CN108254440A - It is a kind of to detect robot and the method using detection robot detection concrete filled steel tube pouring quality - Google Patents
It is a kind of to detect robot and the method using detection robot detection concrete filled steel tube pouring quality Download PDFInfo
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- CN108254440A CN108254440A CN201810102920.2A CN201810102920A CN108254440A CN 108254440 A CN108254440 A CN 108254440A CN 201810102920 A CN201810102920 A CN 201810102920A CN 108254440 A CN108254440 A CN 108254440A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/045—Analysing solids by imparting shocks to the workpiece and detecting the vibrations or the acoustic waves caused by the shocks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/44—Processing the detected response signal, e.g. electronic circuits specially adapted therefor
- G01N29/46—Processing the detected response signal, e.g. electronic circuits specially adapted therefor by spectral analysis, e.g. Fourier analysis or wavelet analysis
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
- G01N2291/0231—Composite or layered materials
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Abstract
The present invention provides a kind of method for detecting robot and concrete filled steel tube pouring quality is detected using the detection robot, the detection robot includes mechanical electromagnetic mixing and taps hammer (1), microphone (3) and camera (7), mechanical electromagnetic mixing taps one end that mechanical arm (2) and microphone mechanical arm (4) are hammered in the percussion that hammer (1) and microphone (3) are individually fixed in robot by adjustable clamp (5) into shape, the control that the other end of percussion hammer mechanical arm (2) and microphone mechanical arm (4) is each attached in robot turns on pile (8), control turns pile (8) equipped with pedestal (9), steering gear (10) is installed on pedestal (9), camera (7) is installed in steering gear (10).
Description
Technical field
The present invention relates to building engineering fields, relate generally to a kind of detection robot and detect steel using the detection robot
The method of pipe concrete pouring quality.
Background technology
Concrete filled steel tube (Concrete-Filled Steel Tube) composite structure refers to the fill concrete in steel pipe
The composite structure of formation, being interacted in loading process using steel pipe and concrete makes concrete be in complicated stress shape
State, so as to which the intensity for making concrete is improved, plasticity and toughness are improved.Steel tube-concrete composite structure gives full play to
The advantages of steel are with two kinds of materials of concrete, has：It is light-weight, in terms of mechanical property endurance, intensity height, impact resistance, prolong
Property it is good, the advantages such as light, labor and material saving, speed of application be fast are set up in terms of workability, are widely used in workshop, high level is built
It builds in large-span structure and bridge, is influenced by the factors such as construction technology and material self-characteristic, in addition CFST Arch Bridge
Design specification is not perfect with theory, has occurred different degrees of disease in active service steel tube-concrete composite structure, should cause
Pay much attention to.The type of impairment of steel tube-concrete composite structure mainly includes：Come to nothing phenomenon, steel pipe partial at pipe inner concrete interface
Drum song, steel pipe partial corrosion etc., wherein it is the most universal with the tube wall of concrete filled steel tube phenomenon of coming to nothing, still, outside concrete filled steel tube
Portion is steel-tube construction, internal phenomenon of coming to nothing, and can not have the problems such as being difficult to observe, being difficult to detect by naked eyes discovery.
We have discovered that when the component surface closely knit to Concrete Filled applies impulsive force excitation, impact moment can be sent out
When going out direct sound wave, and applying impulsive force excitation to the damage location that comes to nothing of component surface, the steel plate shell in region of locally coming to nothing by
The effect of impact force in short-term, will occur lasting vibratory response, and response is fairly obvious at the natural frequency of vibration of local sheet shell.Cause
This, the present invention picks up the sound pressure signal in excitation point overhead by sound pressure sensor microphone, and sound pressure signal is analyzed and processed,
The Vibration Condition of component surface is judged, by the difference of the parameters such as the frequency, speed and amplitude of vibration characteristics to determine whether depositing
In damage of coming to nothing.
Invention content
The problems such as the present invention be directed to be difficult to observe in concrete filled steel tube casting process, be difficult to detect, having invented one kind can
That creeps on concrete filled steel tube comes to nothing the robot of damage for detecting concrete filled steel tube.The detection robot utilizes adsorbable
Crawler belt and its long-range remote control function overcome traditional detection means there are the shortcomings that check frequency, while the detection robot utilizes
Wireless transmission function realizes the function of information instantaneous transmission, analysis.
The detection robot of the present invention, adopts the following technical scheme that：
A kind of detection robot for detecting concrete filled steel tube pouring quality, mixes including mechanical electromagnetic and taps hammer, Mike
Wind and camera, mechanical electromagnetic mixing tap the percussion that hammer and microphone are individually fixed in by adjustable clamp in robot
Hammer one end of mechanical arm and microphone mechanical arm into shape, the other end for tapping hammer mechanical arm and microphone mechanical arm is each attached to robot
On control turn on pile, control turns pile equipped with pedestal, is equipped with steering gear on pedestal, camera is equipped in steering gear.
Further, control turns pile and is connected by inner rotation mechanism with robot automobile body, provides 360 degree of steering, and
It drives and taps hammer mechanical arm and the rotation of microphone mechanical arm.
Further, the mechanical electromagnetic mixing, which taps to hammer into shape, includes motor, half gear, electromagnetic coil, partition board, ratch
Rod iron, soft iron layer, return spring, spring and percussion hammer, motor drive the rotation of half gear, and half gear drives ratch rod iron
It moves up, and compressed spring is done work, the anodontia stage is entered after half gear half rotation, and be detached from ratch rod iron, tooth
Bar rod iron launches downwards under the acting of spring together with tapping hammer, and when ejection is to spring balancing position, ratch rod iron starts to subtract
Speed movement, and tap hammer at this time and original speed is kept to continue to move under effect of inertia, and be detached from ratch rod iron, until hitting
Steel pipe epidermis to be detected is hit, hammer is tapped under the action of steel pipe epidermis and return spring, rebounds upwards, at this point, electromagnetic coil
Be initially powered up, and make ratch rod iron side soft iron layer have magnetism, it is ensured that soft iron layer with tap hammer side soft iron layer meet when,
Percussion hammer is firmly sucked, avoids its secondary percussion steel pipe epidermis.
Further, installation force sensor in hammer is tapped, the numerical value of power generated when force snesor is by each tap passes
Detection device is defeated by, force snesor front end is used to protect force snesor equipped with hammer cap, hammer cap.
Further, the microphone is in cylinder, and lower part is audio typing mouth, and top is output terminal, passes through data line
Audio-frequency information is passed to the storage device with robot car.
Further, the opposite steering gear of camera energy rotates upwardly and downwardly, and steering gear can be relative to pedestal left-right rotation, camera
Tapped place is hammered into shape to observe tapping, and will shoot realtime video transmission to operating personnel, and be presented on remote control screen
On, to be conveniently operated personnel's real-time operation.
Further, which further includes data acquisition module and wireless transport module, and data acquisition module is will to adopt
The signal data of collection simultaneously passes through wireless transport module data is radioed to operating personnel in real time, judges at detection convenient for it
Concrete pours situation.
Further, which further includes remote control equipment, and remote control equipment mainly realizes two big functions, first, realizing machine
The function of creeping of people, including：Advance, retroversion and left and right turn；Second is that realize the control of detection robot, including：Remote control is struck
Hammer mechanical arm and microphone mechanical arm in perpendicular are freely rotated and control the rotation for turning pile, to realize the machine
The rotation in the horizontal direction of tool arm.
The present invention also proposes a kind of method using detection robot detection concrete filled steel tube pouring quality, and this method includes
Following steps：
1) concrete filled steel tube overall structure to be detected is carried out with artificial audition method or the infrared thermal imaging technique of tapping
Quick detection primarily determines the region that local damage of coming to nothing may occur；
2) come to nothing equidistant 10 × 10 measuring point grid of region division of damage in the part, in each grid beating point
Place is tapped using hammer is tapped, and the box hat for the injury region that locally comes to nothing generates vibration in the case where tapping hammer excitation；
3) sound pressure signal in beating point overhead is picked up by microphone, to from the force signal and beating point for tapping hammer acquisition
The pressure response signal of sky acquisition is analyzed and processed, and acquires the frequency response function curve of each beating point, extraction single order peak
It is worth frequency harmony pressure Modal Flexibility, makees to tap the damage cloud of dot grid using the numerical matrix of acoustic pressure Modal Flexibility as damage criterion
Figure；
4) size and shape for the damage field that comes to nothing are identified according to damage cloud atlas；
5) the frequency domain character model vibrated by plate shell is verified and is checked, after the specific location for determining damage, to damage
Hinder region and carry out well cementing consolidation process.
A kind of detection robot of the present invention and the method using detection robot detection concrete filled steel tube pouring quality,
Using adsorbable crawler belt and its long-range remote control function traditional detection means are overcome there are the shortcomings that check frequency, while the detection
Robot realizes information instantaneous transmission, the function of analysis using wireless transmission function.It can crawling machine simultaneously because having used
People, being convenient for measuring eminence etc. is inconvenient to go up the region of people.The present invention hammers the technical solution of percussion and microphone pick-up into shape using tapping,
It is coupled without interfacial contact, flaw detection is quick and convenient, can identify that the part of minimum 25mm grids is come to nothing damage, realizes spy in high precision
Wound.
Description of the drawings
Fig. 1 is the stereogram of sniffing robot；
Fig. 2 is the partial enlarged view that mechanical electromagnetic mixing taps hammer and microphone；
Fig. 3 is the vertical view of sniffing robot；
Fig. 4 is camera partial enlarged view；
Fig. 5 is data acquisition module, wireless transmitter module and accumulator installing zone schematic diagram；
Fig. 6 is that mechanical electromagnetic mixing taps hammer schematic internal view；
Fig. 7 is concrete filled steel tube mesh generation schematic diagram；
Fig. 8 is that concrete filled steel tubular member comes to nothing recognition imaging cloud atlas.
Reference numeral：Mechanical electromagnetic mixing taps hammer 1, taps hammer mechanical arm 2, microphone 3, microphone mechanical arm 4, fixture
5th, bolt 6, camera 7, control turn pile 8, pedestal 9, steering gear 10, Battery compartment 11, wireless transmitter module 12, data acquisition
Module 13, half gear 14, electromagnetic coil 15, partition board 16, ratch rod iron 17, soft iron layer 18, return spring 19, force snesor
20th, spring 21, percussion hammer 22, hammer cap 23, data line interface 24, compression section m, rebound section n, n>m.
Specific embodiment
For the object, technical solutions and advantages of the present invention is made to express to be more clearly understood, 1-8 is to this below in conjunction with the accompanying drawings
Invention is further introduced.
A kind of detection robot for detecting concrete filled steel tube pouring quality, mixes including mechanical electromagnetic and taps hammer 1, wheat
Gram wind 3 and camera 7, mechanical electromagnetic mixing taps hammer 1 and microphone 3 is individually fixed in robot by adjustable clamp 5
On percussion hammer mechanical arm 2 and microphone mechanical arm 4 one end, tap hammer mechanical arm 2 and microphone mechanical arm 4 the other end it is equal
The control being fixed in robot turns on pile 8, and control turns pile 8 and is equipped with pedestal 9, and steering gear 10, steering gear are equipped on pedestal 9
Camera 7 is installed on 10.
Further, control turns pile 8 and is connected by inner rotation mechanism with robot automobile body, provides 360 degree of steering, and
Percussion hammer mechanical arm 2 and microphone mechanical arm 4 is driven to rotate.
Further, the mechanical electromagnetic mixing percussion hammer 1 includes motor, half gear 14, electromagnetic coil 15, partition board
16th, ratch rod iron 17, soft iron layer 18, return spring 19, spring 21 and percussion hammer 22, motor drives half gear 14 to rotate,
Half gear 14 drives ratch rod iron 17 to move up, and compressed spring 21 is done work, and enters after half gear, 14 half rotation
The anodontia stage, and be detached from ratch rod iron 17, ratch rod iron 17 launches downwards under the acting of spring 21 together with tapping hammer 22,
When ejection is to 21 equilbrium position of spring, ratch rod iron 17 reduces speed now movement, and taps at this time and hammer 22 into shape and kept under effect of inertia
Original speed continues to move, and is detached from ratch rod iron 17, until striking steel pipe epidermis to be detected, taps hammer 22 in steel pipe table
Under the action of skin and return spring 19, rebound upwards, at this point, electromagnetic coil 15 is initially powered up, and make 17 side of ratch rod iron soft
Iron layer has magnetism, it is ensured that soft iron layer is firmly sucked percussion hammer 22, avoids it when meeting with tapping 22 side soft iron layers 18 of hammer
Secondary percussion steel pipe epidermis.Wherein ratch rod iron 17 posts one layer of soft iron layer with tapping hammer 22, in order to tie the two
Demagnetization is faster at conjunction.
Further, installation force sensor 20 in hammer 22 is tapped, the power generated when force snesor 20 is by each tap
Data transfer is used to protect force snesor 20 to detection device, 20 front end of force snesor equipped with hammer cap 23, hammer cap 23.
Further, the microphone 3 is in cylinder, and lower part is audio typing mouth, and top is output terminal, passes through data line
Audio-frequency information is passed to the storage device with robot car.
Further, camera 7 can opposite steering gear 10 rotate upwardly and downwardly, steering gear 10 can relative to 9 left-right rotation of pedestal,
Camera 7 hammers tapped place into shape to observe tapping, and will shoot realtime video transmission to operating personnel, and be presented on remote control
On device screen, to be conveniently operated personnel's real-time operation.
Further, which further includes data acquisition module 13 and wireless transport module 12, data acquisition module 13
It is by the signal data of acquisition and passes through wireless transport module 12 data are radioed into operating personnel in real time, sentences convenient for it
Concrete pours situation at disconnected detection.
Further, which further includes remote control equipment, and remote control equipment mainly realizes two big functions, first, realizing machine
The function of creeping of people, including：Advance, retroversion and left and right turn；Second is that realize the control of detection robot, including：Remote control is struck
Hammer mechanical arm 2 and microphone mechanical arm 4 in perpendicular are freely rotated and control the rotation for turning pile 8, with described in realization
Mechanical arm rotation in the horizontal direction.
The present invention also proposes a kind of method using robot detection concrete filled steel tube pouring quality, and this method includes as follows
Step：
1) concrete filled steel tube overall structure to be detected is carried out with artificial audition method or the infrared thermal imaging technique of tapping
Quick detection primarily determines the region that local damage of coming to nothing may occur；
2) come to nothing equidistant 10 × 10 measuring point grid of region division of damage in the part, in each grid beating point
Place is tapped using hammer 1 is tapped, and the box hat for the injury region that locally comes to nothing generates vibration in the case where tapping 1 excitation of hammer；
3) sound pressure signal in beating point overhead is picked up by microphone 3, to the force signal and beating point from 1 acquisition of percussion hammer
The pressure response signal of overhead acquisition carries out Fast Fourier Transform (FFT) (Fast Fourier Transformation, FFT), asks
The frequency-region signal of pressure response and power is obtained, carrying out frequency domain to signal is averaged, in order to reduce random noise signal to test
The interference that signal generates；The power spectrum and coherent function of signal are calculated, line frequency of going forward side by side rings Function Estimation, calculates pressure response respectively
The crosspower spectrum Gpf of the auto-power spectrum Gpp of signal, the auto-power spectrum Gff of pumping signal and pressure response signal and force signal and
Its coherent function, derives the frequency response function curve that can obtain each beating point, and extraction single order crest frequency harmony pressing mold state is soft
Degree is made to tap the damage cloud atlas of dot grid using the numerical matrix of acoustic pressure Modal Flexibility as damage criterion；
4) size and shape for the damage field that comes to nothing are identified according to damage cloud atlas；
5) the frequency domain character model vibrated by plate shell is verified and is checked, after the specific location for determining damage, to damage
Hinder region and carry out well cementing consolidation process.
Embodiment：
Concrete filled steel tube overall structure to be detected is carried out soon with artificial audition method or the infrared thermal imaging technique of tapping
Speed detection primarily determines the region that local damage of coming to nothing may occur；
As shown in fig. 7, being divided into 10 × 10 on the box hat surface in the region that local damage of coming to nothing may occur, spacing is
Microphone is sequentially placed at the overhead 50mm of each row grid intersection point by the grid of 25mm；
Each grid intersection point that each row respectively arranges is tapped successively, often taps the microphone acoustic pressure for a bit, picking up the positive overhead of point
Signal, the force signal working frequency receptance function with tapping hammer, by CMIF methods, extract its frequency response first is apparent
Frequency peak seeks the Modal Flexibility acoustic pressure form at the order frequency, for above-mentioned grid, acquires the Modal Flexibility value such as table of each point
Shown in 1.
Acoustic pressure Modal Flexibility (the unit of 1 each mesh point of table：Pa/N)
3-8 rows in table 1, the grid number strong point of 3-8 row is the measuring point in damage field, be can be seen that from data
The acoustic pressure Modal Flexibility overwhelming majority come to nothing outside damage field of part is between 0-0.3Pa/N, the survey come to nothing in damage field
Between 1-5Pa/N damage cloud atlas is made, as shown in Figure 8 in upper table data by the point acoustic pressure Modal Flexibility overwhelming majority.
Dotted line frame is using inner region as the damage field that comes to nothing in Fig. 8, it can thus be seen that impacting resonance test by microphone
Measure certain size come to nothing damage field when, can identify the specific location and general shape of damage, point layout
Must be closeer, then the precision that damage field judges is higher.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the embodiment of the present invention can have various modifications and variations.All within the spirits and principles of the present invention, made
Any modification, equivalent substitution, improvement and etc. should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of detection robot, for detecting concrete pouring quality, it is characterised in that：It is mixed including mechanical electromagnetic and taps hammer
(1), microphone (3) and camera (7), mechanical electromagnetic mixing taps hammer (1) and microphone (3) passes through adjustable clamp (5)
Be individually fixed in robot percussion hammer mechanical arm (2) and microphone mechanical arm (4) one end, tap hammer into shape mechanical arm (2) and
The control that the other end of microphone mechanical arm (4) is each attached in robot turns on pile (8), and control turns pile (8) equipped with pedestal
(9), steering gear (10) on pedestal (9) is installed, camera (7) is installed in steering gear (10).
2. detection robot as described in claim 1, it is characterised in that：Control turns pile (8) and passes through inner rotation mechanism and machine
Device people's vehicle body is connected, and provides 360 degree of steering, and drives percussion hammer mechanical arm (2) and microphone mechanical arm (4) rotation.
3. detection robot as described in claim 1, it is characterised in that：The mechanical electromagnetic mixing taps hammer (1) including electricity
Motivation, half gear (14), electromagnetic coil (15), partition board (16), ratch rod iron (17), soft iron layer (18), return spring (19),
Spring (21) and percussion hammer (22), motor drive half gear (14) to rotate, and half gear (14) drives ratch rod iron (17)
Move up, and compressed spring (21) do work, after half gear (14) half rotation enter the anodontia stage, and with ratch rod iron
(17) it is detached from, ratch rod iron (17) launches downwards under the acting of spring (21) together with tapping hammer (22), when ejection to spring
(21) equilbrium position, ratch rod iron (17) reduce speed now movement, and tap hammer (22) at this time and original speed is kept under effect of inertia
Degree continues to move, and is detached from ratch rod iron (17), until striking steel pipe epidermis to be detected, taps hammer (22) in steel pipe table
Under the action of skin and return spring (19), rebound upwards, at this point, electromagnetic coil (15) is initially powered up, and make ratch rod iron (17)
Side soft iron layer has magnetism, it is ensured that percussion is firmly sucked when meeting with tapping hammer (22) side soft iron layer (18) in soft iron layer
It hammers into shape (22), avoids its secondary percussion steel pipe epidermis.
4. detection robot as claimed in claim 3, it is characterised in that：Installation force sensor (20) in hammer (22) is tapped,
The data transfer of power generated when force snesor (20) is by each tap is to detection device, and force snesor (20) front end is equipped with hammer cap
(23), cap (23) is hammered into shape for protecting force snesor (20).
5. detection robot as described in claim 1, it is characterised in that：For the microphone (3) in cylinder, lower part is audio
Typing mouth, top are output terminal, and audio-frequency information is passed to the storage device with robot car by data line.
6. detection robot as described in claim 1, it is characterised in that：The opposite steering gear (10) of camera (7) energy turns up and down
Dynamic, steering gear (10) can hammer tapped place into shape, and will relative to pedestal (9) left-right rotation, camera (7) to observe tapping
Realtime video transmission is shot to operating personnel, and is presented in remote control screen, to be conveniently operated the real-time operation of personnel.
7. detection robot as described in claim 1, it is characterised in that：The robot further include data acquisition module (13) and
Wireless transport module (12), data acquisition module (13) are by the signal data of acquisition and pass through wireless transport module (12) in fact
When data are radioed into operating personnel, pour situation convenient for what it judged concrete at detection.
8. detection robot as described in claim 1, it is characterised in that：The robot further includes remote control equipment, remote control equipment
It is main to realize two big functions, first, realize the function of creeping of robot, including：Advance, retroversion and left and right turn；It is second is that real
The control of robot is now detected, including：It is free in perpendicular that remote control taps hammer mechanical arm (2) and microphone mechanical arm (4)
Rotation and control turn the rotation of pile (8), to realize mechanical arm rotation in the horizontal direction.
9. a kind of method of robot detection concrete filled steel tube pouring quality applied as described in any one of claim 1-8,
It is characterized in that：This method comprises the following steps：
1) concrete filled steel tube overall structure to be detected is carried out quickly with artificial audition method or the infrared thermal imaging technique of tapping
Detection primarily determines the region that local damage of coming to nothing may occur；
2) come to nothing equidistant 10 × 10 measuring point grid of region division of damage in the part, makes at each grid beating point
It is tapped with hammer (1) is tapped, the box hat for the injury region that locally comes to nothing generates vibration in the case where tapping hammer (1) excitation；
3) sound pressure signal in beating point overhead is picked up by microphone (3), to the force signal and beating point from percussion hammer (1) acquisition
The pressure response signal of overhead acquisition is analyzed and processed, and acquires the frequency response function curve of each beating point, extracts single order peak value
Frequency harmony presses Modal Flexibility, makees to tap the damage cloud of dot grid using the numerical matrix of acoustic pressure Modal Flexibility as damage criterion
Figure；
4) size and shape for the damage field that comes to nothing are identified according to damage cloud atlas；
5) the frequency domain character model vibrated by plate shell is verified and is checked, after the specific location for determining damage, to damage zone
Domain carries out well cementing consolidation process.
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| CN201810102920.2A CN108254440B (en) | 2018-02-01 | 2018-02-01 | Detection robot and method for detecting concrete-filled steel tube pouring quality by using same |
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| CN201810102920.2A CN108254440B (en) | 2018-02-01 | 2018-02-01 | Detection robot and method for detecting concrete-filled steel tube pouring quality by using same |
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| CN108254440B CN108254440B (en) | 2020-10-30 |
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| CN110375611A (en) * | 2019-07-08 | 2019-10-25 | 东南大学 | A kind of method that can accurately measure the longitudinal and circumferential thickness that comes to nothing of concrete filled steel tube |
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