CN115107054A - Steel pipe concrete arch rib void detection robot - Google Patents
Steel pipe concrete arch rib void detection robot Download PDFInfo
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- CN115107054A CN115107054A CN202210914559.XA CN202210914559A CN115107054A CN 115107054 A CN115107054 A CN 115107054A CN 202210914559 A CN202210914559 A CN 202210914559A CN 115107054 A CN115107054 A CN 115107054A
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- 239000011800 void material Substances 0.000 title claims abstract description 37
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- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims abstract description 6
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- 230000003247 decreasing effect Effects 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 2
- 229920003023 plastic Polymers 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 claims 2
- 101100334009 Caenorhabditis elegans rib-2 gene Proteins 0.000 description 19
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
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- 238000003331 infrared imaging Methods 0.000 description 1
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- 239000000463 material Substances 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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
- G01N29/04—Analysing solids
- G01N29/12—Analysing solids by measuring frequency or resonance of acoustic waves
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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
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
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Abstract
The invention relates to the field of bridge detection, and particularly discloses a steel pipe concrete arch rib void detection robot which comprises a shell, a driving unit and a detection unit, wherein the shell is L-shaped, a moving space which is profiled with the upper end surface of an arch rib is formed on the shell, the driving unit is arranged at one end, close to the outer side of the arch rib, of the shell, the driving unit comprises a driving motor and a driving wheel, the driving wheel comprises an inner wheel and an outer wheel, the inner wheel is connected with the driving motor, two opposite rotating shafts are arranged on the outer wall of the inner wheel, the outer wheel is connected with the rotating shafts, and a plurality of grooves are uniformly arranged on the outer wheel along the circumferential direction; the detection unit is arranged at the bottom end of the upper part of the shell and comprises a signal generation part and a signal receiving part, the signal generation part comprises a first motor, a first rotating shaft and a plurality of first knocking hammers, and the first knocking hammers are arranged on the first rotating shaft; the signal receiving section includes an acoustic sensor. The invention aims to solve the technical problem of how to detect the dumbbell-shaped steel pipe concrete arch rib goaf.
Description
Technical Field
The invention relates to the field of bridge detection, and particularly discloses a steel pipe concrete arch rib void detection robot.
Background
The steel tube concrete arch bridge is a novel bridge structure developed in bridge construction in recent years in China, has the advantages of light dead weight, high strength, high deformation resistance and high bearing capacity, saves materials, is light in installation weight, convenient to construct, short in construction period and small in maintenance workload, and is an ideal structural form of a large-span arch bridge. The concrete in the cast pipe is hidden, and the naked eye cannot directly observe whether the concrete has debonding or void defects, so that void detection must be carried out on the cast arch rib, and meanwhile, the regular detection of the bridge must detect the void of the concrete filled steel pipe.
The existing detection method comprises ultrasonic waves, infrared imaging and the like, wherein the ultrasonic waves have good effect, the detection has no damage to the concrete of the steel pipe, meanwhile, the area of a void area and the like can be detected, but when the ultrasonic equipment is used, a coupling agent needs to be coated on the surface of the steel pipe, the operation is troublesome, the most main problems are that high-altitude operation on arch ribs is needed, the danger is high, and some construction operation platforms need to be erected, and the cost is high. In addition, the manual one-by-one detection efficiency is very low, the time is long, the labor cost is high, and the condition of missed detection also exists. Thermal imaging suffers from the same problems.
Disclosure of Invention
In view of this, the present invention aims to provide a steel pipe concrete arch rib void detection robot to solve the technical problem of how to detect a steel pipe concrete arch rib void.
In order to achieve the purpose, the invention provides the following technical scheme:
a steel pipe concrete arch rib void detection robot comprises a machine shell, a driving unit and a detection unit, wherein the machine shell is L-shaped, a moving space which is profiled with the upper end face of an arch rib is formed in the machine shell, the driving unit is arranged at one end, close to the outer side of the arch rib, of the machine shell, the driving unit comprises a driving motor and a driving wheel, the driving wheel comprises an inner wheel and an outer wheel, the inner wheel is connected with the driving motor, two opposite rotating shafts are arranged on the outer wall of the inner wheel, the outer wheel is connected with the rotating shafts, a plurality of grooves are uniformly arranged on the outer wheel along the circumferential direction, and magnets are arranged in the grooves; the detection unit is arranged at the bottom end of the upper part of the casing and comprises a signal generation part and a signal receiving part, the signal generation part comprises a first motor, a first rotating shaft and a plurality of first knocking hammers, the first rotating shaft comprises a plurality of sections of universal shafts, the universal shafts are connected through universal couplings, the universal shaft at the head end is connected with the first motor, the universal shaft at the tail end is rotatably connected with the casing, and the first knocking hammers are arranged on the universal shafts; the signal receiving section includes an acoustic sensor.
The dumbbell-shaped steel pipe concrete arch rib specifically comprises two cylindrical structures and a middle rectangular structure, so that the upper end and the lower end of the dumbbell-shaped steel pipe concrete arch rib are circular arc surfaces, the inner side of the dumbbell-shaped steel pipe concrete arch rib needs to be connected with the upper structure of a bridge, and the inner part of the dumbbell-shaped steel pipe concrete arch rib is provided with a connecting structure in a region, so that the dumbbell-shaped steel pipe concrete arch rib can obstruct the same row of robots. In the scheme, the shell of the robot is arranged into an L shape, and one end of the shell, which is positioned at the inner side of the arch rib, is opened, so that the shell is not influenced by the arch rib connecting structure. The magnet is arranged in the driving unit on the shell, so that the outer wheel can be attracted on the arch rib, and the whole robot cannot fall off the arch rib. Meanwhile, the driving wheel comprises an inner wheel and an outer wheel, wherein the outer wheel can rotate on the inner wheel, so that the direction of the outer wheel can be adjusted in the moving process to correspond to the bent shape of the arch rib. Meanwhile, the first rotating shaft comprises a plurality of universal shafts, the universal shafts correspond to a plurality of first knocking hammers, and the first knocking hammers can knock all areas of the arch rib.
Optionally, an auxiliary moving unit is arranged at one end of the casing close to the inner side of the arch rib, the auxiliary moving unit comprises an auxiliary arm hinged to the casing, an auxiliary wheel is arranged at the lower end of the auxiliary arm, and a transverse rolling ball is embedded and rotatably arranged in one side of the auxiliary wheel close to the arch rib. The auxiliary moving unit is provided on the inner side portion of the housing adjacent to the arch rib, and the auxiliary moving unit is hinge-coupled so that it can be flipped over to cross the coupling structure portion when it passes through the coupling structure and then move again. The auxiliary moving unit can play a balance and stable role in the whole robot, so that the robot can move on the arch rib more smoothly.
Optionally, a spline is arranged on the universal shaft, a key groove is arranged on the first knocking hammer, and the key groove is in damping fit with the spline. This scheme of adoption, first hammer can be at cardan shaft upper horizontal migration. The position where the first knocking hammer can knock is limited, and the cost is high due to the fact that the plurality of knocking hammers are arranged, so that after the robot moves on the arch rib once, the position of the first knocking hammer is adjusted, and the area which is not knocked before knocking can be supplemented by moving the robot reversely once.
Optionally, a horizontal adjusting unit is arranged on the casing, the horizontal adjusting unit includes a linear motor, a transmission rod and two transmission rings, the transmission rod is connected with the output end of the linear motor, the transmission rod is provided with two transmission rings, and the transmission rings are sleeved on the spline and can respectively abut against the left side and the right side of the first knocking hammer. By adopting the scheme, the linear motor can drive the transmission rod to move left and right, the transmission rod can drive the transmission ring to move left and right, the transmission ring can stir the first knocking hammer to move left and right, and the position of the first knocking hammer is adjusted to knock different areas.
Optionally, be provided with the feather key on the spline, the lower extreme height that shifts the feather key is little, the upper end height is big, first hammer of strikeing includes hammer shank portion, hammer stem portion and tup portion, the hammer head portion sets up on hammer stem portion, the keyway sets up at hammer shank portion, be provided with the shift groove on the keyway, hammer shank portion is provided with shaft-like groove, shaft-like groove and keyway intercommunication, hammer stem portion slides and sets up in shaft-like groove, and the upper end edge of hammer stem portion is provided with outer edge, and the bottom on outer edge is provided with first reset spring, and first reset spring offsets with the bottom in shaft-like groove, the upper end of hammer stem portion is provided with the shift key that can pass the shift groove and offset with the feather key. Because the surface of the arch rib is an arc surface, and the first knocking hammer can only move linearly under the drive of the linear motor, the scheme is provided with the deflection inclined key and the deflection straight key, and because the contact surface of the deflection inclined key and the deflection straight key is inclined, when the deflection straight key moves on the deflection inclined key, the deflection straight key can move towards or away from the surface of the arch rib so as to be close to or away from the surface of the arch rib, namely, the first knocking hammer can simultaneously approach or keep away from the arch rib in the linear movement process, so that the hammer head part can be in better contact with the arch rib.
Optionally, the hammer head part is hinged to the lower end of the hammer rod part through a torsion spring. This scheme of adoption, even the position is nearer when hammer head portion contacts with the arch rib, hammer head portion also can take place to deflect, avoids the card on the arch rib surface.
Optionally, the inclination angles of the hammer head parts of the first knocking hammers along the universal shaft are sequentially increased or decreased. By adopting the scheme, the plurality of hammer head parts are knocked on the arch rib at different times, so that the sound generated by knocking of each hammer head part can be respectively received and recorded and then is used for analysis.
Optionally, the arch rib structure further comprises a non-slip mat, wherein the non-slip mat is made of plastics and is attached to the middle of the outer side of the arch rib. This scheme of adoption, the slipmat can avoid the drive wheel to skid on the surface of arch rib.
The steel pipe concrete arch rib void detection robot comprises the following steps:
s1, starting a driving unit, and driving the robot to move on the arch rib by the driving unit;
s2, starting a detection unit, wherein a first knocking hammer in the detection unit knocks the surface of the arch rib under the action of a first motor, and the first knocking hammer is used for pulse excitation of a void area of the arch rib;
s3, enabling an acoustic sensor in the detection unit to receive the frequency of vibration sound waves generated by knocking the arch rib by the first knocking hammer, wherein the sound waves are related to the area of the void area, the shape of the void area and the thickness of the arch rib steel pipe;
s4, repeating the steps S2 and S3, and collecting sound wave frequency parameters, wherein the sound wave frequencies generated by the first knocking hammer after pulse excitation is applied to the void region at different positions are different;
and S5, calculating and determining the position, the area and the shape of the void region on the arch rib according to the change of different sound wave frequencies.
The working principle and the beneficial effects of the scheme are that:
the robot in the scheme can move in the middle part of the arch rib through the driving wheels and can detect the whole arch rib by moving along the arch rib. When the first knocking hammer is used for knocking the arch rib during detection, when the knocking hammer is used for knocking the arch rib, the frequency of sound generated is higher if the arch rib is empty, and the frequency is lower if the arch rib is not empty, and the acoustic sensor can collect various parameters of the sound and then use the parameters for data analysis. The scheme has high feasibility and simple operation, and relatively speaking, the automatic monitoring is easier to realize.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment;
FIG. 2 is a schematic view of a part of the structure of the detecting unit;
FIG. 3 is an enlarged view taken at A in FIG. 2;
fig. 4 is a longitudinal sectional view of a part of the structure of the first rapping hammer;
FIG. 5 is a schematic view of the driving wheel and the driving motor;
FIG. 6 is a schematic view of the structure of the non-slip mat;
FIG. 7 is a schematic diagram of an auxiliary mobile unit;
fig. 8 is a schematic illustration of the application of pulsed excitation to the rib.
The drawings are numbered as follows: the device comprises a machine shell 1, an arch rib 2, an auxiliary arm 3, a driving wheel 4, a first motor 5, a guide rod 6, a first knocking hammer 7, a universal shaft 8, a universal coupling 9, a transmission rod 10, a linear motor 11, a transmission ring 12, a hammer handle 13, a hammer rod part 14, a hammer head part 15, a spline 16, a shift inclined key 17, a shaft hole 18, a key groove 19, a shift groove 20, a shift straight key 21, a first return spring 22, a driving motor 23, a rotating shaft 24, an outer wheel 25, an inner wheel 26, a magnet 27, an anti-skid pad 28, an anti-skid protrusion 29, an auxiliary wheel 30 and a transverse rolling ball 31.
Detailed Description
The following is further detailed by way of specific embodiments:
examples
A robot for detecting the void of a steel pipe concrete arch rib 2 is shown in figures 1-8 and comprises a machine shell 1, a driving unit, a detection unit and a non-slip mat 28.
The arch rib 2 comprises three parts, wherein the upper part and the lower part are cylindrical, the middle part is rectangular, the three parts are hollow, and the upper end and the lower end of the middle part are integrally communicated with the upper part and the lower part.
The non-slip mat 28 is fixed on the arch rib 2 through bolts, and a plurality of non-slip bulges 29 are arranged on the non-slip mat 28.
An auxiliary moving unit is arranged at one end, close to the inner side of the arch rib 2, of the machine shell 1 and comprises an auxiliary arm 3 which is hinged to the machine shell 1, an auxiliary wheel 30 is arranged at the lower end of the auxiliary arm 3, and a transverse rolling ball 31 is embedded into one side, close to the arch rib 2, of the auxiliary wheel 30 in a rotating mode.
The sensing unit is disposed at the bottom end of the upper portion of the cabinet 1, i.e., in the moving space. The detection unit comprises a signal generating part and a signal receiving part, wherein the signal generating part comprises a first motor 5, a first rotating shaft 24 and a plurality of first knocking hammers 7. First motor 5 is fixed to be set up in removing the space, and first pivot 24 includes a plurality of sections cardan shafts 8, connects through universal joint 9 between a plurality of cardan shafts 8, and the cardan shaft 8 of head end is connected with first motor 5, and the cardan shaft 8 and the casing 1 of tail end rotate to be connected. First strike hammer 7 includes hammer shank portion 13, hammer stem portion 14 and tup portion 15, and tup portion 15 sets up the lower extreme at hammer stem portion 14 through the torsional spring is articulated, and 13 damping of hammer shank portion slides and sets up on cardan shaft 8, and concrete setting mode is: the universal shaft 8 is provided with a spline 16, the hammer handle 13 is provided with a shaft hole 18 and a key groove 19, the shaft hole 18 is used for penetrating through the universal shaft 8, and the key groove 19 is in damping fit with the spline 16. The spline 16 is fixedly provided with a deflection inclined key 17 along the length direction, and the lower end of the deflection inclined key 17 is small in height and the upper end of the deflection inclined key 17 is large in height. The key groove 19 is provided with a shifting groove 20, the hammer handle portion 13 is provided with a rod-shaped groove, the rod-shaped groove is communicated with the key groove 19, the hammer rod portion 14 is vertically arranged in the rod-shaped groove in a sliding mode, the edge of the upper end of the hammer rod portion 14 is provided with an outer edge, a first return spring 22 is fixedly arranged at the bottom of the outer edge, the first return spring 22 abuts against the bottom of the rod-shaped groove, and a shifting straight key 21 capable of penetrating the shifting groove 20 and abutting against the shifting inclined key 17 is arranged at the upper end of the hammer rod portion 14. The angle of inclination of the hammer head 15 of the first striking hammer 7 along the universal shaft 8 is gradually increased or decreased. The signal receiving part comprises an acoustic sensor, the acoustic sensor is directly and fixedly arranged at the bottom of the horizontal part of the machine shell 1, namely above the first knocking hammer 7, the signal receiving part can also be provided with a control unit, such as a plc controller and the like, the received signal can be stored or directly operated, the subsequent processing of signal data belongs to the very prior art, and the subsequent processing does not belong to the protection scope of the application.
The shell 1 is provided with a horizontal adjusting unit, the horizontal adjusting unit comprises a linear motor 11, a transmission rod 10 and transmission rings 12, the transmission rod 10 is connected with the output end of the linear motor 11, the transmission rod 10 is provided with two transmission rings 12, and the transmission rings 12 are sleeved on a spline 16 and can respectively abut against the left side and the right side of the first knocking hammer 7.
The steel pipe concrete arch rib void detection robot comprises the following steps:
s1, starting a driving unit, wherein the driving unit drives the robot to move on the arch rib;
s2, starting a detection unit, wherein a first knocking hammer in the detection unit knocks the surface of the arch rib under the action of a first motor, and the first knocking hammer is used for pulse excitation of a void area of the arch rib;
s3, the acoustic sensor in the detection unit can receive the vibration sound wave frequency generated by knocking the arch rib by the first knocking hammer, and the sound wave frequency is related to the area of the void area, the shape of the void area and the thickness of the steel pipe of the arch rib;
s4, repeating the steps S2 and S3, and collecting sound wave frequency parameters, wherein the sound wave frequencies generated by the first knocking hammer after pulse excitation is applied to the void region at different positions are different;
and S5, calculating and determining the position, the area and the shape of the void region on the arch rib according to the change of different sound wave frequencies.
In the specific implementation:
fig. 8 is a schematic diagram of the time-pulse excitation of the rib when the first rapping hammer raps onto the rib. Firstly, the non-slip mat 28 is fixed to the middle part of the arch rib 2, then the whole robot is installed on the arch rib 2, the arc-shaped piece at the bottom of the guide rod 6 can be attached to the upper surface of the arch rib 2 to play a supporting role, and the magnet 27 on the outer wheel 25 can also play a role in attracting and fixing. Starting driving motor 23, driving motor 23 drives pivot 24 and rotates, and pivot 24 drives interior wheel 26 and rotates, and interior wheel 26 drives the foreign steamer 25 and rotates, and when foreign steamer 25 runs into the edge of arch rib 2 mid portion, foreign steamer 25 can take place the rotation of certain angle then continue to remove. And the first motor 5 is started simultaneously, the first motor 5 drives the universal shafts 8 to rotate, and due to the fact that the initial angles of the first knocking hammers 7 are different, after all the first knocking hammers 7 rotate, the sounds generated by knocking the arch ribs 2 are not the same time, and large interference cannot occur. After the robot moves for a stroke on the arch rib 2, the linear motor 11 moves to drive the transmission rod 10 and the transmission ring 12 to move, the transmission ring 12 shifts the first knocking hammer 7 to move, the hammer head 15 also moves a distance to the upper right side in the moving process of the first knocking hammer 7 along the cardan shaft 8, for example, when the first knocking hammer moves from left to right, and under the action of the shift inclined key 17, the hammer rod part 14 and the hammer head part 15 move downwards to be close to the arch rib 2, so as to make up the distance generated by the upward movement of the hammer head 15. The robot then has to make one more stroke and can detect other areas of the rib 2. Although the first striking hammer 7 in the present application strikes only a partial region of the upper portion of the rib 2, only the region of the upper portion of the rib 2 may be hollowed out, and other regions may not be hollowed out, depending on the actual situation.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the present invention.
Claims (9)
1. The utility model provides a steel pipe concrete arch rib is vacated and is detected robot which characterized in that: the device comprises an L-shaped shell, a driving unit and a detection unit, wherein a moving space which is profiled with the upper end surface of an arch rib is formed on the shell, the driving unit is arranged at one end of the shell close to the outer side of the arch rib, the driving unit comprises a driving motor and a driving wheel, the driving wheel comprises an inner wheel and an outer wheel, the inner wheel is connected with the driving motor, two opposite rotating shafts are arranged on the outer wall of the inner wheel, the outer wheel is connected with the rotating shafts, a plurality of grooves are uniformly arranged on the outer wheel along the circumferential direction, and magnets are arranged in the grooves; the detection unit is arranged at the bottom end of the upper part of the shell and comprises a signal generation part and a signal receiving part, the signal generation part comprises a first motor, a first rotating shaft and a plurality of first knocking hammers, the first rotating shaft comprises a plurality of sections of universal shafts, the universal shafts are connected through universal couplings, the universal shaft at the head end is connected with the first motor, the universal shaft at the tail end is rotatably connected with the shell, and the first knocking hammers are arranged on the universal shafts; the signal receiving section includes an acoustic sensor.
2. The concrete filled steel tube arch rib void detection robot of claim 1, wherein: the one end that is close to the rib inboard on the casing is provided with supplementary mobile unit, supplementary mobile unit is including articulated the auxiliary arm that sets up on the casing, the lower extreme of auxiliary arm is provided with the auxiliary wheel, it is provided with horizontal spin to imbed in the one side of being close to the rib on the auxiliary wheel and rotate.
3. The concrete filled steel tube arch rib void detection robot of claim 2, wherein: the universal shaft is provided with a spline, the first knocking hammer is provided with a key groove, and the key groove is in damping fit with the spline.
4. The concrete filled steel tube arch rib void detection robot of claim 3, wherein: the shell is provided with a horizontal adjusting unit, the horizontal adjusting unit comprises a linear motor, a transmission rod and transmission rings, the transmission rod is connected with the output end of the linear motor, the transmission rod is provided with two transmission rings, and the transmission rings are sleeved on the spline and can respectively abut against the left side and the right side of the first knocking hammer.
5. The concrete filled steel tube arch rib void detection robot of claim 4, wherein: be provided with the feather key on the spline, the lower extreme height that shifts the feather key is little, the upper end height is big, first hammer that strikes includes hammer shank portion, hammer stem portion and tup portion, the hammer head portion sets up on hammer stem portion, the keyway sets up at hammer shank portion, be provided with the displacement groove on the keyway, hammer shank portion is provided with shaft-like groove, shaft-like groove and keyway intercommunication, hammer stem portion slides and sets up in shaft-like groove, and the upper end edge of hammer stem portion is provided with outer edge, and the bottom on outer edge is provided with first reset spring, and first reset spring offsets with the bottom in shaft-like groove, the upper end of hammer stem portion is provided with the shift straight key that can pass the displacement groove and offset with the feather key.
6. The concrete filled steel tube arch rib void detection robot of claim 5, wherein: the hammer head is hinged with the lower end of the hammer rod part through a torsional spring.
7. The concrete filled steel tube arch rib void detection robot of claim 6, wherein: the inclination angles of the hammer head parts of the first knocking hammers along the universal shaft are sequentially increased or decreased.
8. The concrete filled steel tube arch rib void detection robot of claim 7, wherein: the anti-skid device is characterized by further comprising an anti-skid pad, wherein the anti-skid pad is made of plastics and is attached to the middle of the outer side of the arch rib.
9. The concrete filled steel tube arch rib void detection robot according to any one of claims 1 to 8, comprising the steps of:
s1, starting a driving unit, wherein the driving unit drives the robot to move on the arch rib;
s2, starting a detection unit, wherein a first knocking hammer in the detection unit knocks the surface of the arch rib under the action of a first motor, and the first knocking hammer is used for pulse excitation of a void area of the arch rib;
s3, the acoustic sensor in the detection unit can receive vibration sound waves generated by knocking the arch rib by the first knocking hammer, and the sound waves are related to the area of the void area, the shape of the void area and the thickness of the steel pipe of the arch rib;
s4, repeating the steps S2 and S3, and collecting sound wave frequency parameters, wherein the sound wave frequencies generated by the first knocking hammer after pulse excitation is applied to the void region at different positions are different;
and S5, calculating and determining the position, the area and the shape of the void region on the arch rib according to the change of different sound wave frequencies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210914559.XA CN115107054B (en) | 2022-08-01 | 2022-08-01 | Steel pipe concrete arch rib void detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210914559.XA CN115107054B (en) | 2022-08-01 | 2022-08-01 | Steel pipe concrete arch rib void detection robot |
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| CN115107054A true CN115107054A (en) | 2022-09-27 |
| CN115107054B CN115107054B (en) | 2024-05-24 |
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|---|---|---|---|---|
| US5655412A (en) * | 1994-10-24 | 1997-08-12 | Luik; Ilmar | Machine tool free of jerks and vibrations caused by the newtonian reaction forces |
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