Detection device and underwater robot

Abstract

The invention discloses a detection device and an underwater robot, and the detection device comprises a detection probe; the rotating assembly can drive the detection probe to rotate; the front end of the buffer part is connected with the detection probe, and the rear end of the buffer part is connected with the rotating assembly; the detection device comprises a rotating assembly, a mounting assembly, a driving part arranged on the mounting assembly, the driving part can drive the rotating assembly to rotate, the detection device can perform multi-position and multi-angle detection on an underwater structure, the detection efficiency is high, the detection cost is low, and the detection device is high in safety and good in stability during underwater operation. The underwater robot provided with the detection device can detect an underwater structure, and is high in flexibility and stability.

Description

Technical Field

[0001] The present application is used in the field of underwater detection technology, and in particular relates to a detection device and an underwater robot. Background Art

[0002] Most of the existing building structures are mainly reinforced concrete structures. However, reinforced concrete structures often experience internal steel deformation, displacement, and concrete protective layer peeling under external forces such as load, scouring, impact, wind and sun. The thickness of the reinforced concrete protective layer and the distribution of steel bars are important indicators to ensure the overall quality of the building structure, which seriously affect the safety and stability of the building structure. Therefore, it is very necessary to detect the thickness of the reinforced concrete protective layer and the distribution of steel bars in reinforced concrete building structures. At present, the non-destructive detection method of the thickness of the reinforced concrete protective layer and the distribution of steel bars is mainly based on electromagnetic induction technology, and is mostly used for detection of land structures. For underwater reinforced concrete structures that are often subjected to water flow impact and external impact, Concrete structures, whose internal steel deformation, displacement and concrete protective layer peeling are more serious, but there is a lack of feasible and effective detection solutions; traditional underwater structure detection mainly involves manual destructive detection of structures with steel rulers and hammers. Due to the complex underwater environment, in addition to the impact of water flow, there are also factors such as turbid and narrow detection environment and interference from debris, which make non-destructive detection of underwater structures difficult; with the continuous development of science and technology, underwater robots are gradually being used in the field of engineering detection due to their low cost and high efficiency to replace manual non-destructive testing of underwater structures. However, at present, underwater robots mostly use their vision to detect the apparent defects of underwater structures, and are helpless in detecting the thickness of the reinforced concrete protective layer and the distribution of steel bars, which require internal detection of the structure. Summary of the invention

[0003] The purpose of the present application is to solve at least one of the technical problems existing in the prior art, and to provide a detection device and an underwater robot, wherein the detection device is capable of detecting underwater structures, has high detection efficiency, and has low detection cost, and the underwater robot equipped with the detection device is capable of detecting underwater structures, has high flexibility and strong stability.

[0004] The technical solution adopted by this application to solve its technical problem is:

[0005] A detection device comprising

[0006] Detection probe;

[0007] A rotating assembly, wherein the rotating assembly can drive the detection probe to rotate;

[0008] A buffer component, wherein the front end of the buffer component is connected to the detection probe, and the rear end of the buffer component is connected to the rotating assembly;

[0009] The mounting assembly is provided with a driving component, and the driving component can drive the rotating assembly to rotate.

[0010] In certain embodiments of the present application, the detection probe is an electromagnetic detection probe, and a ball is installed on the front end surface of the detection probe.

[0011] In certain embodiments of the present application, the rotating assembly includes a support platform, and a mounting portion that cooperates with the end of the buffer component is provided on the support platform.

[0012] In certain embodiments of the present application, the mounting assembly includes a shell, the shell is provided with an axial hole, and the support is provided with a first boss that cooperates with the axial hole.

[0013] In certain embodiments of the present application, a second boss is provided on the shell, the axial hole is opened on the first boss, and a bearing is provided between the first boss and the second boss.

[0014] In certain embodiments of the present application, the driving component includes a motor mounted on the housing, the output shaft of the motor is fixedly connected to a rocker, and the rocker can drive the detection probe to rotate.

[0015] In certain embodiments of the present application, the rotating assembly includes a first connecting member, a top end of which is fixedly connected to the support platform, and a second connecting member is rotatably connected between the first connecting member and the rocker.

[0016] In certain embodiments of the present application, the mounting assembly includes a mounting plate, the shell is disposed on the top of the mounting plate, and a first fixing member is disposed on the bottom of the mounting plate.

[0017] In certain embodiments of the present application, a second fixing member is provided at the bottom end of the mounting plate, the shell and the first fixing member are located at the front end of the mounting plate, and the second fixing member is located at the rear end of the mounting plate.

[0018] The present application also provides an underwater robot, comprising a robot body and the detection device in the above embodiment, wherein the first fixing member and the second fixing member are arranged around the outer periphery of the robot body, and the mounting plate is closely attached to the outer wall of the robot body.

[0019] One of the above technical solutions has at least one of the following advantages or beneficial effects: when in use, the detection device can be fixed on the underwater robot body through the installation component and can be directly used underwater to detect underwater structures. The buffer component has a certain buffering deformation capacity. The setting of the buffer component can make the detection probe and the detection surface completely fit. The rotating component can control the angle change of the detection probe to realize multi-position and multi-angle detection of the detected structure. The installation component can ensure the safety and stability of the detection probe during underwater operation and meet the stability requirements required for the detection. The detection device has high detection efficiency, reduces the cost of detection, and can improve the safety and reliability of underwater structure detection. The underwater robot equipped with the monitoring device can detect underwater structures with high flexibility and strong stability.

[0020] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0022] Figure 1 is a stereogram of an embodiment of a detection device in the present application;

[0023] Figure 2 is a perspective view of an embodiment of a rotating assembly in the present application;

[0024] Figure 3 is a side view of an embodiment of the detection device in the present application;

[0025] Figure 4 is a perspective view of an embodiment of the installation assembly in the present application;

[0026] Figure 5 is a schematic diagram of the structure of an embodiment of the installation component in the present application;

[0027] Figure 6 It is a stereoscopic diagram of an embodiment of the underwater robot in the present application. DETAILED DESCRIPTION

[0028] This section will describe in detail the specific embodiments of the present application. The preferred embodiments of the present application are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present application, but it cannot be understood as a limitation on the scope of protection of the present application.

[0029] In the present application, if there is a description of directions (up, down, left, right, front and back), it is only for the convenience of describing the technical solution of the present application, and does not indicate or imply that the technical features referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it cannot be understood as a limitation on the present application.

[0030] In this application, "several" means one or more, "multiple" means more than two, "greater than", "less than", "exceed" and the like are understood to exclude the number itself; "above", "below", "within" and the like are understood to include the number itself. In the description of this application, if there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0031] In this application, unless otherwise clearly defined, the words "set", "install", "connect" and the like should be understood in a broad sense, for example, they can be directly connected or indirectly connected through an intermediate medium; they can be fixedly connected, detachably connected, or integrally formed; they can be mechanically connected, electrically connected, or able to communicate with each other; they can be the internal connection of two elements or the interaction relationship between two elements. Those skilled in the art can reasonably determine the specific meanings of the above words in this application in combination with the specific content of the technical solution.

[0032] in, Figure 1 , Figure 3 and Figure 6 The reference direction coordinate system of the embodiment of the present application is given below. Figure 1 , Figure 3 and Figure 6 The embodiment of the present application is described with reference to the direction shown.

[0033] The embodiment of the present application provides a detection device, see Figures 1 to 6 , including a detection probe 100, a rotating assembly 200, a buffer component 300 and an installation assembly 400, the rotating assembly 200 can drive the detection probe 100 to rotate; the front end of the buffer component 300 is connected to the detection probe 100, and the rear end of the buffer component 300 is connected to the rotating assembly 200; the installation assembly 400 is provided with a driving component 420, and the driving component 420 can drive the rotating assembly 200 to rotate.

[0034] When in use, the detection device can be fixed on the underwater robot body 500 through the installation component 400 and can be directly used underwater to detect underwater structures. The buffer component 300 has a certain buffering deformation ability. The setting of the buffer component 300 can make the detection probe 100 completely fit the detection surface. The rotating component 200 can control the angle change of the detection probe 100 to realize multi-position and multi-angle detection of the detected structure. The installation component 400 can ensure the safety and stability of the detection probe 100 when operating underwater, and meet the stability requirements required for detection. The detection device has high detection efficiency, reduces the cost of detection, and can improve the safety and reliability of underwater structure detection.

[0035] The buffer member 300 may be rubber or a rigid spring.

[0036] In some embodiments, the detection probe 100 is an electromagnetic detection probe, and a ball 110 is installed on the front end surface of the detection probe 100. The detection probe 100 includes a waterproof shell. In other words, the ball 110 is embedded in the surface of the waterproof shell, that is, a plurality of circular holes are provided on the waterproof shell for accommodating the ball 110. The ball 110 is a sphere, and the ball 110 can ensure that the detection probe 100 moves smoothly along the detected surface without being stuck. A waterproof shell is provided with a gap filled with waterproof material and can wrap the detection probe 100, thereby solving the watertight problem when the electromagnetic detection probe is used underwater.

[0037] In some embodiments, the rotating assembly 200 includes a support 210, on which is provided a mounting portion 211 that cooperates with the end of the buffer component 300. The upper portion of the support 210 is in the shape of an elliptical disk. The rotating assembly 200 can prevent the detection device from interfering with the vision of the underwater robot body, making it convenient for the underwater robot body to visually observe the position and angle of the structure to be detected and the electromagnetic detection probe, and make timely adjustments.

[0038] In some embodiments, the mounting assembly 400 includes a housing 410 , the housing 410 is provided with an axial hole, and the support platform 210 is provided with a first boss 212 that matches the axial hole.

[0039] In some embodiments, a second boss 411 is provided on the shell 410, an axial hole is opened on the first boss 212, a bearing is provided between the first boss 212 and the second boss 411, the first boss 212 and the second boss 411 are hollow inside for passing the wire of the micro motor, and the bearing facilitates the rotation of the support 210.

[0040] In some embodiments, the driving component 420 includes a motor mounted on the shell 410, the motor is a micro motor, and the output shaft of the motor is fixedly connected to a rocker 430, the rocker 430 can drive the detection probe 100 to rotate, the shell 410 is a hollow watertight shell with an inner wall, the driving component 420 is installed inside, and is used to place related structures such as the rotating assembly 200. It can be understood that rubber rings are placed at the joints of the shell 410 to achieve waterproof sealing of the seams.

[0041] In some embodiments, the rotating assembly 200 includes a first connecting member 220, the top of the first connecting member 220 is fixedly connected to the support 210, and a second connecting member 230 is rotatably connected between the first connecting member 220 and the rocker 430. The first connecting member 220 and the second connecting member 230 simultaneously drive the detection probe 100 to rotate, thereby changing the angle of the detection probe 100. The functions of the first connecting member, the second connecting member 230 and the rocker 230 can amplify the input force, provide greater torque output, and more accurately adjust the rotation angle of the detection probe 100.

[0042] In some embodiments, the mounting assembly 400 includes a mounting plate 440, the shell 410 is disposed on the top of the mounting plate 440, and a first fixing member 450 is disposed at the bottom of the mounting plate 440. The mounting plate 440 is an arc-shaped platform to better fit the outer wall of the robot body 500.

[0043] In some embodiments, a second fixing member 460 is provided at the bottom end of the mounting plate 440, the shell 410 and the first fixing member 450 are located at the front end of the mounting plate 440, and the second fixing member 460 is located at the rear end of the mounting plate 440. The first fixing member 450 and the second fixing member 460 are semi-annular structures. The shape and size of the first fixing member 450 and the second fixing member 460 are adapted to the exoskeleton of the underwater robot body to achieve a stable connection with the robot body 500. Specifically, square platforms with mounting holes are respectively provided on both sides of the underwater robot body, and fixing holes are provided on both sides to facilitate fixing the mounting assembly 400.

[0044] A support frame 470 is provided between the mounting plate 440 and the shell 410. The shape of the lower part of the support frame 470 matches the arc-shaped mounting plate 440, and the lower part wraps the mounting plate 440. Fixing holes are provided on the side to fix the mounting plate 440. The upper part of the support frame 470 is stepped, and rectangular fixing blocks with openings are provided on both sides of the last step to fix and support the shell 410, so as to fix the driving component 420 and the rotating assembly 200 arranged in the shell 410. The detection device is installed on the underwater robot, and the electromagnetic detection probe is fixed by the support frame 470, which solves the stability problem during underwater operation.

[0045] The detection method using the detection device is as follows:

[0046] In the preparation stage, the mounting assembly 400 embedded with the detection probe 100 is fixed to the underwater robot body 500;

[0047] During the detection phase, the position of the underwater structure to be detected, the shape of the detection surface, and the angle and position of the electromagnetic detection probe are determined through the vision of the underwater robot body 500. According to the shape of the detected surface, the detection device embedded with the detection probe 100 is controlled to rotate through the driving component 420 until the axis of the detection probe 100 is parallel or perpendicular to the edge of the detected surface; then the underwater robot body 500 is controlled to push forward, and the deformation ability of the buffer component 300 is used to make the detection probe 10 completely fit the detected surface;

[0048] Finally, the underwater robot body 500 moves slowly left and right or up and down, driving the detection probe 100 to move smoothly, thereby realizing multi-position and multi-angle scanning detection of the structure to be detected, thereby determining the position, direction and protective layer thickness of the steel bars.

[0049] Under the premise of ensuring water tightness, stability, fit and rotation, the detection device can slowly move left and right or up and down through the underwater robot body 500, and can drive the electromagnetic detection probe to move smoothly to realize scanning detection of the structure to be detected. For different structures or different detection surfaces of the same structure, the angle of the detection probe 100 can be adjusted to perform multiple detections, replacing manual detection, thereby improving the efficiency and applicability of the detection of the position, direction and protective layer thickness of the steel bars of the underwater concrete structure.

[0050] The present application also provides an underwater robot, including a robot body 500 and the detection device in the above-mentioned embodiment, wherein a first fixing member 450 and a second fixing member 460 are arranged around the periphery of the robot body 500, and a mounting plate 440 is close to the outer wall of the robot body 500. The detection device can be stably installed on the outside of the underwater robot, and can adapt to different models of underwater robots by adjusting the mounting assembly 400, thereby ensuring flexibility and stability during operation.

[0051] The underwater robot can ensure that the detection probe 100 can be firmly mounted on the underwater robot body 500 through a flexible and stable detection device, and can automatically adjust the angle and position of the detection probe 100 through the driving component 420 and the rotating component 200. At the same time, the detection probe 100 can always fit the surface of the detected structure through the buffer component 300. Finally, the ball 100 can be used to drive the detection probe 100 to move smoothly when the underwater robot body 500 moves slowly left and right or up and down, thereby realizing multi-position and multi-angle scanning and detection of the detected structure, thereby determining the position, direction and protective layer thickness of the steel bars, and realizing non-destructive detection of indicators such as the position and protective layer thickness of the steel bars of the underwater concrete structure, providing a safe and efficient means to avoid the risk of manual detection and solve the problem that the position, direction and protective layer thickness of the steel bars of the underwater concrete structure are difficult to detect.

[0052] In the description of this specification, the description with reference to the terms "example", "embodiment" or "some embodiments" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0053] Of course, the invention is not limited to the above-mentioned embodiments, and those skilled in the art may make equivalent modifications or substitutions without violating the spirit of the present application, and these equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A detection device, characterized in that: include Detection probe; A rotating assembly, wherein the rotating assembly can drive the detection probe to rotate; A buffer component, wherein the front end of the buffer component is connected to the detection probe, and the rear end of the buffer component is connected to the rotating assembly; The mounting assembly is provided with a driving component, and the driving component can drive the rotating assembly to rotate.

2. The detection device according to claim 1, characterized in that: The detection probe is an electromagnetic detection probe, and a ball is installed on the front end surface of the detection probe.

3. The detection device according to claim 1, characterized in that: The rotating assembly comprises a support platform, on which a mounting portion cooperating with the end of the buffer component is provided.

4. The detection device according to claim 3, characterized in that: The mounting assembly comprises a shell, an axial hole is provided on the shell, and a first boss matched with the axial hole is provided on the support platform.

5. The detection device according to claim 4, characterized in that: The housing is provided with a second boss, the shaft hole is opened on the first boss, and a bearing is provided between the first boss and the second boss.

6. The detection device according to claim 4, characterized in that: The driving component comprises a motor mounted on the housing, the output shaft of the motor is fixedly connected to a rocker, and the rocker can drive the detection probe to rotate.

7. The detection device according to claim 6, characterized in that: The rotating assembly includes a first connecting member, the top end of which is fixedly connected to the support platform, and a second connecting member is rotatably connected between the first connecting member and the rocker.

8. The detection device according to claim 4, characterized in that: The mounting assembly comprises a mounting plate, the housing is arranged on the top of the mounting plate, and a first fixing member is arranged on the bottom of the mounting plate.

9. The detection device according to claim 8, characterized in that: A second fixing member is disposed at the bottom end of the mounting plate, the shell and the first fixing member are located at the front end of the mounting plate, and the second fixing member is located at the rear end of the mounting plate.

10. An underwater robot, characterized in that: It comprises a robot body and the detection device as claimed in claim 9, wherein the first fixing member and the second fixing member are arranged around the outer circumference of the robot body, and the mounting plate is closely attached to the outer wall of the robot body.

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