Flaw detection equipment for building construction

Abstract

The invention belongs to the technical field of building construction flaw detection, and particularly relates to flaw detection equipment for building construction, which comprises a cabinet body, two groups of sliding rails are symmetrically distributed and fixedly connected in the cabinet body, each group of sliding rails is slidably connected with a group of sliding blocks, and the two groups of sliding blocks are fixedly connected with a power supply and a high-pressure fan respectively; an exhaust port is formed in the cabinet body and located at the exhaust end of the high-pressure fan, the air suction end of the high-pressure fan is communicated with a hose, the end, away from the high-pressure fan, of the hose is fixedly communicated with a pipe head, the pipe head is rotationally connected with a vehicle body, and the two ends of the vehicle body are fixedly connected with two first supports respectively. The high-pressure fan is used for generating low pressure to provide suction force, so that the vehicle body can be stably attached to the wall for flaw detection, the vehicle body flexibly moves on the wall surface by driving the Mecanum wheels, and the high-pressure fan and the vehicle body are arranged away from each other; therefore, the negative influence of mechanical noise and wind noise generated when the high-pressure fan provides the suction force on the signal-to-noise ratio of ultrasonic detection is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of flaw detection in building construction, and in particular relates to flaw detection equipment for building construction. Background Art

[0002] The structural performance and quality of construction projects are receiving more and more attention. Nondestructive testing technology is a testing method that tests the performance of certain physical quantities of the building structure without affecting the structural performance of the structure, and then judges whether the performance of the structure has changed based on the results. The use of nondestructive testing technology in construction projects can be used to improve the quality of the project and the rationality of the structure.

[0003] In the existing concrete building construction process, the walls are mostly formed by pouring, and the upper layer is poured after it is dry and hard. However, during the pouring and drying process, defects may occur in the wall due to various reasons. The traditional solution is to use the principle of ultrasonic emission to detect flaws in the building. During the operation, manual handheld flaw detection terminals are required for inspection. However, for some more dangerous buildings with a large area, it is difficult for workers to comprehensively and conveniently detect flaws in various parts of the wall, which is not flexible and wastes manpower.

[0004] A Chinese patent with authorization announcement number CN216943337U discloses a wall-climbing robot for flaw detection, including a frame, on which a walking mechanism and an adsorption mechanism are arranged, wherein the walking mechanism is provided with two groups, and the two groups of the walking mechanisms are respectively mounted on opposite sides of the frame, and the walking mechanism includes a motor mounting seat fixed to the frame, and a mounting frame is respectively hinged on both sides of the motor mounting seat, and a group of Mecanum wheels is respectively fixed on each mounting frame, and a telescopic rod is arranged between the mounting frame and the motor mounting seat, and a reset spring is sleeved on the telescopic rod, which can realize multi-angle operation in situ, thereby achieving full coverage of the detection area.

[0005] However, the above-mentioned "a wall-climbing robot for flaw detection" is used in the inspection of metal tanks. Although it can use Mecanum wheels to achieve stable and flexible movement and adhere to the wall for inspection, when used in construction flaw detection scenarios, since there is less metal or even no metal in the building walls, the above-mentioned patent cannot use magnetism to adhere to the wall for walking for inspection.

[0006] The Chinese patent with authorization announcement number CN114537549B discloses a wall-climbing vehicle and ultrasonic flaw detection method for ultrasonic flaw detection, including a wall-climbing vehicle body, a power module, an adsorption module, a detection module and a control system. The adsorption module includes a front adsorption group and a rear adsorption group; the front adsorption group includes a front air duct, a front air duct pressure wing, a ducted fan upper cover two, a ducted fan shell two and fan blades two. The fan blades are used to generate negative pressure under the wall-climbing vehicle body so that the wall-climbing vehicle can move on the wall surface. It has low requirements on the surface of the object and can free up labor to achieve efficient ultrasonic flaw detection of the object to be tested.

[0007] However, in actual usage scenarios of the above-mentioned "a wall-climbing vehicle and ultrasonic flaw detection method for ultrasonic flaw detection", since its fan blades, namely the above-mentioned "airway pressure wings" are directly arranged on the vehicle body and too close to the ultrasonic detection probe, when it rotates at high speed to generate wind pressure to ensure that the vehicle body fits the wall, the mechanical noise and wind noise generated by the blades will have a negative impact on the signal-to-noise ratio of ultrasonic flaw detection, thereby affecting the flaw detection effect.

[0008] Moreover, in actual use of the above two comparative documents, since the distance between the ultrasonic probe and the wall during detection is subject to high requirements, it is difficult to ensure that the distance between the ultrasonic detection probe and the wall is uniform when walking on a curved wall and performing detection, and it is difficult to make the ultrasonic detection probe approach the corner of the wall for flaw detection, which affects the accuracy of flaw detection.

[0009] At the same time, since the walls of buildings are different, obstacles such as protrusions or depressions may appear on the walls. Although the above-mentioned patent can pass through obstacles to a certain extent, the process of avoiding and passing obstacles will affect the path of flaw detection, thereby affecting the comprehensiveness of the overall flaw detection of the wall. Summary of the invention

[0010] In order to overcome the deficiencies of the prior art, the present invention solves the technical problem of using a high-pressure fan to suck air from a vehicle body through a hose and a pipe head to generate low pressure to provide suction, so that the vehicle body can be stably attached to the wall for flaw detection, and by setting four independently driven Mecanum wheels, the vehicle body can move freely, flexibly and stably on the wall, thereby facilitating flaw detection of the entire building wall, ensuring the flaw detection effect and efficiency, the high-pressure fan and the vehicle body are set away from each other, thereby avoiding the negative impact of mechanical noise and wind noise generated by the high-pressure fan when providing suction on the signal-to-noise ratio of ultrasonic detection, thereby improving the accuracy and stability of ultrasonic flaw detection, and using visual sensors and laser sensors for flaw detection. The measured wall surface is scanned, obstacles on the wall are detected and marked, so as to plan and generate the moving range and walking route of the vehicle body in real time, so as to ensure comprehensive and smooth flaw detection of the wall, and improve the effect and efficiency of flaw detection. By setting the rocker arm, the ultrasonic flaw detector is further away from the vehicle body, so as to avoid the influence of noise on the ultrasonic flaw detection, and the ultrasonic flaw detector can be more conveniently and easily close to the corner of the wall for flaw detection, so as to improve the comprehensiveness and accuracy of flaw detection. By setting the first servo steering engine and the distance sensor, the distance between the ultrasonic flaw detector and the wall can be controlled to be uniform, and the ultrasonic flaw detector is ensured to be parallel to the wall, so as to improve the accuracy of flaw detection.

[0011] In order to achieve the above-mentioned purpose, the present invention provides the following technical solution: a flaw detection device for construction, the flaw detection device for construction comprising: A vehicle body, wherein a pipe head is rotatably connected at the center of the vehicle body, a hose is fixedly connected to the end of the hose head, and an air suction component is connected to one end of the hose away from the hose head; A first support, wherein two symmetrical wheel frames are rotatably connected to the bottom of both sides of the first support, and two symmetrical first stepper motors are fixedly connected to the two wheel frames respectively, and the power output end of each first stepper motor passes through the wheel frame and is transmission-connected to a Mecanum wheel; Two first supports are fixedly connected to both ends of the vehicle body, four Mecanum wheels are correspondingly arranged on the vehicle body, and the four Mecanum wheels are symmetrically arranged with each other. A flaw detection component extending to the outside of the vehicle body is arranged at a corner of the vehicle body.

[0012] Furthermore, each of the wheel frames is fixedly connected to a second support, each of the second supports is hinged with an elastic telescopic rod, and one end of each elastic telescopic rod away from the second support is hinged to the top of the corresponding first support. Multiple groups of ball seats are fixedly connected to both sides of the vehicle body, and a ball is rollingly connected to the bottom of each ball seat.

[0013] Furthermore, suction cotton is attached to the inner wall of the vehicle body, and the suction cotton is made of a soft and porous material. The four sides of the suction cotton are folded outward to wrap around the bottom edge of the vehicle body.

[0014] Furthermore, a driven gear is fixedly connected to the outer wall of one end of the tube head extending out of the vehicle body, a motor seat is fixedly connected to the top surface of the vehicle body located on one side of the tube head, a second stepper motor is fixedly connected to the bottom side of the motor seat, a power output end of the second stepper motor passes through the motor seat and is transmission-connected to a driving gear, the driving gear is meshingly transmission-connected to the motor seat, a gear cover covering the driven gear and the driving gear is fixedly connected to the vehicle body, and the tube head is rotatably connected to the gear cover.

[0015] Furthermore, the flaw detection component includes a third support, two third supports are fixedly connected at a corner of the vehicle body surface, a rotating shaft is rotatably connected between the two third supports, a rocker arm is fixedly connected to the rotating shaft between the two third supports, an end of the rocker arm away from the third support is rotatably connected to a flaw detection head, and an ultrasonic flaw detector is fixedly connected to the flaw detection head.

[0016] Furthermore, one end of the rocker arm away from the third support is fixedly connected to a first servo actuator, a power output end of the first servo actuator passes through the rocker arm and is transmission-connected to a flaw detection head, and two distance sensors are symmetrically distributed and fixedly connected to the flaw detection head at both sides of the ultrasonic flaw detector.

[0017] Furthermore, an opening is provided on the surface of the vehicle body between the two third supports, a worm cover is fixedly connected to the inner side of the vehicle body at a position corresponding to the opening, a worm cover is rotatably connected inside the worm cover, a second servo actuator is fixedly connected to the outer side of the worm cover at a position corresponding to the worm cover, a power output end of the second servo actuator is transmission-connected to an end of the worm cover extending out of the worm cover, a worm wheel is fixedly connected to the rotating shaft, and the worm wheel is meshingly transmission-connected to the worm cover.

[0018] Furthermore, the air intake component includes a cabinet body, in which two groups of slide rails are symmetrically distributed and fixedly connected, each group of the slide rails is slidably connected to a group of sliders, a power supply and a high-pressure fan are respectively fixedly connected between the two groups of sliders, the high-pressure fan is connected to a hose, and an exhaust port is provided on the outer wall of the cabinet body at the exhaust position of the high-pressure fan.

[0019] Furthermore, one end of the top of the cabinet has an inclined surface, a slide bar is fixedly connected to the inclined surface of the cabinet, two sensor seats are adjustably connected to the slide bar, and a visual sensor and a laser sensor are fixedly connected to the two sensor seats respectively.

[0020] Furthermore, a base is fixedly connected to the bottom of the cabinet, two universal wheels are fixedly connected to one side of the bottom of the base, and a support foot is fixedly connected to one end of the bottom of the cabinet away from the universal wheels.

[0021] In summary, compared with the prior art, the beneficial effects of the present invention are: (1) A high-pressure fan is used to suck air from the vehicle body through a hose and a pipe head to generate low pressure to provide suction, so that the vehicle body can be stably attached to the wall for flaw detection. By setting up four independently driven Mecanum wheels, the vehicle body can move freely, flexibly and stably on the wall, thereby facilitating flaw detection of the entire building wall and ensuring flaw detection effect and efficiency.

[0022] (2) The high-pressure fan is placed away from the vehicle body, thereby avoiding the negative impact of the mechanical noise and wind noise generated by the high-pressure fan when providing suction on the signal-to-noise ratio of ultrasonic testing, thereby improving the accuracy and stability of ultrasonic flaw detection.

[0023] (3) Use visual sensors and laser sensors to scan the wall surface to be inspected, detect and mark obstacles on the wall, and plan and generate the vehicle's movement range and walking route in real time, thereby ensuring comprehensive and smooth flaw detection of the wall and improving the effectiveness and efficiency of flaw detection.

[0024] (4) By setting a rocker arm, the ultrasonic flaw detector is further away from the vehicle body, thereby avoiding noise affecting the ultrasonic flaw detection. The ultrasonic flaw detector can be more conveniently and easily close to the corner of the wall for flaw detection, thereby improving the comprehensiveness and accuracy of the flaw detection. By setting a first servo motor and a distance sensor, the distance between the ultrasonic flaw detector and the wall can be controlled to remain uniform and the ultrasonic flaw detector can be kept parallel to the wall, thereby improving the accuracy of flaw detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a three-dimensional schematic diagram of this patent.

[0026] Figure 2 This is a three-dimensional schematic diagram from another perspective of this patent.

[0027] Figure 3 It is a schematic diagram of the structure of the air intake component.

[0028] Figure 4 This is a three-dimensional schematic diagram of the main structure of this patent.

[0029] Figure 5 This is the main view of the main structure of this patent.

[0030] Figure 6 for Figure 5Stereoscopic cross-sectional view at AA in the middle.

[0031] Figure 7 This is a side view of the main structure of this patent.

[0032] Figure 8 for Figure 7 Three-dimensional cross-sectional view at the middle BB.

[0033] Fig. 9 This is a structural diagram of the main structure of this patent.

[0034] Explanation of the reference numerals: cabinet 10; exhaust port 11; base 12; universal wheel 13; support leg 14; power supply 15; high-pressure fan 16; slide bar 17; sensor seat 18; visual sensor 19; laser sensor 20; slide rail 21; slider 22; hose 23; pipe head 24; gear cover 25; vehicle body 26; suction cotton 27; first support 28; wheel frame 29; first stepper motor 30; Mecanum wheel 31; second support 32; elastic telescopic rod 33; third support 34; rocker arm 35; worm gear 36; rotating shaft 37; first servo actuator 38; flaw detection head 39; ultrasonic flaw detector 40; distance sensor 41; worm cover 42; worm cover 43; second servo actuator 44; ball seat 45; ball 46; driven gear 47; driving gear 48; motor seat 49; second stepper motor 50; opening 51. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0036] like Figure 1-9 As shown, a flaw detection device for construction includes a cabinet 10, in which two groups of slide rails 21 are symmetrically distributed and fixedly connected, each group of slide rails 21 is slidably connected to a group of sliders 22, and the two groups of sliders 22 are respectively fixedly connected to a power supply 15 and a high-pressure fan 16, an exhaust port 11 is provided on the cabinet 10 at the exhaust end of the high-pressure fan 16, a hose 23 is connected to the suction end of the high-pressure fan 16, and the end of the hose 23 away from the high-pressure fan 16 is fixedly connected to a pipe head 24, and the pipe head 24 is rotatably connected to a vehicle body 26, and two first supports 28 are respectively fixedly connected at both ends of the vehicle body 26, and two mutually symmetrical wheel frames 29 are rotatably connected at both sides of the bottom of each first support 28, and each wheel frame 29 is fixedly connected to a first stepper motor 30, and the power output end of each first stepper motor 30 extends out of the wheel frame 29 and is drivingly connected to a Mecanum wheel 31, and the four Mecanum wheels 31 are symmetrically arranged.

[0037] By providing four independently driven Mecanum wheels 31, the vehicle body 26 can move freely, flexibly and stably on the wall surface, thereby facilitating flaw detection of the entire building wall and ensuring flaw detection effect and efficiency.

[0038] The high-pressure fan 16 is used to suck the air at the vehicle body 26 through the hose 23 and the pipe head 24 to generate low pressure and provide suction, so that the vehicle body 26 can be stably attached to the wall for flaw detection, and the high-pressure fan 16 and the vehicle body 26 are far away from each other, thereby avoiding the negative impact of mechanical noise and wind noise generated by the high-pressure fan 16 when providing suction on the signal-to-noise ratio of ultrasonic detection, thereby improving the accuracy and stability of ultrasonic flaw detection.

[0039] like Figure 6 and Fig. 9 As shown, a driven gear 47 is fixedly connected to the outer side of one end of the tube head 24 extending out of the vehicle body 26, a motor seat 49 is fixedly connected to the top surface of the vehicle body 26 located on one side of the tube head 24, a second stepper motor 50 is fixedly connected to the bottom of the motor seat 49, a power output end of the second stepper motor 50 passes through the motor seat 49 and is transmission-connected to a driving gear 48, the driving gear 48 is meshed and transmission-connected with the driven gear 47, a gear cover 25 covering the driven gear 47 and the driving gear 48 is fixedly connected to the surface of the vehicle body 26, and the gear cover 25 is rotationally connected to the tube head 24.

[0040] By setting the driven gear 47 and the driving gear 48, when the four Mecanum wheels 31 are started and controlled to make the vehicle body 26 rotate in place, the pipe head 24 and the vehicle body 26 can be synchronously driven to rotate relative to each other, thereby avoiding the kinking of the pipe head 24 and the hose 23 during the rotation of the vehicle body 26, and ensuring the stable movement of the vehicle body 26 for flaw detection.

[0041] like Figure 4 , Figure 5 , Figure 6 , Figure 8 and Fig. 9 As shown, each wheel frame 29 is fixedly connected to a second support 32, each second support 32 is hinged with an elastic telescopic rod 33, and one end of each elastic telescopic rod 33 away from the second support 32 is hinged to the top of the corresponding first support 28, and multiple groups of ball seats 45 are fixedly connected to both sides of the vehicle body 26, and a ball 46 is rollingly connected to the bottom of each ball seat 45.

[0042] By providing the elastic telescopic rod 33, the Mecanum wheel 31 can have a more flexible angle, so that it can move stably on a curved wall. By providing the ball 46, the ball 46 can be used to press against the wall surface during walking, so that a uniform gap is left between the vehicle body 26 and the wall, which facilitates air suction and makes the vehicle body 26 stably attached to the wall surface, thereby ensuring the stability of flaw detection.

[0043] like Figure 6 , Figure 8 and Fig. 9 As shown, a suction cotton 27 is attached to the inner wall of the vehicle body 26 . The suction cotton 27 is made of a soft and porous material. The four sides of the suction cotton 27 are folded outward to wrap the bottom edge of the vehicle body 26 .

[0044] By setting the suction cotton 27, the wind noise generated when the air flows through the vehicle body 26 can be effectively reduced during the suction process, and the edge of the suction cotton 27 wraps the edge of the vehicle body 26, which can reduce the sharp whistle sound generated when the air flows through the edge of the vehicle body 26, thereby further reducing the negative impact on ultrasonic flaw detection.

[0045] like Figure 1 , Figure 2 and Figure 3 As shown, one side of the upper end of the cabinet 10 is provided with an inclined surface, a slide bar 17 is fixedly connected to the inclined surface of the cabinet 10, two sensor seats 18 are adjustably connected to the slide bar 17, a visual sensor 19 and a laser sensor 20 are respectively fixedly connected to the two sensor seats 18, a base 12 is fixedly connected to the bottom of the cabinet 10, two symmetrical universal wheels 13 are fixedly connected to the bottom end of the base 12, preferably the two universal wheels 13 are lockable universal wheels, and two symmetrical feet 14 are fixedly connected to the bottom end of the base 12 away from the universal wheels 13.

[0046] By setting up the universal wheel 13, the position of the cabinet 10 can be conveniently adjusted, and by setting up the slide bar 17 and the sensor seat 18, the pitch of the visual sensor 19 and the laser sensor 20 can be conveniently adjusted. Further, when the cabinet 10 is erected, the visual sensor 19 and the laser sensor 20 can be used to scan the wall surface to be inspected, detect and mark obstacles on the wall, and thus plan and generate the moving range and walking route of the vehicle body 26 in real time, thereby ensuring a comprehensive and smooth flaw detection of the wall and improving the effect and efficiency of the flaw detection.

[0047] like Figure 4 , Figure 5 , Figure 8 and Fig. 9 As shown, two third supports 34 are fixedly connected at a corner of the surface of each vehicle body 26, a rotating shaft 37 is rotatably connected between the two third supports 34, a rocker arm 35 is fixedly connected to the rotating shaft 37, an end of the rocker arm 35 away from the third support 34 is fixedly connected to a first servo actuator 38, a power output end of the first servo actuator 38 passes through the rocker arm 35 and is transmission-connected to a flaw detection head 39, an ultrasonic flaw detector 40 is fixedly connected to the flaw detection head 39, and two mutually symmetrical distance sensors 41 are fixedly connected to the ultrasonic flaw detector 40 on both sides of the ultrasonic flaw detector 40.

[0048] like Figure 4 , Figure 5 , Figure 7 , Figure 8 and Fig. 9 As shown, an opening 51 is provided on the surface of the vehicle body 26 between the two third supports 34, a worm cover 42 is fixedly connected to the inner side of the vehicle body 26 at a position corresponding to the opening 51, a worm cover 43 is rotatably connected inside the worm cover 42, a second servo actuator 44 is fixedly connected to the outer side of the worm cover 42 at a position corresponding to the worm cover 43, a power output end of the second servo actuator 44 is transmission-connected to one end of the worm cover 43 extending out of the worm cover 42, a worm wheel 36 is fixedly connected to the rotating shaft 37, and the worm wheel 36 is meshingly transmission-connected to the worm cover 43.

[0049] By setting the rocker arm 35, the ultrasonic flaw detector 40 is further away from the vehicle body 26, so as to avoid the influence of noise on the ultrasonic flaw detection, and the ultrasonic flaw detector 40 can more conveniently and easily perform flaw detection near the corner of the wall, thereby improving the comprehensiveness and accuracy of the flaw detection. By setting the first servo motor 38 and the distance sensor 41, the distance between the ultrasonic flaw detector 40 and the wall can be controlled to remain uniform, and the ultrasonic flaw detector 40 can be ensured to remain parallel to the wall, thereby improving the accuracy of flaw detection.

[0050] In this embodiment, initially, this patent is connected to the operating system, the power supply 15 provides power to each electrical device in this patent, the cabinet 10 is set up in front of the wall where flaw detection is required, the angle of the cabinet 10 is adjusted and the pitch angles of the two sensor seats 18 are adjusted so that the scanning range of the visual sensor 19 and the laser sensor 20 can cover the entire wall, and the visual sensor 19 and the laser sensor 20 are used to generate a planned flaw detection range in real time. When planning the detection range, the laser sensor 20 can detect obstacles on the wall surface, and then plan the detection path in conjunction with the entire detection range, so that obstacles can be avoided during detection, thereby improving the stability of flaw detection.

[0051] Subsequently, the operator starts the high-pressure fan 16, which sucks the air in the vehicle body 26 through the hose 23. The operator then places the vehicle body 26 on the wall. As the high-pressure fan 16 sucks the air, low pressure is generated at the vehicle body 26. Under the action of atmospheric pressure, the vehicle body 26 adheres to the wall surface and does not fall off.

[0052] Subsequently, the control system controls the four first stepper motors 30 to drive the Mecanum wheels 31 to rotate according to the planned moving range and path, so that the vehicle body 26 can move on the wall according to the planned range and path. By setting the Mecanum wheels 31, the vehicle body 26 can be freely and flexibly translated or rotated while moving, making the flaw detection process more flexible.

[0053] When the four Mecanum wheels 31 are controlled to make the vehicle body 26 rotate, the control system synchronously controls the second stepper motor 50 to drive the pipe head 24 and the vehicle body 26 to rotate relative to each other through the engagement of the driven gear 47 and the driving gear 48, thereby avoiding the phenomenon that the pipe head 24 and the hose 23 are tangled during the rotation of the vehicle body 26, thereby ensuring that the vehicle body 26 can move stably on the wall.

[0054] By providing the ball bearing 46, the ball bearing 46 can be used to press against the wall surface and roll during walking, so that a uniform gap is left between the vehicle body 26 and the wall, which facilitates air suction and makes the vehicle body 26 stably attached to the wall surface, thereby ensuring the stability of flaw detection.

[0055] During detection, the control system controls the second servo motor 44 to drive the worm cover 43 to rotate, and through the meshing transmission between the worm cover 43 and the worm wheel 36, drives the rocker arm 35 to swing to adjust the distance between the flaw detection head 39 and the wall. By setting two distance sensors 41, the distance between the ultrasonic flaw detector 40 and the wall can be detected. In the process of adjusting the distance between the ultrasonic flaw detector 40 and the wall, the flaw detection head 39 is driven to rotate by the first servo motor 38, thereby ensuring that the distance between the two ultrasonic flaw detectors 40 and the wall surface is consistent, thereby ensuring that the ultrasonic flaw detector 40 always remains parallel to the wall, thereby ensuring the effect of ultrasonic flaw detection.

[0056] During the detection process, since the high-pressure fan 16 and the vehicle body 26 are far away from each other, the mechanical noise and wind noise generated by the high-pressure fan 16 when providing suction can be avoided to have a negative impact on the signal-to-noise ratio of ultrasonic detection. In addition, by providing the suction cotton 27, the wind noise generated when the air flows through the vehicle body 26 can be effectively reduced during the suction process. The edge of the suction cotton 27 wraps the edge of the vehicle body 26, which can reduce the sharp whistle sound generated when the air flows through the edge of the vehicle body 26, thereby further reducing the negative impact on ultrasonic flaw detection.

[0057] Furthermore, compared to the prior art, there is no need to place devices such as a power supply and a controller in the vehicle body 26 , which greatly reduces the load on the vehicle body 26 during operation, allowing the vehicle body 26 to be attached to the wall more easily and stably.

[0058] During the flaw detection process, since the visual sensor 19 and the laser sensor 20 scan and divide the wall, the defect position detected during the detection process of the vehicle body 26 according to the detection path is marked, and the actual position of the defect is determined by referring to the scanning and division of the wall by the visual sensor 19 and the laser sensor 20, which facilitates the processing of the wall defects.

[0059] After the inspection is finished, the operator holds the vehicle body 26 and turns off the high-pressure fan 16 to stop generating suction, so that the operator can remove the vehicle body 26 from the wall.

[0060] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of components as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

[0061] It should be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such product or system. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the product or system including the elements.

[0062] The above description shows and describes several preferred embodiments of the present application, but as mentioned above, it should be understood that the present application is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the application concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not deviate from the spirit and scope of the present application, and should be within the scope of protection of the claims attached to the present application.

Claims

1. A flaw detection device for construction, It is characterized in that include: A vehicle body (26), wherein a pipe head (24) is rotatably connected to the center of the vehicle body (26), a hose (23) is fixedly connected to the end of the hose head (24), and an air suction component is connected to one end of the hose (23) away from the pipe head (24); A first support (28), wherein two symmetrical wheel frames (29) are rotatably connected to the bottom of both sides of the first support (28), and two symmetrical first stepper motors (30) are fixedly connected to the two wheel frames (29), respectively, and a power output end of each first stepper motor (30) passes through the wheel frame (29) and is drivingly connected to a Mecanum wheel (31); Two first supports (28) are fixedly connected to both ends of the vehicle body (26), four Mecanum wheels (31) are correspondingly arranged on the vehicle body (26), and the four Mecanum wheels (31) are symmetrically arranged with each other. A flaw detection component extending toward the outside of the vehicle body (26) is arranged at a corner of the vehicle body (26).

2. A flaw detection device for construction according to claim 1, It is characterized in that Each of the wheel frames (29) is fixedly connected to a second support (32), each of the second supports (32) is hinged to an elastic telescopic rod (33), one end of each of the elastic telescopic rods (33) away from the second support (32) is hinged to the top of the corresponding first support (28), and multiple groups of ball seats (45) are fixedly connected to both sides of the vehicle body (26), and a ball (46) is rollingly connected to the bottom of each ball seat (45).

3. A flaw detection device for construction according to claim 1, It is characterized in that A suction cotton (27) is attached to the inner wall of the vehicle body (26). The suction cotton (27) is made of a soft and porous material. The four sides of the suction cotton (27) are folded outwards to wrap around the bottom edge of the vehicle body (26).

4. A flaw detection device for construction according to claim 1, It is characterized in that A driven gear (47) is fixedly connected to the outer wall of one end of the tube head (24) extending out of the vehicle body (26); a motor seat (49) is fixedly connected to the top surface of the vehicle body (26) located on one side of the tube head (24); a second stepping motor (50) is fixedly connected to the bottom side of the motor seat (49); a power output end of the second stepping motor (50) passes through the motor seat (49) and is transmission-connected to a driving gear (48); the driving gear (48) is meshed and transmission-connected with the motor seat (49); a gear cover (25) covering the driven gear (47) and the driving gear (48) is fixedly connected to the vehicle body (26); and the tube head (24) is rotationally connected to the gear cover (25).

5. A flaw detection device for construction according to claim 1, It is characterized in that The flaw detection component comprises a third support (34), two third supports (34) are fixedly connected at a corner of the surface of the vehicle body (26), a rotating shaft (37) is rotatably connected between the two third supports (34), a rocker arm (35) is fixedly connected to the rotating shaft (37) between the two third supports (34), a flaw detection head (39) is rotatably connected to one end of the rocker arm (35) away from the third support (34), and an ultrasonic flaw detector (40) is fixedly connected to the flaw detection head (39).

6. A flaw detection device for construction according to claim 5, It is characterized in that One end of the rocker arm (35) away from the third support (34) is fixedly connected to a first servo steering engine (38); a power output end of the first servo steering engine (38) passes through the rocker arm (35) and is transmission-connected to a flaw detection head (39); and two distance sensors (41) are symmetrically distributed and fixedly connected to the flaw detection head (39) at both sides of the ultrasonic flaw detector (40).

7. A flaw detection device for construction according to claim 5, It is characterized in that An opening (51) is provided on the surface of the vehicle body (26) between the two third supports (34); a worm cover (42) is fixedly connected to the inner side of the vehicle body (26) at a position corresponding to the opening (51); a worm cover (43) is rotatably connected to the inner side of the worm cover (42); a second servo steering engine (44) is fixedly connected to the outer side of the worm cover (42) at a position corresponding to the worm cover (43); a power output end of the second servo steering engine (44) is transmission-connected to an end of the worm cover (43) extending out of the worm cover (42); a worm wheel (36) is fixedly connected to the rotating shaft (37); and the worm wheel (36) is meshingly transmission-connected to the worm cover (43).

8. A flaw detection device for construction according to claim 1, It is characterized in that The air intake component comprises a cabinet (10), wherein two groups of slide rails (21) are symmetrically distributed and fixedly connected inside the cabinet (10), a group of sliders (22) are slidably connected to each group of the slide rails (21), a power source (15) and a high-pressure fan (16) are respectively fixedly connected between the two groups of sliders (22), the high-pressure fan (16) is connected to a hose (23), and an exhaust port (11) is arranged on the outer wall of the cabinet (10).

9. A flaw detection device for construction according to claim 8, It is characterized in that The cabinet (10) has an inclined surface at one end of its top, a slide bar (17) is fixedly connected to the inclined surface of the cabinet (10), two sensor seats (18) are adjustably connected to the slide bar (17), and a visual sensor (19) and a laser sensor (20) are fixedly connected to the two sensor seats (18), respectively.

10. A flaw detection device for construction according to claim 8, It is characterized in that The bottom of the cabinet (10) is fixedly connected to a base (12), one side of the bottom of the base (12) is fixedly connected to two universal wheels (13), and one end of the bottom of the cabinet (10) away from the universal wheels (13) is fixedly connected to a support foot (14).

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