CN107238602A - A kind of detection robot for being used to detect distress in concrete and steel bar corrosion - Google Patents

A kind of detection robot for being used to detect distress in concrete and steel bar corrosion Download PDF

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Publication number
CN107238602A
CN107238602A CN201710436689.6A CN201710436689A CN107238602A CN 107238602 A CN107238602 A CN 107238602A CN 201710436689 A CN201710436689 A CN 201710436689A CN 107238602 A CN107238602 A CN 107238602A
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CN
China
Prior art keywords
workbench
concrete
detection
steel bar
bar corrosion
Prior art date
Application number
CN201710436689.6A
Other languages
Chinese (zh)
Inventor
宋军
陈富艳
尤再进
杜明倩
郭佩凡
李捷
林祥玲
徐小寓
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鲁东大学
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Application filed by 鲁东大学 filed Critical 鲁东大学
Priority to CN201710436689.6A priority Critical patent/CN107238602A/en
Publication of CN107238602A publication Critical patent/CN107238602A/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using infra-red, visible or ultra-violet light
    • G01N21/84Systems specially adapted for particular applications
    • G01N21/88Investigating the presence of flaws or contamination
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00Investigating or analysing materials by the use of electric, electro-chemical, or magnetic means
    • G01N27/72Investigating or analysing materials by the use of electric, electro-chemical, or magnetic means by investigating magnetic variables
    • G01N27/82Investigating or analysing materials by the use of electric, electro-chemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws

Abstract

The invention discloses a kind of detection robot for being used to detect distress in concrete and steel bar corrosion, video check window is provided with front side of workbench, battery is provided with the middle part of workbench, data processing module is provided with the right side of battery, radio receiving transmitting module is provided with the right side of battery, control centre is provided with the right side of battery, air pump is provided with the left of battery, magnetic detection window is provided with rear side of workbench, the first electric sliding rail is provided with the downside of workbench, the second electric sliding rail is provided with the downside of workbench, the present invention can be detected in real time to distress in concrete and steel bar corrosion simultaneously, additionally it is provided with radio transmitting device, it can detect that remote control box remotely receives data by testing staff, reduce the labor intensity of testing staff, improve detection efficiency and detection quality, additionally it is provided with multigroup electrohydraulic cylinder and negative pressure sucker, reached by alternating movement automatic moving and the fixation of detection means, so that detection means is adapted to more working environments.

Description

A kind of detection robot for being used to detect distress in concrete and steel bar corrosion

Technical field

It is specifically that one kind is used to detect coagulation soil cracking the present invention relates to distress in concrete and steel bar corrosion detection technique field The detection robot of seam and steel bar corrosion.

Background technology

Concrete and armored concrete due to being easy to get extensively with raw material sources, and compression strength is high, volume stability is good, It is easy to construction and live moulding, the features such as cost is relatively low and as most popular construction material in the world.But, work as reinforcing bar Concrete structure Prolonged exposure is in rugged environment, and the influence of external corrosion medium does not often have the service life of these structures It is long as being expected, so that life requirement as defined in specification can not be met.Substantial amounts of armored concrete is facts have proved Structure without reinforcing and must not be repaired because of normal use of endurance issues influence, and the whole world is because of the durability of concrete structure The economic loss caused that fails is up to hundreds billion of dollars.In the endurance issues of reinforced concrete structure, structure in service it is resistance to The problem of long property damage check is one particularly significant, and the detection of Rust of Rebar in Concrete amount is even more the most important thing.Coagulation The timely discovery of steel bar corrosion and Accurate Diagnosis in soil, structure durability actual damage degree can be grasped exactly, is reinforcing bar The important prerequisite of concrete structure durability evaluation, remaining life prediction and maintenance program selection does not have reliable reinforcing bar to become rusty Erosion amount data just reliably cannot be assessed and predicted the outcome.Therefore develop reinforcing bar that is reliable, accurate, being easy to engineer applied to mix The live non-destructive testing technology of steel bar corrosion has become the research emphasis of domestic and foreign scholars in solidifying soil.The corrosion degree of reinforcing bar can So that lost with anodic current density, weight loss rate or section between speed, the index expression such as corrosion penetration, these indexs can be by Mutually converted according to certain rule.Weight loss rate typically reflects the performance of overall corrosion degree state, section loss late or Corrosion penetration is generally used for reflecting local corrosion state.The non-damage detection method of current reinforced concrete corrosion (NDT) physical method and the major class of electrochemical method two can be divided into.

In the concrete reinforcement detection means used now, function is relatively simple, often only can be to distress in concrete Or steel bar corrosion one of which index is detected simultaneously, it is impossible to detect, be in progress monitoring steel bar corrosion in addition, often Original structure can be destroyed, concrete to be detected is caused damage, while existing detection means needs testing staff's progress hand-held Or it is fixed to test position in advance, detection completes to be detected changing other positions, and it is cumbersome in turn result in detection process, detects Inefficiency, the problems such as labor intensity of testing staff is big, while the concrete in the higher position for being difficult to contact to personnel does not have There is preferable detection method, it is therefore desirable to a kind of can to carry out the detection means of automatic moving in concrete surface, simultaneously Distress in concrete and steel bar corrosion can also be carried out detecting simultaneously.

The content of the invention

It is an object of the invention to provide a kind of detection robot for being used to detect distress in concrete and steel bar corrosion, to solve The problem of being proposed in certainly above-mentioned background technology.

To achieve the above object, the present invention provides following technical scheme:

Video check window is provided with front side of a kind of detection robot for being used to detect distress in concrete and steel bar corrosion, workbench Mouthful, it is provided with the middle part of workbench on the right side of battery, battery and is provided with data processing module, wireless receiving and dispatching mould is provided with the right side of battery It is provided with the right side of block, battery on the left of control centre, battery and is provided with air pump, magnetic detection window, workbench is provided with rear side of workbench Bottom both sides are respectively equipped with the first electric sliding rail, and workbench bottom both sides are respectively equipped with the second electric sliding rail, left positioned at workbench First group of electrohydraulic cylinder is connected with the downside of first electric sliding rail of side, first group of electrohydraulic cylinder connects first by piston rod Provided with second group of electrohydraulic cylinder, second group of electronic liquid on the downside of group negative pressure sucker, the second electric sliding rail on the left of workbench Cylinder pressure connects second group of negative pressure sucker by piston rod, provided with the 3rd group of electricity on the downside of the second electric sliding rail on the right side of workbench Hydrodynamic cylinder pressure, the 3rd group of electrohydraulic cylinder connects the 3rd group of negative pressure sucker by piston rod, the first electricity on the right side of workbench The 4th group of electrohydraulic cylinder is connected with the downside of dynamic slide rail, the 4th group of electrohydraulic cylinder connects the 4th group of negative pressure by piston rod and inhaled Disk.

It is used as further scheme of the invention:Video detection instrument, video detection instrument one are provided with the video detection window Side is provided with video detection instrument controller.

It is used as further scheme of the invention:Excitation generating means, excitation generating means are provided with the magnetic detection window Left side, which is provided with excitation modulation module, magnetic detection window, is provided with magnetic field measurement instrument, and field controller is provided with the right side of magnetic field measurement instrument.

It is used as further scheme of the invention:Second electric sliding rail is arranged on the inside of the first electric sliding rail.

It is used as further scheme of the invention:Multiple electrohydraulic cylinders are provided with first group of electrohydraulic cylinder.

It is used as further scheme of the invention:Multiple electrohydraulic cylinders are provided with second group of electrohydraulic cylinder.

It is used as further scheme of the invention:Multiple electrohydraulic cylinders are provided with the 3rd group of electrohydraulic cylinder.

It is used as further scheme of the invention:Multiple electrohydraulic cylinders are provided with the 4th group of electrohydraulic cylinder.

It is used as further scheme of the invention:First group of negative pressure sucker, second group of negative pressure sucker, the 3rd group of negative pressure are inhaled Disk and the 4th group of negative pressure sucker are connected with air pump respectively by tracheae.

Compared with prior art, the beneficial effects of the invention are as follows:The present invention is by setting video detecting device and magnetic detection Detection means, can be detected in real time to distress in concrete and steel bar corrosion simultaneously, can additionally provided with radio transmitting device To detect that remote control box remotely receives data by testing staff, the labor intensity of testing staff is reduced, detection is improved Efficiency and detection quality, additionally provided with multigroup electrohydraulic cylinder and negative pressure sucker, carry out reaching detection dress by alternating movement The automatic moving put and fixation so that detection means is adapted to more working environments.

Brief description of the drawings

Fig. 1 is a kind of top view for being used to detect the detection robot of distress in concrete and steel bar corrosion.

Fig. 2 is a kind of base front view for being used to detect the detection robot of distress in concrete and steel bar corrosion.

Fig. 3 is a kind of base side view for being used to detect the detection robot of distress in concrete and steel bar corrosion.

In figure:1- workbench, 2- video detections window, 3- video detections instrument, 4- video detection instrument controller, 5- electric power storages Pond, 6- data processing modules, 7- radio receiving transmitting modules, 8- control centres, 9- magnetic detection window, 10- excitations generating means, 11- Magnetic field measurement instrument, 12- magnetic detection controller, 13- excitations modulation module, 14- air pumps, the electric sliding rails of 15- first, first group of 16- Electrohydraulic cylinder, first group of negative pressure sucker of 17-, second group of electrohydraulic cylinder of 18-, second group of negative pressure sucker of 19-, the 3rd group of 20- The 3rd group of negative pressure sucker of electrohydraulic cylinder, 21-, the 4th group of electrohydraulic cylinder of 22-, the 4th group of negative pressure sucker of 23-, the electricity of 24- second Dynamic slide rail, 25- tracheaes.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made Embodiment, belongs to the scope of protection of the invention.

Referring to Fig. 1, in the embodiment of the present invention, a kind of detection machine for being used to detect distress in concrete and steel bar corrosion People, including workbench 1, the front side of workbench 1, which is provided with video check window 2, video detection window 2, is provided with video detection instrument 3, depending on The side of frequency detector 3 is provided with video detection instrument controller 4, and the middle part of workbench 1 is provided with battery 5, and the right side of battery 5 is provided with data Processing module 6, the right side of battery 5 is provided with radio receiving transmitting module 7, and the right side of battery 5 is provided with control centre 8, and the left side of battery 5 is set There is air pump 14, the rear side of workbench 1, which is provided with magnetic detection window 9, magnetic detection window 9, is provided with excitation generating means 11, and excitation occurs The left side of device 7, which is provided with excitation modulation module 13, magnetic detection window 9, is provided with magnetic field measurement instrument 11, and the right side of magnetic field measurement instrument 11 is set There is field controller 12, the downside of workbench 1 is provided with the first electric sliding rail 15, and it is electronic that the bottom both sides of workbench 1 are respectively equipped with second Slide rail 24, the second electric sliding rail 24 is arranged on the inner side of the first electric sliding rail 15, the first electric sliding rail 15 positioned at the left side of workbench 1 Downside, which is connected with first group of electrohydraulic cylinder 16, first group of electrohydraulic cylinder 16, is provided with multiple electrohydraulic cylinders, first group of electricity Hydrodynamic cylinder pressure 16 connects first group of negative pressure sucker 17 by piston rod, the downside of the second electric sliding rail 24 positioned at the left side of workbench 1 Provided with second group of electrohydraulic cylinder 18, multiple electrohydraulic cylinders, second group of electric hydaulic are provided with second group of electrohydraulic cylinder 18 Cylinder 18 connects second group of negative pressure sucker 19 by piston rod, and the downside of the second electric sliding rail 24 positioned at the right side of workbench 1 is provided with the Multiple electrohydraulic cylinders are provided with three groups of electrohydraulic cylinders 20, the 3rd group of electrohydraulic cylinder 20, the 3rd group of electrohydraulic cylinder 20 is led to Cross piston rod and connect the 3rd group of negative pressure sucker 21, the downside of the first electric sliding rail 15 positioned at the right side of workbench 1 is connected with the 4th group Multiple electrohydraulic cylinders are provided with electrohydraulic cylinder 22, the 4th group of electrohydraulic cylinder 22, the 4th electrohydraulic cylinder 22 passes through piston Bar connects the 4th group of negative pressure sucker 23, first group of negative pressure sucker 17, second group of negative pressure sucker 19, the 3rd group of negative pressure sucker 21 and the Four groups of negative pressure suckers 23 are connected with air pump 14 respectively by tracheae 25.

The present invention is stable, in the use of the present invention, starting detection robot, detection robot then is placed into band On the concrete of detection, then control centre 8 can start video detection instrument 3, excitation generating means 10 and magnetic field measurement instrument 11, first The concrete for first passing through 3 pairs of downsides of video detection instrument carries out video detection, and will detect data transfer to data processing module 6, 6 pairs of detection videos of data processing module are analyzed, and judge whether the concrete of detection crack occurs, and testing result is led to Cross radio receiving transmitting module 7 to be transferred in the equipment of testing staff, while excitation generating means 10 can produce a magnetic field, work as generation Magnetic field contacted with concrete reinforcing steel after can produce an induced field, generation is detected by magnetic field measurement instrument 11 in real time Induced field, occurs change in the position induced field for corrosion occur, passes through the induced field for detecting detection of magnetic field instrument 11 In the data processing module 6 of data transfer, data processing module 6 is handled data and judges testing result, and passes through nothing Line transceiver module 7 carries out data transmission, while during detection, can also pass through video detection controller 4 and magnetic detection Controller 12 is controlled regulation to video detection instrument 4 and magnetic field measurement instrument 11, in addition can be with different working environments The parameters such as the intensity of exciting field are adjusted by excitation modulation module 13, during detection, are entered when needing detection robot When row is movably walking, control centre controls second group of electrohydraulic cylinder 18 and the 3rd group of electrohydraulic cylinder 20 to shrink first so that Second group of negative pressure sucker 19 and the 3rd group of negative pressure sucker 21 come off with concrete surface, then start the second electric sliding rail 24, enter And driving second group of electrohydraulic cylinder 18 and the 3rd group of electrohydraulic cylinder 20 to travel forward, motion is completed, and control centre 8 controls electricity Hydrodynamic cylinder pressure 18 and the 3rd group of electrohydraulic cylinder 20 are moved downward, and control second group of negative pressure sucker 19 and the 3rd group of negative pressure simultaneously Sucker 21 is adsorbed, after the completion of absorption, is shunk first group of electrohydraulic cylinder 16 and the 4th group of electrohydraulic cylinder 22, is made simultaneously First group of negative pressure sucker 17 and the 4th group of negative pressure sucker 23 come off with concrete, then by controlling the second electric sliding rail 24 to make work Make platform 1 to travel forward, motion terminate after again by the first electric sliding rail 15 make first group of electrohydraulic cylinder 16 and the 4th group it is electronic Hydraulic cylinder 22 is travelled forward, and then the purpose that detection robot is moved forward and backward can be reached by alternating movement.

It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling Change is included in the present invention.Any reference in claim should not be considered as to the claim involved by limitation.

Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art It may be appreciated other embodiment.

Claims (9)

1. a kind of detection robot for being used to detect distress in concrete and steel bar corrosion, including workbench (1), it is characterised in that It is provided with front side of workbench (1) in the middle part of video check window (2), workbench (1) and is provided with battery (5), is provided with the right side of battery (5) It is provided with the right side of data processing module (6), battery (5) on the right side of radio receiving transmitting module (7), battery (5) and is provided with control centre (8), it is provided with the left of battery (5) on rear side of air pump (14), workbench (1) and is provided with magnetic detection window (9), workbench (1) bottom two Side is respectively equipped with the first electric sliding rail (15), and workbench (1) bottom both sides are respectively equipped with the second electric sliding rail (24), positioned at work First group of electrohydraulic cylinder (16), first group of electrohydraulic cylinder are connected with the downside of the first electric sliding rail (15) on the left of platform (1) (16) first group of negative pressure sucker (17) is connected by piston rod, on the downside of the second electric sliding rail (24) on the left of workbench (1) Provided with second group of electrohydraulic cylinder (18), second group of electrohydraulic cylinder (18) connects second group of negative pressure sucker by piston rod (19), provided with the 3rd group of electrohydraulic cylinder (20), the 3rd group of electricity on the downside of the second electric sliding rail (24) on the right side of workbench (1) Hydrodynamic cylinder pressure (20) connects the 3rd group of negative pressure sucker (21), the first electric sliding rail on the right side of workbench (1) by piston rod (15) downside is connected with the 4th group of electrohydraulic cylinder (22), and the 4th group of electrohydraulic cylinder (22) connects the 4th group by piston rod and born Press sucker (23).
2. a kind of detection robot for being used to detect distress in concrete and steel bar corrosion according to claim 1, its feature It is, video detection instrument (3) is provided with the video detection window (2), and video detection instrument (3) side is provided with video detection instrument control Device (4) processed.
3. a kind of detection robot for being used to detect distress in concrete and steel bar corrosion according to claim 1, its feature It is, is provided with the magnetic detection window (9) on the left of excitation generating means (10), excitation generating means (10) provided with excitation modulation It is provided with module (13), magnetic detection window (9) on the right side of magnetic field measurement instrument (11), magnetic field measurement instrument (11) and is provided with field controller (12)。
4. a kind of detection robot for being used to detect distress in concrete and steel bar corrosion according to claim 1, its feature It is, second electric sliding rail (24) is arranged on the inside of the first electric sliding rail (15).
5. a kind of detection robot for being used to detect distress in concrete and steel bar corrosion according to claim 1, its feature It is, multiple electrohydraulic cylinders is provided with first group of electrohydraulic cylinder (16).
6. a kind of detection robot for being used to detect distress in concrete and steel bar corrosion according to claim 1, its feature It is, multiple electrohydraulic cylinders is provided with second group of electrohydraulic cylinder (18).
7. a kind of detection robot for being used to detect distress in concrete and steel bar corrosion according to claim 1, its feature It is, multiple electrohydraulic cylinders is provided with the 3rd group of electrohydraulic cylinder (20).
8. a kind of detection robot for being used to detect distress in concrete and steel bar corrosion according to claim 1, its feature It is, multiple electrohydraulic cylinders is provided with the 4th group of electrohydraulic cylinder (22).
9. a kind of detection robot for being used to detect distress in concrete and steel bar corrosion according to claim 1, its feature It is, first group of negative pressure sucker (17), second group of negative pressure sucker (19), the 3rd group of negative pressure sucker (21) and the 4th group of negative pressure Sucker (23) is connected with air pump (14) respectively by tracheae (25).
CN201710436689.6A 2017-06-12 2017-06-12 A kind of detection robot for being used to detect distress in concrete and steel bar corrosion CN107238602A (en)

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CN201710436689.6A CN107238602A (en) 2017-06-12 2017-06-12 A kind of detection robot for being used to detect distress in concrete and steel bar corrosion

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CN107238602A true CN107238602A (en) 2017-10-10

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Application publication date: 20171010