CN113405839A - Auxiliary supervision robot - Google Patents
Auxiliary supervision robot Download PDFInfo
- Publication number
- CN113405839A CN113405839A CN202110628156.4A CN202110628156A CN113405839A CN 113405839 A CN113405839 A CN 113405839A CN 202110628156 A CN202110628156 A CN 202110628156A CN 113405839 A CN113405839 A CN 113405839A
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- mobile robot
- cylinder
- robot
- telescopic
- auxiliary
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- 239000004568 cement Substances 0.000 claims abstract description 18
- 238000005070 sampling Methods 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 3
- 239000002689 soil Substances 0.000 abstract description 3
- 238000005553 drilling Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 239000004576 sand Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/28—Measuring arrangements characterised by the use of mechanical techniques for measuring roughness or irregularity of surfaces
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/40—Investigating hardness or rebound hardness
- G01N3/52—Investigating hardness or rebound hardness by measuring extent of rebound of a striking body
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an auxiliary supervision robot, which comprises a mobile robot, wherein a driving wheel is installed at the lower part of the mobile robot, a through hole is formed in the middle of the bottom of the mobile robot, a liftable sampling rotary drum is installed in the through hole in the mobile robot, and a telescopic cement strength detection device and a telescopic wall surface leveling device are respectively installed on two sides of the mobile robot; by starting the driving motor and the screw rod motor, the sampling rotary drum can rotate and descend to take soil; when the strength of the concrete beam or the wall needs to be detected, the mobile robot is moved to the position, and the telescopic cement strength detection device performs strength rebound detection on the mobile robot; when the wall surface flatness needs to be detected, the telescopic wall surface leveling device can detect whether the wall surface is flat or not.
Description
Technical Field
The invention relates to the technical field of engineering supervision, in particular to an auxiliary supervision robot.
Background
The method for detecting the compactness of the pavement at present mainly adopts a sand filling method, wherein the sand filling method firstly needs a worker to dig a test hole on the ground, and then uses measuring sand with uniform particles to replace foundation soil in the test hole; when the pavement is sampled, a drilling machine is required to be used for drilling and sampling, and the conventional drilling machine is large in structure and inconvenient to operate and move;
moreover, the supervision personnel still need to detect the cement strength and the wall surface evenness in person, and the working efficiency is lower.
Disclosure of Invention
The invention aims to provide an auxiliary supervision robot.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: the utility model provides an auxiliary supervision robot, includes mobile robot, the drive wheel is installed to mobile robot lower part, and the opening has been seted up at the bottom of the mobile robot middle part, and the inside sample rotary drum of liftable is installed at the opening position of mobile robot, and telescopic cement strength detection device and telescopic wall leveling device are installed respectively to the mobile robot both sides, and mobile robot one end fixed mounting has camera and wireless transmission module, and the image that the camera was shot is sent for cell-phone terminal through wireless transmission module, the equal fixed mounting in lower part both ends position has the hydraulic pump in the mobile robot, and the piston end fixed mounting of hydraulic pump has the ejector pin, and the ejector pin lower extreme runs through the mobile robot lower surface.
Preferably, guide rails are fixedly mounted on two sides of the inner upper portion of the mobile robot, a lifting plate is slidably mounted between the two guide rails, a driving motor is fixedly mounted on the lower surface of the lifting plate, the output end of the driving motor is fixedly connected with the upper end of the sampling rotary drum, threaded shaft sleeves are fixedly mounted at two ends of the lifting plate, lead screw motors are fixedly mounted at two ends of the inner top of the mobile robot, and lead screw shafts of the lead screw motors are connected with the threaded shaft sleeves at corresponding positions in a matched mode.
Preferably, telescopic cement intensity detection device includes telescopic cylinder, cement intensity resiliometer and first cylinder, the equal fixed mounting of telescopic cylinder and first cylinder has a mobile robot side surface, and first cylinder is located telescopic cylinder below position, cement intensity resiliometer fixed mounting is in telescopic cylinder one end, and telescopic cylinder one end fixed surface installs the baffle, the piston end and the baffle fixed connection of first cylinder.
Preferably, telescopic wall leveling device includes second cylinder, screed-plate and U template, second cylinder fixed mounting is kept away from a side surface that mobile robot kept away from telescopic cylinder position, and the piston end fixed mounting of second cylinder has the articulated slab, and it is articulated through torsional spring and U template activity on the articulated slab, screed-plate fixed mounting is in U template one side, and U template opposite side is equipped with the pointer of a body structure, one side that the articulated slab is close to the pointer position is equipped with the angle scale mark, the screed-plate is perpendicular and articulated slab under the torsional spring effort.
Preferably, a satellite positioning receiver is fixedly mounted on the top of the mobile robot.
Preferably, a position sensor is fixedly arranged at one side of the through opening at the inner lower part of the mobile robot.
Preferably, the mobile robot is an inverted T-box type structure.
Preferably, the first cylinder, the second cylinder, the driving motor, the screw motor and the hydraulic pump are all controlled by a PLC receiving mobile phone terminal signal.
Compared with the prior art, the invention has the advantages that:
the operation is simple, manual operation on site is not needed, and the working efficiency is improved; the mobile robot can move to an accurate position where drilling and sampling are needed through the action of the camera and the satellite positioning receiver, the ejector rod can be inserted into the ground through starting the hydraulic pump, so that the stability of the mobile robot is ensured, and the sampling rotary drum can rotate and descend to take soil through starting the driving motor and the screw rod motor; when the strength of the concrete beam or the wall needs to be detected, the mobile robot is moved to the position, the first air cylinder is started, and the cement strength rebound meter can be touched on the concrete beam or the wall, so that the strength rebound detection can be conveniently carried out on the concrete beam or the wall; when the wall surface flatness needs to be detected, the mobile robot is only required to be moved to one side of the wall body, the second cylinder is started to enable the leveling plate to be attached to the wall surface, and whether the wall surface is flat or not can be detected by observing the position of the pointer.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of an auxiliary proctoring robot in accordance with the present invention;
fig. 2 is a cross-sectional view of an auxiliary proctoring robot in accordance with the present invention.
In the figure: the system comprises a mobile robot 1, a driving wheel 2, a satellite positioning receiver 3, a port 4, a sampling rotary drum 5, a lifting plate 6, a driving motor 7, a lead screw motor 8, a threaded shaft sleeve 9, a guide rail 10, a telescopic cylinder 11, a cement strength resiliometer 12, a first air cylinder 13, a baffle plate 14, a second air cylinder 15, a leveling plate 16, a U-shaped plate 17, a hinged plate 18, a pointer 19, a camera 20, a wireless transmission module 21, a mandril 22, a hydraulic pump 23 and a position sensor 24.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the scope of the present invention will be more clearly and clearly defined.
Referring to fig. 1 and 2, the invention provides an auxiliary supervision robot, which comprises a mobile robot 1, wherein a driving wheel 2 is installed at the lower part of the mobile robot 1, a through opening 4 is formed in the middle of the bottom of the mobile robot 1, a liftable sampling rotary drum 5 is installed in the mobile robot 1 at the position of the through opening 4, a telescopic cement strength detection device and a telescopic wall leveling device are respectively installed at two sides of the mobile robot 1, a camera 20 and a wireless transmission module 21 are fixedly installed at one end of the mobile robot 1, an image shot by the camera 20 is sent to a mobile phone terminal through the wireless transmission module 21, a hydraulic pump 23 is fixedly installed at two ends of the lower part in the mobile robot 1, a push rod 22 is fixedly installed at the piston end of the hydraulic pump 23, and the lower end of the push rod 22 penetrates through the.
In this embodiment, guide rails 10 are fixedly mounted on two sides of the upper portion of the mobile robot 1, a lifting plate 6 is slidably mounted between the two guide rails 10, a driving motor 7 is fixedly mounted on the lower surface of the lifting plate 6, the output end of the driving motor 7 is fixedly connected with the upper end of a sampling rotary drum 5, threaded shaft sleeves 9 are fixedly mounted at two ends of the lifting plate 6, lead screw motors 8 are fixedly mounted at two ends of the top of the mobile robot 1, and lead screw shafts of the lead screw motors 8 are connected with the threaded shaft sleeves 9 at corresponding positions in a matched manner.
In this embodiment, telescopic cement intensity detection device includes telescopic cylinder 11, cement intensity resiliometer 12 and first cylinder 13, and telescopic cylinder 11 and the equal fixed mounting of first cylinder 13 have 1 side surface of mobile robot, and first cylinder 13 is located telescopic cylinder 11 below position, and cement intensity resiliometer 12 fixed mounting has baffle 14 in telescopic cylinder 11 one end, and telescopic cylinder 11 one end lower fixed surface installs baffle 14, the piston end and the baffle 14 fixed connection of first cylinder 13.
In this embodiment, telescopic wall leveling device includes second cylinder 15, leveling plate 16 and U template 17, second cylinder 15 fixed mounting is keeping away from a side surface that mobile robot 1 kept away from telescopic tube 11 position, the piston end fixed mounting of second cylinder 15 has articulated slab 18, articulated slab 18 is last to articulate through the activity of torsional spring and U template 17, leveling plate 16 fixed mounting is in U template 17 one side, U template 17 opposite side is equipped with pointer 19 of a body structure, one side that articulated slab 18 is close to pointer 19 position is equipped with the angle scale mark, leveling plate 16 is perpendicular under the torsional spring effort with articulated slab 18.
In this embodiment, the satellite positioning receiver 3 is fixedly mounted on the top of the mobile robot 1 to play a role in positioning.
In this embodiment, a position sensor 24 is fixedly installed at one side of the through opening 4 at the lower part in the mobile robot 1, and is used for detecting the descending depth of the sampling rotary drum 5, so that the sampling depth can be conveniently controlled.
In this embodiment, mobile robot 1 is the box structure of falling T, and the structure is more stable.
In this embodiment, the first cylinder 13, the second cylinder 15, the driving motor 7, the lead screw motor 8 and the hydraulic pump 23 are controlled by receiving a mobile phone terminal signal through the PLC, so that manual field operation is not required, the labor intensity is reduced, and the working efficiency is improved.
The working principle is as follows: the mobile robot 1 can move to an accurate position needing drilling and sampling through the action of the camera 20 and the satellite positioning receiver 3, the ejector rod 22 can be inserted into the ground through starting the hydraulic pump 23, so that the stability of the mobile robot 1 is ensured, and the sampling rotary drum 5 can rotate and descend to take earth through starting the driving motor 7 and the screw rod motor 8; when the strength of the concrete beam or the wall needs to be detected, the mobile robot 1 is moved to the position, the first air cylinder 13 is started, and the cement strength rebound instrument 12 can be in contact with the concrete beam or the wall, so that the strength rebound detection can be conveniently carried out on the concrete beam or the wall; when the wall surface flatness needs to be detected, the mobile robot 1 is only required to be moved to one side of the wall body, the second air cylinder 15 is started to enable the leveling plate 16 to be attached to the wall surface, and whether the wall surface is flat or not can be detected by observing the position of the pointer 19.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, various changes or modifications may be made by the patentees within the scope of the appended claims, and within the scope of the invention, as long as they do not exceed the scope of the invention described in the claims.
Claims (8)
1. An auxiliary supervision robot, includes mobile robot, its characterized in that: the utility model discloses a mobile robot, including mobile robot, camera, wireless transmission module, mobile robot, drive wheel are installed to the mobile robot lower part, and the opening has been seted up at the bottom middle part of mobile robot, and the inside sample rotary drum of liftable of installing in the opening position of mobile robot, and telescopic cement strength detection device and telescopic wall leveling device are installed respectively to the mobile robot both sides, and mobile robot one end fixed mounting has camera and wireless transmission module, and the image that the camera was shot is sent for mobile terminal through wireless transmission module, the equal fixed mounting in lower part both ends position has the hydraulic pump in the mobile robot, and the piston end fixed mounting of hydraulic pump has the ejector pin, and the ejector pin lower extreme runs through the mobile robot lower surface.
2. An auxiliary proctoring robot as defined in claim 1, wherein: the mobile robot comprises a mobile robot body, guide rails are fixedly mounted on two sides of the inner upper portion of the mobile robot body, a lifting plate is slidably mounted between the two guide rails, a driving motor is fixedly mounted on the lower surface of the lifting plate, the output end of the driving motor is fixedly connected with the upper end of a sampling rotary drum, threaded shaft sleeves are fixedly mounted at two ends of the lifting plate, lead screw motors are fixedly mounted at two ends of the inner top of the mobile robot body, and lead screw shafts of the lead screw motors are connected with the threaded shaft sleeves at corresponding positions in a matched mode.
3. An auxiliary proctoring robot as defined in claim 2, wherein: telescopic cement intensity detection device includes telescopic cylinder, cement intensity resiliometer and first cylinder, the equal fixed mounting of telescopic cylinder and first cylinder has a mobile robot side surface, and first cylinder is located telescopic cylinder below position, cement intensity resiliometer fixed mounting is in telescopic cylinder one end, and telescopic cylinder one end fixed surface installs the baffle, the piston end and the baffle fixed connection of first cylinder.
4. An auxiliary proctoring robot as defined in claim 3, wherein: telescopic wall leveling device includes second cylinder, screed-plate and U template, second cylinder fixed mounting is keeping away from a side surface that removes the telescopic cylinder position at the mobile robot, and the piston end fixed mounting of second cylinder has the articulated slab, and it is articulated through torsional spring and U template activity on the articulated slab, screed-plate fixed mounting is in U template one side, and U template opposite side is equipped with the pointer of a body structure, one side that the articulated slab is close to the pointer position is equipped with the angle scale mark, the screed-plate is perpendicular and articulated slab under torsional spring effort.
5. An auxiliary proctoring robot as claimed in claim 4, wherein: and a satellite positioning receiver is fixedly arranged at the top of the mobile robot.
6. An auxiliary proctoring robot as defined in claim 5, wherein: and a position sensor is fixedly arranged at one side of the through opening at the inner lower part of the mobile robot.
7. An auxiliary proctoring robot as defined in claim 6, wherein: the mobile robot is of an inverted T-shaped box structure.
8. An auxiliary proctoring robot as claimed in claim 7, wherein: the first cylinder, the second cylinder, the driving motor, the screw rod motor and the hydraulic pump are all controlled by a PLC receiving mobile phone terminal signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110628156.4A CN113405839A (en) | 2021-06-06 | 2021-06-06 | Auxiliary supervision robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110628156.4A CN113405839A (en) | 2021-06-06 | 2021-06-06 | Auxiliary supervision robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113405839A true CN113405839A (en) | 2021-09-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110628156.4A Pending CN113405839A (en) | 2021-06-06 | 2021-06-06 | Auxiliary supervision robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN113405839A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113752233A (en) * | 2021-09-24 | 2021-12-07 | 张嘉家 | Crawler-type robot with strong passing ability |
| CN115341769A (en) * | 2022-08-10 | 2022-11-15 | 南通城市建设项目管理有限公司 | Movable wall leveling mechanism and using method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN206891444U (en) * | 2017-06-26 | 2018-01-16 | 江苏鸿成工程项目管理有限公司 | A kind of construction walling perpendicularity and flatness check device |
| CN207656679U (en) * | 2017-12-27 | 2018-07-27 | 深圳市英联土地房地产估价顾问有限公司 | A kind of degree of plainness for wall surface detection device |
| CN111609814A (en) * | 2020-06-02 | 2020-09-01 | 惠安建设监理有限公司 | Project progress auxiliary robot applied to construction supervision and supervision detection method |
| CN211856244U (en) * | 2020-04-23 | 2020-11-03 | 中冶建筑研究总院有限公司 | A sampling device for road bed compactness detects |
| CN112066940A (en) * | 2020-09-11 | 2020-12-11 | 金秀云 | Engineering quality detector for building supervision |
| CN212432860U (en) * | 2020-05-26 | 2021-01-29 | 田镇秋 | Concrete strength detection device for construction |
| CN213068299U (en) * | 2020-08-05 | 2021-04-27 | 上海渠首建设工程有限公司 | Sampling device for monitoring concrete detection in building engineering |
| CN112857865A (en) * | 2020-12-31 | 2021-05-28 | 旌德县展嘉智能科技有限公司 | Soil sampling robot based on 5G |
| CN112903968A (en) * | 2021-01-27 | 2021-06-04 | 丁青 | Vehicle-mounted mobile soil pollution robot sampling, detecting, repairing and treating vehicle |
-
2021
- 2021-06-06 CN CN202110628156.4A patent/CN113405839A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206891444U (en) * | 2017-06-26 | 2018-01-16 | 江苏鸿成工程项目管理有限公司 | A kind of construction walling perpendicularity and flatness check device |
| CN207656679U (en) * | 2017-12-27 | 2018-07-27 | 深圳市英联土地房地产估价顾问有限公司 | A kind of degree of plainness for wall surface detection device |
| CN211856244U (en) * | 2020-04-23 | 2020-11-03 | 中冶建筑研究总院有限公司 | A sampling device for road bed compactness detects |
| CN212432860U (en) * | 2020-05-26 | 2021-01-29 | 田镇秋 | Concrete strength detection device for construction |
| CN111609814A (en) * | 2020-06-02 | 2020-09-01 | 惠安建设监理有限公司 | Project progress auxiliary robot applied to construction supervision and supervision detection method |
| CN213068299U (en) * | 2020-08-05 | 2021-04-27 | 上海渠首建设工程有限公司 | Sampling device for monitoring concrete detection in building engineering |
| CN112066940A (en) * | 2020-09-11 | 2020-12-11 | 金秀云 | Engineering quality detector for building supervision |
| CN112857865A (en) * | 2020-12-31 | 2021-05-28 | 旌德县展嘉智能科技有限公司 | Soil sampling robot based on 5G |
| CN112903968A (en) * | 2021-01-27 | 2021-06-04 | 丁青 | Vehicle-mounted mobile soil pollution robot sampling, detecting, repairing and treating vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113752233A (en) * | 2021-09-24 | 2021-12-07 | 张嘉家 | Crawler-type robot with strong passing ability |
| CN115341769A (en) * | 2022-08-10 | 2022-11-15 | 南通城市建设项目管理有限公司 | Movable wall leveling mechanism and using method thereof |
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Application publication date: 20210917 |