CN218067511U - Robot for detecting concrete strength by rebound method - Google Patents
Robot for detecting concrete strength by rebound method Download PDFInfo
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- CN218067511U CN218067511U CN202220820095.1U CN202220820095U CN218067511U CN 218067511 U CN218067511 U CN 218067511U CN 202220820095 U CN202220820095 U CN 202220820095U CN 218067511 U CN218067511 U CN 218067511U
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Abstract
The utility model belongs to the technical field of the building detecting instrument, concretely relates to resilience method detects concrete strength robot, include: a base; the server is fixed at the front end of the base; the six-axis mechanical arm is fixed at the rear end of the base and is connected with the server; the resiliometer assembly comprises a fixed bin, an electric telescopic piece connected with the server, a pressure sensor connected with the server, a sliding plate, a resiliometer body, a connecting plate and a return spring; and the high-definition camera is fixed at the top of the rear end of the fixed bin and is connected with the server. The utility model discloses with the problem of solving current resilience inspection robot existence as the starting point, design multipart such as servo, six arms and resilience subassembly, widened resilience inspection robot's application scope, improved the efficiency that the component resilience detected.
Description
Technical Field
The utility model belongs to the technical field of the building detecting instrument, concretely relates to resilience method detects concrete strength robot.
Background
In the building main body mechanism detection work, resilience method detection work load is great, and the cost of labor is higher and because the testing process need consume a large amount of physical power, and will lead to detecting data reliability to descend when physical power is lacked, consequently, the resilience method detects that automation technology is studied and is waited for to develop urgently.
In the prior art, robots for concrete springback detection are also disclosed, such as: the application number CN202010100898.5 discloses a robot for concrete vertical springback detection and the application number CN202010100896.6 discloses a robot for concrete horizontal springback detection. In the 2 patents, a single upright rod is respectively used as a main component of the x-direction module, the y-direction module and the z-direction module, and when the device is used, the device can only rebound in a vertical or horizontal one-way direction and cannot cope with an inclined component which is usually encountered; secondly, braced system adopts the universal wheel and adjusts the callus on the sole, needs the manual work to remove the operation, runs into the little slightly bigger component of size in actual testing process and just needs the manual work whole journey to follow the removal just can accomplish the operation, lacks the automatic movement function, can only kick-back the resilience of crossbeam coverage and detect, can't wait to detect the nimble range of adjusting of component size resilience respectively according to the reality. In summary, the use of the springback detection robot disclosed in the above 2 patents has certain limitations.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information constitutes prior art already known to a person skilled in the art.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a resilience method detects concrete strength robot to solve among the prior art resilience detection robot and have certain limitation when using, can't just can't detect the problem of waiting to detect the nimble adjustment resilience range of component size according to the reality to the slant component resilience.
In order to achieve the above purpose, the utility model provides a following technical scheme:
the resilience method detects concrete strength robot includes:
the device comprises a base, a universal wheel is arranged at the middle position of the bottom of the front end, and triangular crawler wheels with driving motors are arranged on two sides of the rear end;
the server is fixed at the front end of the base;
the six-axis mechanical arm is fixed at the rear end of the base and is connected with the server;
the resiliometer assembly comprises a fixed bin, an electric telescopic piece connected with the servo, a pressure sensor connected with the servo, a sliding plate, a resiliometer body, a connecting plate and a return spring, wherein the rear end of the fixed bin is fixed at one end, far away from the base, of the six-axis mechanical arm; the electric telescopic piece is fixed at the rear end of the fixed bin and extends along the length direction of the fixed bin, and a push plate is fixed at the front end of the electric telescopic piece; a plurality of pressure sensors are fixed on the front side surface of the push plate at intervals; the sliding plate is arranged along the length direction of the fixed bin and is in sliding guide fit with the fixed bin, and a fixed plate abutted against the pressure sensor is fixed at the rear end of the sliding plate; the bottom of the resiliometer body is fixed on the sliding plate, and the rear end of the resiliometer body is fixed on the fixed plate; the connecting plate is vertically arranged at the bottom of the sliding plate; the rear end of the return spring is fixed on the front side of the connecting plate, and the front end of the return spring abuts against the inner wall of the front end of the fixed bin; and
and the high-definition camera is fixed at the top of the rear end of the fixed bin and is connected with the server.
Preferably, the electric telescopic part is an electric hydraulic telescopic rod or an electric push rod.
Preferably, the number of the electric telescopic pieces is 3, and the electric telescopic pieces are distributed in a triangular mode.
Preferably, a limiting slide rail is fixed at each of four vertex angles of the push plate, and a baffle is fixed at one end of the limiting slide rail, which is far away from the push plate; and avoidance grooves corresponding to the limiting slide rails are formed in two sides of the lower end of the fixing plate.
Preferably, a communication module connected with the server is fixed on the base, and the communication module is a 4G or 5G module with an antenna.
Preferably, an infrared ranging module connected with the server is fixed to a side surface of the base.
Preferably, pulleys are fixed on two sides of the sliding plate, and guide sliding rails in sliding guide fit with the pulleys are fixed on two sides of the fixed bin.
Preferably, a limiting plate is fixed at the front end of the sliding plate; the front end of the resiliometer body penetrates through and extends out of the limiting plate.
Preferably, a power supply connected with the triangular crawler wheel, the server and the six-axis mechanical arm is fixed in the base, and the power supply is connected with a plug.
Compared with the prior art, the utility model discloses following beneficial effect has:
(1) The utility model discloses drive the resiliometer subassembly with six arms and remove, not only can be vertical or horizontal direction component kick-backs, should kick-back to the slant component, widened resilience detection robot's application scope.
(2) The utility model discloses a set up the server and in a plurality of parts such as communication module, triangle athey wheel, infrared ranging module and high definition digtal camera that the server is connected, can realize springback detection robot's automatic movement, look for springback and survey district and springback and detect, can improve the efficiency that the component resilience detected.
(3) The utility model discloses a rebound component comprises a plurality of parts such as an electric hydraulic telescopic rod, a sliding plate, a resiliometer body and a reset spring, wherein the electric hydraulic telescopic rod is used for driving the resiliometer body to move forwards and controlling the forward movement stroke of the resiliometer body to replace manual rebound operation; reset spring is used for reseing the resiliometer body, can realize that it detects to kick-back in succession to survey sixteen little districts that the district four times four divide the distribution.
(4) The utility model discloses use the problem of solving current resilience detection robot existence as the starting point, multipart such as design server, six arms and resilience subassembly has widened resilience detection robot's application scope, has improved the efficiency that the component resilience detected.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal mechanism at A in FIG. 1;
FIG. 3 is a schematic view of the slide plate and resiliometer body of FIG. 2 removed;
fig. 4 is a schematic structural view of the sliding plate of the present invention;
fig. 5 is a schematic structural view of the fixing plate of the present invention;
fig. 6 is a schematic structural view of the limit rail of the present invention.
Description of the reference numerals:
100. a base; 101. a universal wheel; 102. a triangular crawler wheel; 103. a communication module; 104. an infrared ranging module; 105. a power source;
200. a server;
300. a six-axis mechanical arm;
400. a resiliometer assembly; 401. fixing the bin; 4012. a guide slide rail; 402. an electric telescopic member; 4021. pushing the plate; 4022. a limiting slide rail; 4023. a baffle plate; 403. a pressure sensor; 404. a sliding plate; 4041. a fixing plate; 4042. a limiting plate; 4043. an avoidance groove; 4044. a pulley; 405. a resiliometer body; 406. a connecting plate; 407. a return spring;
500. high-definition camera.
Detailed Description
In the following, the technical solutions of the present invention are described clearly and completely, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by the technical personnel in the field without creative work belong to the protection scope of the present invention.
Examples
Referring to the accompanying drawings 1-6, a robot for detecting concrete strength by a rebound method comprises:
a base 100, wherein a universal wheel 101 is arranged at the middle position of the bottom of the front end, and triangular crawler wheels 102 with driving motors are arranged on two sides of the rear end;
a server 200 fixed to the front end of the base 100;
a six-axis robot 300 fixed to the rear end of the base 100 and connected to the server 200;
the resiliometer assembly 400 comprises a fixed cabin 401, an electric telescopic piece 402 connected with the servo 200, a pressure sensor 403 connected with the servo 200, a sliding plate 404, a resiliometer body 405, a connecting plate 406 and a return spring 407, wherein the rear end of the fixed cabin 401 is fixed at one end of the six-axis mechanical arm 300, which is far away from the base 100, and the top of the fixed cabin 401 is of an unsealed hollow structure; the electric telescopic pieces 402 are fixed at the rear end of the fixed bin 401 and extend along the length direction of the fixed bin, in the embodiment, 3 electric telescopic pieces 402 are arranged, 3 electric telescopic pieces 402 are distributed in a triangular mode, and a push plate 4021 is fixed at the front ends of the 3 electric telescopic pieces 402; the sliding plate 404 is arranged along the length direction of the fixed bin 401 and is in sliding guide fit with the fixed bin, a fixed plate 4041 abutted against the pressure sensor 403 is fixed at the rear end of the sliding plate 404, and a limit plate 4042 is fixed at the front end of the sliding plate 404, where it is required to be described that the front end of the sliding plate 404 extends out of the front end of the fixed bin 401; the bottom of the resiliometer body 405 is fixed on the sliding plate 404, the rear end is fixed on the fixed plate 4041, and the front end penetrates through and extends out of the limit plate 4042; the connecting plate 406 is vertically arranged at the bottom of the sliding plate 404, and a gap is reserved between the bottom and both sides of the connecting plate 406 and the fixed bin 401, so that the connecting plate 406 can move along with the sliding plate 404; the rear end of a return spring 407 is fixed on the front side of the connecting plate 406, and the front end of the return spring 407 abuts against the inner wall of the front end of the fixed bin 401; and
and the high-definition camera 500 is fixed at the top of the rear end of the fixed bin 401 and is connected with the server 200.
In this embodiment, the electric telescopic part 402 may be an electric hydraulic telescopic part or an electric push rod, when the electric telescopic part 402 is an electric hydraulic telescopic part, an oil bin of the electric telescopic part 402 is fixed at the top of the rear end of the fixed bin 401, and the high definition camera 500 is fixed at the top of the oil bin of the electric telescopic part 402.
Secondly, in this embodiment, the communication module 103 connected to the server 200 is fixed on the base 100, and the communication module 103 is a 4G or 5G module including an antenna; an infrared ranging module 104 connected to the server 200 is fixed to a side surface of the base 100.
In addition, in this embodiment, a limiting slide rail 4022 is fixed at each of four top corners of the push plate 4021, and a baffle 4023 is fixed at one end of the limiting slide rail 4022, which is far away from the push plate 4021; two sides of the lower end of the fixing plate 4041 are provided with avoidance grooves 4043 corresponding to the limit slide rails 4022.
It should be noted that the sliding plate 404 and the fixed compartment 401 can be slidably guided and matched by a sliding rail structure commonly used in the prior art drawer: the two sides of the sliding plate 404 fix the movable slide rails, and the two sides of the fixed bin 401 fix the fixed slide rails corresponding to the movable slide rails. The approach in fig. 3-4 can of course also be used: a plurality of pulleys 4044 are fixed on both sides of the sliding plate 404 at intervals, and guide rails 4012 which are in sliding guide fit with the pulleys 4044 are fixed on both sides of the fixed bin 401, and it is not difficult to understand that sliding grooves corresponding to the pulleys 4044 are arranged on the guide rails 4012.
In the present embodiment, a power supply 105 connected to the triangular crawler 102, the servo 200, and the six-axis robot 300 is fixed in the base 100, and a plug (not shown) is connected to the power supply 105.
When the device is used, the component to be measured is provided with measuring areas, sixteen small measuring areas distributed by four are arranged in each measuring area, and two-dimensional codes are arranged at the positions of the measuring areas for auxiliary positioning. An external client (such as a notebook computer) is communicatively connected to the communication module 103, so that a control command can be sent to the server 200 through the external client, where it is understood that a corresponding control program is installed in the external client.
After an external client sends a control instruction to the server 200, the six-axis mechanical arm 300 acts, the high-definition camera 500 moves along with the high-definition camera 500, after the high-definition camera 500 scans and recognizes a two-dimensional code for auxiliary positioning, the triangular crawler wheel 102 drives the base 100 to move, the infrared ranging module 104 monitors the position of the base 100 from the surface of the component in real time, and the movement is stopped when the base 100 is 0.5-0.8m away from the surface of the component. The six-axis robot 300 acts to vertically abut the front end of the resiliometer body 405 against the position of the measurement area of the member to be measured, and it is obvious that the external client can calculate the coordinate position of the front end of the six-axis robot 300 by controlling the posture of the six-axis robot 300 and the distance between the base 100 and the surface of the member, and further vertically abut the front end of the resiliometer body 405 against the position of the measurement area of the member to be measured.
Then six arms 300 drive whole resiliometer subassembly 400 and remove four times four dot matrix reciprocating motion that realize the district of surveying, electric extensible member 402 starts and stretches out and draws back simultaneously, it moves forward to drive pressure sensor 403 through push pedal 4021 when electric extensible member 402 stretches out the flexible end, move one section distance back, pressure sensor 403 butt is on fixed plate 4041 and produces thrust to it, sliding plate 404 slides and follows the front end roll-off from fixed bin 401 under the effect of this thrust, sliding plate 404 drives resiliometer body 405 and moves in the lump, the stroke that resiliometer body 405 moved forward is controlled through the stroke of controlling the flexible end of electric extensible member 402 and the pressure value of pressure sensor 403. The slide plate 404 slides forward to move the connection plate 406, and the return spring 407 is compressed. When the telescopic end of the electric telescopic part 402 retracts, the return spring 407 expands to generate thrust on the connecting plate 406, and the sliding plate 404 moves to the initial position under the action of the thrust; in addition, when the telescopic end of the electric telescopic piece 402 retracts, the push plate 4021 and the pressure sensor 403 are driven to move to the initial position, and when the push plate 4021 and the fixing plate 402 return to the initial position, the pressure sensor 403 and the fixing plate 4041 are separated. The rebound test of each district is surveyed to each district's in the district is surveyed to reciprocal realization like this, and high definition digtal camera 500 shoots the component and treats the measurement station that rebounds simultaneously, will rebound the vestige and shoot and pass back to outside client after the resilience finishes.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise form disclosed, and many modifications and variations are possible. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (9)
1. Rebound method detects concrete strength robot, its characterized in that includes:
the device comprises a base, a universal wheel is arranged at the middle position of the bottom of the front end, and triangular crawler wheels with driving motors are arranged on two sides of the rear end;
the server is fixed at the front end of the base;
the six-axis mechanical arm is fixed at the rear end of the base and is connected with the server;
the resiliometer assembly comprises a fixed bin, an electric telescopic piece connected with the servo, a pressure sensor connected with the servo, a sliding plate, a resiliometer body, a connecting plate and a return spring, wherein the rear end of the fixed bin is fixed at one end, far away from the base, of the six-axis mechanical arm; the electric telescopic piece is fixed at the rear end of the fixed bin and extends along the length direction of the fixed bin, and a push plate is fixed at the front end of the electric telescopic piece; a plurality of pressure sensors are fixed on the front side surface of the push plate at intervals; the sliding plate is arranged along the length direction of the fixed bin and is in sliding guide fit with the fixed bin, and a fixed plate abutted against the pressure sensor is fixed at the rear end of the sliding plate; the bottom of the resiliometer body is fixed on the sliding plate, and the rear end of the resiliometer body is fixed on the fixed plate; the connecting plate is vertically arranged at the bottom of the sliding plate; the rear end of the return spring is fixed on the front side of the connecting plate, and the front end of the return spring abuts against the inner wall of the front end of the fixed bin; and
and the high-definition camera is fixed at the top of the rear end of the fixed bin and connected with the server.
2. The robot for detecting concrete strength by a rebound method according to claim 1, wherein the electric telescopic part is an electric hydraulic telescopic rod or an electric push rod.
3. The robot for detecting concrete strength by rebound method according to claim 1, wherein 3 electric telescopic pieces are provided, and 3 electric telescopic pieces are distributed in a triangular shape.
4. The robot for detecting the strength of the concrete by the rebound method according to claim 1, wherein a limiting slide rail is fixed at each of four top corners of the push plate, and a baffle is fixed at one end of the limiting slide rail, which is far away from the push plate; and avoidance grooves corresponding to the limiting slide rails are formed in two sides of the lower end of the fixing plate.
5. The robot for detecting concrete strength by a rebound method according to claim 1, wherein a communication module connected with the server is fixed on the base, and the communication module is a 4G or 5G module with an antenna.
6. The robot for detecting concrete strength by rebound method according to claim 1, wherein an infrared ranging module connected with the server is fixed on the side surface of the base.
7. The resilience method concrete strength detecting robot according to claim 1, wherein pulleys are fixed on two sides of the sliding plate, and guide slide rails which are in sliding guide fit with the pulleys are fixed on two sides of the fixed bin.
8. The resilience method concrete strength detecting robot according to claim 1, wherein a limiting plate is fixed to the front end of the sliding plate; the front end of the resiliometer body penetrates through and extends out of the limiting plate.
9. The resilience method concrete strength detecting robot according to claim 1, wherein a power supply connected with the triangular crawler wheel, the server and the six-shaft mechanical arm is fixed in the base, and the power supply is connected with a plug.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220820095.1U CN218067511U (en) | 2022-04-08 | 2022-04-08 | Robot for detecting concrete strength by rebound method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202220820095.1U CN218067511U (en) | 2022-04-08 | 2022-04-08 | Robot for detecting concrete strength by rebound method |
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| CN218067511U true CN218067511U (en) | 2022-12-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117451556A (en) * | 2023-11-13 | 2024-01-26 | 山东省路桥集团有限公司 | Concrete rain sewage pipeline strength detection device |
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2022
- 2022-04-08 CN CN202220820095.1U patent/CN218067511U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117451556A (en) * | 2023-11-13 | 2024-01-26 | 山东省路桥集团有限公司 | Concrete rain sewage pipeline strength detection device |
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Effective date of registration: 20230329 Address after: No. 66 Kunlun Avenue, Xiadanqiao, Sitang Town, Xingning District, Nanning City, Guangxi Zhuang Autonomous Region, 530216 Patentee after: Guangxi Wanzhong Engineering Testing Co.,Ltd. Address before: No. 1301, Building 10, Shengtian Green, No. 179, Changgu Road, Xingning District, Nanning City, 530000 Guangxi Zhuang Autonomous Region Patentee before: Jiang Mingxue |