CN214472992U

CN214472992U - Independently portable hidden engineering audit auxiliary device based on ultrasonic wave

Info

Publication number: CN214472992U
Application number: CN202120428228.6U
Authority: CN
Inventors: 陈荣
Original assignee: NANJING AUDIT UNIVERSITY
Current assignee: NANJING AUDIT UNIVERSITY
Priority date: 2021-02-26
Filing date: 2021-02-26
Publication date: 2021-10-22
Anticipated expiration: 2031-02-26

Abstract

The utility model provides an independently portable conceals engineering audit auxiliary device based on ultrasonic wave belongs to engineering audit technical field, including climbing the wall robot and installing the ultrasonic detection unit on climbing the wall robot. The wall climbing robot drives the idler wheels to rotate through the driving motor to realize walking, and the spiral power assembly is mounted on the wall climbing robot to provide positive pressure for wall climbing movement, so that the wall climbing function is realized. The ultrasonic detection unit comprises an ultrasonic probe and an automatic couplant supply device, coupling agent conveying ports in the ultrasonic probe and the automatic couplant supply device are all installed on a sliding block, the sliding block is installed on a lead screw, and the ultrasonic detection unit can move in the vertical direction under the driving of a stepping motor. Wall climbing robot and ultrasonic detection unit are controlled by ARM processor module, and ARM processor module and host computer are connected, realize the remote control to covert project audit auxiliary device, to covert project's global detection, use more intelligent convenience.

Description

Independently portable hidden engineering audit auxiliary device based on ultrasonic wave

Technical Field

The utility model belongs to the technical field of the engineering audit, especially, relate to an independently portable hidden engineering audit auxiliary device based on ultrasonic wave.

Background

The large-scale infrastructure tracking and auditing is the key point of national auditing, the hidden project tracking and auditing in the infrastructure is a difficult point, and the defects of hollowing, inclusion, cracks and the like of hidden projects need to be continuously tracked and monitored. Because of the unobservability of naked eyes, the existing engineering auditing method usually adopts a destructive method to judge whether defects exist in the engineering auditing method or not or whether the situation of material loss due to work stealing exists or not; during engineering quality inspection, the project is usually inspected by a destruction method, and the project audit is usually spot check by a single-point breakthrough method, so that the global check is difficult to realize. At present, some nondestructive inspection methods are applied to engineering audit, for example, an ultrasonic detection method is adopted, but the existing ultrasonic inspection device has large locality, cannot realize remote and large-area visual audit, and is difficult to detect in projects such as expressways, large buildings, dams and the like.

SUMMERY OF THE UTILITY MODEL

To the not enough that exists among the prior art, the utility model provides an independently portable conceals engineering audit auxiliary device based on ultrasonic wave utilizes wall climbing robot and ultrasonic detection unit to mutually support, under the control of host computer, carries out internal defect to concealing engineering different positions and surveys, can realize remote control and global detection, and it is more convenient to use.

The utility model discloses a realize above-mentioned technical purpose through following technological means.

An autonomous mobile type covert engineering audit auxiliary device based on ultrasonic waves comprises a wall climbing robot, wherein a lifting unit, an ultrasonic detection unit and an ARM processor module are mounted on the wall climbing robot; the ultrasonic detection unit comprises an automatic couplant supply device and an ultrasonic probe installed on the lifting unit, the automatic couplant supply device comprises a couplant storage barrel, an electric air pump is installed above the couplant storage barrel, the couplant storage barrel is connected with a conveying hose, the other end of the conveying hose is connected with a couplant conveying port, and the couplant conveying port is installed on the lifting unit; the lifting unit, the ultrasonic probe and the electric air pump are all connected with the ARM processor module, and the ARM processor module is connected with the upper computer.

Further, wall climbing robot includes the bottom plate, and driving motor is all installed at the bottom plate four corners, and driving motor power shaft all is connected with the gyro wheel.

Furthermore, the driving motor is coaxially connected with an encoder, and the encoder and the driving motor are both connected with the ARM processor module.

Further, the wall climbing robot further comprises a spiral power assembly connected with the ARM processor module, the spiral power assembly comprises a hollow cylindrical protection plate fixed at the center of the upper surface of the base plate, a support is installed in the protection plate, a base is installed at the center of the support, a plurality of permanent magnet sheets are fixed on the inner wall of the base, a spiral connecting rod is hinged to the center of the base, a plurality of magnetic induction coils are installed on the spiral connecting rod, and a propeller is installed at the top of the spiral connecting rod.

Furthermore, the permanent magnet sheets and the magnetic induction coils are distributed annularly and are consistent in number.

Furthermore, the lifting unit comprises a lead screw arranged on the upper surface of the bottom plate, the lead screw is connected with a stepping motor, and the stepping motor is connected with the ARM processor module; the screw rod is provided with a slide block, and the slide block is provided with an ultrasonic probe and a coupling agent delivery port.

Furthermore, the ARM processor module is remotely connected with an upper computer through a wireless network.

Further, the ultrasonic probe is a single crystal longitudinal wave straight probe.

The utility model discloses following beneficial effect has:

the utility model provides a concealed engineering audit auxiliary device installs the ultrasonic detection unit on climbing robot, carries out nondestructive test to concealed engineering different positions according to ground station remote control instruction, discovers defects such as crackle, hollowing in the engineering, can realize that remote control and whole are looked over, and it is more intelligent convenient to use.

Drawings

Fig. 1 is a schematic structural view of an endoscopic auditing device according to the present invention;

fig. 2 is a schematic structural view of the spiral power assembly of the present invention.

In the figure: 1-a bottom plate; 2-driving the motor; 3, rolling wheels; 4-ARM processor module; 5-a screw power assembly; 500-protective plate; 501-a bracket; 502-a base; 503-a screw connection rod; 504-a propeller; 6-ultrasonic probe; 7-a couplant storage barrel; 8-conveying hose; 9-electric air pump; 10-a couplant delivery port; 11-a lead screw; 12-step motor.

Detailed Description

The invention will be further described with reference to the drawings and the following examples, but the scope of the invention is not limited thereto.

In the description of the present invention, it should be understood that the terms "mounted" and "fixed" should be interpreted broadly, for example, they may be fixedly connected, detachably connected, or integrally connected, directly connected, indirectly connected through an intermediate medium, or connected between two elements; the specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

As shown in figure 1, endoscopic audit device in independently portable concealed work based on ultrasonic wave, including the wall climbing robot, install ultrasonic detection unit, lift unit on the wall climbing robot.

As shown in fig. 1 and 2, the wall climbing robot comprises a bottom plate 1, driving motors 2 are mounted at four corners of the bottom plate 1, power shafts of the driving motors 2 are connected with rollers 3, and the rollers 3 can be driven to rotate by the driving motors 2, so that the wall climbing robot can move; the driving motor 2 is also coaxially connected with an encoder, the encoder and the driving motor 2 are in signal connection with an ARM processor module 4, and the ARM processor module 4 is installed on the upper surface of the bottom plate 1; in this embodiment, preferably, the ARM processor module 4 is in signal connection with an upper computer through a wireless network to perform data transmission.

The spiral power assembly 5 is arranged in the center of the upper surface of the base plate 1 and is in signal connection with the ARM processor module 4, the spiral power assembly 5 comprises a hollow cylindrical protection plate 500 fixed in the center of the upper surface of the base plate 1, a support 501 is arranged in the protection plate 500, a base 502 is arranged in the center of the support 501, a plurality of permanent magnet sheets are fixed on the inner wall of the base 502, a spiral connecting rod 503 is hinged to the center of the base 502, a plurality of magnetic induction coils are arranged on the spiral connecting rod 503, the permanent magnet sheets and the magnetic induction coils are distributed annularly and are consistent in number, and propellers 504 are arranged at the top of the spiral connecting rod 503; in this embodiment, the magnetic induction coil is preferably composed of a silicon steel sheet and an enameled copper wire. When the magnetic field generator is actually used, a magnetic field can be generated after current is introduced into the enameled copper wire, the silicon steel sheets in the enameled copper wire are magnetized, magnetic stress is generated between the magnetized silicon steel sheets and the permanent magnet sheets, the magnetic induction coil is pushed to rotate, the spiral connecting rod 503 is further driven to rotate, the propeller 504 rotates along with the magnetic induction coil, and positive pressure is provided for wall climbing movement of the wall climbing robot.

As shown in fig. 1, the lifting unit comprises a screw rod 11 installed on the upper surface of the bottom plate 1 on one side of the spiral power assembly 5, the screw rod 11 is connected with a stepping motor 12, the stepping motor 12 is in signal connection with the ARM processor module 4, a sliding block is installed on the screw rod 11, and under the driving of the stepping motor 12, the screw rod 11 rotates, so that the sliding block can be driven to move in the vertical direction.

As shown in fig. 1, the ultrasonic detection unit includes an ultrasonic probe 6 and an automatic couplant supply device. The ultrasonic probe 6 is mounted on the slide block and is in signal connection with the ARM processor module 4 for transmitting and receiving ultrasonic waves, and in the embodiment, a single crystal longitudinal wave straight probe is preferably adopted. The automatic couplant supply device comprises a couplant storage barrel 7, a delivery hose 8, an electric air pump 9 and a couplant delivery port 10; the couplant storage barrel 7 is arranged on the upper surface of the bottom plate 1 on the other side of the spiral power assembly 5; an electric air pump 9 is arranged above the couplant storage barrel 7, and the electric air pump 9 is in signal connection with the ARM processor module 4; one end of the delivery hose 8 is connected with the couplant storage barrel 7, the other end of the delivery hose is connected with the couplant delivery port 10, and the couplant delivery port 10 is also arranged on the sliding block.

In practical application, the endoscopic auditing device is placed on the ground, the spiral power assembly 5 is started, the propeller 504 rotates to generate downward pressure, then an upper computer sends an instruction to the ARM processor module 4 to control the driving motor 2 to rotate, and further the roller 3 is driven to rotate, so that the walking motion of the wall climbing robot is realized; when the front roller 3 of the wall climbing robot contacts the wall, the wall climbing robot can keep positive pressure with the wall under the action of downward pressure generated by rotation of the propeller 504, and at the moment, the roller 3 continuously rotates, and the wall climbing robot can climb along the wall.

When the wall climbing robot reaches a designated detection place, the ARM processor module 4 controls the electric air pump 9 to work, the couplant in the couplant storage barrel 7 is conveyed to the couplant conveying port 10 through the conveying hose 8, and the couplant is sprayed out to the surface of a concealed project to be detected through the couplant conveying port 10; then, the ARM processor module 4 controls the stepping motor 12 to work to drive the lead screw 11 to rotate, so that the sliding block on the lead screw 11 moves to a specified position, and the ultrasonic probe 6 is ensured to be located at the specified position; then, the ARM processor module 4 controls the ultrasonic probe 6 to emit ultrasonic waves to the part coated with the coupling agent, internal data detection of the concealed project is carried out, and the detected data are transmitted back to the ARM processor module 4; in the process, the encoder also transmits the detected real-time data to the ARM processor module 4, and finally the ARM processor module 4 transmits the acquired ultrasonic data and the encoded data to the upper computer together for comprehensive processing analysis. When other parts of the hidden project need to be detected, the steps are continuously repeated, the method is very convenient to use, remote and large-area visual audit can be realized, and the hidden project cannot be damaged in the detection process.

The embodiment is a preferred embodiment of the present invention, but the present invention is not limited to the above embodiment, and any obvious improvement, replacement or modification which can be made by those skilled in the art without departing from the essence of the present invention belongs to the protection scope of the present invention.

Claims

1. An autonomous mobile blind engineering audit auxiliary device based on ultrasonic waves is characterized by comprising a wall climbing robot, wherein a lifting unit, an ultrasonic detection unit and an ARM processor module (4) are arranged on the wall climbing robot; the ultrasonic detection unit comprises an automatic couplant supply device and an ultrasonic probe (6) installed on the lifting unit, the automatic couplant supply device comprises a couplant storage barrel (7), an electric air pump (9) is installed above the couplant storage barrel (7), the couplant storage barrel (7) is connected with a conveying hose (8), the other end of the conveying hose (8) is connected with a couplant conveying port (10), and the couplant conveying port (10) is installed on the lifting unit; the lifting unit, the ultrasonic probe (6) and the electric air pump (9) are all connected with the ARM processor module (4), and the ARM processor module (4) is connected with an upper computer.

2. The ultrasonic-based autonomous mobile blind engineering audit assisting device is characterized in that the wall climbing robot comprises a bottom plate (1), driving motors (2) are mounted at four corners of the bottom plate (1), and power shafts of the driving motors (2) are connected with rollers (3).

3. The ultrasonic-based autonomous mobile covert engineering audit aid based on claim 2, wherein the driving motor (2) is coaxially connected with an encoder, and the encoder and the driving motor (2) are both connected with the ARM processor module (4).

4. The ultrasonic-based autonomous mobile blind engineering audit assisting device is characterized in that the wall climbing robot further comprises a spiral power assembly (5) connected with an ARM processor module (4), the spiral power assembly (5) comprises a hollow cylindrical protection plate (500) fixed at the center of the upper surface of the base plate (1), a support (501) is installed in the protection plate (500), a base (502) is installed at the center of the support (501), a plurality of permanent magnet sheets are fixed on the inner wall of the base (502), a spiral connecting rod (503) is hinged to the center of the base (502), a plurality of magnetic induction coils are installed on the spiral connecting rod (503), and a propeller (504) is installed at the top of the spiral connecting rod (503).

5. The ultrasonic-based autonomous mobile covert engineering audit aid according to claim 4, wherein said permanent magnet pieces and said magnetic induction coils are distributed annularly and in the same number.

6. The ultrasonic-based autonomous mobile covert engineering audit aid according to claim 2, wherein said lifting unit comprises a lead screw (11) mounted on the upper surface of the base plate (1), the lead screw (11) is connected with a stepper motor (12), the stepper motor (12) is connected with the ARM processor module (4); the screw rod (11) is provided with a slide block, and the slide block is provided with an ultrasonic probe (6) and a coupling agent delivery port (10).

7. The ultrasonic-based autonomous mobile covert engineering audit aid according to claim 1 wherein said ARM processor module (4) is remotely connected to an upper computer via a wireless network.

8. The autonomous mobile blind engineering audit trail assistance device based on ultrasound waves according to claim 1, characterized in that the ultrasound probe (6) is a mono-crystalline longitudinal wave straight probe.