CN115524207A - Automatic detection device and method for strength of large-area concrete structure - Google Patents
Automatic detection device and method for strength of large-area concrete structure Download PDFInfo
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- CN115524207A CN115524207A CN202211115949.7A CN202211115949A CN115524207A CN 115524207 A CN115524207 A CN 115524207A CN 202211115949 A CN202211115949 A CN 202211115949A CN 115524207 A CN115524207 A CN 115524207A
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- wall
- resiliometer
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- 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
- G01N3/02—Details
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- 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
Abstract
The invention discloses a device and a method for automatically detecting the strength of a large-area concrete structure, wherein the device for automatically detecting the strength of the large-area concrete structure comprises a wall-climbing robot for climbing on the surface of concrete, a resiliometer for detecting the strength of the concrete and a moving mechanism for controlling the resiliometer to search for a detection point, wherein the resiliometer is arranged on the moving mechanism, and the moving mechanism is arranged on the wall-climbing robot. The invention is beneficial to solving the problems that a large amount of repetitive work is needed when the strength of the concrete of the component is detected by using the resiliometer in the prior art, the labor intensity of manual detection is high, and an auxiliary operation platform such as a scaffold is needed to be erected for high-altitude operation, so that the cost is high, the efficiency is low, and the like.
Description
Technical Field
The invention relates to the technical field of concrete structure construction in the field of constructional engineering, in particular to a device and a method for automatically detecting the strength of a large-area concrete structure.
Background
Concrete is one of the most common materials in engineering construction, and is an important content for determining the safety of a structure when the concrete strength of an existing concrete structure building is detected. The concrete compression strength is the most important index of concrete, and the detection means commonly used at present are a rebound method, a core drilling method, a post-anchoring method, a shear compression method and the like. However, the core drilling method, the post-anchoring method, the shear-compression method, and other detection methods are destructive detection methods, and irreversible damage may occur to the concrete member. The rebound method can realize nondestructive testing of the strength of the concrete, is the fastest, simplest and most economical testing method for obtaining the quality and the strength of the concrete, and has obvious advantages.
According to the specification, the strength of the concrete of the member is detected by a rebound instrument, and more than ten measuring areas are required to be arranged on a single member such as a concrete beam. According to the difference of the types of the resiliometers, at least 16 measuring points are required to be arranged in each measuring area, so that a large amount of repetitive work is required, when the intensity of large-area concrete such as lining structures of urban subway tunnel concrete is detected, the labor intensity of manual detection is high, and high-altitude operation is carried out by auxiliary operation platforms such as scaffolds, and the cost is high and the efficiency is low.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a large-area concrete structure strength automatic detection device and method which can reduce the workload of workers in the concrete strength detection process and improve the detection efficiency.
In order to solve the technical problem, the invention adopts the following technical scheme: the utility model provides a large tracts of land concrete structure intensity automatic checkout device, is including being used for climbing the wall robot that crawls on the concrete surface and being used for carrying on the resiliometer that the concrete intensity detected, still including being used for control the resiliometer seeks the moving mechanism of check point, the resiliometer sets up moving mechanism is last, moving mechanism sets up on the wall robot climbs. .
Further, the mounting structure of wall climbing robot includes two connecting strips, two installation shell and four supporting legs at least, two connecting strip parallel arrangement, and one the both sides of connecting strip respectively with two one side of installation shell is connected, another the both sides of connecting strip respectively with two the opposite side of installation shell is connected, four two liang of a set of setting respectively on two installation shells of supporting leg, moving mechanism sets up two on the connecting strip.
Furthermore, the moving mechanism comprises a first moving assembly and a second moving assembly, the first moving assembly is arranged on the two mounting shells, the second moving assembly is arranged on the two connecting strips, and the first moving assembly and the second moving assembly are in sliding fit.
Further, the first movement assembly comprises a support piece and two sliding blocks, the two sliding blocks are respectively arranged on the two installation shells, the support piece and the connecting strip are arranged in parallel, two sides of the support piece are respectively connected with the two sliding blocks in a sliding mode, the support piece can perform reciprocating linear movement between the two installation shells, and the resiliometer is arranged on the support piece.
Furthermore, the support member includes a sleeve, a cylinder and two sliding bars, one end of each of the two sliding bars is connected with the two sliding blocks in a sliding manner, the other end of each of the two sliding bars is connected with the outer cylinder wall of the sleeve in a sliding manner, the fixed end of the cylinder is installed on one sliding bar, the output end of the cylinder is connected to the sleeve, the resiliometer is fixed in the sleeve, and the output end of the resiliometer is located at the bottom of the support member.
Further, the second motion subassembly includes two and accepts strip and two external members, two accept strip parallel arrangement, and two the one end of accepting the strip is connected respectively one both sides, the other end of connecting strip are connected respectively another the both sides of connecting strip, two the external member slides the cover respectively and establishes support piece's both sides, and two the external member can be respectively two accept and go on reciprocating linear motion on the strip, and two the slider can be respectively corresponding slide on the installation shell.
A method for automatically detecting the strength of a large-area concrete structure comprises an automatic detection device for the strength of the large-area concrete structure, and comprises the following steps:
s1, preparing a plurality of identification point stickers with two-dimensional codes and identification color blocks;
s2, after the concrete form removal, respectively sticking the plurality of identification point stickers on the surfaces of the corresponding members to be detected;
s3, finishing the maintenance work of the concrete;
s4, inputting information of a component to be detected in the wall-climbing robot, and dispatching the wall-climbing robot for detection;
s5, the wall climbing robot recognizes the mark color block of the mark point sticker on the component, moves to the vicinity of the mark color block to read the color code of the mark color block, reads the color information in the two-dimensional code on the mark point sticker, and compares and judges whether the found mark color block is correct or not; if the finding is correct, recording the member number and the measuring point number in the two-dimensional code, continuously finding the sampling point on the identification point sticker for springback test, recording the result, and finding the next measuring point after the test is finished; if the finding is incorrect, finding the next identification point sticker for judgment;
s6, after the resilience test of all sampling points on one component is finished, storing data into the wall-climbing robot, and starting to search for the next component to be tested;
s7, repeating S5 and S6 until the detection of all the components is completed.
The invention has the following beneficial effects:
the automatic strength detection device for the large-area concrete structure is provided with a wall-climbing robot, a resiliometer and a moving mechanism, wherein the wall-climbing robot can crawl on the surface of concrete, test point data of a detection position are obtained by carrying out rebound testing through the carried resiliometer after the wall-climbing robot crawls to the specified detection position, the detection position can be climbed to different detection positions for detection through the self-help crawling characteristic of the wall-climbing robot, and the measures of high-altitude operation by auxiliary operation platforms such as scaffolds and the like are avoided when manual detection is carried out, so that the safety of workers is guaranteed, the detection efficiency is improved, the moving mechanism is matched with the characteristic that at least 16 test points need to be arranged in each detection area for rebound detection, the resiliometer is driven to move to different test points through the moving mechanism for detection, and the detection efficiency problem is further solved.
Drawings
FIG. 1 is a schematic structural diagram of an automatic strength testing device for large-area concrete structures according to the present invention;
FIG. 2 is a schematic view of the moving mechanism of the present invention;
FIG. 3 is a schematic view of the construction of the point sticker of the present invention;
FIG. 4 is a schematic diagram of the path of the concrete strength test in the tunnel according to the present invention;
fig. 5 is a flow chart of the operation of the present invention.
The components in the drawings are labeled as follows: 1. a wall climbing robot; 101. a connecting strip; 102. mounting a shell; 103. supporting legs; 2. a rebound tester; 3. a moving mechanism; 301. a first motion assembly; 3011. a support member; 3012. a slider; 3013. a sleeve; 3014. a cylinder; 3015. a slide bar; 302. a second motion assembly; 3021. carrying out strip bearing; 3022. a kit; 4. an illumination device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The embodiments and features of the embodiments in the present application may be combined with each other without conflict. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that, if the present invention relates to directional indications such as up, down, left, right, front and back 823082308230, 8230, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture as shown in the drawings, and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B", including either A or B or both A and B. In addition, "a plurality" means two or more. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
See fig. 1 and 2.
The automatic detection device for the strength of the large-area concrete structure comprises a wall-climbing robot 1 used for climbing on the surface of concrete, a resiliometer 2 used for detecting the strength of the concrete, and a moving mechanism 3 used for controlling the resiliometer 2 to find a detection point, wherein the resiliometer 2 is arranged on the moving mechanism 3, and the moving mechanism 3 is arranged on the wall-climbing robot 1. .
The automatic detection device for the strength of the large-area concrete structure is provided with a wall-climbing robot 1, a resiliometer 2 and a moving mechanism 3, wherein the wall-climbing robot 1 can crawl on the surface of concrete, after the wall-climbing robot crawls to specify a detection position, data of the detection position are obtained through rebound testing of the carried resiliometer 2, the wall-climbing robot can climb to different detection positions for detection through the self-crawling characteristic of the wall-climbing robot 1, and measures of high-altitude operation by needing to set up an auxiliary operation platform such as a scaffold and the like during manual detection are avoided, so that the safety of workers is guaranteed, the detection efficiency is improved, the moving mechanism 3 is matched with the characteristic that at least 16 measuring points are needed to be set in each detection area for rebound detection, the resiliometer 2 is driven to move to different measuring points for detection through the moving mechanism 3, and the detection efficiency problem is further solved;
in the invention, the wall-climbing robot 1 is provided with an image recognition module, an intelligent control system, a data storage module and a data transmission module in the technical means commonly used in the field, the position of a detection component is recognized through the image recognition module, the intelligent control system drives the wall-climbing robot 1 to automatically plan a route to travel to the vicinity of a measuring point on the component to be detected according to information captured by the image recognition module, a moving mechanism 3 is controlled to bring a resiliometer 2 to a specified measuring point position for performing rebound test, the storage module is used for storing detection data of different measuring points of different detection positions, and the data transmission module is used for transmitting the detected data out, so that field personnel can observe the data.
In an embodiment, referring to fig. 1 and 2, the mounting structure of the wall-climbing robot 1 at least includes two connecting bars 101, two mounting cases 102, and four supporting legs 103, two of the connecting bars 101 are arranged in parallel, two sides of one of the connecting bars 101 are respectively connected to one sides of the two mounting cases 102, two sides of the other connecting bar 101 are respectively connected to the other sides of the two mounting cases 102, two of the four supporting legs 103 are respectively arranged on the two mounting cases 102 in a group, and the moving mechanism 3 is arranged on the two connecting bars 101. In this embodiment, moving mechanism 3 sets up on two connecting strips 101, and resiliometer 2 sets up between two connecting strips 101, and supporting leg 103 adopts the sucking disc leg structure of the well-known technique in the wall climbing robot field, designs like this, and four supporting legs 103 are located resiliometer 2 outside all around respectively for resiliometer 2 is when carrying out the resilience and detecting, strengthens the stability of whole device.
In an embodiment, referring to fig. 1 and 2, the moving mechanism 3 includes a first moving component 301 and a second moving component 302, the first moving component 301 is disposed on two of the mounting shells 102, the second moving component 302 is disposed on two of the connecting bars 101, and the first moving component 301 and the second moving component 302 are slidably fitted. By the design, the first movement assembly 301 and the second movement assembly 302 drive the resiliometer 2 to move, and the position characteristics of at least 16 detection points in rebound detection can be met.
In an embodiment, referring to fig. 1 and fig. 2, the first moving assembly 301 includes a supporting part 3011 and two sliding blocks 3012, the two sliding blocks 3012 are respectively disposed on the two mounting shells 102, the supporting part 3011 is disposed parallel to the connecting bar 101, two sides of the supporting part 3011 are respectively connected to the two sliding blocks 3012 in a sliding manner, and the supporting part 3011 can perform a reciprocating linear motion between the two mounting shells 102, and the resiliometer 2 is disposed on the supporting part 3011. In the present embodiment, the reciprocating linear motion of the support 3011 is implemented by a linear driver, and the design is such that the rebound apparatus 2 is driven to move in the transverse direction by the reciprocating linear motion of the support 3011.
In an embodiment, referring to fig. 1 and fig. 2, the support 3011 includes a sleeve 3013, an air cylinder 3014, and two slide bars 3015, one end of each of the two slide bars 3015 is slidably connected to the two slide blocks 3012, the other end of each of the two slide bars 3015 is slidably connected to the outer cylinder wall of the sleeve 3013, a fixed end of the air cylinder 3014 is installed on one slide bar 3015, an output end of the air cylinder 3014 is connected to the sleeve 3013, the rebound apparatus 2 is fixed in the sleeve 3013, and an output end of the rebound apparatus 2 is located at the bottom of the support 3011. Design like this, operate sleeve 3013 through cylinder 3014, drive it and be close to and keep away from the check point, and then realize resiliometer 2's resilience and detect.
In an embodiment, referring to fig. 1 and fig. 2, the second moving assembly 302 includes two receiving bars 3021 and two sleeves 3022, the two receiving bars 3021 are disposed in parallel, one end of each of the two receiving bars 3021 is connected to both sides of one of the connecting bars 101, the other end of each of the two receiving bars 3021 is connected to both sides of the other connecting bar 101, the two sleeves 3022 are respectively slidably sleeved on both sides of the supporting piece 3011, the two sleeves 3022 can respectively perform reciprocating linear motion on the two receiving bars 3021, and the two sliders 3012 can respectively slide on the corresponding mounting shells 102. In this embodiment, two sets 3022 that set up are established respectively on two draw runner 3015, and design like this for neither influence the motion of first motion subassembly 301, can move resiliometer 2 in vertical again, satisfy the position characteristics that resilience detected 16 at least check points.
In an embodiment, referring to fig. 1 and 2, the connection bar 101 of the wall-climbing robot 1 is further provided with an illumination device 4. By the design, the wall-climbing robot 1 can work conveniently at night or in a dark environment.
See fig. 3-5.
The invention discloses an automatic detection method for the strength of a large-area concrete structure, which comprises an automatic detection device for the strength of the large-area concrete structure and comprises the following steps:
s1, preparing a plurality of identification point stickers with two-dimensional codes and identification color blocks; in this step, the color blocks of different mark point stickers have different colors and are obviously different from the surrounding environment, and the two-dimensional codes of the different mark point stickers contain color information of corresponding components, number information of the corresponding components and sampling point information of the corresponding components.
S2, after the concrete form removal, respectively sticking a plurality of identification point stickers on the surfaces of corresponding members to be detected; in this step, the identification point sticker is attached to the designated position on the surface of the concrete member according to the number, and the position of the circle in fig. 4 is the attachment position of the identification point sticker.
S3, completing the maintenance work of the concrete; in this step, the concrete surface is ensured to be flat through maintenance work, and the wall-climbing robot 1 can walk conveniently.
S4, inputting information of a component to be detected in the wall-climbing robot 1, and dispatching the wall-climbing robot 1 for detection; in this step, the order of the members to be detected, the number of the members to be detected, and the color information of the identification color block corresponding to each member to be detected are input into the wall-climbing robot 1.
S5, the wall-climbing robot 1 identifies the identification color block of the identification point sticker on the component, moves to the vicinity of the identification color block to read the color code of the identification color block, reads the color information in the two-dimensional code on the identification point sticker, and compares and judges whether the found identification color block is correct or not; if the finding is correct, recording the member number and the measuring point number in the two-dimensional code, continuously finding the sampling point on the identification point sticker for springback test, recording the result, and finding the next measuring point after the test is finished; if the search is incorrect, searching the next identification point sticker for judgment; in this step, the wall climbing robot 1 recognizes the mark color block of the mark point sticker on the component through the image recognition module, converts the color information of the color block into a hexadecimal color code when reading the color code of the mark color block, then reads the information in the two-dimensional code, compares the information with the converted color code to judge whether the recognized position is correct, if so, controls the moving mechanism 3 and the rebound instrument 2 through the intelligent control system to perform rebound test, and records the result through the data storage module.
S6, after the resilience test of all sampling points on one component is finished, storing data into the wall-climbing robot 1, and starting to search for the next component to be tested; in this step, the data is stored in the data storage module of the wall-climbing robot 1, and in the data storage process, the intelligent control system can judge whether to complete the measurement of all the components according to the preset information, and start the measurement of the next component according to the situation, find the next component to be tested and perform the springback test, that is, repeat the step S5.
And S7, repeating S5 and S6 until the detection of all the components is completed.
It should be understood that the examples and embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure, as various modifications or changes in light thereof will be suggested to persons skilled in the art and are to be included within the spirit and purview of this application.
Claims (7)
1. The utility model provides a large tracts of land concrete structure intensity automatic checkout device, is including the resiliometer (2) that are used for climbing wall robot (1) that crawls on the concrete surface and are used for carrying out concrete strength detection, its characterized in that still including being used for controlling resiliometer (2) seek moving mechanism (3) of check point, resiliometer (2) set up on moving mechanism (3), moving mechanism (3) set up on wall climbing robot (1).
2. The automatic strength detection device for the large-area concrete structure according to claim 1, wherein the installation structure of the wall-climbing robot (1) comprises at least two connecting bars (101), two installation shells (102) and four supporting legs (103), the two connecting bars (101) are arranged in parallel, two sides of one connecting bar (101) are respectively connected with one sides of the two installation shells (102), two sides of the other connecting bar (101) are respectively connected with the other sides of the two installation shells (102), the four supporting legs (103) are respectively arranged on the two installation shells (102) in a group of two, and the moving mechanism (3) is arranged on the two connecting bars (101).
3. The automatic detection device for the strength of the large-area concrete structure according to claim 2, characterized in that the moving mechanism (3) comprises a first moving assembly (301) and a second moving assembly (302), the first moving assembly (301) is arranged on the two mounting shells (102), the second moving assembly (302) is arranged on the two connecting bars (101), and the first moving assembly (301) and the second moving assembly (302) are in sliding fit.
4. The automatic strength detection device for the large-area concrete structure according to claim 3, wherein the first moving assembly (301) comprises a support (3011) and two sliding blocks (3012), the two sliding blocks (3012) are respectively disposed on the two mounting shells (102), the support (3011) is disposed in parallel with the connecting strip (101), two sides of the support (3011) are respectively connected with the two sliding blocks (3012) in a sliding manner, the support (3011) can perform a reciprocating linear motion between the two mounting shells (102), and the resiliometer (2) is disposed on the support (3011).
5. The automatic strength detection device for the large-area concrete structure according to claim 4, wherein the support piece (3011) comprises a sleeve (3013), a cylinder (3014) and two slide bars (3015), one end of each of the two slide bars (3015) is slidably connected with the two slide blocks (3012), the other end of each of the two slide bars (3015) is slidably connected with the outer cylinder wall of the sleeve (3013), the fixed end of the cylinder (3014) is installed on one slide bar (3015), the output end of the cylinder is connected to the sleeve (3013), the resiliometer (2) is fixed in the sleeve (3013), and the output end of the resiliometer (2) is located at the bottom of the support piece (3011).
6. The automatic strength detection device for the large-area concrete structure according to claim 4, wherein the second moving assembly (302) comprises two receiving bars (3021) and two sets of parts (3022), the two receiving bars (3021) are arranged in parallel, one end of each of the two receiving bars (3021) is connected to both sides of one of the connecting bars (101), the other end of each of the two receiving bars (3021) is connected to both sides of the other connecting bar (101), the two sets of parts (3022) are respectively slidably sleeved on both sides of the supporting part (3011), the two sets of parts (3022) can respectively perform reciprocating linear motion on the two receiving bars (3021), and the two sliding blocks (3012) can respectively slide on the corresponding mounting shells (102).
7. An automatic detection method for the strength of a large-area concrete structure, which is characterized by comprising the automatic detection device for the strength of a large-area concrete structure as claimed in any one of claims 1 to 6, and comprising the following steps:
s1, preparing a plurality of identification point stickers with two-dimensional codes and identification color blocks;
s2, after the concrete form removal, respectively sticking the plurality of identification point stickers on the surfaces of the corresponding members to be detected;
s3, completing the maintenance work of the concrete;
s4, inputting information of a component to be detected in the wall-climbing robot (1), and dispatching the wall-climbing robot (1) for detection;
s5, the wall climbing robot (1) identifies the identification color block of the identification point sticker on the component, moves to the vicinity of the identification color block, reads the color code of the identification color block, reads the color information in the two-dimensional code on the identification point sticker, and compares and judges whether the found identification color block is correct or not; if the finding is correct, recording the component number and the measuring point number in the two-dimensional code, continuously finding the sampling point on the identification point sticker for springback test, recording the result, and finding the next measuring point after the test is finished; if the finding is incorrect, finding the next identification point sticker for judgment;
s6, after the springback test of all sampling points on one component is finished, storing data into the wall-climbing robot (1), and starting to search for the next component to be tested;
s7, repeating S5 and S6 until the detection of all the components is completed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211115949.7A CN115524207A (en) | 2022-09-14 | 2022-09-14 | Automatic detection device and method for strength of large-area concrete structure |
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| CN202211115949.7A CN115524207A (en) | 2022-09-14 | 2022-09-14 | Automatic detection device and method for strength of large-area concrete structure |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116465765A (en) * | 2023-04-21 | 2023-07-21 | 阿尔尔作 | Highway concrete performance detection system and detection method |
| CN116465765B (en) * | 2023-04-21 | 2024-04-26 | 河北庚祥建筑工程有限公司 | Highway concrete performance detection system and detection method |
-
2022
- 2022-09-14 CN CN202211115949.7A patent/CN115524207A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116465765A (en) * | 2023-04-21 | 2023-07-21 | 阿尔尔作 | Highway concrete performance detection system and detection method |
| CN116465765B (en) * | 2023-04-21 | 2024-04-26 | 河北庚祥建筑工程有限公司 | Highway concrete performance detection system and detection method |
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