CN217901639U - A automatic robot that is used for steel-concrete combination bridge tower concrete to come to nothing to detect - Google Patents
A automatic robot that is used for steel-concrete combination bridge tower concrete to come to nothing to detect Download PDFInfo
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- CN217901639U CN217901639U CN202221425675.7U CN202221425675U CN217901639U CN 217901639 U CN217901639 U CN 217901639U CN 202221425675 U CN202221425675 U CN 202221425675U CN 217901639 U CN217901639 U CN 217901639U
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Abstract
The utility model discloses an automatic robot that is used for steel-concrete combination bridge tower concrete to take off empty and detect, including robot body frame, drive power component, magnetism type track, still arouse subassembly, signal acquisition and processing subassembly, path identification and planning module including detecting drive assembly, vibration, it sets up to be connected with the drive power component transmission in robot body frame indulges the front end in the detection drive assembly, it arouses the subassembly transmission with the vibration to be connected and is used for driving the vibration to arouse the subassembly to arouse the vibration to the bridge tower surface to detect drive assembly, signal acquisition and processing subassembly set up in robot body frame bottom, path identification and planning module set up in robot body frame front end top. The utility model discloses degree of automation is high, strong adaptability, detection efficiency are high, can effectively realize the unmanned automatic detection of various types of combination bridge tower concrete void, is showing intelligent, the industrialization degree that promotes combination bridge tower and detect.
Description
Technical Field
The utility model relates to a bridge construction field specifically indicates an automatic robot that is used for steel-concrete combination bridge tower concrete to come to nothing to detect.
Background
Along with the development of bridge construction technology, the bridge span is bigger and bigger, and the bridge tower height is higher and higher, and the application of combination bridge tower is more and more extensive, because the inside structure of combination bridge tower is complicated, pours environmental impact factor more, and concrete placement easily produces quality problems such as coming to nothing, inside space. The method is characterized in that the conventional method for detecting the void adopts a manual method of knocking by a small hammer to judge the void detection of the concrete and the steel structure by different knocking feedback timbres, the effectiveness of the detection quality has great relation with detection personnel, and the quantized and visualized unified standard of the bridge tower detection result cannot be realized; in addition, the conventional bridge tower has a large section and a high segment height, and the problems of difficult arrival of a high-altitude detection part, high safety risk in the detection process, long working time of relying on manual detection, high working strength, harsh detection environment and the like exist in the detection process generally.
Chinese utility model with application numbers CN201810015228.6, CN201820025069.3 all disclose a wall-climbing robot with a magnetic adsorption crawler, which has good climbing performance but cannot be used for specific test.
Therefore, it is necessary to develop an automatic robot for detecting concrete void of a steel-concrete combined bridge tower, which has a simple structure and is convenient to operate, so as to realize automation and no humanization of high-altitude combined bridge tower detection.
Disclosure of Invention
The utility model aims at solving the not enough of above-mentioned background art, provide a simple structure, convenient operation's an automatic robot that is used for steel-concrete combination bridge tower concrete to come to nothing to detect, realize automation, the unmanned of high altitude combination bridge tower detection.
The technical scheme of the utility model is that: the utility model provides an automatic robot that is used for steel-concrete combination bridge tower concrete to take off empty and detect, includes robot body frame, drive power component, magnetism and inhales the formula track, magnetism is inhaled the formula track and is set up in robot body frame's horizontal both sides and be connected its characterized in that with the drive power component transmission on the robot body frame:
still arouse subassembly, signal acquisition and processing system, route discernment and planning system including detecting transmission assembly, vibration, it sets up to detect transmission assembly and is connected with the drive power component transmission in the fore-end is indulged to the robot body frame, it arouses the subassembly transmission with the vibration to be connected to be used for driving the vibration to arouse the subassembly to the bridge tower surface excitation vibration to detect transmission assembly, signal acquisition and processing system set up and are used for collecting, transmitting vibration signal in robot body frame bottom, route discernment and planning system set up and are used for planning the walking route through scanning data in robot body frame front end top.
Preferably, the robot body frame includes the bottom plate and is fixed in the main tank body on the bottom plate, drive power assembly is including setting up the power supply in the main tank body and along transversely setting up front drive shaft, the back drive shaft in the main tank body front and back end respectively, front drive shaft, back drive shaft both ends all are equipped with the gear, and each gear is connected with the formula track transmission of magnetism of homonymy inhaling.
Furthermore, detect transmission assembly including setting up in the epaxial first drive gear of front drive wheel to and rotate the transmission pivot of connecting in front drive wheel shaft the place ahead on the headstock, be equipped with second drive gear and the meshing transmission of first drive gear on the transmission pivot.
Furthermore, the first transmission gears are symmetrically arranged at the two transverse ends of the front driving wheel shaft, the transmission rotating shaft transversely penetrates through the main box body, the two ends of the transmission rotating shaft extend out of the main box body, and the second transmission gears are symmetrically arranged at the two transverse ends of the transmission rotating shaft.
Further, the vibration excitation assembly comprises a support arranged on the bottom plate, a rotating rod hinged to the support and a cam arranged on the transmission rotating shaft, the front end of the rotating rod is provided with an excitation vibration hammer, the rear end of the rotating rod is provided with a counterweight magnetic block, a suction magnet arranged on the bottom plate is used for being matched with the counterweight magnetic block, and the cam is located above the rotating rod and used for driving the rotating rod to enable the excitation vibration hammer to knock downwards.
Furthermore, the rotating rod piece is hinged with the support at the rear half section, and a compression spring is arranged in the support to elastically support the rotating rod piece in the vertical direction.
Furthermore, the rotating rod piece is hinged with the support through a hinge shaft, and the hinge shaft is transversely arranged.
Further, the cam of the vibration exciting assembly is located at the lateral outer end of the transmission rotary shaft.
Furthermore, the signal acquisition and processing system comprises a magnetic clamping seat, a signal collector and a data storage and transmission module, wherein the upper end of the signal collector is positioned in the main box body and fixedly connected with the data storage and transmission module, the lower end of the signal collector penetrates through the main box body to the lower part of the bottom plate and is fixedly connected with the bottom plate, and the magnetic clamping seat is fixedly connected with the lower end of the signal collector and used for adsorbing the surface of the steel tower.
Preferably, the path identification and planning system is electrically connected with the driving power assembly and is used for transmitting the walking signal to the driving power assembly.
The utility model has the advantages that:
1. the detection transmission assembly transmits when the robot walks through the first transmission gear on the front drive wheel shaft, the first transmission gear drives the second transmission gear meshed with the first transmission gear to rotate, and the second transmission gear drives the transmission rotating shaft to rotate, so that the cam of the vibration excitation device rotates. The utility model discloses a transmission of preceding driving wheel axle and need not other power and can realize vibration excitation device's excitation work.
2. The cam of the vibration excitation device touches the rotating rod piece in the rotating process, so that the rotating rod piece rotates around the shaft, and the vibration excitation hammer inclines downwards to hammer the tower wall of the bridge tower to induce vibration. The detection transmission assembly can enable the vibration excitation hammer to carry out hammering excitation vibration on the surface of the bridge tower periodically according to fixed walking frequency, and after signal acquisition is completed, the digital signals are uploaded to a detection data cloud platform through a signal processing system and integrated processing is carried out on the data.
3. The utility model discloses simple structure, convenient operation can unmanned, automatic, high-efficient realize conveniently that steel-concrete combination bridge tower concrete comes to nothing detects.
Drawings
FIG. 1 is a top view of the present invention
FIG. 2 is a left side view of the present invention
FIG. 3 is a front view of the present invention
FIG. 4 isbase:Sub>A sectional view taken along line A-A of FIG. 3 (the first transmission gear and the second transmission gear are omitted)
Fig. 5 is a bottom view of the present invention
FIG. 6 is a diagram showing the vibration excited state of the tower wall on the bridge tower plane
FIG. 7 is a diagram showing the vibration excited state of the curved tower wall of the bridge tower
Wherein: the robot comprises a robot body frame 1, a robot body frame 2, a driving power assembly 3, a magnetic attraction type crawler 4, a detection transmission assembly 5, a vibration excitation assembly 6, a signal acquisition and processing system 7, a path identification and planning system 8, a bridge tower plane tower wall 9, a bridge tower curved surface tower wall 11, a bottom plate 12, a main box body 13, an auxiliary box body 21, a front driving wheel shaft 22, a rear driving wheel shaft 23, a gear 41, a first transmission gear 42, a transmission rotating shaft 43, a second transmission gear 51, an excitation hammer 52, a cam 53, a support 54, a compression spring 55, a suction magnet 56, a counterweight magnet 57, a rotating rod 58, a hinged shaft 61, a magnetic clamping seat 62, a signal acquisition unit 63 and a data storage and transmission module.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific embodiments.
As shown in fig. 1-5, the utility model provides an automatic robot that is used for steel-concrete combination bridge tower concrete to come to nothing to detect, including robot frame 1, drive power component 2, magnetism is inhaled formula track 3, detect drive assembly 4, vibration arouses subassembly 5, signal acquisition and processing system 6, path identification and planning system 7, magnetism is inhaled formula track 3 and is set up in robot frame 1's horizontal both sides and be connected with the drive power component 2 transmission on the robot frame 1, it sets up in robot frame 1 longitudinal front end and is connected with drive power component 2 transmission to detect drive assembly 4, it arouses subassembly 5 to arouse the vibration to the bridge tower surface with vibration arouses subassembly 5 transmission to be connected to be used for driving vibration, signal acquisition and processing system 6 sets up and is used for collecting in robot frame 1 bottom, the transmission vibration signal, path identification and planning system 7 set up in robot frame 1 front end top and are used for planning the walking route through the scanning data. In this embodiment, the left-right direction in fig. 1 is taken as the horizontal direction, and the up-down direction is taken as the vertical direction, and the lower end in fig. 1 is the front end of the robot body frame 1, and the upper end is the rear end of the robot body frame 1.
The driving power assembly 2 comprises a power source arranged in the main box body 12, and a front driving wheel shaft 21 and a rear driving wheel shaft 22 which are respectively arranged at the front end and the rear end of the main box body 12, wherein the front driving wheel shaft 21 and the rear driving wheel shaft 22 are driven by the power source to rotate, the front driving wheel shaft 21 and the rear driving wheel shaft 22 are transversely arranged, gears 23 are arranged at two ends of the front driving wheel shaft 21 and the rear driving wheel shaft 22, and the gears 23 are in transmission connection with the magnetic type crawler 3 at the same side. In this embodiment, the sub-housing 13 of the robot body frame 1 is longitudinally positioned between the front drive wheel shaft 21 and the rear drive wheel shaft 22 so as not to interfere with the rotation thereof.
The detection transmission assembly 4 includes a first transmission gear 41 disposed on the front driving wheel shaft 21, and a transmission rotation shaft 42 rotatably connected to the front of the front driving wheel shaft 21 on the main box 12, and a second transmission gear 43 disposed on the transmission rotation shaft 42 and meshed with the first transmission gear 41 for transmission. In this embodiment, the first transmission gears 41 are symmetrically arranged at the two transverse ends of the front driving wheel shaft 21, each first transmission gear 41 is transversely arranged between the magnetic-type caterpillar band 3 and the main box body 12 at the same side, the transmission rotating shaft 42 transversely penetrates through the main box body 12, the two ends of the transmission rotating shaft 42 all extend out of the main box body 12, and the second transmission gears 43 are symmetrically arranged at the two transverse ends of the transmission rotating shaft 42. The two first transmission gears 41 and the two second transmission gears 43 which are symmetrically arranged facilitate the two ends of the transmission rotating shaft 42 to be stressed simultaneously during transmission, so as to keep stable rotation. The first transmission gear 41 of the front drive axle 21 drives the second transmission gear 43 and the transmission rotating shaft 42 to rotate, so that the driving of the transmission device is realized, and the rotation speed of the transmission device can be adjusted through the size of the second transmission gear 43.
The vibration excitation assembly 5 comprises a support 53 arranged on a small rectangular part of the bottom plate 11, a rotating rod piece 57 hinged on the support 53 and a cam 52 arranged at the left end of the transmission rotating shaft 42, an excitation vibration hammer 51 is arranged at the front end of the rotating rod piece 57, a counterweight magnetic block 56 is arranged at the rear end of the rotating rod piece 57, a suction magnet 55 arranged on the small rectangular part of the bottom plate 11 is used for being matched with the counterweight magnetic block 56, and the cam 52 is positioned above the rotating rod piece 57 and used for driving the rotating rod piece 57 to enable the excitation vibration hammer 51 to knock downwards. The rotating rod 57 is hinged with the bracket 53 at the rear half section, and a compression spring 54 is arranged in the bracket 53 to elastically support the rotating rod 57 in the vertical direction. The rotating rod 57 is hinged with the bracket 53 through a hinge shaft 58, the hinge shaft 58 is arranged along the axial direction and the transverse direction, the hinging of the bracket 53 and the support of the compression spring 54 with larger rigidity can ensure that the vibration exciting device 5: the vibration exciting action of the cam on the pressure of the cam can be adaptively adjusted even in the curved tower wall area of the bridge tower, and the exciting states of the vibration exciting assembly 5 on the planar tower wall 8 and the curved tower wall 9 of the bridge tower are shown in fig. 6-7.
The signal acquisition and processing system 6 comprises a magnetic clamping seat 61, a signal collector 62 and a data storage and transmission module 63, wherein the upper end of the signal collector 62 is positioned in the main box body 12 and fixedly connected with the data storage and transmission module 63, the lower end of the signal collector 62 penetrates through the main box body 12 to the lower part of the bottom plate 11 and is fixedly connected with the bottom plate 11, and the magnetic clamping seat 61 is fixedly connected with the lower end of the signal collector 62 and is used for adsorbing the surface of the steel tower. The signal acquisition and processing system 6 is connected with the signal collector 62 by the magnetic clamping seat 61 and is adsorbed on the surface of the steel tower, so that the surface acquisition of signals is realized, and after the signal acquisition is finished, the digital signals are uploaded to the detection data cloud platform through the data storage and transmission module 63, and the data are integrated.
The path identification and planning system 7 is electrically connected with the driving power assembly 2 and is used for transmitting a walking signal to the driving power assembly 2. The path recognition and planning system 7 comprises a three-dimensional laser camera, the three-dimensional laser camera scans a walking scene, a walking command is given to the driving power system 2 through scanning data and a path planning walking algorithm, and the driving power system 2 drives the magnetic type crawler system 3 to realize that the robot crawls on the surface of the tower wall of the bridge tower.
The robot is used for the automatic detection method of the concrete void of the steel-concrete combined bridge tower, and comprises the following steps:
s1: the robot is placed at the position of the tower wall of the bridge tower, the robot is adsorbed on the tower wall of the steel-concrete bridge tower based on the magnetic type crawler 3, the area to be detected is scanned through a three-dimensional laser camera in a path recognition and planning system 7, the area where the robot climbs the wall to walk is obtained, and the robot detection path is obtained through an algorithm;
s2: the robot controls a motor to drive a track to climb the wall and walk based on a path command given by an algorithm, a detection transmission assembly 4 drives a cam 52 to rotate in the walking process, the cam 52 is in contact with a rotating rod 57 to enable the rotating rod 57 to rotate, an excitation vibration hammer 51 at the front end of the rotating rod 57 generates a hammering effect with the wall of the bridge tower, and the hammering drives the wall plate of the bridge tower to generate corresponding vibration mechanical waves;
s3: after the hammering action is generated, the robot system receives the instruction stagnation, and signal collector 62 below the robot body collects hammering vibration feedback signals to obtain elastic waves generated by vibration, and signal data are uploaded to a cloud database through storage and transmission module 63. The robot continues to walk to detect the next area;
s4: the vibration receiving signal data and the robot walking data are uploaded to a cloud database, and the vibration signal data are subjected to series of analysis such as filtering, time-frequency processing and the like to obtain a waveform, energy, a spectrogram and the like;
s5: on the basis of the position of a robot walking plane and the corresponding signal spectrograms of all the areas, enabling signal analysis data to correspond to walking data one by one, correspondingly splicing the signal analysis spectrograms with the detection areas, and obtaining a visual two-dimensional or three-dimensional energy spectrogram of the whole detection area of the tower column;
s6: based on the energy spectrogram of the full-bridge tower surface area, the surface void characteristics of the bridge tower are quantified and identified on the basis of statistics.
While the embodiments of the invention have been described above, it is not intended to be limited to the details shown, or described, but rather to cover all modifications, which would come within the scope of the appended claims, and all changes which come within the meaning and range of equivalency of the art are therefore intended to be embraced therein.
Claims (10)
1. The utility model provides an automatic robot that is used for steel-concrete combination bridge tower concrete to take off empty and detect, includes robot body frame (1), drive power component (2), magnetism and inhales formula track (3), magnetism is inhaled formula track (3) and is set up in the horizontal both sides of robot body frame (1) and be connected its characterized in that with drive power component (2) transmission on robot body frame (1):
still including detecting drive assembly (4), vibration excitation subassembly (5), signal acquisition and processing system (6), route discernment and planning system (7), it is connected with drive power component (2) transmission to detect drive assembly (4) and set up in robot body frame (1) longitudinal front end, it is used for driving vibration excitation subassembly (5) to arouse the vibration to the bridge tower surface to detect drive assembly (4) and vibration excitation subassembly (5) transmission connection, signal acquisition and processing system (6) set up and are used for collecting, transmitting vibration signal in robot body frame (1) bottom, route discernment and planning system (7) set up and are used for planning the walking route through scanning data in robot body frame (1) front end top.
2. The automated robot for steel-concrete composite bridge tower concrete void detection of claim 1, wherein: robot body frame (1) includes bottom plate (11) and is fixed in main tank body (12) on bottom plate (11), drive power component (2) are including setting up the power supply in main tank body (12) and along transversely setting up respectively in front driving wheel axle (21), the back driving wheel axle (22) of main tank body (12) front and back end, front driving wheel axle (21), back driving wheel axle (22) both ends all are equipped with gear (23), and each gear (23) are connected with the transmission of formula track (3) is inhaled to the magnetism of homonymy.
3. The automated robot for detection of concrete void of a steel-concrete combined bridge tower of claim 2, wherein: the detection transmission assembly (4) comprises a first transmission gear (41) arranged on a front driving wheel shaft (21) and a transmission rotating shaft (42) which is rotatably connected to the front of the front driving wheel shaft (21) on the main box body (12), and a second transmission gear (43) and the first transmission gear (41) are arranged on the transmission rotating shaft (42) in a meshing transmission mode.
4. An automated robot for steel-concrete combined bridge tower concrete void detection as defined in claim 3, wherein: the first transmission gears (41) are symmetrically arranged at the two transverse ends of the front driving wheel shaft (21), the transmission rotating shaft (42) transversely penetrates through the main box body (12) and the two ends of the transmission rotating shaft extend out of the main box body (12), and the second transmission gears (43) are symmetrically arranged at the two transverse ends of the transmission rotating shaft (42).
5. An automated robot for steel-concrete composite bridge tower concrete void detection as defined in claim 3, wherein: vibration excitation subassembly (5) including set up support (53) on bottom plate (11), articulate rotation member (57) on support (53) and set up cam (52) on transmission pivot (42), rotation member (57) front end is equipped with excites vibration hammer (51), the rear end is equipped with counter weight magnetic path (56), be equipped with suction magnet (55) on bottom plate (11) and be used for cooperating with counter weight magnetic path (56), cam (52) are located rotation member (57) top and are used for driving rotation member (57) and make to excite vibration hammer (51) and strike downwards.
6. The automated robot for steel-concrete composite bridge tower concrete void detection of claim 5, wherein: the rotating rod piece (57) is hinged with the support (53) at the rear half section, and a compression spring (54) is arranged in the support (53) to elastically support the rotating rod piece (57) in the vertical direction.
7. An automated robot for steel-concrete combined bridge tower concrete void detection as recited in claim 5, wherein: the rotating rod piece (57) is hinged with the support (53) through a hinge shaft (58), and the hinge shaft (58) is transversely arranged.
8. An automated robot for steel-concrete combined bridge tower concrete void detection as recited in claim 5, wherein: the cam (52) of the vibration exciting assembly (5) is located at the lateral outer end of the transmission rotating shaft (42).
9. The automated robot for detection of concrete void of a steel-concrete combined bridge tower of claim 2, wherein: the signal acquisition and processing system (6) comprises a magnetic force clamping seat (61), a signal collector (62) and a data storage and transmission module (63), wherein the upper end of the signal collector (62) is positioned in the main box body (12) and fixedly connected with the data storage and transmission module (63), the lower end of the signal collector (62) penetrates through the main box body (12) to the position below the bottom plate (11) and is fixedly connected with the bottom plate (11), and the magnetic force clamping seat (61) is fixedly connected to the lower end of the signal collector (62) and used for adsorbing the surface of the steel tower.
10. The automated robot for the detection of concrete void of a steel-concrete combined bridge tower according to claim 1, wherein: the path identification and planning system (7) is electrically connected with the driving power assembly (2) and is used for transmitting walking signals to the driving power assembly (2).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221425675.7U CN217901639U (en) | 2022-06-06 | 2022-06-06 | A automatic robot that is used for steel-concrete combination bridge tower concrete to come to nothing to detect |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221425675.7U CN217901639U (en) | 2022-06-06 | 2022-06-06 | A automatic robot that is used for steel-concrete combination bridge tower concrete to come to nothing to detect |
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| CN217901639U true CN217901639U (en) | 2022-11-25 |
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| CN202221425675.7U Active CN217901639U (en) | 2022-06-06 | 2022-06-06 | A automatic robot that is used for steel-concrete combination bridge tower concrete to come to nothing to detect |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116381051A (en) * | 2023-06-06 | 2023-07-04 | 安徽中铁工程技术有限公司 | Railway bridge tunnel concrete compactness detection device and detection system thereof |
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2022
- 2022-06-06 CN CN202221425675.7U patent/CN217901639U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116381051A (en) * | 2023-06-06 | 2023-07-04 | 安徽中铁工程技术有限公司 | Railway bridge tunnel concrete compactness detection device and detection system thereof |
| CN116381051B (en) * | 2023-06-06 | 2023-08-25 | 安徽中铁工程技术有限公司 | Railway bridge tunnel concrete compactness detection device and detection system thereof |
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