CN109537649B - A kind of pile's integrity testing small strain detection robot - Google Patents
A kind of pile's integrity testing small strain detection robot Download PDFInfo
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- CN109537649B CN109537649B CN201811562694.2A CN201811562694A CN109537649B CN 109537649 B CN109537649 B CN 109537649B CN 201811562694 A CN201811562694 A CN 201811562694A CN 109537649 B CN109537649 B CN 109537649B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D33/00—Testing foundations or foundation structures
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Abstract
The present invention relates to pile measurement equipment technical fields, especially a kind of pile's integrity testing detects robot with small strain, including detecting arm, the both ends of detection arm are equipped with walking mechanism, the walking mechanism of two sides is connected as one by the handle of U-shaped structure, the bottom of detection arm is fixed with sliding rail along its length, the first sliding block and the second sliding block are connected on sliding rail, first sliding block and the second sliding block are equipped with sliding drive mechanism, the bottom of first sliding block is fixed with testing agency, the bottom of second sliding block is equipped with workpiece polishing mechanism, the top center position for detecting arm is equipped with striking mechanism, control box is also fixed in the walking mechanism of side, it controls and is equipped with control unit in box；The present invention realizes the intelligence of pile's integrity testing, effectively reduces labor intensity, and improves working efficiency, while improving the precision of detection.
Description
Technical field
The present invention relates to pile measurement equipment technical fields more particularly to a kind of pile's integrity testing to be detected with small strain
Robot.
Background technique
In construction, micro-strain dynamic test is commonly used in pile's integrity testing, basic principle: by stake top
Apply accumulation signal and generate stress wave, the stress wave is along pile body communication process, and encountering non-continuous face, (such as honeycomb, breaks at folder mud
Split, hole the defects of) and when stake bottom surface, back wave will be generated, propagation time, amplitude and the waveform for testing and analyzing back wave are special
Sign, can judge pile integrity.
The theoretical basis of small strain is one-dismensional stress wave theory, and basic principle is to impact stake top with hand hammer, by being bonded in
The sensor of stake top receives the stress wave signal in stake, and the dynamic response of pile-soil system is studied using theory of stress wave,
Back analysis surveys speed signal, obtains pile integrity.One-dismensional stress wave theory has an important hypothesis i.e. plane section false
If assuming power and speed being the function of depth and time.It theoretically, can if the length L of bar is much larger than the diameter D of bar
It is regarded as one dimension rod, in fact, if L/D > 7, it is believed that approximate can handle as one-dimensional rod piece.When stake top is by hammer point
When (point vibration source) hammering, the stress wave of surrounding propagation will be generated, similar hemisphere surface wave, other than longitudinal wave, there are also shear wave and
Surface wave, in stake top near zone, plane section assumption is invalid, when only passing to the i.e. X > 7D of certain depth, stress wave edge
The wave surface that pile body is propagated downwards just can approximation regard plane as, i.e., spherical wave just can approximation regard plane wave, one-dimensional stress as
Wave theory could be set up.
And existing is all the heavy workload by manually carrying out to pile's integrity testing, and it is intelligent low, since personnel operate
There are large errors, and measurement accuracy is not high, and therefore, we have proposed a kind of pile's integrity testing small strains to detect machine
People.
Summary of the invention
The purpose of the present invention is to solve disadvantages existing in the prior art, and a kind of pile's integrity testing proposed
Robot is detected with small strain.
To achieve the goals above, present invention employs following technical solutions:
Design a kind of pile's integrity testing small strain detection robot, including detection arm, the both ends of the detection arm
It is equipped with the first telescopically adjustable adjusting rod, the first adjusting rod is fixedly connected by the first fixing bolt with detection arm, described
First adjusting rod is equipped with walking mechanism far from one end of detection arm, and the walking mechanism of two sides is connected by the handle of U-shaped structure
It is structure as a whole, the bottom of the detection arm is fixed with sliding rail along its length, slidably connects therewith on the sliding rail
The first sliding block and the second sliding block to match, the first sliding block and the second sliding block are equipped with sliding drive mechanism, first sliding block
Bottom be fixed with testing agency, the bottom of second sliding block is equipped with workpiece polishing mechanism, the top center position of the detection arm
Striking mechanism is installed, testing agency, workpiece polishing mechanism and striking mechanism are all made of straight line driving mechanism and are driven, the institute of side
It states and is also fixed with control box in walking mechanism, control unit is equipped in the control box, control unit is for controlling vehicle with walking machine
Structure, sliding drive mechanism, testing agency, workpiece polishing mechanism and striking mechanism.
Preferably, the straight line driving mechanism is one of electric telescopic rod, telescopic cylinder or telescopic oil cylinder.
Preferably, the walking mechanism includes support arm, and the support arm is hollow structure, is fixed with tune in support arm
Displacements of cylinders, the top slidable connection of support arm have telescopic arm, and telescopic arm is fixed on the output end for adjusting cylinder, described flexible
The one end of arm far from support arm is rotatably connected on the end of first adjusting rod by pin shaft, and the bottom of the support arm is in three
Corner structure and it is fixed with the Athey wheel with driving device, the lower part of two support arms is symmetrically arranged with clamping device.
Preferably, the clamping device includes two gripper cylinders, and two gripper cylinders are separately fixed at two institutes
It states on support arm, is fixed with clamping plate on the output end of the gripper cylinder, the corresponding side of two clamping plates is arc
Face structure.
Preferably, the sliding drive mechanism includes two fixing seats, and two fixing seats are separately fixed at the sliding rail
Two sides are equipped with screw rod between two fixing seats, and on the fixing seat by axle sleeve fixation, screw rod runs through at the both ends of the screw rod
First sliding block and the setting of the second sliding block, and screw rod can the first sliding block of screw drive and the second sliding block, it is fixed in the fixing seat of side
There is first motor, the output end of first motor is fixedly connected with screw rod.
Preferably, the testing agency includes the first cylinder, and first cylinder is fixed at the bottom of the first sliding block,
The side of first cylinder is fixed with first distance sensor, and the output end of first cylinder is fixed with fixed link,
The bottom of the fixed link is fixed with acceleration transducer, the outside of fixed link be successively arranged with from top to bottom buffer spring and
Casing, the both ends distribution of the buffer spring are fixedly connected on the end of casing and fixed link, and the bottom of casing is fixed with rubber
Cushion rubber, the rubber ring is interior to be filled with sealing block, and sealing block wraps the test side of acceleration transducer, and the sealing block is rubber
Skin mud filling block.
Preferably, the workpiece polishing mechanism includes the second cylinder, and second cylinder is fixed at the bottom of the second sliding block,
The side of second cylinder is fixed with second distance sensor, is fixed with polishing motor on the output end of second cylinder,
The output end of the polishing motor is fixed with polishing pad, and the output end side of the second cylinder is also fixed with attachment base, connection
The end of seat is fixed with air jet pipe, and the sloped-end of air jet pipe is directed toward the bottom side of polishing pad.
Preferably, the striking mechanism includes the second motor, and second motor is fixed on the top center position of detection arm
It sets, percussion arm is fixed on the output end of the second motor, slidably connect the second adjusting rod in the percussion arm, described second
Adjusting rod is fixed on by the second fixing bolt and is tapped on arm, and second adjusting rod is solid vertically far from one end bottom for tapping arm
Surely there is percussion cylinder, the output end for tapping cylinder is fixed with percussion hammer.
Preferably, described control unit includes micro-control unit, the battery pack being electrical connected with the micro-control unit, number
It is described according to acquisition module, cylinder control module, motor drive module, GPS navigation module, memory module and wireless communication module
Data acquisition module is connected by conducting wire with first distance sensor, acceleration transducer and second distance sensor, the number
Avoidance radar and horizon sensor are also electrically connected with according to acquisition module, the avoidance radar is two and is separately fixed at described
The two sides of arm are detected, horizon sensor is fixed on detection arm, and the cylinder control module is by conducting wire and adjusts cylinder, clamping
Cylinder, the first cylinder, the second cylinder are connected with the control signal for tapping cylinder, and the motor drive module is by conducting wire and carries out
Belt wheel, polishing motor, first motor and the second motor are electrical connected, and polishing motor, first motor and the second motor are stepping
Motor, the wireless communication module are connected by wireless network with background PC computer.
Preferably, charge amplification module and A/D conversion module, the charge amplification are equipped with inside the data acquisition unit
Module is serially connected with A/D conversion module, and charge amplification module is connected with each sensor, A/D conversion module and the microcontroller
Unit is connected.
Preferably, be also fixed with minitype gas booster pump in the control box, minitype gas booster pump by conducting wire with
Battery pack is connected, and the minitype gas booster pump is adjusted cylinder by hose, gripper cylinder, the first cylinder, the second cylinder, struck
Cylinder and air jet pipe gas supply are hit, second cylinder and air jet pipe are same gas circuit.
A kind of pile's integrity testing proposed by the present invention detects robot with small strain, and beneficial effect is: the present invention
Detection path can have been planned according to the position of construction site pile foundation by GPS navigation module, pass through avoidance thunder after reaching pile foundation point
Up to position correction is carried out, make the walking mechanism of small strain detection robot two sides across pile foundation two sides, and be moved to pile foundation just
Then top carries out polishing equating to pile measurement point by workpiece polishing mechanism, then cooperated by testing agency and striking mechanism
Integrity detection is carried out to foundation pile, finally will test data, module is transmitted in background PC computer and carries out to data by wireless communication
Analysis processing, background PC computer can also be realized to the long-range control of small strain detection robot, realize the intelligence of pile's integrity testing
Energyization, the same construction site can be controlled multiple small strain detections robot by the same background PC computer and carry out detection work, had
Effect reduces labor intensity, and improves working efficiency, while improving the precision of detection.
Detailed description of the invention
Fig. 1 is the stereochemical structure signal that a kind of pile's integrity testing small strain proposed by the present invention detects robot
Figure；
Fig. 2 is the side view structure signal that a kind of pile's integrity testing small strain proposed by the present invention detects robot
Figure；
Fig. 3 is the forward sight structural representation that a kind of pile's integrity testing small strain proposed by the present invention detects robot
Figure；
Fig. 4 is the schematic cross-sectional view of testing agency proposed by the present invention；
Fig. 5 is the broken section structural schematic diagram of support arm proposed by the present invention；
Fig. 6 is the system block diagram that a kind of pile's integrity testing small strain proposed by the present invention detects robot.
In figure: detection arm 1, the first adjusting rod 11, the first fixing bolt 12, avoidance radar 13, horizon sensor 14, support
Arm 2, telescopic arm 21, adjusting cylinder 22, Athey wheel 23, gripper cylinder 24, clamping plate 25, handle 3, control box 4, sliding rail 5, first are sliding
Block 51, the second sliding block 52, fixing seat 53, first motor 54, screw rod 55, the first cylinder 6, first distance sensor 61, fixed link
62, buffer spring 63, casing 64, acceleration transducer 65, rubber ring 66, sealing block 67, the second cylinder 7, second distance sensing
Device 71, polishing pad 73, attachment base 74, air jet pipe 75, the second motor 8, taps arm 81, the second adjusting rod 82, the at polishing motor 72
Two fixing bolts 83 tap cylinder 84, tap hammer 85.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-6, a kind of pile's integrity testing detects robot, including detection arm 1 with small strain, detection arm 1
Both ends are equipped with the first telescopically adjustable adjusting rod 11, and the first adjusting rod 11 is solid by the first fixing bolt 12 and detection arm 1
Fixed connection, the first adjusting rod 11 realizes that small strain detects robot span size, is applicable in piles with different diameter, and the first adjusting rod 11 is separate
One end of detection arm 1 is equipped with walking mechanism, and the walking mechanism of two sides is connected as one by the handle 3 of U-shaped structure, is examined
The bottom of test arm 1 is fixed with sliding rail 5 along its length, and the first matched sliding block 51 is slidably connected on sliding rail 5
With the second sliding block 52, the first sliding block 51 and the second sliding block 52 are equipped with sliding drive mechanism, the first sliding block 51 and the second sliding block 52
Lateral synchronizing moving can be achieved under the action of sliding drive mechanism, the bottom of the first sliding block 51 is fixed with testing agency,
The bottom of second sliding block 52 is equipped with workpiece polishing mechanism, and the top center position of detection arm 1 is equipped with striking mechanism, controls and be equipped in box 4
Control unit, control unit are examined for controlling walking mechanism, sliding drive mechanism, testing agency, workpiece polishing mechanism and striking mechanism
Survey mechanism, workpiece polishing mechanism and striking mechanism are all made of straight line driving mechanism and are driven, straight line driving mechanism be electric telescopic rod,
One of telescopic cylinder or telescopic oil cylinder can make workpiece polishing mechanism and testing agency be moved to same inspection by sliding drive mechanism
Measuring point, striking mechanism can be rotated, and rotate to the position far from test point, when detecting to solid pile, test point is located at stake
The region of heart position, beating point is located in the range of 2/3 pile foundation circular arc, and for hollow pile, test point and beating point are positioned at hollow
On stake edge, the line of the line of test point and stake heart point perpendicular to beating point and stake heart point.
Testing agency includes the first cylinder 6, and the first cylinder 6 is fixed at the bottom of the first sliding block 51, the first cylinder 6
Side is fixed with first distance sensor 61, first distance sensor 61 realize to testing agency to stake identity distance from detection,
The output end of first cylinder 6 is fixed with fixed link 62, and the bottom of fixed link 62 is fixed with acceleration transducer 65, fixed link
62 outside is successively arranged with buffer spring 63 and casing 64 from top to bottom, and the both ends distribution of buffer spring 63 is fixedly connected on set
The end of pipe 64 and fixed link 62, casing 64 can slide in fixed link 62, and the bottom of casing 64 is fixed with rubber ring 66, rubber
Sealing block 67 is filled in cushion rubber 66, sealing block 67 wraps the test side of acceleration transducer 65, and sealing block 67 is plasticine
Filling block, the first cylinder 6 can drive acceleration transducer 65 to move down, be extruded on a face, the sealing block in rubber ring 66
67 can ensure that the being completely embedded property between 65 test side of acceleration transducer and stake face, and driving acceleration transducer 65 moves down
During, casing 64 moves up, and buffer spring 63 is compressed, and rubber ring 66 can catch the plasticine being extruded, and avoids rubber
The end of the waste of skin mud, casing 64 can store a large amount of plasticine, after detection, work of the casing 64 in buffer spring 63
With lower reset, and withdraw the plasticine being pressurized away, in the detection process, the connection pair of acceleration transducer 65 and stake top face
Measured waveform influence is very big, and installation can loosely make wave distortion, brings difficult to waveform analysis or even causes to judge by accident, so accelerating
It should insulate between degree sensor 65 and stake top face, is closely connected, must not have bubble, be thought according to actual measurement experience, installed using plasticine
Acceleration transducer 65 can get ideal pile body integrity measured curve.
Workpiece polishing mechanism includes the second cylinder 7, and the second cylinder 7 is fixed at the bottom of the second sliding block 52, the second cylinder 7
Side is fixed with second distance sensor 71, second distance sensor 71 realize workpiece polishing mechanism to stake identity distance from detection, the
Polishing motor 72 is fixed on the output end of two cylinders 7, the output end of polishing motor 72 is fixed with polishing pad 73, polishing pad
73 polishing diameter is greater than the diameter of rubber ring 66, and the output end side of the second cylinder 7 is also fixed with attachment base 74, attachment base
74 end is fixed with air jet pipe 75, and the sloped-end of air jet pipe 75 is directed toward the bottom side of polishing pad 73, motor 72 of polishing
Polishing equating can be carried out to stake face, and the dust polished off is removed by air jet pipe 75, reduce detection error.
Striking mechanism includes the second motor 8, and the second motor 8 is fixed on the top center of detection arm 1, the second motor 8
Output end on be fixed with tap arm 81, tap arm 81 in slidably connect the second adjusting rod 82, the second adjusting rod 82 passes through
Second fixing bolt 83, which is fixed on, to be tapped on arm 81, and the second adjusting rod 82 is vertically fixed far from one end bottom for tapping arm 81 to be struck
Cylinder 84 is hit, the output end for tapping cylinder 84 is fixed with percussion hammer 85, and the percussion end for tapping hammer 85 is frustum structure, the second electricity
Machine 8 can drive percussion hammer 85 to be rotated, and adjust the beating point in the circumferential direction of stake face, adjustable to stake face by the second adjusting rod 82
Axial beating position, tap hammer 85 can be achieved percussions to stake face under the drive for tapping cylinder 84, and number of taps is primary.
Control unit includes micro-control unit, the battery pack being electrical connected with micro-control unit, data acquisition module, cylinder
Control module, motor drive module, GPS navigation module, memory module and wireless communication module, data acquisition module pass through conducting wire
It is connected with first distance sensor 61, acceleration transducer 65 and second distance sensor 71, first distance sensor 61 and
Two range sensors 71 are D3F-80NK laser sensor, and data acquisition module is also electrically connected with avoidance radar 13 and level
Sensor 14, avoidance radar 13 is two and is separately fixed at the two sides of detection arm 1, and avoidance radar 13 is RPLIDAR A1 laser
Avoidance radar, horizon sensor 14 are fixed on detection arm 1, and cylinder control module passes through conducting wire and the first cylinder 6, the second cylinder
7 are connected with the control signal for tapping cylinder 84, and motor drive module is electrical by conducting wire and polishing motor 72 and the second motor 8
It is connected, polishing motor 72 and the second motor 8 are stepper motor, and wireless communication module passes through wireless network and background PC computer phase
Even, micro-control unit is 32 single-chip microcontrollers, is equipped with charge amplification module and A/D conversion module, charge inside data acquisition unit
Amplification module is serially connected with A/D conversion module, and charge amplification module is connected with each sensor, A/D conversion module and microcontroller
Unit is connected, and memory module is used to store the walking path and storage construction site map of small strain detection robot, GPS navigation
Module realizes the path navigation of small strain detection robot.
Minitype gas booster pump is also fixed in control box 4, minitype gas booster pump is connected by conducting wire with battery pack,
Minitype gas booster pump is that the first cylinder 6, the second cylinder 7, percussion cylinder 84 and air jet pipe 75 supply by hose, the second cylinder
7 with air jet pipe 75 be same gas circuit.
Walking mechanism includes support arm 2, and support arm 2 is hollow structure, is fixed in support arm 2 and adjusts cylinder 22, branch
The top slidable connection of brace 2 has telescopic arm 21, and telescopic arm 21 is fixed on the output end for adjusting cylinder 22, and telescopic arm 21 is remote
One end from support arm 2 is rotatably connected on the end of the first adjusting rod 11 by pin shaft, the bottom of support arm 2 in three-legged structure and
It is fixed with the Athey wheel 23 with driving device, the control signal of Athey wheel 23 passes through conducting wire and motor drive module electrical property phase
Even, the control signal for adjusting cylinder 22 is connected by conducting wire with cylinder control, and adjusts cylinder 22 by minitype gas booster pump
Gas supply, the lower part of two support arms 2 are symmetrically arranged with clamping device, and Athey wheel 23 more adapts to the more complicated construction field of road conditions
Ground, the parallel of detection arm 1 can be adjusted by horizon sensor 14 by adjusting cylinder 22.
Clamping device includes two gripper cylinders 24, and two gripper cylinders 24 are separately fixed on two support arms 2, is clamped
Clamping plate 25 is fixed on the output end of cylinder 24, two corresponding sides of clamping plate 25 are globoidal structure, gripper cylinder 24
Control signal be connected with cylinder control module, gripper cylinder 24 is supplied by minitype gas booster pump, the arcwall face of clamping plate 25
It is inside fixed with non-slip mat, small strain can be detected robot and is fixed on foundation pile by clamping device, strengthen small strain detection machine
The stability of device people.
Sliding drive mechanism includes two fixing seats 53, and two fixing seats 53 are separately fixed at the two sides of sliding rail 5, and two solid
Screw rod 55 is equipped between reservation 53, the both ends of screw rod 55 are fixed in fixing seat 53 by axle sleeve, and screw rod 55 runs through the first sliding block
51 and second sliding block 52 be arranged, and screw rod 55 can screw drive the first sliding block 51 and the second sliding block 52, in the fixing seat 53 of side
It is fixed with first motor 54, the output end of first motor 54 is fixedly connected with screw rod 55, and first motor 54 is stepper motor, and is controlled
Input terminal processed is connected by conducting wire with motor drive module, and first motor 54 can drive synchronous driving 51 He of the first sliding block of screw rod 55
Second sliding block 52.
Small strain, which detects robot, can plan detection road according to the position of construction site pile foundation by GPS navigation module
Diameter, reach pile foundation point after by avoidance radar 13 carry out position correction, make small strain detection robot two sides walking mechanism across
In pile foundation two sides, and it is moved to the surface of pile foundation, small strain detection robot is temporarily fixed at by pile foundation by clamping device
On, the stability of small strain detection robot is strengthened, then by adjusting the leveling detection arm 1 of cylinder 22, then pass through sander
Structure carries out polishing equating to pile measurement point, carries out integrity detection to foundation pile by testing agency and striking mechanism cooperation, most
After will test data by wireless communication module be transmitted in background PC computer carry out to data analysis handle, background PC computer can also be real
Now to the long-range control of small strain detection robot, the intelligence of pile's integrity testing is realized, the same construction site can be by
The same background PC computer controls multiple small strain detections robot and carries out detection work, effectively reduces labor intensity, improves work
Efficiency, while improving the precision of detection.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of pile's integrity testing detects robot, including detection arm (1) with small strain, which is characterized in that the detection
The both ends of arm (1) are equipped with telescopically adjustable the first adjusting rod (11), and the first adjusting rod (11) passes through the first fixing bolt
(12) it being fixedly connected with detection arm (1), first adjusting rod (11) is equipped with walking mechanism far from one end of detection arm (1),
The walking mechanism of two sides is connected as one by the handle (3) of U-shaped structure, and the bottom of detection arm (1) is along its length
Direction is fixed with sliding rail (5), and matched the first sliding block (51) and the second sliding block are slidably connected on the sliding rail (5)
(52), the first sliding block (51) and the second sliding block (52) are equipped with sliding drive mechanism, and the bottom of first sliding block (51) is fixed
Equipped with testing agency, the bottom of second sliding block (52) is equipped with workpiece polishing mechanism, and the top center position of detection arm (1) is set
There is striking mechanism, testing agency, workpiece polishing mechanism and striking mechanism are all made of straight line driving mechanism and are driven, the row of side
It walks and is also fixed with control box (4) in mechanism, control unit is equipped in the control box (4), control unit is for controlling walking
Mechanism, sliding drive mechanism, testing agency, workpiece polishing mechanism and striking mechanism.
2. a kind of pile's integrity testing according to claim 1 detects robot with small strain, which is characterized in that described
Straight line driving mechanism is one of electric telescopic rod, telescopic cylinder or telescopic oil cylinder.
3. a kind of pile's integrity testing according to claim 1 detects robot with small strain, which is characterized in that described
Walking mechanism includes support arm (2), and the support arm (2) is hollow structure, is fixed with adjusting cylinder in support arm (2)
(22), the top slidable connection of support arm (2) has telescopic arm (21), and telescopic arm (21) is fixed on the output for adjusting cylinder (22)
On end, the telescopic arm (21) is rotatably connected on first adjusting rod (11) by pin shaft far from the one end of support arm (2)
The bottom of end, the support arm (2) in three-legged structure and is fixed with the Athey wheel (23) with driving device, two supports
The lower part of arm (2) is symmetrically arranged with clamping device.
4. a kind of pile's integrity testing according to claim 3 detects robot with small strain, which is characterized in that described
Clamping device includes two gripper cylinders (24), and two gripper cylinders (24) are separately fixed at two support arms (2)
On, it is fixed with clamping plate (25) on the output end of the gripper cylinder (24), the corresponding side of two clamping plates (25) is equal
For globoidal structure.
5. a kind of pile's integrity testing according to claim 1 detects robot with small strain, which is characterized in that described
Sliding drive mechanism includes two fixing seats (53), and two fixing seats (53) are separately fixed at the two sides of the sliding rail (5), and two
Screw rod (55) are equipped between fixing seat (53), the both ends of the screw rod (55) are fixed on the fixing seat (53) by axle sleeve,
Screw rod (55) through the first sliding block (51) and the second sliding block (52) setting, and screw rod (55) can the first sliding block of screw drive (51) and
Second sliding block (52) is fixed with first motor (54) in the fixing seat (53) of side, the output end and screw rod of first motor (54)
(55) it is fixedly connected.
6. a kind of pile's integrity testing according to claim 1 detects robot with small strain, which is characterized in that described
Testing agency includes the first cylinder (6), and first cylinder (6) is fixed at the bottom of the first sliding block (51), and described first
The side of cylinder (6) is fixed with first distance sensor (61), and the output end of first cylinder (6) is fixed with fixed link
(62), the bottom of the fixed link (62) is fixed with acceleration transducer (65), the outside of fixed link (62) from top to bottom according to
It is secondary to be arranged with buffer spring (63) and casing (64), the both ends distribution of the buffer spring (63) be fixedly connected on casing (64) and
The end of fixed link (62), the bottom of casing (64) are fixed with rubber ring (66), filled with sealing in the rubber ring (66)
Block (67), sealing block (67) wrap the test side of acceleration transducer (65), and the sealing block (67) is plasticine filling block.
7. a kind of pile's integrity testing according to claim 1 detects robot with small strain, which is characterized in that described
Workpiece polishing mechanism includes the second cylinder (7), and second cylinder (7) is fixed at the bottom of the second sliding block (52), the second cylinder
(7) side is fixed with second distance sensor (71), is fixed with polishing motor on the output end of second cylinder (7)
(72), the output end of polishing motor (72) is fixed with polishing pad (73), and the output end side of the second cylinder (7) is also fixed
Equipped with attachment base (74), the end of attachment base (74) is fixed with air jet pipe (75), and the sloped-end direction of air jet pipe (75) is beaten
The bottom side of mill (73).
8. a kind of pile's integrity testing according to claim 1 detects robot with small strain, which is characterized in that described
Striking mechanism includes the second motor (8), and second motor (8) is fixed on the top center of detection arm (1), the second motor
(8) it is fixed on output end and taps arm (81), slidably connected the second adjusting rod (82) in the percussion arm (81), it is described
Second adjusting rod (82) is fixed on by the second fixing bolt (83) and is tapped on arm (81), and second adjusting rod (82) is separate to strike
One end bottom for hitting arm (81), which is vertically fixed, taps cylinder (84), and the output end for tapping cylinder (84) is fixed with percussion
It hammers into shape (85).
9. a kind of pile's integrity testing according to claim 1 detects robot with small strain, which is characterized in that described
Control unit includes micro-control unit, the battery pack being electrical connected with the micro-control unit, data acquisition module, cylinder control
Module, motor drive module, GPS navigation module, memory module and wireless communication module, the data acquisition module pass through conducting wire
It is connected with first distance sensor (61), acceleration transducer (65) and second distance sensor (71), the data acquisition module
Block is also electrically connected with avoidance radar (13) and horizon sensor (14), and the avoidance radar (13) is two and is separately fixed at
The two sides of detection arm (1), horizon sensor (14) are fixed in detection arm (1), and the cylinder control module passes through conducting wire
With the control signal for adjusting cylinder (22), gripper cylinder (24), the first cylinder (6), the second cylinder (7) and percussion cylinder (84)
It is connected, the motor drive module passes through conducting wire and Athey wheel (23), polishing motor (72), first motor (54) and the second motor
(8) it is electrical connected, polishing motor (72), first motor (54) and the second motor (8) are stepper motor, the radio communication mold
Block is connected by wireless network with background PC computer.
10. a kind of pile's integrity testing according to claim 9 detects robot with small strain, which is characterized in that institute
It states and is equipped with charge amplification module and A/D conversion module, the charge amplification module and A/D conversion module inside data acquisition unit
It is serially connected, charge amplification module is connected with each sensor, and A/D conversion module is connected with the micro-control unit.
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| CN201811562694.2A CN109537649B (en) | 2018-12-20 | 2018-12-20 | A kind of pile's integrity testing small strain detection robot |
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| CN201811562694.2A CN109537649B (en) | 2018-12-20 | 2018-12-20 | A kind of pile's integrity testing small strain detection robot |
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| CN111113212B (en) * | 2020-02-11 | 2021-03-30 | 中建八局第一建设有限公司 | Pile head polishing device for low-strain test of cast-in-situ bored pile and construction method |
| CN111576500B (en) * | 2020-05-13 | 2021-07-06 | 浙江工业职业技术学院 | Foundation pile quality detection equipment |
| CN112900506A (en) * | 2021-01-21 | 2021-06-04 | 饶远时 | Pile foundation quality detection device and use method |
| CN113235558A (en) * | 2021-05-17 | 2021-08-10 | 潍坊峡山水务有限公司 | Angle-adjustable dam tamping device for hydraulic engineering and using method thereof |
| CN115387403B (en) * | 2022-08-12 | 2024-02-27 | 广州建设工程质量安全检测中心有限公司 | Detection device and detection method for integrity of existing foundation pile |
| CN115682998B (en) * | 2022-11-04 | 2023-06-30 | 广东科诺勘测工程有限公司 | Method and device for calculating pile length of tubular pile |
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| CN104763000A (en) * | 2015-04-02 | 2015-07-08 | 福建省建筑工程质量检测中心有限公司 | Detection method for completeness of foundation pile |
| CN206090647U (en) * | 2016-06-08 | 2017-04-12 | 武广铁路客运专线有限责任公司 | Pile foundation detection equipment |
| CN206594107U (en) * | 2017-03-13 | 2017-10-27 | 南通理工学院 | Concrete beam damage detection equipment based on ultrasonic waves |
| CN206960408U (en) * | 2017-07-02 | 2018-02-02 | 叶世平 | A kind of ultrasonic detection device for detecting cast-in-place concrete pile |
| CN108411955A (en) * | 2018-05-11 | 2018-08-17 | 中设设计集团股份有限公司 | Underwater pile complete appearance detecting system and detection method |
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