CN115107054B - Steel pipe concrete arch rib void detection robot - Google Patents
Steel pipe concrete arch rib void detection robot Download PDFInfo
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- CN115107054B CN115107054B CN202210914559.XA CN202210914559A CN115107054B CN 115107054 B CN115107054 B CN 115107054B CN 202210914559 A CN202210914559 A CN 202210914559A CN 115107054 B CN115107054 B CN 115107054B
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- 238000001514 detection method Methods 0.000 title claims abstract description 38
- 239000011800 void material Substances 0.000 title claims abstract description 35
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 25
- 239000010959 steel Substances 0.000 title claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims description 27
- 230000005284 excitation Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 4
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims 3
- 241000251131 Sphyrna Species 0.000 claims 1
- 230000003247 decreasing effect Effects 0.000 claims 1
- 101100334009 Caenorhabditis elegans rib-2 gene Proteins 0.000 description 20
- 238000010586 diagram Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000007822 coupling agent Substances 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/045—Analysing solids by imparting shocks to the workpiece and detecting the vibrations or the acoustic waves caused by the shocks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/12—Analysing solids by measuring frequency or resonance of acoustic waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
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Abstract
The invention relates to the field of bridge detection, and particularly discloses a steel pipe concrete arch rib void detection robot, which comprises a machine shell, a driving unit and a detection unit, wherein the machine shell is L-shaped, a moving space which is profiled with the upper end surface of an arch rib is formed on the machine shell, the driving unit is arranged at one end, close to the outer side of the arch rib, of the machine shell, the driving unit comprises a driving motor and a driving wheel, the driving wheel comprises an inner wheel and an outer wheel, the inner wheel is connected with the driving motor, two opposite rotating shafts are arranged on the outer wall of the inner wheel, the outer wheel is connected with the rotating shafts, and a plurality of grooves are uniformly arranged on the outer wheel along the circumferential direction; the detection unit is arranged at the bottom end of the upper part of the shell and comprises a signal generating part and a signal receiving part, the signal generating part comprises a first motor, a first rotating shaft and a plurality of first knocking hammers, and the first knocking hammers are arranged on the first rotating shaft; the signal receiving portion includes an acoustic sensor. The invention aims to solve the technical problem of how to detect a dumbbell-shaped steel pipe concrete arch rib void area.
Description
Technical Field
The invention relates to the field of bridge detection, and particularly discloses a steel tube concrete arch rib void detection robot.
Background
The steel pipe concrete arch bridge is a novel bridge structure developed in bridge construction in recent years in China, has the advantages of light dead weight, high strength, high deformation resistance and high bearing capacity, is saved in material, light in installation weight, convenient to construct, short in construction period and small in maintenance workload, and is a relatively ideal structural form of the large-span arch bridge. The concrete in the cast pipe is hidden, and naked eyes cannot directly observe whether the concrete has the defect of debonding or void, so that the cast arch rib must be subjected to void detection, and meanwhile, the bridge must be periodically detected to detect the void of the concrete filled steel tube.
The existing detection method comprises ultrasonic wave, infrared imaging and the like, wherein the ultrasonic wave effect is good, the detection is not damaged to the steel pipe concrete, meanwhile, the area of a void area and the like can be detected, but when the ultrasonic equipment is used, a coupling agent needs to be coated on the surface of the steel pipe, the operation is troublesome, the main problems are that the operation is needed at the high altitude of an arch rib, the danger is high, a construction operation platform is needed to be set up, and the cost is high. In addition, the manual detection efficiency is very low one by one, the time is long, the labor cost is high, and the condition of missing detection exists. Thermal imaging presents the same problems.
Disclosure of Invention
In view of the above, the present invention aims to provide a steel pipe concrete arch rib void detection robot, so as to solve the technical problem of how to detect the steel pipe concrete arch rib void.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The steel pipe concrete arch rib void detection robot comprises a machine shell, a driving unit and a detection unit, wherein the machine shell is L-shaped, a moving space which is profiled with the upper end face of an arch rib is formed on the machine shell, the driving unit is arranged at one end, close to the outer side of the arch rib, of the machine shell, the driving unit comprises a driving motor and a driving wheel, the driving wheel comprises an inner wheel and an outer wheel, the inner wheel is connected with the driving motor, two opposite rotating shafts are arranged on the outer wall of the inner wheel, the outer wheel is connected with the rotating shafts, a plurality of grooves are uniformly arranged on the outer wheel along the circumferential direction, and magnets are arranged in the grooves; the detection unit is arranged at the bottom end of the upper part of the shell and comprises a signal generation part and a signal receiving part, the signal generation part comprises a first motor, a first rotating shaft and a plurality of first knocking hammers, the first rotating shaft comprises a plurality of sections of universal shafts, the plurality of universal shafts are connected through universal couplings, the universal shaft at the head end is connected with the first motor, the universal shaft at the tail end is rotationally connected with the shell, and the first knocking hammers are arranged on the universal shafts; the signal receiving portion includes an acoustic sensor.
The dumbbell-shaped steel pipe concrete arch rib specifically comprises two cylindrical structures and a rectangular structure in the middle, so that the upper end and the lower end of the dumbbell-shaped steel pipe concrete arch rib are circular cambered surfaces, the inner side of the arch rib is required to be connected with the upper structure of a bridge, and therefore a connecting structure is arranged in a part area of the inner side of the arch rib, and the robot is blocked by the same person. In this scheme, the casing of robot sets up to L type, and the one end that is located the arch rib inboard on the casing then opens, so can not receive arch rib connection structure's influence. The driving unit on the shell is provided with a magnet, so that the outer wheel can be attracted to the arch rib, and the whole robot cannot fall off from the arch rib. Meanwhile, the driving wheel comprises an inner wheel and an outer wheel, wherein the outer wheel can rotate on the inner wheel, so that the outer wheel can adjust the direction in the moving process to cope with the bending shape of the arch rib. Simultaneously, first pivot is including a plurality of cardan shafts, and a plurality of cardan shafts correspond a plurality of first hammer that strikes, and first hammer that strikes can strike each region of arch rib.
Optionally, an auxiliary moving unit is arranged at one end, close to the inner side of the arch rib, of the casing, the auxiliary moving unit comprises an auxiliary arm hinged to the casing, an auxiliary wheel is arranged at the lower end of the auxiliary arm, and a transverse rolling ball is arranged on one side, close to the arch rib, of the auxiliary wheel in an embedded and rotated mode. The auxiliary moving unit is arranged on the inner side part of the shell, which is close to the arch rib, and the auxiliary moving unit is hinged, so that when the auxiliary moving unit passes through the connecting structure, the auxiliary moving unit can turn over to cross the connecting structure part and then move continuously. The auxiliary moving unit can play a role in balancing and stabilizing the whole robot, so that the robot can move on the arch rib more smoothly.
Optionally, a spline is arranged on the universal shaft, a key groove is arranged on the first knocking hammer, and the key groove is in damping fit with the spline; by adopting the scheme, the first knocking hammer can horizontally move on the universal shaft. The position that first knocking hammer can strike is limited, sets up a plurality of knocking hammers and then the cost is higher, so when the robot removes once on the arch rib after, adjusts first knocking hammer position, and reverse removal just can make up the region of knocking before the knocking again.
The horizontal adjusting unit comprises a linear motor, a transmission rod and a transmission ring, wherein the transmission rod is connected with the output end of the linear motor, two transmission rings are arranged on the transmission rod, and the transmission rings are sleeved on the spline and can respectively abut against the left side and the right side of the first knocking hammer. By adopting the scheme, the linear motor can drive the transmission rod to move left and right, the transmission rod can drive the transmission ring to move left and right, and the transmission ring can stir the first knocking hammer to move left and right, and the position of the first knocking hammer is adjusted so as to knock different areas.
The novel hammer comprises a spline, and is characterized in that a deflection inclined key is arranged on the spline, the lower end of the deflection inclined key is small in height, the upper end of the deflection inclined key is large in height, the first striking hammer comprises a hammer handle part, a hammer rod part and a hammer head part, the hammer head part is arranged on the hammer rod part, a key groove is formed in the hammer handle part, a deflection groove is formed in the key groove, the hammer handle part is provided with a rod-shaped groove, the rod-shaped groove is communicated with the key groove, the hammer rod part is arranged in the rod-shaped groove in a sliding mode, the edge of the upper end of the hammer rod part is provided with an outer edge, a first reset spring is arranged at the bottom of the outer edge and abuts against the bottom of the rod-shaped groove, and a deflection straight key capable of penetrating through the deflection groove and abutting against the deflection inclined key is arranged at the upper end of the hammer rod part. Because the surface of the arch rib is an arc surface, and the first knocking hammer can only move linearly under the drive of the linear motor, the scheme is provided with the deflection inclined key and the deflection straight key, and because the contact surface of the deflection inclined key and the deflection straight key is inclined, when the deflection straight key moves on the deflection inclined key, the deflection straight key moves towards or away from the surface of the arch rib so as to be close to or away from the surface of the arch rib, namely the first knocking hammer can be simultaneously close to or away from the arch rib in the linear movement process, so that the hammer head can be better contacted with the arch rib.
Optionally, the hammer head is hinged with the lower end of the hammer rod part through a torsion spring. By adopting the scheme, even if the position of the hammer head is close to that of the arch rib when the hammer head is in contact with the arch rib, the hammer head can deflect and is prevented from being blocked on the surface of the arch rib. Optionally, the inclination angles of the hammer head parts of the first knocking hammers along the universal shaft become larger or smaller in sequence. By adopting the scheme, the hammers strike the arch rib at different times, so that the sound generated by each hammers strike can be respectively received and recorded and then used for analysis.
Optionally, the anti-slip pad is made of plastic and is attached to the middle part of the outer side of the arch rib. By adopting the scheme, the anti-slip pad can prevent the driving wheel from slipping on the outer surface of the arch rib.
The steel tube concrete arch rib void detection robot comprises the following steps:
s1, starting a driving unit, wherein the driving unit drives the robot to move on the arch rib;
S2, starting a detection unit, wherein a first knocking hammer in the detection unit knocks the surface of the arch rib under the action of a first motor, and the first knocking hammer pulse-excites a void area of the arch rib;
s3, an acoustic sensor in the detection unit can receive the frequency of vibration sound waves generated by knocking tied arch ribs by the first knocking hammer, and the sound waves are related to the area of the void area, the shape of the void area and the thickness of the arch rib steel pipe;
s4, repeating the steps S2 and S3, wherein after pulse excitation is applied to the void area at different positions by the first knocking hammer, the generated sound wave frequencies are different, and the sound wave frequency parameters are collected;
S5, calculating and determining the position, the area and the shape of the void area on the arch rib according to the change of different sound wave frequencies.
The working principle and the beneficial effects of the scheme are as follows:
The robot in this scheme can be through the drive wheel in the mid portion of arch rib removal, removes just can detect whole arch rib along the arch rib. When the first knocking hammer is used for knocking the arch rib during detection, when the knocking hammer is used for knocking the arch rib, the generated sound has higher frequency if the arch rib is in a void state, and has lower frequency if the arch rib is not in a void state, and the acoustic sensor can collect various parameters of the sound and then is used for data analysis. The scheme has high feasibility and simple operation, and is relatively easier to realize automatic monitoring.
Drawings
FIG. 1 is a schematic diagram of an embodiment;
FIG. 2 is a schematic diagram of a part of the structure of a detection unit;
FIG. 3 is an enlarged view of FIG. 2 at A;
fig. 4 is a longitudinal sectional view of a part of the structure of the first striking hammer;
FIG. 5 is a schematic diagram of the drive wheel and drive motor configuration;
FIG. 6 is a schematic view of the structure of the cleat;
FIG. 7 is a schematic diagram of an auxiliary mobile unit;
Fig. 8 is a schematic diagram of the application of a pulsed excitation to the rib.
The figures are marked as follows: the device comprises a shell 1, an arch rib 2, an auxiliary arm 3, a driving wheel 4, a first motor 5, a guide rod 6, a first knocking hammer 7, a universal shaft 8, a universal coupling 9, a transmission rod 10, a linear motor 11, a transmission ring 12, a hammer handle 13, a hammer rod 14, a hammer head 15, a spline 16, a deflection inclined key 17, a shaft hole 18, a key groove 19, a deflection groove 20, a deflection straight key 21, a first reset spring 22, a driving motor 23, a rotating shaft 24, an outer wheel 25, an inner wheel 26, a magnet 27, a non-slip mat 28, a non-slip protrusion 29, an auxiliary wheel 30 and a transverse rolling ball 31.
Detailed Description
The following is a further detailed description of the embodiments:
examples
The robot for detecting the falling-off of the steel pipe concrete arch rib 2 comprises a shell 1, a driving unit, a detecting unit and an anti-skid pad 28 as shown in fig. 1-8.
The arch rib 2 comprises three parts, an upper part and a lower part are cylindrical, the middle part is rectangular, the three parts are hollow, and the upper end and the lower end of the middle part are integrally communicated with the upper part and the lower part.
The anti-slip pad 28 is fixedly arranged on the arch rib 2 through bolts, and a plurality of anti-slip protrusions 29 are arranged on the anti-slip pad 28.
The casing 1 is L type, and the vertical part of casing 1 is located the outside end of arch rib 2, and the bottom of horizontal part is formed with the curved travel space of profile modeling with the up end of arch rib 2, and the vertical fixed a plurality of guide bars 6 that are provided with in travel space, the fixed arc piece that is provided with in bottom of guide bar 6, the arc piece can laminate on the outer wall of arch rib 2. The drive unit is arranged at one end of the casing 1 near the outer side of the arch rib 2, i.e. the vertical part of the casing 1, and comprises a drive motor 23 and a drive wheel 4, wherein the drive motor 23 is fixedly arranged in the casing 1. The driving wheel 4 comprises an inner wheel 26 and an outer wheel 25, the inner wheel 26 is fixedly connected with the output end of the driving motor 23, two opposite rotating shafts 24 are rotatably arranged on the outer wall of the inner wheel 26 along the radial direction, the inner wall of the outer wheel 25 is rotatably connected with the rotating shafts 24, a plurality of grooves are uniformly arranged on the outer wall of the outer wheel 25 along the circumferential direction, magnets 27 are arranged in the grooves, the width of each magnet 27 is equal to the interval between two adjacent anti-slip protrusions 29, and each magnet 27 protrudes to the outer side of each groove. An auxiliary moving unit is arranged at one end, close to the inner side of the arch rib 2, of the casing 1, the auxiliary moving unit comprises an auxiliary arm 3 hinged to the casing 1, an auxiliary wheel 30 is arranged at the lower end of the auxiliary arm 3, and a transverse rolling ball 31 is arranged on one side, close to the arch rib 2, of the auxiliary wheel 30 in an embedded and rotating mode.
The detection unit is disposed at the bottom end of the upper portion of the cabinet 1, i.e., in the moving space. The detection unit comprises a signal generating part and a signal receiving part, wherein the signal generating part comprises a first motor 5, a first rotating shaft and a plurality of first knocking hammers 7. The first motor 5 is fixedly arranged in a moving space, the first rotating shaft comprises a plurality of sections of universal shafts 8, the plurality of universal shafts 8 are connected through universal couplings 9, the universal shaft 8 at the head end is connected with the first motor 5, and the universal shaft 8 at the tail end is rotationally connected with the casing 1. The first knocking hammer 7 comprises a hammer handle part 13, a hammer rod part 14 and a hammer head part 15, wherein the hammer head part 15 is hinged to the lower end of the hammer rod part 14 through a torsion spring, the hammer handle part 13 is arranged on the universal shaft 8 in a damping sliding manner, and the specific arrangement mode is as follows: the universal shaft 8 is provided with a spline 16, the hammer handle 13 is provided with a shaft hole 18 and a key groove 19, the shaft hole 18 is used for penetrating through the universal shaft 8, and the key groove 19 is in damping fit with the spline 16. The spline 16 is fixedly provided with a deflection inclined key 17 along the length direction, and the deflection inclined key 17 has small height at the lower end and large height at the upper end. The key groove 19 is provided with a deflection groove 20, the hammer handle part 13 is provided with a rod-shaped groove, the rod-shaped groove is communicated with the key groove 19, the hammer rod part 14 is vertically arranged in the rod-shaped groove in a sliding mode, the edge of the upper end of the hammer rod part 14 is provided with an outer edge, the bottom of the outer edge is fixedly provided with a first reset spring 22, the first reset spring 22 abuts against the bottom of the rod-shaped groove, and the upper end of the hammer rod part 14 is provided with a deflection straight key 21 capable of abutting against the deflection inclined key 17 through the deflection groove 20. The inclination angle of the hammer head 15 of the first striking hammer 7 along the cardan shaft 8 becomes sequentially larger or smaller. The signal receiving part includes an acoustic sensor, the acoustic sensor is directly fixed at the bottom of the horizontal part of the casing 1, that is, above the first knocking hammer 7, and the signal receiving part may also be provided with a control unit, such as a plc controller, which can store or directly calculate the received signal, and the subsequent processing of the signal data belongs to a very existing technology, and does not belong to the protection scope of the present application.
The casing 1 is provided with a horizontal adjusting unit, the horizontal adjusting unit comprises a linear motor 11, a transmission rod 10 and a transmission ring 12, the transmission rod 10 is connected with the output end of the linear motor 11, the transmission rod 10 is provided with two transmission rings 12, and the transmission rings 12 are sleeved on a spline 16 and can respectively abut against the left side and the right side of the first knocking hammer 7.
The steel tube concrete arch rib void detection robot comprises the following steps:
s1, starting a driving unit, wherein the driving unit drives the robot to move on the arch rib;
S2, starting a detection unit, wherein a first knocking hammer in the detection unit knocks the surface of the arch rib under the action of a first motor, and the first knocking hammer pulse-excites a void area of the arch rib;
s3, an acoustic sensor in the detection unit can receive vibration sound wave frequency generated by knocking tied arch ribs by the first knocking hammer, and the sound wave frequency is related to the area of the void area, the shape of the void area and the thickness of the arch rib steel pipe;
s4, repeating the steps S2 and S3, wherein after pulse excitation is applied to the void area at different positions by the first knocking hammer, the generated sound wave frequencies are different, and the sound wave frequency parameters are collected;
S5, calculating and determining the position, the area and the shape of the void area on the arch rib according to the change of different sound wave frequencies.
The specific implementation method comprises the following steps:
Fig. 8 is a schematic diagram of a time pulse excitation of a rib when a first hammer strikes the rib. The anti-slip pad 28 is fixed on the middle part of the arch rib 2, then the whole robot is mounted on the arch rib 2, the arc-shaped piece at the bottom of the guide rod 6 can be attached to the upper surface of the arch rib 2, the support function is achieved, and the magnet 27 on the outer wheel 25 can also achieve the attraction and fixation functions. The driving motor 23 is started, the driving motor 23 drives the rotating shaft 24 to rotate, the rotating shaft 24 drives the inner wheel 26 to rotate, the inner wheel 26 drives the outer wheel 25 to rotate, and when the outer wheel 25 touches the edge of the middle part of the arch rib 2, the outer wheel 25 can rotate at a certain angle and then move continuously. Simultaneously, the first motor 5 is started, the first motor 5 drives the universal shafts 8 to rotate, and because the initial angles of the first knocking hammers 7 are different, after all the first knocking hammers 7 rotate, the sounds generated by knocking the arch rib 2 are not the same time, and larger interference cannot occur. When the robot moves on the arch rib 2 for one stroke, the transmission rod 10 and the transmission ring 12 are driven to move by the movement of the linear motor 11, the transmission ring 12 drives the first knocking hammer 7 to move, and the hammer head 15 also moves to the right and upward for a certain distance in the process of moving along the universal shaft 8, for example, moving left to right, and the hammer rod 14 and the hammer head 15 move downwards to be close to the arch rib 2 under the action of the deflection inclined key 17 so as to compensate the distance generated by the upward movement of the hammer head 15. The robot then runs through a further stroke and can detect other areas of the rib 2. In the present application, the first knocking hammer 7 is capable of knocking only a partial region of the upper portion of the arch rib 2, but according to actual circumstances, only the region of the upper portion of the arch rib 2 is left open, and other regions are not left open.
The foregoing is merely exemplary embodiments of the present invention, and specific structures and features that are well known in the art are not described in detail herein. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present invention, and these should also be considered as the scope of the present invention, which does not affect the effect of the implementation of the present invention and the practical applicability of the present invention.
Claims (5)
1. The utility model provides a steel pipe concrete arch rib void detection robot which characterized in that: the device comprises a shell, a driving unit and a detection unit, wherein the shell is L-shaped, a moving space which is profiled with the upper end face of an arch rib is formed on the shell, the driving unit is arranged at one end, close to the outer side of the arch rib, of the shell, the driving unit comprises a driving motor and a driving wheel, the driving wheel comprises an inner wheel and an outer wheel, the inner wheel is connected with the driving motor, two opposite rotating shafts are arranged on the outer wall of the inner wheel, the outer wheel is connected with the rotating shafts, a plurality of grooves are uniformly arranged on the outer wheel along the circumferential direction, and magnets are arranged in the grooves; the detection unit is arranged at the bottom end of the upper part of the shell and comprises a signal generation part and a signal receiving part, the signal generation part comprises a first motor, a first rotating shaft and a plurality of first knocking hammers, the first rotating shaft comprises a plurality of sections of universal shafts, the plurality of universal shafts are connected through universal couplings, the universal shaft at the head end is connected with the first motor, the universal shaft at the tail end is rotationally connected with the shell, and the first knocking hammers are arranged on the universal shafts; the signal receiving part comprises an acoustic sensor;
the universal shaft is provided with a spline, the first knocking hammer is provided with a key groove, and the key groove is in damping fit with the spline;
The machine shell is provided with a horizontal adjusting unit, the horizontal adjusting unit comprises a linear motor, a transmission rod and a transmission ring, the transmission rod is connected with the output end of the linear motor, the transmission rod is provided with two transmission rings, and the transmission rings are sleeved on a spline and can respectively prop against the left side and the right side of the first knocking hammer;
The spline is provided with a deflection inclined key, the lower end of the deflection inclined key is small in height, and the upper end of the deflection inclined key is large in height, the first knocking hammer comprises a hammer handle part, a hammer rod part and a hammer head part, the hammer head part is arranged on the hammer rod part, the key slot is arranged on the hammer handle part, the key slot is provided with a deflection groove, and the hammer handle part is provided with a rod-shaped groove;
the rod-shaped groove is communicated with the key groove, the hammer rod part is arranged in the rod-shaped groove in a sliding manner, the edge of the upper end of the hammer rod part is provided with an outer edge, the bottom of the outer edge is provided with a first reset spring, the first reset spring is propped against the bottom of the rod-shaped groove, and the upper end of the hammer rod part is provided with a displacement straight key which can penetrate through the displacement groove and prop against the displacement inclined key;
the inclination angles of the hammerhead parts of the first knocking hammers along the universal shaft are sequentially increased or decreased.
2. The steel tube concrete arch rib void detection robot of claim 1, wherein: the auxiliary moving unit comprises an auxiliary arm hinged on the shell, an auxiliary wheel is arranged at the lower end of the auxiliary arm, and a transverse rolling ball is arranged on one side, close to the arch rib, of the auxiliary wheel in an embedded and rotating mode.
3. The steel tube concrete arch rib void detection robot of claim 2, wherein: the hammer head is hinged with the lower end of the hammer rod part through a torsion spring.
4. A steel pipe concrete arch rib void detection robot according to claim 3, wherein: the anti-slip cushion is made of plastic and is attached to the middle of the outer side of the arch rib.
5. The method for detecting the hollowing out of the steel tube concrete arch rib by the robot according to any one of claims 1 to 4, comprising the steps of:
s1, starting a driving unit, wherein the driving unit drives the robot to move on the arch rib;
S2, starting a detection unit, wherein a first knocking hammer in the detection unit knocks the surface of the arch rib under the action of a first motor, and the first knocking hammer pulse-excites a void area of the arch rib;
S3, an acoustic sensor in the detection unit can receive vibration sound waves generated by knocking tied arch ribs by the first knocking hammer, and the sound waves are related to the area of the void area, the shape of the void area and the thickness of the arch rib steel pipe;
s4, repeating the steps S2 and S3, wherein after pulse excitation is applied to the void area at different positions by the first knocking hammer, the generated sound wave frequencies are different, and the sound wave frequency parameters are collected;
S5, calculating and determining the position, the area and the shape of the void area on the arch rib according to the change of different sound wave frequencies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210914559.XA CN115107054B (en) | 2022-08-01 | 2022-08-01 | Steel pipe concrete arch rib void detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210914559.XA CN115107054B (en) | 2022-08-01 | 2022-08-01 | Steel pipe concrete arch rib void detection robot |
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| Publication Number | Publication Date |
|---|---|
| CN115107054A CN115107054A (en) | 2022-09-27 |
| CN115107054B true CN115107054B (en) | 2024-05-24 |
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| CN202210914559.XA Active CN115107054B (en) | 2022-08-01 | 2022-08-01 | Steel pipe concrete arch rib void detection robot |
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| CN (1) | CN115107054B (en) |
Citations (18)
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