CN205748626U - Building construction vibration Intelligent Measurement robot car - Google Patents
Building construction vibration Intelligent Measurement robot car Download PDFInfo
- Publication number
- CN205748626U CN205748626U CN201620408655.7U CN201620408655U CN205748626U CN 205748626 U CN205748626 U CN 205748626U CN 201620408655 U CN201620408655 U CN 201620408655U CN 205748626 U CN205748626 U CN 205748626U
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- building construction
- magnet
- intelligent measurement
- robot car
- construction vibration
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Abstract
A kind of building construction vibration Intelligent Measurement robot car, including a vehicle frame, four magnet-wheels and one for realizing the acceleration transducer of building construction vibration to be detected detection, described four magnet-wheels are arranged in rear in face of described frame sides two-by-two, described magnet-wheel is connected with the travel driving unit for driving magnet-wheel to rotate, and described vehicle frame is provided with wireless communication unit；Lowering or hoisting gear for driving acceleration transducer to move up and down is installed on described vehicle frame, the motion end of described lowering or hoisting gear is connected with upper stator, fixed is connected with the upper end of buffer spring, the lower end of described buffer spring is connected with lower stator, and described acceleration transducer is installed in the bottom surface of described lower stator.This utility model provides a kind of detection mode flexibly and low cost, easy to carry, effectively eliminate check frequency, detect building construction vibration Intelligent Measurement robot car more comprehensively.
Description
Technical field
This utility model belongs to robot field, is specifically related to a kind of building construction vibration Intelligent Measurement robot car.
Background technology
Along with China's economic construction fast development, various complex large-sized steel buildings constantly occur.Wherein, steel construction quilt
It is widely used in large bridge, large space structure, skyscraper, Large-scale Railway transport hub, petroleum pipeline, nuclear power station.So
And owing to over loading operation, detection safeguard that the factors such as ineffective, even some building exist structure design defect, construction quality difference etc.
Problem, causes accident to happen occasionally, and the people's lives and property safety in serious threat.Therefore, strengthen building structure health detection,
Carry out maintenance in time to be particularly important.
Widely used wired data acquisition method in structural health detection at present, but its wiring is loaded down with trivial details, needs to spend greatly
Amount human cost；Confession when building structure health detection technology based on radio sensing network needs solution system to work long hours
Electricity problem and the integrity problem of signal transmission.Above both detection modes are fixed due to sensing station, all there is inspection
Survey blind area and detect incomplete problem.
Summary of the invention
In order to the installation overcoming existing structures health detection mode is loaded down with trivial details, manually lay cable danger, cost height, deposit
At check frequency, detect incomplete deficiency, this utility model provides a kind of detection mode flexibly and low cost, easy to carry,
Effectively eliminate check frequency, detect building construction vibration Intelligent Measurement robot car more comprehensively.
This utility model solves its technical problem and be the technical scheme is that
A kind of building construction vibration Intelligent Measurement robot car, including a vehicle frame, four magnet-wheels and one for reality
The acceleration transducer of existing building construction vibration to be detected detection, after described four magnet-wheels are arranged in face of described frame sides two-by-two
Side, described magnet-wheel is connected with the travel driving unit for driving magnet-wheel to rotate, and described vehicle frame is provided with wireless communication unit；
Lowering or hoisting gear for driving acceleration transducer to move up and down is installed, moving of described lowering or hoisting gear on described vehicle frame
Making end to be connected with upper stator, fixed is connected with the upper end of buffer spring, and the lower end of described buffer spring is solid with lower
Stator connects, and described acceleration transducer is installed in the bottom surface of described lower stator.
Further, described lowering or hoisting gear includes a detection motor, screw rod and guide runner, the output of described detection motor
Axle is in vertically distribution, and the output shaft of described detection motor is fixing with the top of screw rod to be connected, described guide runner and screw flight
Coordinating, described guide runner can slide up and down to be sleeved in fairlead, and described fairlead is fixed on described bottom of frame.
Preferably, described lowering or hoisting gear is positioned at the middle part of vehicle frame.
Further, described robot car also includes horizontal support, before two horizontal supports are separately mounted to vehicle frame
Rear two ends, installation infrared sensor on described horizontal support.
Further, described robot car also includes that longitudinal carrier, two longitudinal carriers are separately mounted to a left side for vehicle frame
Right two ends, described longitudinal carrier is installed Hall voltage sensor, and described Hall voltage sensor is positioned at the side of described magnet-wheel,
On described magnet-wheel, a circle is provided with at least two blocks of strip magnetic sheets, the opposite polarity of adjacent strip magnetic sheet.
Described robot car also includes that support column, described support column are fixed on vehicle frame, and control module is arranged on support
On post, described control module includes AD conversion unit, single-chip microcomputer main control unit, electric-motor drive unit and wireless communication unit,
Described AD conversion unit, electric-motor drive unit and wireless communication unit are all connected with described single-chip microcomputer main control unit, described row
Walking driving means to be connected with described electric-motor drive unit, described infrared sensor, Hall voltage sensor all turn with described modulus
Change unit to connect.
Described AD conversion unit is connected with single-chip microcomputer main control unit by high speed serialization Peripheral Interface, described single-chip microcomputer
Main control unit sends pulse-width signal, controls motor and magnet-wheel action by electric-motor drive unit；Described wireless communication unit
Being connected with single-chip microcomputer main control unit with sender interface by universal asynchronous receiver, described single-chip microcomputer main control unit passes through nothing
Line communication unit and other mobile sensor node or computer server transmission wireless signal.
Described robot car also includes four batteries, and wherein two batteries are connected with travel driving unit, the 3rd economize on electricity
Pond is connected with detection motor, and the 4th batteries is connected with control module, infrared sensor and Hall element respectively.
Technology of the present utility model is contemplated that: utilize technology of wireless sensing network, numerous Intelligent Measurement dollies to be formed
One mobile wireless network system, each Intelligent Measurement dolly be one can with autonomic movement and gather data stand-alone machine
People.And can mutually exchange by radio communication and cooperate between Intelligent Measurement dolly, jointly complete structural health detection, therefore
Can effectively save the engineering time, save human cost, reduce the degree of danger of manual routing simultaneously.Each Intelligent Measurement machine
People's dolly cost is the lowest so that whole mobile wireless sensing detection network totle drilling cost is lower very than traditional static detection network cost
Many.Owing to most steel building material all has stronger ferromagnetic property, and Intelligent Measurement dolly can be in a cutter
The building structure having ferromagnetic surface's material moves above, and completes structural health detection.
Intelligent Measurement dolly is adsorbed on measured surface by magnet-wheel when by the building structure of ferromagnetic surface's material,
Being rotated by detection driven by motor screw rod, screw rod drives guide runner to move downward, by buffer spring by acceleration sensing again
Device is pressed on measured surface and realizes the work of steel construction vibration detection, has good environmental suitability, and detection mode is flexible, and becomes
This is low, easy to carry, it is possible to building structure is realized complete detection.
The beneficial effects of the utility model are mainly manifested in:
1) low cost: owing to each building construction vibration Intelligent Measurement robot car cost is the lowest, whole mobile wireless
It is much lower that the overall cost of detection sensing network compares traditional Static Detection network cost.
2) climbing performance is strong: this robot car is suitable on the building structure that all have ferromagnetic surface's material climbing
Climb, and complete structural vibration detection.
3) portability: this Intelligent Measurement dolly volume is little, lightweight, easy to carry.
4) mobile wireless network: each robot car is a node in wireless sensing network system, node it
Between can wirelessly transmitting data, whole mobile wireless network can realize automatic network-building, multihop routing, dynamic topology.
5) mobility: this Intelligent Measurement dolly after completing to measure, can independently go to next with automatic moving to measured position
Position measures, and solves there is check frequency in current bridge machinery and detect the problems such as the most comprehensive.
6) number of nodes is few: utilize its mobility, each robot car can detect multiple position, thus reduce intelligence
The quantity of detection dolly.
7) flying power is lasting: when electricity deficiency, this robot car can charge to base station with automatic moving, thus solve
Certainly powerup issue.
8) intelligent environment identification: surrounding is carried out Intelligent Recognition, has good environmental suitability.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of building construction vibration Intelligent Measurement robot car.
Fig. 2 is the upward view of building construction vibration Intelligent Measurement robot car.
Fig. 3 is the sectional view of building construction vibration Intelligent Measurement robot car.
Fig. 4 is the schematic diagram that building construction vibration Intelligent Measurement robot car is operated in steel structure surface motion.
Fig. 5 is the schematic diagram that building construction vibration Intelligent Measurement robot car is operated in steel structure surface detection.
Fig. 6 is magnet-wheel structure chart in building construction vibration Intelligent Measurement robot car.
Fig. 7 is body frame structure for automotive figure in building construction vibration Intelligent Measurement robot car.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is further described.
With reference to Fig. 1～Fig. 7, a kind of building construction vibration Intelligent Measurement robot car, including 4, four magnetic of a vehicle frame
Wheel 3 and an acceleration transducer 19 being used for realizing building construction vibration to be detected detection, described four magnet-wheels 3 are arranged two-by-two
In front and back, described vehicle frame 4 side, described magnet-wheel 3 is connected with the travel driving unit 15 for driving magnet-wheel to rotate, described car
Frame 4 is provided with wireless communication unit 11；
Lowering or hoisting gear for driving acceleration transducer to move up and down is installed on described vehicle frame 4, described lowering or hoisting gear
Motion end is connected with upper stator 22, and fixed 22 is connected with the upper end of buffer spring 21, described buffer spring 21
Lower end is connected with lower stator 20, and described acceleration transducer 19 is installed in the bottom surface of described lower stator 20.
Further, described lowering or hoisting gear includes a detection motor 16, screw rod 23 and guide runner 25, described detection motor
The output shaft of 16 is in vertically distribution, and the output shaft of described detection motor 16 is fixing with the top of screw rod 23 to be connected, and described guiding is slided
Block 25 and screw rod 23 threaded engagement, described guide runner 25 can slide up and down to be sleeved in fairlead 18, described fairlead 18
It is fixed on bottom described vehicle frame 4.
Preferably, described lowering or hoisting gear is positioned at the middle part of vehicle frame 4.It is of course also possible in other positions.
From Fig. 1 and Fig. 2, described building construction vibration Intelligent Measurement robot car, its vehicle frame 4 rear and front end is equal
Being installed with two horizontal supports 13, two ends, left and right are respectively installed with a longitudinal carrier 17.Spiral shell used by infrared sensor 14
Nail is fixed on horizontal support 13.Hall voltage sensor 16 is fixedly mounted on longitudinal carrier 17.Four infrared sensors 14
It is connected with the AD conversion unit 8 in control module 7 with four Hall voltage sensors 16.Acceleration transducer 19 is fixing even
It is connected on square iron plate 20.Four power motors 15 drive four magnet-wheels 3 respectively.Power motor 15 is arranged on bottom vehicle frame 4, magnetic
The axle of wheel 3 is fixing with the drive shaft of corresponding travel driving unit 15 (employing power motor) to be connected, and each power motor drives
One magnet-wheel 3.Battery 2 fixed mount 1 is fixedly mounted on vehicle frame 4, and wherein a batteries 2 is control module 7 and each sensor
Power supply, an other batteries 2 is that detection motor 6 is powered, and other two batteries 2 are that four power motors are powered.Control module 7 by
Four support columns 12 are fixedly connected on vehicle frame 4.
As seen from Figure 3, described building construction vibration Intelligent Measurement robot car, its detection motor 6 is fixedly mounted on method
On blue dish 5.Ring flange 5 bolt is fixedly mounted on vehicle frame 4.Fairlead 18 is fixed by bolts to bottom vehicle frame 4.Screw rod 23 pushes up
End has D type groove, and detection motor shaft is connected with D type groove.Screw rod 23 upper part is smooth and has screwed hole, passes through holding screw
Screw rod 23 is fixed together by 24 with detection motor shaft.Buffer spring 21 upper end and upper stator 22 (employing round iron plate) are fixed
Connect, buffer spring 21 lower end and the fixing connection of lower stator 20 (using square iron plate).Guide runner 25 passes through with screw rod 23
Threaded matching, guide runner 25 can move up and down in fairlead 18, it is impossible to rotates.Upper stator 22 (uses circle
Shape iron plate) it is fixedly connected on guide runner 25 lower end, lower stator 20 (using square iron plate) and acceleration transducer 19 are fixed
Connect.
Building construction vibration Intelligent Measurement robot car operation principle described in this utility model as shown in Figure 4 and Figure 5,
Mobile sensor node utilizes magnetic-adsorption on ferrimagnet surface when moving on steel construction, after arriving detection position, examine
Measured motor 6 drives screw rod 23 to rotate so that guide runner 25 moves downward along fairlead 18, thus drives acceleration sensing
Device 19 moves down.When, behind acceleration transducer 19 contact detection surface, guide runner 25 continues to move down a segment distance, slow
Rush spring 21 forced compression, by buffer spring 21, acceleration transducer 19 is pressed on detection surface and detects.Detection knot
Shu Hou, detection motor 6 inverts, and acceleration transducer 19 leaves detection surface, and detection dolly goes to next to detect position automatically.
Building construction vibration Intelligent Measurement robot car has the ability of intelligent environment identification.When dolly deviation is predetermined
Route will leave or when structural edge, the light emitting diode in its front and back support 5 four infrared sensors 14 above
Launch infrared ray, and by body structure surface by the detection diode of infrared reflection to infrared sensor 14, thus judge dolly
And the distance between structural edge and position relationship.When certain magnet-wheel 3 i.e. will be close to structural edge, single-chip microcomputer main control unit 9
Gather, by AD conversion unit 8, the signal that infrared sensor 14 sends, and signal is carried out operational analysis, then send PWM
Signal, sends control signal by electric-motor drive unit 10, is controlled each power motor 15 speed.When dolly both sides power
During motor 15 speed difference, robot just can realize turning so that robot returns on predetermined route.
Robot car can detect the angular velocity of each magnet-wheel 3 by Hall voltage sensor 16.As seen from Figure 6, magnetic
Wheel body 28 surface of wheel 3 is coated with 18 blocks of strip magnetic sheets 27, adjacent magnetic sheet 27 opposite polarity, and each magnet-wheel 3 side has one
Hall voltage sensor 16, this sensor is connected with the AD conversion unit 8 of control module 7, when magnet-wheel 3 rotates a circle, Hall
Magnetic field around voltage sensor 16 changes 18 times, and the Hall voltage that Hall voltage sensor 16 detects changes 18 times.Therefore,
When robot car moves, in detection a period of time, the change frequency of Hall voltage sensor 16 output voltage can draw this
The rotation number of turns of section time internally-powered motor 15, thus obtain distance and the movement velocity of moving of car.
Wireless communication unit 11 in robot car is by universal asynchronous receiver and sender interface and monolithic owner
Control unit 9 is connected, and single-chip microcomputer main control unit 9 can be taken with other robot dolly and computer by wireless communication unit 11
Business device transmission wireless signal.
Claims (9)
1. a building construction vibration Intelligent Measurement robot car, it is characterised in that: described robot car includes a car
Frame, four magnet-wheels and one are for realizing the acceleration transducer of building construction vibration to be detected detection, described four magnet-wheels two
Two are arranged in rear in face of described frame sides, and described magnet-wheel is connected with the travel driving unit for driving magnet-wheel to rotate, described
Vehicle frame is provided with wireless communication unit；
Lowering or hoisting gear for driving acceleration transducer to move up and down, the motion end of described lowering or hoisting gear are installed on described vehicle frame
Being connected with upper stator, fixed is connected with the upper end of buffer spring, the lower end of described buffer spring and lower stator
Connecting, described acceleration transducer is installed in the bottom surface of described lower stator.
2. building construction vibration Intelligent Measurement robot car as claimed in claim 1, it is characterised in that: described lowering or hoisting gear
Including a detection motor, screw rod and guide runner, the output shaft of described detection motor is distributed in vertical, described detection motor
Output shaft is fixing with the top of screw rod to be connected, and described guide runner coordinates with screw flight, and described guide runner can slide up and down
Be sleeved in fairlead, described fairlead is fixed on described bottom of frame.
3. building construction vibration Intelligent Measurement robot car as claimed in claim 2, it is characterised in that: described lowering or hoisting gear
It is positioned at the middle part of vehicle frame.
4. the building construction vibration Intelligent Measurement robot car as described in one of claims 1 to 3, it is characterised in that: described
Robot car also includes horizontal support, and two horizontal supports are separately mounted to two ends before and after vehicle frame, on described horizontal support
Installation infrared sensor.
5. the building construction vibration Intelligent Measurement robot car as described in one of claims 1 to 3, it is characterised in that: described
Robot car also includes longitudinal carrier, and two longitudinal carriers are separately mounted to the two ends, left and right of vehicle frame, on described longitudinal carrier
Install Hall voltage sensor, described Hall voltage sensor is positioned at the side of described magnet-wheel, on described magnet-wheel one circle be provided with to
Few two blocks of strip magnetic sheets, the opposite polarity of adjacent strip magnetic sheet.
6. building construction vibration Intelligent Measurement robot car as claimed in claim 4, it is characterised in that: described robot is little
Car also includes that longitudinal carrier, two longitudinal carriers are separately mounted to the two ends, left and right of vehicle frame, and described longitudinal carrier is installed Hall
Voltage sensor, described Hall voltage sensor is positioned at the side of described magnet-wheel, and on described magnet-wheel, a circle is provided with at least two pieces of bars
Shape magnetic sheet, the opposite polarity of adjacent strip magnetic sheet.
7. building construction vibration Intelligent Measurement robot car as claimed in claim 6, it is characterised in that: described robot is little
Car also includes that support column, described support column are fixed on vehicle frame, and control module is installed on the support columns, and described control module includes
AD conversion unit, single-chip microcomputer main control unit, electric-motor drive unit and wireless communication unit, described AD conversion unit, motor
Driver element and wireless communication unit are all connected with described single-chip microcomputer main control unit, and described travel driving unit drives with described motor
Moving cell connects, and described infrared sensor, Hall voltage sensor are all connected with described AD conversion unit.
8. building construction vibration Intelligent Measurement robot car as claimed in claim 7, it is characterised in that: described analog digital conversion
Unit is connected with single-chip microcomputer main control unit by high speed serialization Peripheral Interface, and described single-chip microcomputer main control unit sends pulsewidth modulation
Signal, controls motor and magnet-wheel action by electric-motor drive unit；Described wireless communication unit by universal asynchronous receiver and
Sender interface is connected with single-chip microcomputer main control unit, and described single-chip microcomputer main control unit is moved with other by wireless communication unit
Sensing node or computer server transmission wireless signal.
9. building construction vibration Intelligent Measurement robot car as claimed in claim 6, it is characterised in that: described robot is little
Car also includes four batteries, and wherein two batteries are connected with travel driving unit, and the 3rd batteries is connected with detection motor, the 4th
Batteries is connected with control module, infrared sensor and Hall element respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620408655.7U CN205748626U (en) | 2016-05-06 | 2016-05-06 | Building construction vibration Intelligent Measurement robot car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620408655.7U CN205748626U (en) | 2016-05-06 | 2016-05-06 | Building construction vibration Intelligent Measurement robot car |
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| Publication Number | Publication Date |
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| CN205748626U true CN205748626U (en) | 2016-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620408655.7U Expired - Fee Related CN205748626U (en) | 2016-05-06 | 2016-05-06 | Building construction vibration Intelligent Measurement robot car |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105823552A (en) * | 2016-05-06 | 2016-08-03 | 简燕梅 | Intelligent detection robot car for architectural structure vibration |
| CN106695192A (en) * | 2016-12-22 | 2017-05-24 | 江苏工程职业技术学院 | Automatic welding control method of wall-climbing robot |
-
2016
- 2016-05-06 CN CN201620408655.7U patent/CN205748626U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105823552A (en) * | 2016-05-06 | 2016-08-03 | 简燕梅 | Intelligent detection robot car for architectural structure vibration |
| CN106695192A (en) * | 2016-12-22 | 2017-05-24 | 江苏工程职业技术学院 | Automatic welding control method of wall-climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161130 Termination date: 20210506 |
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| CF01 | Termination of patent right due to non-payment of annual fee |