CN116297512B - Nondestructive detection robot for telegraph pole reinforcing steel bar structure - Google Patents
Nondestructive detection robot for telegraph pole reinforcing steel bar structure Download PDFInfo
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- CN116297512B CN116297512B CN202310014029.4A CN202310014029A CN116297512B CN 116297512 B CN116297512 B CN 116297512B CN 202310014029 A CN202310014029 A CN 202310014029A CN 116297512 B CN116297512 B CN 116297512B
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- 238000001514 detection method Methods 0.000 title abstract description 37
- 229910001294 Reinforcing steel Inorganic materials 0.000 title abstract description 11
- 238000007689 inspection Methods 0.000 claims abstract description 39
- 230000000087 stabilizing effect Effects 0.000 claims description 45
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 5
- 238000004804 winding Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 20
- 238000009659 non-destructive testing Methods 0.000 abstract description 14
- 238000004080 punching Methods 0.000 abstract description 6
- 230000001681 protective effect Effects 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000002787 reinforcement Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000009193 crawling Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 208000008918 voyeurism Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009933 burial Methods 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 230000005251 gamma ray Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000006247 magnetic powder Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires
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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
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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
- G01N29/048—Marking the faulty objects
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
- G01N2291/0234—Metals, e.g. steel
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- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a nondestructive testing robot for a telegraph pole reinforcing steel bar structure, which comprises the following components: a connecting frame; a moving wheel group; a first inspection piece; the first stable subassembly, this first stable subassembly is including arranging the first stable board at first casing inner chamber, and the both ends of this first stable board are equipped with the head rod that passes first casing and connect on the link, and the first vision sensor of camera lens orientation is arranged at the top surface of first stable board, and the bottom surface of above-mentioned first stable board is equipped with a plurality of batteries and balancing weight to the position of above-mentioned first stable board of better maintenance, the top surface of above-mentioned first stable board be equipped with first transparent ring be located the vision sensor of same plumb face. The invention adopts an internal detection structure of the internal telegraph pole, and the data is more accurate; moreover, the electric pole structure is less damaged without punching, and meanwhile, the influence of falling objects such as air flow or scraps on the electric pole structure in the moving process of the electric pole structure is avoided through the protective structure formed by the shell and the transparent ring.
Description
Technical Field
The invention relates to the technical field of detection of a telegraph pole reinforcing steel bar structure, in particular to a nondestructive detection robot for the telegraph pole reinforcing steel bar structure.
Background
With the development of information technology, the utility pole is gradually provided with the function of an intelligent conveying platform from an original cement column, and is gradually coming into a new era due to the development of internet of things (IoT) sensor technology, for example, a korean electric company represents that an electric power network originally used for conveying electric power is intended to be used for transmitting information, and is changed into an energy internet network, so that the utility pole is manufactured into the intelligent conveying platform. Intelligent sensors set up to korea from 2015 are collecting power data in real time. Based on the data, the power network can accurately predict the electricity consumption of consumers in various places in specific periods such as summer heat, and then send short messages for saving energy to the users in stages. If the power consumption of the families of the solitary old man is suddenly reduced, the power network can also automatically inform the social benefit workers of the situation, and timely confirm whether the old man is safe or not. At present, 30 ten thousand pieces of electricity data can be collected every day, and korean electric power companies are grasping and researching possible uses of the data, so that the utility of the utility pole in the prior art is increasingly heavy.
In actual production and life, the telegraph pole is damaged, and the production and life safety is affected, so that flaw detection is required for the telegraph pole, wherein the common flaw detection method comprises the following steps: x-ray flaw detection, ultrasonic flaw detection, magnetic powder flaw detection, penetration flaw detection (dye flaw detection), eddy current flaw detection, gamma ray flaw detection, fluorescent flaw detection, and the like.
The method for detecting the force of the buried part of the electric pole mainly comprises an underground ultrasonic wave removing method, an underground peeping mirror method and a measuring ruler method in the prior art, namely a method for detecting the buried depth and damage of the electric pole based on Rayleigh waves, which is mentioned in the volume 37 and 16 of the 25 th month of the 2020 of the communication power supply technology. The lining ruler method comprises two different detection modes. One is to insert the electric rod child-measuring ruler into the ground for detection, when the child-measuring ruler touches the solid foreign matter, the measurement is difficult, so that the complete burial depth cannot be measured; the other is to estimate the buried depth through the taper of the electric pole by utilizing the similarity principle, and the algorithm model is different according to different specifications of the electric pole. Both the underground peeping mirror method and the underground ultrasonic method need to drill holes in soil around the electric pole by means of a drilling machine, so that a passage is provided for the detection device to submerge into the ground. The detection equipment is large in size, a plurality of inspection workers are required to finish the inspection, time and labor are wasted, and the efficiency is low. "
As can be seen from the above discussion, the existing wire pole flaw detection mode and method only can detect the outside of the wire pole, and has limited detection effect; through algorithm simulation, practical data cannot be obtained; finally, the outer structure of the telegraph pole is destroyed by punching detection.
To solve the above problems, we provide a nondestructive inspection robot for a pole reinforcement structure.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a nondestructive testing robot for a telegraph pole reinforcing steel bar structure, which adopts an internal telegraph pole internal detection structure, and the data is more accurate; moreover, the electric pole structure is less damaged without punching, and meanwhile, the influence of falling objects such as air flow or scraps on the electric pole structure in the moving process of the electric pole structure is avoided through the protective structure formed by the shell and the transparent ring.
In order to achieve the above object, the present invention provides a nondestructive inspection robot for a pole reinforcement structure, comprising:
A connecting frame;
A moving wheel set arranged on the outer surface of the connecting frame;
The first inspection piece is arranged above the connecting frame and comprises two first shells corresponding to each other in position, and the first transparent ring is arranged between the two first shells and enables the two first shells and the first transparent ring to form a sphere or an ellipsoid structure;
The first stable subassembly, this first stable subassembly is including arranging the first stable board at first casing inner chamber, and the both ends of this first stable board are equipped with the head rod that passes first casing and connect on the link, and the first vision sensor of camera lens orientation is arranged at the top surface of first stable board, and the bottom surface of above-mentioned first stable board is equipped with a plurality of first batteries and balancing weight to the position of better maintenance above-mentioned first stable board, the top surface of above-mentioned first stable board be equipped with first transparent ring be located the first vision sensor of same plumb face.
The invention adopts an internal detection structure of the internal telegraph pole, and the data is more accurate; moreover, the electric pole structure is less damaged without punching, and meanwhile, the influence of falling objects such as air flow or scraps on the electric pole structure in the moving process of the electric pole structure is avoided through the protective structure formed by the shell and the transparent ring.
As a further optimization of the above scheme, further comprising:
The second inspection piece is arranged below the connecting frame and comprises two second shells corresponding to each other in position, and the second transparent rings are arranged between the two second shells and enable the two second shells and the second transparent rings to form a sphere or an ellipsoid structure;
The second stabilizing assembly comprises a second stabilizing plate arranged in the inner cavity of the second shell, second connecting rods penetrating through the second shell and connected to the connecting frame are arranged at two ends of the second stabilizing plate, a second vision sensor with a downward lens is arranged on the bottom surface of the second stabilizing plate, a balancing weight is arranged on the bottom surface of the second stabilizing plate, a second battery is arranged on the top surface of the second stabilizing plate, and a second vision sensor located on the same plumb face with a second transparent ring is arranged on the bottom surface of the second stabilizing plate.
The second stabilizing piece is additionally arranged, so that the aim of synchronous detection of the upper detecting piece and the lower detecting piece is fulfilled, and the accuracy of actual detection of the invention is ensured.
As a further optimization of the scheme, the joint of the first connecting rod and the first shell is provided with a first smooth part for the rotation of the first shell, and the joint of the second connecting rod and the second shell is provided with a second smooth part for the rotation of the second shell, so that in the rising process of the invention, the resistance of the air flow in the telegraph pole is counteracted by the rotation of the outer shell, the rising of the invention is more stable, and meanwhile, the rotation of the outer shell does not influence the inner structure of the shell, so that the flaw detection effect of the invention in the advancing process is ensured.
As a further optimization of the scheme, the movable wheel sets comprise fixed blocks fixedly connected to the outer wall of the connecting frame, spring columns in a compressed state are fixedly connected to the outer sides of the fixed blocks, connecting pieces are fixedly connected to the outer ends of the spring columns, driving wheels are mounted on the connecting pieces, power sources are arranged on the outer sides of the connecting pieces and are connected to the driving wheels through output shafts of the power sources, the number of the movable wheel sets is at least two, the movable wheel sets are distributed in an annular array at equal intervals, and the movable wheel sets synchronously drive the movable wheel sets to ascend so as to better realize stable ascent of the movable wheel sets.
As the further optimization of above-mentioned scheme, the transversal trapezoidal and this trapezoidal outward flange straight line of personally submitting of above-mentioned first transparent ring and second transparent ring is greater than the inward flange straight line, all winds on above-mentioned first transparent ring and the second transparent ring and is equipped with annular LED lamp to better carry out the inspection under dim environment and hinder.
The nondestructive detection robot for the telegraph pole steel bar structure has the following beneficial effects:
1. according to the nondestructive detection robot for the telegraph pole reinforcement structure, the internal detection structure of the telegraph pole is adopted, and the data is more accurate; moreover, the electric pole structure is less damaged without punching, and meanwhile, the influence of falling objects such as air flow or scraps on the electric pole structure in the moving process of the electric pole structure is avoided through the protective structure formed by the shell and the transparent ring.
2. According to the nondestructive testing robot for the telegraph pole reinforcing steel bar structure, the purpose of synchronous detection of the upper detection piece and the lower detection piece is achieved by additionally arranging the second stabilizing piece, and the accuracy of actual detection is ensured.
3. According to the nondestructive testing robot for the telegraph pole reinforcement structure, the first shell and the second shell are designed to be rotatable, so that resistance of air flow in a telegraph pole is counteracted through rotation of the outer shell in the ascending process of the nondestructive testing robot, ascending of the nondestructive testing robot is stable, meanwhile, the rotation of the outer shell does not influence the inner structure of the shell, and flaw detection effect of the nondestructive testing robot in the advancing process is guaranteed.
4. According to the nondestructive testing robot for the telegraph pole reinforcing steel bar structure, the number of the movable wheel groups is at least two, the movable wheel groups are distributed in an annular array at equal intervals, and the movable wheel groups synchronously drive the nondestructive testing robot to ascend, so that the stable ascent of the nondestructive testing robot is better realized.
5. According to the nondestructive testing robot for the telegraph pole reinforcing steel bar structure, the annular LED lamps are wound on the first transparent ring and the second transparent ring, so that the inspection can be better performed in a dim environment.
Specific embodiments of the invention are disclosed in detail below with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed, it being understood that the embodiments of the invention are not limited in scope and that the embodiments of the invention include many variations, modifications and equivalents.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a nondestructive testing robot for a pole rebar structure;
Fig. 2 is a schematic diagram of a front view structure of a nondestructive testing robot for a pole reinforcement structure;
Fig. 3 is a schematic top view of a nondestructive testing robot for a pole rebar structure;
FIG. 4 is a schematic top view of a mobile wheelset of the present invention;
FIG. 5 is a schematic diagram showing a front view of a first inspection piece according to the present invention;
FIG. 6 is a schematic diagram showing a front view of a second inspection piece according to the present invention;
FIG. 7 is a schematic front view of a first stabilizing assembly according to the present invention;
Fig. 8 is a schematic front view of a second stabilizing assembly according to the present invention.
In the figure: 1. a connecting frame; 2. a moving wheel group; 3. a first inspection piece; 4. a first stabilizing assembly; 5. a second inspection piece; 6. a second stabilizing assembly; 7. an LED lamp; 21. a fixed block; 22. a spring post; 23. a connecting piece; 24. a driving wheel; 25. a power source; 31. a first housing; 32. a first transparent ring; 41. a first stabilizing plate; 42. a first connecting rod; 43. a first vision sensor; 51. a second housing; 52. a second transparent ring; 61. a second stabilizing plate; 62. a second connecting rod; 63. a second vision sensor; 411. a first battery; 412. balancing weight; 421. a first smooth portion; 611. balancing weight; 612. a second battery; 621. and a second smooth portion.
Detailed Description
The present invention will be further described in detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It should be noted that, when an element is referred to as being "disposed on," or having an intermediate element, it can be directly on the other element or intervening elements may be present, and when an element is referred to as being "connected to," or having an intermediate element, it may be directly connected to the other element or intervening elements may be present, and the term "fixedly connected" is used herein in a wide variety of manners and is not intended to be limiting, and the terms "vertical", "horizontal", "left", "right", and the like are used herein for illustrative purposes only and are not meant to be exclusive embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the terms used herein in this description are for the purpose of describing particular embodiments only and are not intended to limit the invention to any and all combinations of one or more of the associated listed items;
The present invention, in its various embodiments, proposes a robot for nondestructive inspection of a pole rebar structure, and in particular, the present invention proposes a robot for nondestructive inspection such as in the interior of a pole.
Referring to fig. 1-8 of the drawings, the present invention provides a nondestructive inspection robot for a reinforced structure of a telegraph pole, in which the robot can actively move in a vertical direction in the interior of the telegraph pole, in which the telegraph pole is cylindrical and has a hollow interior, so that the robot is easy to crawl in the interior.
In the following description, referring to fig. 1 to 8, the robot structure of the present invention is further described, and preferably, in this embodiment, the component that performs the integral connection function is a connection frame 1, and the connection frame 1 sequentially includes a first inspection portion, a moving portion, and a second inspection portion along the vertical direction, specifically:
The connecting frame 1, the main body of the connecting frame comprises four groups of vertical supporting frames, the top is a first supporting part for supporting a first checking part, and the bottom is a second supporting part for supporting a second checking part;
a first inspection section consisting of a first inspection piece 3 and a first stabilizing assembly 4, wherein:
A first inspection piece 3, the first inspection piece 3 is arranged above the connecting frame 1, the first inspection piece 3 comprises two first shells 31 corresponding to positions, a first transparent ring 32 is arranged between the two first shells 31, and the two first shells 31 and the first transparent ring 32 form a sphere or an ellipsoid structure;
The first stabilizing assembly 4, the first stabilizing assembly 4 includes a first stabilizing plate 41 disposed in the inner cavity of the first housing 31, two ends of the first stabilizing plate 41 are provided with a first connecting rod 42 penetrating the first housing 31 and connected to the connecting frame 1, the top surface of the first stabilizing plate 41 is provided with a first vision sensor 43 located on the same vertical plane with the first transparent ring 32, the bottom surface of the first stabilizing plate 41 is provided with a plurality of first batteries 411 and balancing weights 412, and the mass center position in the lifting process of the invention is ensured in one hundred million, so that the phenomenon of position deviation in the lifting process of the invention is avoided.
Further, for the first housing 31 and the first transparent ring 32, a fastening structure may be designed, for example, a coupling portion of the first housing 31 and the first transparent ring 32 is designed as a clip and clip groove structure.
The movable part consists of a movable wheel set 2, wherein the movable wheel set 2 is arranged on the outer surface of the connecting frame 1, and concretely, the movable wheel set 2 comprises a fixed block 21 fixedly connected on the outer wall of the connecting frame 1, a spring column 22 in a compressed state is fixedly connected on the outer side of the fixed block 21, a connecting piece 23 is fixedly connected on the outer end of the spring column 22, a driving wheel 24 is arranged on the connecting piece 23, a power source 25 is arranged on the outer side of the connecting piece 23, and an output shaft of the power source 25 is connected on the driving wheel 24.
Further, the power source 25 is a driving motor.
Further, the number of the moving wheel sets 2 is at least two, and the moving wheel sets 2 are arranged in a ring array at equal intervals, preferably, in this embodiment, the number of the moving wheel sets 2 is four, and the four moving wheel sets 2 synchronously drive the present invention to rise, so as to better realize stable rising of the present invention.
A second inspection section consisting of a second inspection piece 5 and a second stabilizing assembly 6, wherein:
A second inspection piece 5, the second inspection piece 5 is arranged below the connecting frame 1, the second inspection piece 5 comprises two second shells 51 corresponding to positions, a second transparent ring 52 is arranged between the two second shells 51, and the two second shells 51 and the second transparent ring 52 form a sphere or an ellipsoid structure;
Further, for the second housing 51 and the second transparent ring 52, a plugging structure may be designed, for example, a joint portion of the second housing 51 and the second transparent ring 52 is designed as a plugging block and a plugging groove structure.
The second stabilizing assembly 6, the second stabilizing assembly 6 includes a second stabilizing plate 61 disposed in the inner cavity of the second housing 51, two ends of the second stabilizing plate 61 are provided with a second connecting rod 62 penetrating the second housing 51 and connected to the connecting frame 1, the bottom surface of the second stabilizing plate 61 is provided with a second vision sensor 63 located on the same plumb face as the second transparent ring 52, the bottom surface of the second stabilizing plate 61 is provided with a balancing weight 611, and the second battery 612 is disposed on the top surface of the second stabilizing plate 61.
Further, the first transparent ring 32 and the second transparent ring 52 are designed to be used in a dim environment with good transparency, so that the first transparent ring 32 and the second transparent ring 52 in this embodiment are made of organic glass, and the annular LED lamps 7 are wound around the outside of the first transparent ring 32 and the second transparent ring 52.
Further, in view of the fact that the crawling operation of the present invention is hindered due to broken stones, wind, etc. inside the utility pole during crawling, in this embodiment, the first housing 31 and the second housing 51 are designed to rotate with the wind, for example, a first smooth portion 421 for rotating the first housing 31 is provided at a connection portion of the first connecting rod 42 and the first housing 31, and a second smooth portion 621 for rotating the second housing 51 is provided at a connection portion of the second connecting rod 62 and the second housing 51.
Further, the cross sections of the first transparent ring 32 and the second transparent ring 52 are trapezoidal, and the outer edge line of the trapezoid is larger than the inner edge line.
Further, for the structure of the first vision sensor 43 and the second vision sensor 63, a camera and a light emitting diode may be included.
Further, an acoustic sensor may be disposed beside the first visual sensor, and the acoustic sensor may include a microphone, a sound card, and the like, and may be configured to confirm a damaged point of the steel structure of the utility pole by receiving sound information reflected from the inner surface of the utility pole.
By the above structure, the specific implementation steps of the invention are as follows:
S1, arranging the device in the internal structure of a telegraph pole;
s2, starting a power source 25 to enable the electric pole to climb along the interior of the electric pole;
s3, starting the first visual sensor 43 and the second visual sensor 63 and acquiring upper video information and lower video information of the telegraph pole;
S4, comparing the upper video information of the telegraph pole with the lower video information of the telegraph pole, and obtaining whether the telegraph pole reinforcing steel bar structure is damaged or not and the damage point of the telegraph pole reinforcing steel bar structure.
In summary, the nondestructive detection robot for the wire pole reinforcement structure adopts the internal detection structure of the internal wire pole, and the data is more accurate; moreover, the electric pole structure is less damaged without punching, and meanwhile, the influence of falling objects such as air flow or scraps on the electric pole structure in the moving process of the electric pole structure is avoided through the protective structure formed by the shell and the transparent ring.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, or alternatives falling within the spirit and principles of the invention.
Claims (5)
1. A pole rebar structure nondestructive inspection robot, comprising:
A connecting frame (1);
a moving wheel set (2), wherein the moving wheel set (2) is arranged on the outer surface of the connecting frame (1);
the first inspection piece (3), the first inspection piece (3) is arranged above the connecting frame (1), the first inspection piece (3) comprises two first shells (31) corresponding to positions, the first transparent ring (32) is arranged between the two first shells (31), and the two first shells (31) and the first transparent ring (32) form a sphere or an ellipsoid structure;
The first stabilizing assembly (4), the first stabilizing assembly (4) comprises a first stabilizing plate (41) arranged in the inner cavity of the first shell (31), two ends of the first stabilizing plate (41) are provided with a first connecting rod (42) penetrating through the first shell (31) and connected to the connecting frame (1), a first visual sensor (43) with an upward lens is arranged on the top surface of the first stabilizing plate (41), and the top surface of the first stabilizing plate (41) is provided with a first visual sensor (43) which is positioned on the same vertical plane with the first transparent ring (32);
a plurality of first batteries (411) and balancing weights (412) are arranged on the bottom surface of the first stabilizing plate (41);
Further comprises:
the second inspection piece (5), the second inspection piece (5) is arranged below the connecting frame (1), the second inspection piece (5) comprises two second shells (51) corresponding to positions, the second transparent ring (52) is arranged between the two second shells (51), and the two second shells (51) and the second transparent ring (52) form a sphere or an ellipsoid structure;
The second stabilizing assembly (6), the second stabilizing assembly (6) includes arranging the second stabilizing plate (61) in the inner chamber of the second body (51), the both ends of the second stabilizing plate (61) have second connecting rod (62) penetrating the second body (51) and connecting to the link (1), the second vision sensor (63) with the lens facing downward is arranged on the bottom surface of the above-mentioned second stabilizing plate (61), the bottom surface of the above-mentioned second stabilizing plate (61) has second vision sensors (63) located on the same plumb face with the second transparent ring (52);
The bottom surface of the second stabilizing plate (61) is provided with a balancing weight (611), and the second battery (612) is arranged on the top surface of the second stabilizing plate (61);
A first smooth part (421) for the first shell (31) to rotate is arranged at the joint of the first connecting rod (42) and the first shell (31), and a second smooth part (621) for the second shell (51) to rotate is arranged at the joint of the second connecting rod (62) and the second shell (51);
The first transparent ring (32) and the second transparent ring (52) have a trapezoidal cross section, and the outer edge line of the trapezoid is larger than the inner edge line.
2. A pole rebar structure nondestructive inspection robot according to claim 1, wherein: the movable wheel set (2) comprises a fixed block (21) fixedly connected to the outer wall of the connecting frame (1), a spring column (22) in a compressed state is fixedly connected to the outer side of the fixed block (21), a connecting piece (23) is fixedly connected to the outer end of the spring column (22), a driving wheel (24) is mounted on the connecting piece (23), a power source (25) is arranged on the outer side of the connecting piece (23), and an output shaft of the power source (25) is connected to the driving wheel (24).
3. A pole rebar structure nondestructive inspection robot according to claim 2, wherein: the power source (25) is a driving motor.
4. A pole rebar structure nondestructive inspection robot according to claim 3 and wherein: the number of the movable wheel sets (2) is at least two, and the movable wheel sets (2) are distributed in an annular array at equal intervals.
5. A pole rebar structure nondestructive inspection robot according to claim 4 and wherein: the first transparent ring (32) and the second transparent ring (52) are respectively provided with an annular LED lamp (7) in a winding way.
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| CN202310014029.4A CN116297512B (en) | 2023-01-05 | 2023-01-05 | Nondestructive detection robot for telegraph pole reinforcing steel bar structure |
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| CN202310014029.4A CN116297512B (en) | 2023-01-05 | 2023-01-05 | Nondestructive detection robot for telegraph pole reinforcing steel bar structure |
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| CN116297512B true CN116297512B (en) | 2024-05-07 |
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| CN116297512A (en) | 2023-06-23 |
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