A kind of detection robot and steel pipe concrete column compactness detection method

Abstract

The application discloses a kind of detection robot and steel pipe concrete column compactness detection method, a kind of detection steel pipe concrete column compactness robot, including six detection units, the detection unit is by movement climbing device, detection device, radial telescopic device and telescopic arm rod composition.The radial telescopic device mainly realizes the small range of detection robot, the telescopic arm rod utilizes the principle of worm gear rotation to carry out large range of diameter change, realizes the effect of quick change of diameter;Detection unit between using high-strength bolt connection, the six detection units jointly constitute detection steel pipe concrete column compactness robot.The detection robot of the application has the advantages such as automatic operation, detection data is more stable and detection device quick loading and unloading, effectively solve the problem that artificial detection steel pipe concrete column speed is slow and extremely high risk.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of civil engineering, and relates to a building concrete detection technology, in particular to a detection robot and a steel pipe concrete column compactness detection method. BACKGROUND

[0002] The steel pipe concrete column refers to a structural member formed by filling concrete in a steel pipe, and the steel pipe and the core concrete can jointly bear the action of external load. With the scientific development of construction technology and construction method, the importance of the steel pipe concrete column is more and more obvious in high-rise and super high-rise building structures. The steel pipe concrete column has the advantages of improved bearing capacity, good plasticity and toughness, and simple construction compared with the ordinary reinforced concrete column. However, the steel pipe concrete column may have problems such as poor compactness when pouring concrete, which may be caused by large pipe diameter, large pipe length and internal stiffening ribs of the steel pipe, etc., so that the concrete has defects of poor compactness, which directly affects the bearing capacity of the concrete member and shortens the service life of the structure. Therefore, it is very important to detect such defects and take timely reinforcement measures in actual engineering. The existing technology often detects the compactness of the steel pipe concrete column by some manual methods. The existing traditional detection scheme generally has the problems of low automation degree and large personnel investment, and the personnel detection process often accompanies large errors, which may cause the whole detection process to be unstable, the data analysis to be inaccurate, and the detection precision to be seriously affected. SUMMARY

[0003] The present application provides a detection robot and a steel pipe concrete column compactness detection method to solve the problems of slow speed and high risk of manual detection of the steel pipe concrete column. The robot can automatically climb along the steel pipe concrete column to realize the automation of the steel pipe concrete column compactness detection. The present application has the advantages of automatic operation, fast diameter change, fast assembly and disassembly, etc.

[0004] The present application is realized by the following technical scheme:

[0005] A detection robot for detecting the compactness of a steel pipe concrete column is composed of a plurality of detection units connected end to end, characterized in that: the detection unit comprises an arm rod, a motion climbing device installed on the arm rod through a radial telescopic device, and a detection device installed on the motion climbing device.

[0006] The arm rods of each detection unit are detachably connected end to end to form a regular polygon frame capable of surrounding the steel pipe concrete column.

[0007] The radial telescopic device is used to adjust the position of the motion climbing device in the radial direction to provide the normal pressure required by the motion climbing device for climbing on the steel pipe concrete column.

[0008] The detection device is carried by the motion climbing device to the designated area of the steel pipe concrete column to detect the density of the steel pipe concrete column;

[0009] The motion climbing device comprises a climbing shell and a caterpillar mechanism arranged in the climbing shell and close to one side of the steel pipe concrete column.

[0010] The radial telescopic device comprises a tension spring, a radial telescopic component, and upper and lower support rods arranged in parallel in the up-down direction, one end of the upper and lower support rods being hinged to the climbing shell of the motion climbing device and the other end being hinged to the arm rod, the radial telescopic component being installed on the arm rod and the telescopic end of the radial telescopic component being located close to one side of the steel pipe concrete column, the upper end of the tension spring being hinged to the climbing shell and the lower end being hinged to the free telescopic end of the radial telescopic component, the upper support rod, the climbing shell, the lower support rod, and the arm rod being sequentially connected to form a parallelogram mechanism, and the radial telescopic component deforms the parallelogram mechanism by pulling through the tension spring to change the distance between the climbing shell and the arm rod to realize the radial telescopic adjustment of the motion climbing device.

[0011] Further, the upper support rod, the tension spring, and the lower support rod each have two, the inner ends of the two upper support rods being connected through a first rotating shaft, the first rotating shaft being installed on the climbing shell through a shell connecting piece, the inner ends of the two lower support rods being connected through a second rotating shaft, the second rotating shaft also being installed on the climbing shell below the first rotating shaft through a shell connecting piece, the outer ends of the two upper support rods being connected through a third rotating shaft, the third rotating shaft being installed on the upper part of the arm rod through a frame connecting piece, the outer ends of the two lower support rods being connected through a fourth rotating shaft, the fourth rotating shaft being installed on the lower part of the arm rod through a frame connecting piece, the upper ends of the two tension springs being hung on the first rotating shaft, and the lower ends being hung on a suspended rod, the suspended rod being connected to the free telescopic end of the radial telescopic component through a hinged mechanism.

[0012] Further, the radial telescopic component comprises a telescopic bolt rod, a screw knob, and a bolt rod connecting piece, the bolt rod connecting piece being fixed on the arm rod, a radial through hole being formed in the bolt rod connecting piece, the telescopic bolt rod being installed in the through hole, the inner end of the telescopic bolt rod being connected to the suspended rod through a hinged mechanism, and the outer end being connected to the screw knob through thread cooperation, the position of the telescopic bolt rod in the radial direction being adjusted by twisting the screw knob to realize the radial telescoping.

[0013] Further, the arm rod is a telescopic arm rod, which comprises a supporting sleeve, a first telescopic rod, a second telescopic rod, a gear and a drive device with locking structure, the first telescopic rod and the second telescopic rod are installed in the supporting sleeve through sliding pairs in parallel with each other, the opposite sides of the first telescopic rod and the second telescopic rod are respectively provided with a gear rack, the gear is meshed with the two gear racks on both sides, the drive device is connected with the gear in power transmission, the gear is driven to rotate through the drive device, so that the two telescopic rods are synchronously telescoped relative to the supporting sleeve, and the outer ends of the first telescopic rod and the second telescopic rod are connected with the second telescopic rod and the first telescopic rod of the adjacent arm rod through a pin shaft respectively.

[0014] Further, the drive device with locking structure is a worm and gear structure, wherein the worm gear is coaxially fixedly connected with the gear, and the worm is assembled with the worm gear, and the worm is provided with a worm knob which is convenient to twist.

[0015] Further, the climbing shell is an open side close to the side of the steel pipe concrete column, the track mechanism comprises a motor, a plurality of track wheels, a track wrapped on the plurality of track wheels, at least one of the track wheels is a driving wheel and is driven by the motor.

[0016] Further, the track wheel wraps a plurality of second driven wheels for tensioning the track to form a walking surface and a plurality of first driven wheels for tensioning the track to be annular, one of the first driven wheels is a driving wheel.

[0017] Further, the detection device comprises an ultrasonic probe and a protective sleeve wrapped on the end of the ultrasonic probe, and the ultrasonic probe is installed in the climbing shell through an ultrasonic probe connector.

[0018] Further, the number of detection units is 4-8, and each detection unit is detected alone or cooperatively.

[0019] The application also protects a method for detecting the compactness of a steel pipe concrete column, which adopts the detection robot in any one of the above aspects, and comprises the following steps.

[0020] Step one: the detection robot detects the preparation of the steel pipe concrete column, assembles each detection unit of the detection robot first, divides the arm rods of the detection units into two groups and connects the two groups in a head-to-tail mode, adjusts the radial telescopic devices of each detection unit, so that the motion climbing device is in the most outward radial position, assembles the two groups of arm rods on the two sides of the steel pipe concrete column, adjusts the radial telescopic devices to drive the motion climbing device to move radially inward, so that the motion climbing device has the required pressure for climbing between the motion climbing device and the steel pipe concrete column, and finally installs the detection device and the data transmission device matched with the detection device on the motion climbing device.

[0021] Step two: start the detection device, and detect the compactness of the concrete-filled steel tubular column through the detection device;

[0022] Step three: start the motion climbing device, and drive the whole detection robot to move up and down along the concrete-filled steel tubular column for compactness scanning detection through the motion climbing device;

[0023] Step four: analyze the compactness of the concrete-filled steel tubular column through the detection data of the detection device, and repeatedly scan and detect the data abnormal area through the motion of the detection device driven by the motion climbing device;

[0024] Step five: after the detection is completed, end the detection or replace the concrete-filled steel tubular column, disconnect the connection between any two adjacent arm rods of the detection robot, reassemble after replacing the concrete-filled steel tubular column, change the climbing inner diameter through the radial telescopic device, and re-detect. The climbing inner diameter is the diameter of the column that can be climbed surrounded by a plurality of motion climbing devices, which is a virtual parameter.

[0025] Compared with the prior art, the present application has the following advantages:

[0026] 1. The detection robot has the advantages of fast installation, and each detection unit is connected through high-strength bolts. When in use, the connecting rod is fixed through high-strength bolts, and the outside of the bolt is fixed with an optical axis limiting ring to prevent the high-strength bolt from sliding.

[0027] 2. The present application has the advantages of automatic operation, and effectively solves the problems of slow manual detection of the concrete-filled steel tubular column and high danger.

[0028] 3. The present application has the advantages of quick diameter change, has a large-range diameter changing device and a small-range diameter changing device, and can complete the detection of concrete-filled steel tubular columns with different diameters through quick diameter change. The present application adjusts the climbing inner diameter by the telescopic arm rod, so that the present application is widely used in the detection of concrete-filled steel tubular columns with different diameters, and does not need to customize detection robots for commonly used concrete-filled steel tubular columns with different sizes. The radial telescopic device of the present application can adjust the climbing inner diameter in a small range, so that the detection robot can better fit the corresponding concrete-filled steel tubular column, prevent the hoop from being too tight to cause climbing difficulty, and prevent the hoop from being too loose to cause the inability to complete climbing. In addition, the radial telescopic device of the present application utilizes the parallelogram principle, so that the motion climbing device is always parallel to the concrete-filled steel tubular column during adjustment. The radial distance is adjusted by pulling the parallelogram rod with a tension spring, so that the present application has appropriate normal pressure between the motion climbing device and the concrete-filled steel tubular column, and can also prevent damage. Compared with directly using a radial spring, the present application does not need to consider the spring guide problem, and the motion climbing device does not need a radial sliding pair, which saves a lot of space, improves the adjustment range, and has better stability.

[0029] 4. The large range of variable diameter utilizes the self-locking principle of worm gear, which is that the driving force can only be transmitted to the worm wheel through the worm, and the worm wheel cannot be transmitted to the worm. When large range of variable diameter is performed, the self-locking function of the worm gear can realize stable work of the robot after variable diameter.

[0030] 5. The invention has the advantage of quick disassembly. When not working or replacing the detection steel pipe concrete column, only two detection units of the six detection units of the detection robot need to be loosened at the connection part, and then the detection robot can be disassembled. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 The figure is the overall structure diagram of the invention robot.

[0032] Figure 2 The figure is the overall structure top view of the invention robot.

[0033] Figure 3 The figure is the detection unit structure diagram of the invention robot.

[0034] Figure 4 The figure is the movement climbing device structure diagram of the invention robot.

[0035] Figure 5 The figure is the radial telescopic device structure diagram of the invention robot.

[0036] Figure 6 The figure is the telescopic arm rod structure diagram of the invention robot.

[0037] Figure 7 The figure is the telescopic arm rod detailed structure diagram of the invention robot.

[0038] Figure 8 The figure is the telescopic arm rod detailed structure diagram of the invention robot.

[0039] Fig. 1 is a motion climbing device; Fig. 2 is a radial telescopic device; Fig. 3 is a telescopic arm rod; Fig. 4 is a detection device; Fig. 5 is a detection robot; Fig. 6 is a detection unit; Fig. 7 is a steel pipe concrete column; Fig. 8 is a data line; Fig. 111 is a driving wheel; Fig. 112 is a first driven wheel; Fig. 113 is a second driven wheel; Fig. 114 is a driving shaft; Fig. 115 is a first fixed shaft; Fig. 116 is a second fixed shaft; Fig. 117 is an axle connecting rod; Fig. 118 is a track; Fig. 119 is a side plate; Fig. 120 is a climbing shell; Fig. 121 is a motor; Fig. 122 is an ultrasonic probe; Fig. 123 is a protective sleeve; Fig. 124 is an ultrasonic probe connecting piece; Fig. 201 is a shell connecting piece; Fig. 202 is a first rotating shaft; Fig. 203 is a second rotating shaft; Fig. 204 is a third rotating shaft; Fig. 205 is a fourth rotating shaft; Fig. 206 is a first supporting rod; Fig. 207 is a second supporting rod; Fig. 208 is a third supporting rod; Fig. 209 is a fourth supporting rod; Fig. 210 is a tension spring; Fig. 211 is a suspended rod; Fig. 212 is a fish eye joint; Fig. 213 is a telescopic bolt rod; Fig. 214 is a screw rod knob; Fig. 215 is a bolt rod connecting piece; Fig. 216 is a frame connecting piece; Fig. 301 is a supporting sleeve; Fig. 302 is a convex rib; Fig. 303 is a first telescopic rod; Fig. 304 is a second telescopic rod; Fig. 305 is a groove; Fig. 306 is a rack; Fig. 307 is a worm wheel; Fig. 308 is a worm; Fig. 309 is a worm knob; Fig. 310 is a gear shaft; Fig. 311 is a gear; Fig. 312 is a worm box; Fig. 313 is a telescopic rod connecting piece; Fig. 314 is a high-strength bolt. DETAILED DESCRIPTION

[0040] The embodiments of the present application will be further described below in conjunction with the drawings and examples. The following examples are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0041] In the description of the present application, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0042] Embodiment: As shown in Figures 1 to 8 A detection robot for detecting the compactness of a steel pipe concrete column is composed of six detection units 6 connected end to end, the detection unit 6 including an arm rod, a motion climbing device 1 installed on the arm rod through a radial telescopic device 2, and a detection device 4 installed on the motion climbing device 1.

[0043] The arm rods of each detection unit 6 are detachably connected at the head and tail to form a regular polygon frame capable of surrounding the steel pipe concrete column 7;

[0044] The radial telescopic device 2 is used to adjust the position of the motion climbing device 1 in the radial direction to provide the required normal pressure of the motion climbing device 1 when climbing on the steel pipe concrete column 7;

[0045] The detection device 4 is carried by the motion climbing device 1 to the designated area on the steel pipe concrete column 7 to detect the compactness thereof;

[0046] The motion climbing device 1 comprises a climbing shell and a crawler mechanism arranged in the climbing shell 120 close to one side of the steel pipe concrete column 7; in the embodiment, the climbing shell is a box-shaped member formed by two side plates 119 and a bottom plate fixedly connected together;

[0047] The radial telescopic device 2 comprises a tension spring 210, a radial telescopic assembly, and upper and lower support rods arranged in parallel in the vertical direction; one end of each of the upper and lower support rods is hingedly connected to the climbing shell of the motion climbing device 1, and the other end thereof is hingedly connected to the arm rod; the radial telescopic assembly is installed on the arm rod, and the telescopic end of the radial telescopic assembly is located close to one side of the steel pipe concrete column 7; the upper end of the tension spring 210 is hingedly connected to the climbing shell, and the lower end thereof is hingedly connected to the free telescopic end of the radial telescopic assembly; the upper support rod, the climbing shell, the lower support rod, and the arm rod are sequentially connected to form a parallelogram mechanism, and the radial telescopic assembly deforms the parallelogram mechanism by pulling through the tension spring 210 to change the distance between the climbing shell and the arm rod to realize the radial telescopic adjustment of the motion climbing device 1.

[0048] It should be noted that in order to realize the functions of control and data acquisition, the controller, position sensor, data acquisition device and the like commonly used in the prior art are also required, and the above-mentioned embodiments of the present application do not explain them one by one, which is not the point of the present application, and the way of realization does not affect the solution of the technical problems of the present application.

[0049] The method for detecting the compactness of the steel pipe concrete column by using the above-mentioned detection robot is as follows:

[0050] Step one: the detection robot detects the preparation of the steel pipe concrete column online, first assembles each detection unit 6 of the detection robot 5; divides the arm rods of the detection unit 6 into two groups and connects them at the head and tail, and adjusts the radial telescopic device 2 of each detection unit 6 so that the motion climbing device 1 is in the most outward position in the radial direction; after assembling the two groups of arm rods, they are placed on both sides of the steel pipe concrete column 7 and then assembled, the radial telescopic device 2 is adjusted to drive the motion climbing device 1 to move radially inward so that the motion climbing device 1 has the required pressure with the steel pipe concrete column 7; finally, the detection device 4 and the data transmission device matched with the detection device 4 are installed on the motion climbing device 1;

[0051] Step two: start the detection device 4, and detect the compactness of the steel pipe concrete column 7 through the detection device 4;

[0052] Step three: start the motion climbing device 1, and drive the entire detection robot 5 to move up and down along the steel pipe concrete column 7 for compactness scanning detection through the motion climbing device 1;

[0053] Step four: analyze the compactness of the steel pipe concrete column through the detection data collected by the detection device, and repeatedly scan and detect the data abnormal area through the motion of the detection device driven by the motion climbing device;

[0054] Step five: after the detection is completed, end the detection or replace the steel pipe concrete column, disconnect the connection between any two adjacent arm rods of the detection robot 5, replace the steel pipe concrete column after detection, reassemble, and change the climbing inner diameter composed of multiple motion climbing devices through the radial telescopic device to re-detect.

[0055] The above data collection and data analysis can be achieved by using the existing technology.

[0056] Example 2: Based on example 1, a more preferred motion climbing device 1 is provided, as shown in Figure 3 and Figure 4 The motion climbing device 1 further comprises a driving wheel 111, a first driven wheel 112, a second driven wheel 113, a driving shaft 114, a first fixed shaft 115, a second fixed shaft 116, an axle connecting rod 117, a track 118, a side plate 119, and a motor 121; two driving wheels 111 arranged side by side are fixed on the driving shaft 114, and the driving shaft 114 is installed on the two side plates 119 of the climbing shell through bearings;

[0057] Two first driven wheels 112 arranged side by side are installed on the first fixed shaft 115 through bearings; the first fixed shaft 115 is fixed at both ends on the two side plates 119 of the climbing shell; the second driven wheel 113 has multiple groups, each group has two second driven wheels 113 fixed on the second fixed shaft 116, and the second fixed shafts 116 are fixed and connected between the first fixed shaft 115 through the axle connecting rod 117 to maintain the distance between the first driven wheel 112 and the second driven wheel 113, thereby maintaining the annular shape of the track; the number of groups of the second driven wheel 113 is determined according to the length of the side plate 118; the motor 121 is installed outside the side plate 118 and is fixed on the outside of the bottom plate of the climbing shell by bolts. The output shaft of the motor 121 is connected to the driving shaft 114 through a shaft coupling, the driving shaft 114 drives the driving wheel 111, the driving wheel 111 drives the track 118 and the driven wheel, and the effect of climbing is achieved.

[0058] Example 3: This example provides a preferred radial telescoping device on the basis of Example 2, as shown in Figure 3 and Figure 5 The radial telescoping device 2 in this example includes housing connectors 201, a first rotating shaft 202, a second rotating shaft 203, a third rotating shaft 204, a fourth rotating shaft 205, a first upper support rod 206, a second upper support rod 207, a first lower support rod 208, a second lower support rod 209, a tension spring 210, a suspended rod 211, a fish eye joint 212, a telescopic bolt rod 213, a screw rod knob 214, a bolt rod connector 215, and a frame connector 216. The upper ends of the first and second upper support rods 206 and 207 are mounted on the first rotating shaft 202 through rotating pairs, and the lower ends are mounted on the third rotating shaft 204 through rotating pairs. The upper ends of the first and second lower support rods 208 and 209 are mounted on the second rotating shaft 203 through rotating pairs, and the lower ends are mounted on the fourth rotating shaft 205 through rotating pairs. The first rotating shaft 202 is fixed on the back upper part of the climbing shell through two housing connectors 201, and the second rotating shaft 203 is fixed on the back lower part of the climbing shell through two housing connectors 201. The third rotating shaft 204 is fixed above the support sleeve 301 through two frame connectors 216, and the fourth rotating shaft 205 is fixed below the support sleeve 301 through two frame connectors 216.

[0059] The upper ends of the two tension springs 210 are suspended on the first rotating shaft 202, and the lower ends are hooked on the two ends of the suspended rod 211. The fish eye joint 212 is fixed in the middle of the suspended rod 211, and the end of the fish eye joint 212 is mounted on the end of the telescopic bolt rod 213. The end of the fish eye joint 212 can rotate, and the suspended rod 211 can rotate around the center part of the end of the fish eye joint 212. The telescopic bolt rod 213 is mounted on the support sleeve 301 through the bolt rod connector 215, and a radial through hole is formed in the bolt rod connector 215. The telescopic bolt rod 213 is installed in the through hole, and the outer end of the telescopic bolt rod 213 is threaded with the screw rod knob 214. By turning the screw rod knob 214, the position of the telescopic bolt rod 213 in the radial direction is adjusted to achieve radial telescoping.

[0060] The telescoping of the telescopic bolt rod 213 controls the suspended rod 211 through the fish eye joint 214, and controls the elongation and shortening of the tension spring 210 through the suspended rod 211, so as to pull the upper support rod and the lower support rod to rotate around the third rotating shaft and the fourth rotating shaft respectively. Through the principle of parallelogram, the position of the motion climbing device 1 in the radial direction is adjusted. Through the tension of the tension spring 210, a certain contact pressure is generated between the motion climbing device 1 and the concrete-filled steel tube column 7, which provides the required positive pressure to generate climbing friction.

[0061] On the basis of embodiment 3, the application further provides a preferred technology of arm rod, as shown in Figure 3 、 Figure 6 、 Figure 7 and Figure 8 , the arm rod is a telescopic arm rod 3, the telescopic arm rod 3 comprises a support sleeve 301, a first telescopic rod 303, a second telescopic rod 304, a worm wheel 307, a worm 308, a worm knob 309, a bearing 310, a bearing seat 311, a worm box 312, a telescopic rod connecting piece 313, and a high-strength bolt 314; the support sleeve 301 is respectively provided with the frame connecting piece 216 on the upper side and the lower side, is used for connecting the support rod of the radial telescopic device 2 and the bolt rod connecting piece 215, and realizes the state that the tension spring 210 is kept in tension; the first telescopic rod 303 and the second telescopic rod 304 are installed in the support sleeve 301 through sliding pairs in parallel with each other, the inside of the support sleeve 301 is respectively provided with a pair of convex edges 302 on the upper side and the lower side, correspondingly, the first telescopic rod 303 and the second telescopic rod 304 have recesses 305 on two side edges, the convex edges 302 and the recesses 305 are matched to form sliding pairs, so that the first telescopic rod 303 and the second telescopic rod 304 can relatively displace, thereby adjusting the length of the telescopic arm rod 3; the opposite sides of the first telescopic rod 303 and the second telescopic rod 304 are respectively provided with a rack 306, a gear 311 is arranged between the two racks 306, the gear 311 is respectively engaged with the two racks 306 on the two sides, the gear 311 is fixed on the gear shaft 310, and the gear shaft 310 is installed on the side wall of the support sleeve 301 through a bearing; the rotation of the gear 311 can be converted through a gear-rack mechanism, so that the rotary power is converted into the relative linear motion between the first telescopic rod 303 and the second telescopic rod 304; in the embodiment, a worm gear mechanism is selected to drive the rotation of the gear 311 and lock the rotary position; the worm gear mechanism comprises the worm box 312, the worm wheel 307 and the worm 308 installed in the worm box 312, the worm box 312 is fixed on the outer side wall of the support sleeve 301, the gear shaft 310 extends into the worm box 312, the worm wheel 307 is fixed on the end portion of the gear shaft 310 extending into the worm box 312, the worm 308 is installed in the worm box 312 through a bearing, and the worm 308 is installed in mesh with the worm wheel 307; the worm 308 extends to the outside of the worm box 312, and the worm knob 309 is arranged outside for conveniently rotating the worm 308; the self-locking action of the worm gear mechanism enables the gear 311 to be kept in any rotary position.

[0062] The opposite sides of the first telescopic rod 303 and the second telescopic rod 304 are respectively provided with the telescopic rod connecting piece 313, the first telescopic rod 303 of each detection unit 6 is connected with the first telescopic rod 304 of the adjacent detection unit 6 through the telescopic rod connecting piece 313 and the high-strength bolt 314, and the adjacent detection units 6 are detachably connected through the telescopic rod connecting piece 313 and the high-strength bolt 314.

[0063] Embodiment 5: on the basis of Embodiment 3, a preferred technique of the detection device 4 is provided, as shown in Figure 3 and Figure 4 The detection device 4 includes an ultrasonic probe 122, a protective sleeve 123, and an ultrasonic probe connecting member 124. The ultrasonic probe 122 is installed on the climbing shell through the ultrasonic probe connecting member 124. The protective sleeve 123 is sleeved on the end of the ultrasonic probe 122. The protective sleeve 124 is in close contact with the outer surface of the steel pipe concrete column. The ultrasonic probe 122 is used to emit and receive ultrasonic waves, and the main performance parameters are frequency and sound speed value. The matching connecting equipment includes a detection device fixing slot and a connecting member. The matching data transmission equipment includes a data connecting line, a display, a printer, and data processing equipment. A small printer is installed and connected to the printing interface reserved in the internal system. After the compactness is detected, the compactness image can be read.

[0064] It should be noted that in order to improve the automation degree of the present application, a controller, various sensors, data acquisition devices, wireless transmission or wired transmission, a display, etc. can be added on the basis of the above-mentioned technology. All of them can use existing technology, and the specific implementation form does not affect the solution of the technical problems of the present application.

[0065] The above embodiments are only used to illustrate the present application, but not to limit the present application. Although the present application is described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present application do not deviate from the spirit and scope of the present application, and should be covered in the scope of the claims of the present application.

Claims

1. A detection robot for detecting the compactness of a steel pipe concrete column, which is composed of a plurality of detection units connected head to tail, characterized in that: The detection unit comprises an arm, a movement climbing device installed on the arm through a radial telescopic device, and a detection device installed on the movement climbing device; The arms of each detection unit are detachably connected at the head and tail to form a regular polygon frame capable of surrounding the concrete-filled steel tube column; The radial telescopic device is used to adjust the position of the movement climbing device in the radial direction to provide the normal pressure required by the movement climbing device when climbing on the concrete-filled steel tube column; The detection device is carried by the movement climbing device to the designated area on the concrete-filled steel tube column to detect the compactness thereof; The movement climbing device comprises a climbing shell and a crawler mechanism arranged in the climbing shell close to one side of the concrete-filled steel tube column; The radial telescopic device comprises a tension spring, a radial telescopic component, and upper and lower support rods arranged in parallel in the up-down direction, one end of each of the upper and lower support rods being hinged to the climbing shell of the movement climbing device and the other end being hinged to the arm, the radial telescopic component being installed on the arm with the free telescopic end thereof located close to one side of the concrete-filled steel tube column, the upper end of the tension spring being hinged to the climbing shell and the lower end being hinged to the free telescopic end of the radial telescopic component, the upper support rod, the climbing shell, the lower support rod, and the arm being sequentially connected to form a parallelogram mechanism, and the radial telescopic component deforming the parallelogram mechanism through the tension spring to change the distance between the climbing shell and the arm to realize the radial telescopic adjustment of the movement climbing device; The upper and lower support rods and the tension spring are respectively provided with two upper support rods, two lower support rods, and two tension springs, the inner ends of the two upper support rods being connected through a first rotating shaft, the first rotating shaft being installed on the climbing shell through a shell connecting piece, the inner ends of the two lower support rods being connected through a second rotating shaft, the second rotating shaft also being installed on the climbing shell below the first rotating shaft through a shell connecting piece, the outer ends of the two upper support rods being connected through a third rotating shaft, the third rotating shaft being installed on the upper part of the arm through a frame connecting piece, the outer ends of the two lower support rods being connected through a fourth rotating shaft, the fourth rotating shaft being installed on the lower part of the arm through a frame connecting piece, the upper ends of the two tension springs being hung on the first rotating shaft, and the lower ends being hung on a suspended rod, the suspended rod being connected to the free telescopic end of the radial telescopic component through a hinged mechanism.

2. The detection robot for detecting the compactness of a steel pipe concrete column according to claim 1, characterized in that: The radial telescopic component comprises a telescopic bolt rod, a screw knob, and a bolt rod connecting piece, the bolt rod connecting piece being fixed on the arm, a radial through hole being formed in the bolt rod connecting piece, the telescopic bolt rod being installed in the through hole, the inner end of the telescopic bolt rod being connected to the suspended rod through a hinged mechanism, and the outer end being screwed onto the screw knob, the position of the telescopic bolt rod in the radial direction being adjusted by screwing the screw knob to realize the radial telescoping.

3. The detection robot for detecting the compactness of a steel pipe concrete column according to claim 1, characterized in that: The arm rod is a telescopic arm rod, which comprises a supporting sleeve, a first telescopic rod, a second telescopic rod, a gear and a drive device with locking structure, the first telescopic rod and the second telescopic rod are installed in the supporting sleeve through sliding pairs and are parallel to each other, the opposite sides of the first telescopic rod and the second telescopic rod are respectively provided with a rack, the gear is meshed with the two racks on both sides, the drive device is connected with the gear in power transmission, the gear is driven to rotate through the drive device, so that the two telescopic rods are synchronously telescoped relative to the supporting sleeve, and the outer ends of the first telescopic rod and the second telescopic rod are connected with the second telescopic rod and the first telescopic rod of the adjacent arm rod through a pin shaft respectively.

4. The detection robot for detecting the compactness of a concrete filled steel tubular column according to claim 3, characterized in that: The drive device with locking structure is a worm gear structure, wherein the worm gear is coaxially fixedly connected with the gear, the worm is assembled with the worm gear, and the worm is provided with a worm knob which is convenient to twist.

5. The detection robot for detecting the compactness of a steel pipe concrete column according to claim 1, characterized in that: The open side of the climbing shell is close to the side of the steel pipe concrete column, the track mechanism comprises a motor, a plurality of track wheels, a track wrapped on the plurality of track wheels, and at least one track wheel is a driving wheel driven by the motor.

6. The detection robot for detecting the compactness of a concrete filled steel tubular column according to claim 5, wherein: The track wheel wraps a plurality of second driven wheels for tensioning the track to form a walking surface and a first driven wheel for tensioning the track into a ring shape, wherein one of the first driven wheels is a driving wheel.

7. The detection robot for detecting the compactness of a concrete filled steel tubular column according to claim 3, characterized in that: The detection device comprises an ultrasonic probe and a protective sleeve wrapped on the end of the ultrasonic probe, and the ultrasonic probe is installed in the climbing shell through an ultrasonic probe connector.

8. The detection robot for detecting the compactness of a concrete filled steel tubular column according to claim 3, characterized in that: The number of detection units is 4-8, and each detection unit is detected alone or cooperatively.

9. A method of detecting the compactness of a steel pipe concrete column using the inspection robot according to any one of claims 1 to 7, characterized by, The method comprises the following steps: Step one: the robot detects the preparation of the steel pipe concrete column online, assembles each detection unit of the robot first, connects two groups of arm rods in a head-to-tail manner, adjusts the radial telescopic device of each detection unit, so that the motion climbing device is in the most outward radial position, assembles the two groups of arm rods on both sides of the steel pipe concrete column, adjusts the radial telescopic device to drive the motion climbing device to move radially inward, so that the motion climbing device has the climbing pressure required between the motion climbing device and the steel pipe concrete column, and finally installs the detection device and the data transmission device matched with the detection device on the motion climbing device; Step two: starting the detection device, detecting the compactness of the steel pipe concrete column through the detection device; Step three: starting the motion climbing device, driving the entire detection robot to move up and down along the steel pipe concrete column through the motion climbing device to perform compactness scanning detection; Step four: analyzing the compactness of the steel pipe concrete column by collecting the detection data of the detection device, and repeatedly scanning and detecting the data abnormal area through the motion of the detection device driven by the motion climbing device; Step five: after the detection is completed, the detection is ended or the steel pipe concrete column is replaced, the connection between any two adjacent arm rods of the detection robot is disconnected, the inner diameter of the climbing formed by the plurality of motion climbing devices is changed through the radial telescopic device after the steel pipe concrete column is replaced, and the detection is reassembled and reperformed.

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