Intelligent detection robot for steel bar spacing

Abstract

This invention relates to the field of rebar inspection equipment, specifically an intelligent rebar spacing inspection robot, including a wall-climbing robot for high-altitude monitoring. The wall-climbing robot can move on walls and beams. A fixed frame is mounted at one end of the robot's base plate, and a fixed outer shell is mounted at the other end. A concrete rebar measuring instrument for measuring the spacing of internal rebars in walls and beams is mounted on the upper end of the fixed frame. A drive power supply is mounted on the top of the fixed outer shell, and a drive motor is positioned near the drive power supply on the top of the fixed outer shell. Multiple drive motors are arranged at equal intervals. Grinding discs are mounted on the bottom of each drive motor via connectors. The same number of mounting boxes as the drive motors are evenly spaced on the upper surface of the fixed outer shell. Each mounting box contains an AC contactor and a transformer. Placement racks are evenly spaced vertically inside the fixed outer shell. This invention features high inspection safety and high inspection accuracy.

Description

Technical Field

[0001] This invention relates to the field of rebar inspection equipment, specifically to an intelligent robot for detecting rebar spacing. Background Technology

[0002] With the increasing number of concrete structure projects, in order to ensure the safety of the structural entity and to have a more scientific understanding of its quality, it is necessary not only to focus on quality control during construction, but also to conduct some necessary tests after the concrete structure is completed to ensure the overall quality and safety of the building. Among these tests, the detection of concrete rebar spacing is one such test.

[0003] Under normal circumstances, the spacing of reinforcing bars embedded in concrete is measured using a professional concrete rebar measuring instrument. When the object being measured is a building with a low ceiling, the operator can measure it by hand. However, when the ceiling is high or when measuring a beam, the operator's height is far from meeting the measurement height requirements, so scaffolding is usually erected to increase the measurement height. While this method increases the working height, it also results in low safety for high-altitude measurements. In addition, when the concrete rebar measuring instrument measures the spacing of the reinforcing bars, it calculates the distance that the four measuring wheels at the bottom of the instrument roll on the concrete surface. When there is laitance on the concrete surface, the measuring wheels passing over the laitance affects the measurement accuracy of the concrete rebar measuring instrument. Summary of the Invention

[0004] To address the issues of low safety and low detection accuracy in existing technologies, this invention provides an intelligent robot for detecting rebar spacing.

[0005] The technical solution adopted by the present invention to solve its technical problem is: a rebar spacing intelligent detection robot, including a wall-climbing robot for high-altitude monitoring. The wall-climbing robot can move on walls and beams. A fixed frame is installed at one end of the bottom plate of the wall-climbing robot, and a fixed shell is installed at the other end. A concrete rebar measuring instrument for measuring the spacing of rebars built into walls and beams is mounted on the upper end of the fixed frame. A drive power supply is installed on the top of the fixed shell. A drive motor is set on the top of the fixed shell near the drive power supply. Multiple drive motors are arranged at equal intervals. A grinding disc is installed at the bottom of the drive motor through a connector. The same number of mounting boxes as the drive motors are installed at equal intervals on the upper surface of the fixed shell. The mounting box contains an AC contactor and a transformer. Inside the fixed housing, there are vertically spaced placement racks. Each placement rack is composed of a positioning cylinder, a support spring, a movable rod, a support plate, and rollers. The positioning cylinder is welded to the top inner wall of the fixed housing. A movable rod is inserted into the center of the positioning cylinder. A support spring is installed between the movable rod and the positioning cylinder. Rollers are installed at the bottom of the movable rod. A support plate is fixedly connected to the outer wall of the side of the movable rod facing the grinding disc. The fixed housing contains the same number of infrared diffuse reflection switches as the drive motor. Each infrared diffuse reflection switch includes an emitter and a reflector. The emitter is fixedly connected to one side of the support plate, and the reflector is mounted on one side of the grinding disc via a positioning bracket. The infrared diffuse reflection switches, AC contactors, transformers, drive motors, and drive power supplies are electrically connected via wires to form a control circuit.

[0006] Specifically, the vertical distance between the top end face of the reflector and the infrared beam of the emitting end is -mm, and the top of the fixed housing is equipped with the same number of time delay relays as the drive motor, and the time delay relays are electrically connected to the control circuit through wires.

[0007] Specifically, the grinding disc has a mounting groove at the center of its top, and a threaded hole at the center of the bottom of the mounting groove that connects to the bottom of the connector. Horizontal grooves are equally spaced around the center of the longitudinal direction of the mounting groove. Each of the horizontal grooves contains a movable ball. A limit block is positioned on the movable ball facing the opening of the horizontal groove. The bottom of the limit block is welded into the horizontal groove. A compression spring is provided between the movable ball and the horizontal groove. A horizontal plate is sleeved on the outer wall of the area where the connector is located in the mounting groove. The lower end face of the horizontal plate is connected to the movable ball via a swing arm. An annular sliding groove is provided on the upper end face of the horizontal plate.

[0008] Specifically, a T-shaped rod is fixedly connected to the inner wall of the fixed housing, and a movable plate is sleeved on the outer wall of the T-shaped rod. A straight rod is symmetrically installed on the lower end of the movable plate, and a thin brush is connected to the bottom of the straight rod. The bristles of the thin brush are close to the lower edge of the reflector. A drive rope is embedded in the upper end of the movable plate, and a positioning ball is embedded in the end of the drive rope. The end of the drive rope with the positioning ball is connected to the annular sliding groove through a fixed pulley. The fixed pulley is fixedly connected to the top of the positioning frame through a support rod.

[0009] Specifically, the straight rod and the launching end are located in different vertical planes.

[0010] Specifically, both the outer wall of the positioning sphere and the inner wall of the annular groove are coated with lubricating grease.

[0011] Specifically, the positioning sphere is a component made of metal.

[0012] Specifically, the outer wall of the roller is covered with a silicone sleeve.

[0013] The beneficial effects of this invention are: The present invention discloses an intelligent rebar spacing detection robot. The wall-climbing robot can be a propeller-driven wall-climbing robot, which is operated remotely. It can move on walls and beams by the high-speed thrust of the propeller. By controlling the movement of the wall-climbing robot, the concrete rebar measuring instrument can be moved on the walls and beams, realizing the monitoring of rebar spacing at high positions on walls and beams. It can effectively replace the traditional method of high-altitude measurement by erecting scaffolding, and is safer.

[0014] The present invention discloses an intelligent rebar spacing detection robot. A high-speed rotating grinding disc contacts and removes laitance, ensuring a smooth and uniform concrete surface and improving the accuracy of the concrete rebar measuring instrument. Furthermore, this method employs multiple sets of infrared diffuse reflection switches as start switches for the control circuit. When laitance is present at a certain location on the wall, the infrared diffuse reflection switches intelligently control the corresponding drive motor to operate, while drive motors at other locations remain off. This avoids the need for a single grinding disc design to require the drive motor to be constantly running, resulting in higher energy efficiency.

[0015] The present invention discloses an intelligent robot for detecting rebar spacing, equipped with components such as time-delay relays. This method controls the start and stop of the laitance removal operation by adjusting the distance between the rollers and the laitance as they move up and down, rather than relying on the laitance itself to block the infrared beam of the reflector. This solves the problem of a small working radius caused by the laitance blocking the infrared beam, resulting in a larger working radius. Simultaneously, the robot can clean dust from the reflector surface during the detection process, ensuring the accuracy of the detection. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a diagram illustrating the overall structure of the invention in operation. Figure 2 This is a perspective view of the overall structure of the present invention; Figure 3 This is a cross-sectional view of the fixed outer shell and other components of the present invention; Figure 4 For the present invention Figure 3 Enlarged view of region A in the middle; Figure 5 This is a diagram illustrating the working state of the present invention; In the diagram: 1. Wall-climbing robot; 2. Fixed frame; 3. Concrete rebar measuring instrument; 4. Fixed outer shell; 5. Drive motor; 6. Grinding disc; 41. Time delay relay; 42. T-shaped rod; 43. Movable plate; 44. Straight rod; 45. Thin brush; 46. Drive rope; 47. Fixed pulley; 48. Positioning ball; 91. Positioning cylinder; 92. Support spring; 93. Movable rod; 94. Support plate; 95. Roller; 101. Launching end; 102. Reflector; 61. Mounting slot; 62. Compression spring; 63. Movable ball; 64. Limiting block; 65. Horizontal plate; 66. Circular slide; 67. Swing arm. Implementation

[0018] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0019] Furthermore, the terms used below are defined based on the functionality of this invention and may vary depending on the user's, operator's, or conventions. Therefore, these terms are defined based on the entire contents of this specification.

[0020] See Figure 1-5 The present invention discloses an intelligent rebar spacing detection robot, comprising a wall-climbing robot 1 for high-altitude monitoring. The wall-climbing robot 1 can move on walls and beams. A fixed frame 2 is mounted at one end of the base plate of the wall-climbing robot 1, and a fixed outer shell 4 is mounted at the other end. A concrete rebar measuring instrument 3 for measuring the spacing of internal rebars in walls and beams is mounted on the upper end of the fixed frame 2. A drive power supply 7 is mounted on the top of the fixed outer shell 4, and a drive motor 5 is positioned near the drive power supply 7 on the top of the fixed outer shell 4. Multiple drive motors 5 are spaced evenly... The drive motor 5 is arranged with a grinding disc 6 installed at its bottom via a connector 51. The same number of mounting boxes 8 as the drive motor 5 are installed at equal intervals on the upper surface of the fixed housing 4. The wall-climbing robot 1 can be a propeller-type wall-climbing robot, which is operated remotely. It can move on the wall and beam by the high-speed thrust of the propeller. By controlling the movement of the wall-climbing robot 1, the concrete rebar measuring instrument 3 can be moved on the wall and beam to realize the monitoring of the rebar spacing at high positions on the wall and beam. It can effectively replace the traditional method of erecting scaffolding for high-altitude measurement. See Figure 2 and Figure 3The mounting box 8 contains an AC contactor and a transformer. Inside the fixed housing 4, vertically spaced racks 9 are installed. Each rack 9 consists of a positioning cylinder 91, a support spring 92, a movable rod 93, a support plate 94, and rollers 95. The positioning cylinder 91 is welded to the inner top wall of the fixed housing 4. A movable rod 93 is inserted into the center of the positioning cylinder 91. A support spring 92 is positioned between the movable rod 93 and the positioning cylinder 91. Rollers 95 are installed at the bottom of the movable rod 93. A support plate 94 is fixedly connected to the outer wall of the bottom of the movable rod 93 facing the grinding disc 6. The working principle of the wall-climbing robot 1 on walls and beams is the same. This embodiment focuses on its operation on walls. Taking the body inspection as an example, when the operator controls the wall-climbing robot 1 to move on the wall, the roller 95 rolls on the wall surface under the action of friction. The outer wall of the roller 95 is covered with a silicone sleeve to reduce the wear of the roller 95 during long-term use. When the wall-climbing robot 1 encounters slurry, the roller 95 will roll along the surface of the slurry, so that the roller 95 is subjected to the vertical squeezing force of the slurry. The roller 95, together with the movable rod 93 and the support plate 94, moves along the positioning cylinder 91. The support spring 92 is compressed by the movable rod 93 and has a rebound force. When the roller 95 rolls over the slurry, the rebound force generated when the support spring 92 is compressed pushes the movable rod 93 to reset. Furthermore, the fixed housing 4 houses the same number of infrared diffuse reflection switches 10 as the drive motor 5. Each infrared diffuse reflection switch 10 includes an emitter 101 and a reflector 102. The emitter 101 is fixedly connected to one side of the support plate 94, and the reflector 102 is mounted on one side of the grinding disc 6 via a positioning bracket. The infrared diffuse reflection switches 10, the AC contactor, the transformer, the drive motor 5, and the drive power supply 7 are electrically connected via wires to form a control circuit. The infrared diffuse reflection switch 10 typically operates at a low voltage, while the AC contactor operates at 220V. A transformer is installed to ensure both operate at the same voltage. Initially, the infrared beam emitted from the emitter 101 of the infrared diffuse reflection switch 10 illuminates the reflector 102, the control circuit is open, the movable rod 93 resets (i.e., the roller 95 resets), and the emitter 101 inside the infrared diffuse reflection switch 10... The emitted infrared beam will illuminate the outer wall of the laitance. The infrared beam cannot reach the reflector 102 for emission, causing the AC contactor to engage and enter the working state. The control circuit is connected, and the drive power supply 7 supplies power to the drive motor 5, enabling the drive motor 5 to enter the working state and drive the grinding disc 6 to rotate at high speed through the connector 51. The high-speed rotating grinding disc 6 contacts the laitance and cuts it off, thus ensuring the flatness of the concrete surface of the wall. The detection accuracy of the concrete reinforcement measuring instrument 3 is higher. At the same time, this method uses multiple sets of infrared diffuse reflection switches 10 as start switches for the control circuit. When there is laitance at a certain position in the wall, the infrared diffuse reflection switch 10 can intelligently control the drive motor 5 at the corresponding position to work, while the drive motors 5 at other positions are in a stopped state. This avoids the situation where a single grinding disc 6 design requires the drive motor 5 to be constantly on, resulting in higher energy efficiency.

[0021] In another embodiment, see Figures 2-4The vertical distance between the top end face of the reflector 102 and the infrared beam of the emitting end 101 is 10-30mm. The top of the fixed housing 4 is equipped with the same number of time-delay relays 41 as the drive motor 5, and the time-delay relays 41 are electrically connected to the control circuit via wires. The delay time of the time-delay relays 41 is 5-30s; this embodiment uses 10s as an example. When the roller 95 moves in contact with the slurry, the position of the emitting end 101 changes with the position of the support plate 94, causing the horizontal height of the infrared beam emitted by the emitting end 101 to exceed the top of the reflector 102. The infrared diffuse reflection switch 10 enters the working state, the AC contactor engages, and the drive motor 5 drives the grinding disc 6 to rotate at high speed. When the support spring 92 drives the emitting end 101 back to its initial position, the… A time-delay relay 41 is connected in the control circuit, and the drive motor 5 has a 10-second working delay. That is, after the infrared diffuse reflection switch 10 is activated instantaneously, the drive motor 5 can work for 10 seconds. During this time, the operator can fully control the wall-climbing robot 1 to adjust the position of the grinding disc 6 to remove the slurry. In this way, the start and stop of the slurry removal operation of the present invention is controlled by the distance between the roller 95 and the slurry in contact with each other and the vertical movement, rather than by the slurry itself blocking the infrared beam of the reflector 102. This solves the problem of small working radius caused by the slurry itself blocking the infrared beam of the reflector 102 (which can be understood as the infrared beam diameter being small, making it easy to identify when facing long strips of slurry, but unable to identify blocky slurry outside the infrared beam irradiation path), making the working radius of the present invention larger.

[0022] In another embodiment, see Figures 2-5 The grinding disc 6 has a mounting groove 61 at its top center. A threaded hole connected to the bottom of the connector 51 is located at the bottom center of the mounting groove 61. Horizontal grooves are evenly spaced circumferentially at the longitudinal center of the mounting groove 61. Movable spheres 63 are placed in each of these horizontal grooves. Limiting blocks 64 are positioned on the spheres 63 facing the openings of the horizontal grooves. The bottoms of the limiting blocks 64 are welded into the horizontal grooves. A compression spring 62 is provided between the movable spheres 63 and the horizontal grooves. A horizontal plate 65 is sleeved on the outer wall of the connector 51 in the area of ​​the mounting groove 61. The lower end face of the horizontal plate 65 is connected to the movable spheres 63 via a swing arm 67. An annular sliding groove 66 is provided on the upper end face of the horizontal plate 65. In the initial state, the movable spheres 63 are pressed against one side of the limiting block 64 under the elastic force of the compression spring 62. The horizontal plate 65 is supported by several swing arms 67 and is in a horizontal state. This state can be... Figure 4 As shown; A T-shaped rod 42 is fixedly connected to the inner wall of the fixed outer shell 4. A movable plate 43 is sleeved on the outer wall of the T-shaped rod 42. A straight rod 44 is symmetrically installed on the lower end face of the movable plate 43. A thin brush 45 is connected to the bottom of the straight rod 44, and the bristles of the thin brush 45 are close to the lower edge of the reflector 102. A drive rope 46 is embedded in the upper end face of the movable plate 43. A positioning ball 48 is embedded in the end of the drive rope 46. One end of the drive rope 46 with the positioning ball 48 is connected to the annular slide groove 66 through a fixed pulley 47. The fixed pulley 47 is fixedly connected to the top of the positioning frame through a support rod. When the grinding disc 6 enters the working state and rotates at high speed, several movable balls 63 move towards the interior of the horizontal groove under the action of centrifugal force. The positioning ball 48 is a kind of Metal components, due to their large mass, experience increased centrifugal force. This means that several movable spheres 63 simultaneously pull several swing arms 67, causing the tops of the swing arms 67 to descend, thus lowering the height of the horizontal plate 65. As the horizontal plate 65 descends, it pulls the drive rope 46, the other end of which in turn pulls the movable plate 43 upwards. The rising of the movable plate 43 then raises the straight rod 44 and the thin brush 45. After the thin brush 45 rises, its bristles wipe the outer wall of the reflector 102, effectively preventing dust from accumulating on the outer wall of the reflector 102 and affecting the accuracy of the infrared diffuse reflection switch 10. When the grinding disc 6 stops, the centrifugal force on the movable spheres 63 gradually decreases, and the compression spring 62 pushes the movable spheres 63 back to their original position. This state is as follows: Figure 5 As shown.

[0023] See Figure 4 The straight rod 44 and the transmitting end 101 are located in different vertical planes, ensuring that the straight rod 44 will not block the infrared beam of the transmitting end 101, thereby ensuring that the infrared diffuse reflection switch 10 can work normally.

[0024] See Figure 4 The outer wall of the positioning ball 48 and the inner wall of the annular groove 66 are both coated with lubricating grease. During the high-speed rotation of the grinding disc 6, the horizontal plate 65 rotates together with the connecting piece 51, while the positioning ball 48 slides on the inner wall of the annular groove 66. By adding lubricating grease, the friction between the two can be reduced, thus reducing wear.

[0025] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A steel bar spacing intelligent detection robot, comprising a wall-climbing robot (1) for high-altitude monitoring, characterized in that: The wall-climbing robot (1) can move on walls and beams. A fixed frame (2) is installed at one end of the bottom plate of the wall-climbing robot (1), and a fixed shell (4) is installed at the other end. A concrete rebar measuring instrument (3) for measuring the spacing of the built-in rebars in the wall and beam is installed on the upper end of the fixed frame (2). A drive power supply (7) is installed on the top of the fixed shell (4). A drive motor (5) is set on the top of the fixed shell (4) near the drive power supply (7). Multiple drive motors (5) are arranged at equal intervals. A grinding disc (6) is installed on the bottom of the drive motor (5) through a connector (51). The same number of mounting boxes (8) as the drive motor (5) are installed at equal intervals on the upper surface of the fixed shell (4). The mounting box (8) is equipped with an AC contactor and a transformer. The fixed shell (4) is equipped with a vertically spaced placement rack (9). The placement rack (9) is composed of a positioning cylinder (91), a support spring (92), a movable rod (93), a support plate (94), and a roller (95). The positioning cylinder (91) is welded to the top inner wall of the fixed shell (4). The movable rod (93) is inserted into the center of the positioning cylinder (91). The support spring (92) is set between the movable rod (93) and the positioning cylinder (91). The roller (95) is installed at the bottom of the movable rod (93). The support plate (94) is fixedly connected to the outer wall of the bottom of the movable rod (93) facing the grinding disc (6). When the wall-climbing robot (1) encounters the floating slurry, the roller (95) will roll along the surface of the floating slurry, so that the roller (95) is subjected to the vertical squeezing force of the floating slurry. The roller (95), the movable rod (93), and the support plate (94) move together along the positioning cylinder (91). The fixed housing (4) is equipped with the same number of infrared diffuse reflection switches (10) as the drive motor (5). The infrared diffuse reflection switch (10) includes a transmitter (101) and a reflector (102). The transmitter (101) is fixedly connected to one side of the support plate (94). The reflector (102) is installed on one side of the grinding disc (6) through a positioning frame. The infrared diffuse reflection switch (10), AC contactor, transformer, drive motor (5) and drive power supply (7) are electrically connected through wires to form a control circuit.

2. The intelligent detection robot for steel bar spacing according to claim 1, characterized in that: The vertical distance between the top end face of the reflector (102) and the infrared beam of the transmitter (101) is 10-30mm. The top of the fixed housing (4) is equipped with the same number of time delay relays (41) as the drive motor (5), and the time delay relays (41) are electrically connected to the control circuit through wires.

3. The intelligent detection robot for steel bar spacing according to claim 1, characterized in that: The grinding disc (6) has a mounting groove (61) at the center of its top. The mounting groove (61) has a threaded hole at the center of its bottom that connects to the bottom of the connector (51). The mounting groove (61) has horizontal grooves at equal intervals in the longitudinal center. Each of the horizontal grooves contains a movable ball (63). A limit block (64) is provided at the position of the movable ball (63) facing the opening of the horizontal groove. The bottom of the limit block (64) is welded to the horizontal groove. A compression spring (62) is provided between the movable ball (63) and the horizontal groove. A horizontal plate (65) is sleeved on the outer wall of the area of ​​the connector (51) located in the mounting groove (61). The lower end face of the horizontal plate (65) is connected to the movable ball (63) by a swing arm (67). The upper end face of the horizontal plate (65) has an annular sliding groove (66).

4. The intelligent detection robot for steel bar spacing according to claim 3, characterized in that: The inner wall of the fixed outer shell (4) is fixedly connected to a T-shaped rod (42), and a movable plate (43) is sleeved on the outer wall of the T-shaped rod (42). A straight rod (44) is symmetrically installed on the lower end of the movable plate (43). A thin brush (45) is connected to the bottom of the straight rod (44), and the bristles of the thin brush (45) are close to the lower edge of the reflector (102). A drive rope (46) is embedded in the upper end of the movable plate (43). A positioning ball (48) is embedded in the end of the drive rope (46). One end of the drive rope (46) with the positioning ball (48) is connected to the annular slide groove (66) through a fixed pulley (47). The fixed pulley (47) is fixedly connected to the top of the positioning frame through a support rod.

5. The intelligent robot for detecting rebar spacing according to claim 4, characterized in that: The straight rod (44) and the launching end (101) are located in different vertical planes.

6. The intelligent robot for detecting rebar spacing according to claim 4, characterized in that: The outer wall of the positioning sphere (48) and the inner wall of the annular groove (66) are both coated with lubricating grease.

7. The intelligent robot for detecting rebar spacing according to claim 4, characterized in that: The positioning sphere (48) is a component made of metal.

8. The intelligent robot for detecting rebar spacing according to claim 1, characterized in that: The outer wall of the roller (95) is covered with a silicone sleeve.

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