (22) is far from the shell (23) side is fixedly connected with the plectane (20) far from the side of the first cylinder shape shell (18), the shell (23) It is offered between two parties the second mounting groove (24) for one end end of globoidal structure, the third support shaft (26) is pacified by rolling bearing Dress is fixedly mounted on the inside of second mounting groove (24), and one end of the third support shaft (26) and the 4th motor (25) rotation axis is fixedly connected, and the 4th motor (25) is fixedly mounted on the inside of the shell (23), second disk (27) it is fixedly set in the outside of the third support shaft (26), the second boss (28) is integrally disposed upon second disk (27) on arc surface, the electronic hollowing hammer (29) is fixedly mounted on the second boss (28).

2. one kind according to claim 1 climb wall hollowing detection robot, it is characterised in that: the plectane (20) with it is described It is also fixedly installed on the side that the first cylinder shape shell (18) open end end fits and the first cylinder shape shell (18) the ring-like sliding slot (21) that open end end wall matches.

3. one kind according to claim 1 climbs wall hollowing detection robot, it is characterised in that: the electronic hollowing hammer (29) Including one end be closed end and one end is the end of the second cylinder shape shell (35) of open end, center position with circular hole (45) (41), guide sleeve (42), round bar (40), connecting rod (38), lever arm (37) and the 5th motor (36) and tup (43) are covered, it is described The closed end and the second boss (28) of the second cylinder shape shell (35) are far from the fixed company of the table top of second disk (27) It connects, and is offered mounting hole (44) on the side wall of the second cylinder shape shell (35) close to its closed end, the 5th motor (36) inside of the mounting hole (44), the connecting rod (38) and the lever arm (37) and the round bar are fixedly mounted on (40) inside of the second cylinder shape shell (35), one end of the lever arm (37) and the 5th motor are arranged at (36) rotation axis end is fixedly connected, and the other end of the lever arm (37) and one end of the connecting rod (38) hingedly connect It connects, the other end of the connecting rod (38) is hinged on the inside of notch (39), and the notch (39) is provided with the round bar (40) Inside one end, the end cap (41) is fixedly mounted on the second cylinder shape shell (35) open end end, the guide sleeve (42) be fixedly mounted on the end cap (41) far from the second cylinder shape shell (35) side on, the round bar (40) it is another One end sequentially passes through the circular hole (45) and the guide sleeve (42) is fixedly connected with the tup (43), tup (43) position In the outside of the second cylinder shape shell (35).

4. one kind according to claim 3 climbs wall hollowing detection robot, it is characterised in that: the side of the shell (23) Installation by adhering has buzzer (30) and microphone (31) on face, and the inside of the shell (23) is also equipped with controller (32) With amplifier (34) and memory (33), the buzzer (30), the first motor (10), second motor (12), The electric pushrod (13), the third motor (19) and the 4th motor (25) and the 5th motor (36) it is automatically controlled End is electrically connected by the control output end of conducting wire and the controller (32), and the signal output end of the microphone (31) is logical The signal input part for crossing signal wire and the amplifier (34) is electrically connected, and the signal output end of the amplifier (34) passes through letter Number line and the signal input part of the controller (32) are electrically connected, and the memory (33) passes through data line and the controller (32) two-way electric connection.

5. one kind according to claim 4 climbs wall hollowing detection robot, it is characterised in that: the side of the pedestal (4) It is also fixedly installed on face touching display screen (47), the touching display screen (47) is double by data line and the controller (32) Electrotropism connection.

6. one kind according to claim 4 climbs wall hollowing detection robot, it is characterised in that: the side of the pedestal (4) It is additionally provided on face power switch (46), and the inside of the pedestal (4) is also fixedly installed with battery (14), the battery (14) by conducting wire respectively with the power switch (46), the controller (32), the first motor (10), it is described second electricity Machine (12), the electric pushrod (13), the third motor (19) and the 4th motor (25) and the 5th motor (36) it is connected in series.

7. one kind according to claim 6 climbs wall hollowing detection robot, it is characterised in that: the side of the pedestal (4) USB interface (49) and charging interface (48) are additionally provided on face, the charging interface (48) passes through conducting wire and the battery (14) It is connected in series, the USB interface (49) is electrically connected by data line and the controller (32).