Inspection robot for springback detection of beam field and detection method of inspection robot

Abstract

The invention belongs to the technical field of beam field detection, and aims to solve the problems of complexity and errors during manual line drawing and springback detection in traditional distance measurement. According to the inspection robot for beam field springback detection and the detection method of the inspection robot, the free end of a mechanical arm can move in multiple directions and multiple angles relative to a robot body, and the free end of the mechanical arm is provided with a quick-change main disc; a test area seal in the rebound apparatus test area seal tool is used for stamping a test area pattern at a target position of a concrete surface of a beam structure, and a rebound apparatus of the rebound apparatus tool is used for performing a concrete rebound test at the position where the test area pattern is stamped; the rebound instrument test area seal tool and the rebound instrument tool are both detachably connected with the robot body, quick-change auxiliary discs are arranged on the tools, and any quick-change auxiliary disc and the quick-change main disc can form a quick-change mechanism. According to the device, the rebound detection range and efficiency can be increased, and the complexity and errors caused by manual line drawing and handheld rebound apparatus detection are avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of beam yard detection, and particularly relates to an inspection robot used for beam yard rebound detection and a detection method thereof. Background Art

[0002] The rebound hammer test of concrete strength is the most widely used non-destructive testing method in the field testing of concrete structures in my country. It has the advantages of wide adaptability and no damage to concrete components. According to the specification requirements: the distance between two adjacent test areas should not be greater than 2m, the area of ​​the test area should not be greater than 0.04 square meters, 16 rebound values ​​should be read in each test area, and the test points should be evenly distributed in the test area.

[0003] When testing each concrete component, generally 10 test areas need to be tested for rebound. Therefore, 10 test areas need to be drawn when testing the compressive strength of concrete using the rebound method. In the prior art, when drawing the test areas, a marker, ruler or template is usually used to draw a grid on the concrete test surface for marking. Due to the large number of test areas, it is not only time-consuming, but also the drawing deviation of different test areas is large. There are safety hazards when drawing test areas at high places.

[0004] In addition, construction workers usually hold a rebound hammer directly and press it within the grid of each measurement area to obtain the rebound value. Due to the large number of measurement areas drawn, the rebound operation of the measurement area at high altitudes requires the use of tools such as ladders, which poses a hidden danger.

[0005] Therefore, in order to avoid the tediousness and errors of traditional manual line drawing in distance measurement and complete the task quickly and efficiently, the intelligent use of rebound hammer to detect concrete strength is a development trend. Summary of the invention

[0006] In order to solve at least one of the above-mentioned technical problems existing in the prior art, the present invention provides an inspection robot for beam yard rebound detection and a detection method thereof.

[0007] The present invention is implemented by the following technical solution: an inspection robot for beam yard rebound detection, comprising a robot body and a manipulator arranged above the robot body, a rebound test area stamp tooling and a rebound test tooling;

[0008] Among them, the free end of the manipulator can realize multi-directional and multi-angle movement relative to the robot body, and the free end of the manipulator is provided with a quick-change main disk; the measuring area stamp in the rebound hammer measuring area stamp tooling is used to stamp the measuring area pattern at the target position of the concrete surface of the beam structure, and the rebound hammer of the rebound hammer tooling is used to perform concrete rebound test at the position where the measuring area pattern is stamped; the rebound hammer measuring area stamp tooling and the rebound hammer tooling are both detachably connected to the robot body, and the above-mentioned tooling is provided with a quick-change sub-disk, which is used to cooperate with the quick-change main disk to fix the corresponding tooling with the free end of the manipulator.

[0009] Preferably, the rebound tester measuring area seal tooling comprises a measuring area seal, a seal mounting plate, a seal connecting plate, a seal distance measuring sensor and a seal positioning plate;

[0010] The measuring area seal is arranged at the bottom end of the seal mounting plate, and a horizontal wing plate extends outward along the plate surface of the seal mounting plate as a seal positioning plate. The end of the seal positioning plate has a socket matching the seal tooling plug-in column on the robot body. The seal connecting plate is arranged at the upper end of the seal mounting plate, and a bent wing plate extends outward along the plate surface of the seal connecting plate for installing the seal ranging sensor. The quick-change sub-disc on the rebound tester measuring area seal tooling is arranged at the upper end of the seal connecting plate.

[0011] Preferably, the seal distance sensor is arranged perpendicular to the seal in the measuring area, the detection end of the seal distance sensor is located at one end close to the seal in the measuring area, and the seal distance sensor is connected to the control module of the manipulator; a seal buffer mechanism is arranged between the seal connecting plate and the seal mounting plate.

[0012] Preferably, the rebound tester tooling includes a fixed seat, a movable seat, a rebound tester, a shock-absorbing damping spring, a rebound tester ranging sensor and a monitoring camera; the movable seat is movably connected to the fixed seat through a shock-absorbing damping spring and a guide column, the rebound tester, the rebound tester ranging sensor and the monitoring camera are all arranged on the movable seat, the rebound tester ranging sensor is arranged parallel to the rebound tester and its detection end is located at its end close to the rebound tester detection head, the monitoring camera is connected to the movable seat through a camera bracket and is located above the button panel of the rebound tester, the rebound tester ranging sensor and the monitoring camera are both connected to the control module of the manipulator, the bottom end of the fixed seat is provided with a rebound tester quick-change mounting frame movably plugged into the robot body, and the rear end of the fixed seat is provided with a quick-change sub-disc matching the quick-change main disk on the robot body manipulator.

[0013] Preferably, the fixing seat comprises a guide sleeve front mounting plate, a guide sleeve rear mounting plate and a quick-change sub-disc mounting plate which are arranged in sequence, the guide sleeve front mounting plate and the guide sleeve rear mounting plate are inlaid with guide sleeves, and the guide sleeve front mounting plate, the guide sleeve rear mounting plate and the quick-change sub-disc mounting plate are connected as a whole through a bottom plate;

[0014] The movable seat comprises a front guide column fixing plate, an intermediate guide column fixing plate and a rear guide column fixing plate which are arranged in sequence and two guide columns which are fixedly connected to the above three plates. A damping front sleeve and a damping rear sleeve are fixed to the front end and the middle of the guide column respectively. Shock-absorbing damping springs are arranged between the damping front sleeve and the front mounting plate of the guide sleeve, and between the intermediate guide column fixing plate and the rear mounting plate of the guide sleeve. The intermediate guide column fixing plate and the damping rear sleeve are located between the front mounting plate of the guide sleeve and the rear mounting plate of the guide sleeve.

[0015] The lower end of the rebound tester quick-change mounting frame extends to both sides to form a lower wing plate connected to the robot body, and the lower wing plate is provided with a socket matching the rebound tester tooling plug-in column on the robot body.

[0016] Preferably, it also includes a stylus tooling, including a pen holder mounting plate, a buffer pen holder fixing seat, a stylus, a stylus guide rod, a buffer pen holder slider, a stylus buffer spring and a pen holder positioning plate;

[0017] The buffer pen holder fixing seat is arranged on one end surface of the pen holder mounting plate, and the buffer pen holder fixing seat is provided with a guide groove and a slide groove, wherein the stylus pen guide rod is arranged in the guide groove, the buffer pen holder slider is slidably arranged in the slide groove and is slidably connected with the stylus pen guide rod, a stylus pen buffer spring is sleeved on the stylus pen guide rod between the end of the buffer pen holder slider and the buffer pen holder fixing seat, and the stylus pen is fixed on the buffer pen holder slider and arranged parallel to the stylus pen guide rod; the pen holder positioning plate is arranged on the other end surface of the pen holder mounting plate and has a side wing plate extending outwardly and has a socket on the side wing plate that matches the stylus pen tooling plug-in column on the robot body; the quick-change sub-disc on the stylus pen tooling is arranged on the end surface of the pen holder positioning plate away from the pen holder mounting plate.

[0018] Preferably, the stylus pens and their guide and sliding structures on the buffer pen holder fixing seat are in two groups, the contact heads of the two groups of stylus pens are arranged in opposite directions, and the stylus pens are arranged parallel to the plate surface of the pen holder positioning plate.

[0019] Preferably, the quick-change main disk comprises a main connection disk and a solenoid valve, a cylinder is arranged inside the main connection disk, a locking head is arranged at the connection end of the main connection disk, a plurality of locking steel balls are arranged on the locking head, and a push rod of the cylinder can extend into the locking head and push out the locking steel balls in the locking head; a secondary disk in-place detection sensor, a main disk cylinder extension in-place detection sensor and a main disk cylinder retraction in-place sensor are arranged on the main connection disk;

[0020] The signal output ends of the auxiliary disk in-place detection sensor, the main disk cylinder extended in-place detection sensor and the main disk cylinder retracted in-place sensor are connected to the control module of the manipulator, the solenoid valve is located on the air path where the cylinder is located and is electrically connected to the auxiliary disk in-place detection sensor, the auxiliary disk in-place detection sensor is used to detect whether the quick-change auxiliary disk and the quick-change main disk are aligned, and the main disk cylinder extended in-place detection sensor and the main disk cylinder retracted in-place sensor are used to detect whether the cylinder in the quick-change main disk is extended and retracted in place respectively;

[0021] The quick-change auxiliary disk includes an auxiliary connecting disk, a first card slot for accommodating a locking head is arranged at the center of the auxiliary connecting disk, and a second card slot for accommodating the locking steel ball is arranged on the surface of the first card slot;

[0022] The locking head can be clamped in the first clamping groove of the quick-change sub-disk, and the locking steel ball is used to be pushed up from the locking head by the cylinder and clamped in the second clamping groove of the quick-change sub-disk.

[0023] Preferably, a lifting platform for placing the manipulator is arranged at the center of the upper end of the robot body, and a receiving platform for placing the rebound tester measuring area seal tooling and the rebound tester tooling is arranged around the outer periphery of the lifting platform; a ranging sensor is arranged on the lifting platform for measuring the distance between the lifting platform and the receiving platform, and then correcting the free end coordinates of the manipulator.

[0024] A second aspect of the present invention provides a detection method for beam yard rebound detection, comprising the following steps:

[0025] S11: The manipulator moves to the placement position of the stamp tooling of the rebound tester testing area, and controls the quick-change main disk to connect with the quick-change sub-disk of the stamp tooling of the rebound tester testing area;

[0026] S12: The manipulator controls the rebound hammer test area stamp tooling to move to the concrete rebound measurement area, and stamps the test area pattern at the target position;

[0027] S13: After the stamping of the test area pattern is completed, the manipulator moves to the placement position of the stamp tooling of the rebound tester test area, and disconnects the connection between the quick-change main disk and the quick-change auxiliary disk to realize the return of the stamp tooling of the rebound tester test area;

[0028] S14: The manipulator moves to the placement position of the rebound test tooling and controls the quick-change main plate to connect the rebound test tooling;

[0029] S15: The manipulator controls the rebound test tooling to move to the concrete rebound measurement area covered with the measurement area pattern, and performs rebound measurement on the concrete in each grid of the above area in turn;

[0030] S16: After the rebound measurement of the above-mentioned area is completed, the manipulator moves to the placement position of the rebound test tooling to return the rebound test tooling; and then repeats steps S11-S16 to repeat the covering of the measurement area pattern and the rebound measurement.

[0031] Preferably, the connection method of the quick-change main disk and the quick-change auxiliary disk is as follows:

[0032] Determine whether the signal of the retracted position detection sensor is received. If received, control the manipulator to move to the installation position of the tooling for the next step of detection, and control the cylinder in the quick-change main plate to extend, so that the locking head moves toward the quick-change sub-plate on the tooling;

[0033] Determine whether the signal of the auxiliary disk in place detection sensor is received, and if received, control the cylinder on the quick-change main disk to extend, so that the locking steel ball moves to the second card slot of the quick-change auxiliary disk on the tooling;

[0034] It is determined whether a signal from the extended-in-place sensor is received. If received, it is determined that the connection between the quick-change main disk and the quick-change sub-disk is completed.

[0035] Preferably, in step S13, the method for separating the quick-change main disk and the quick-change auxiliary disk is as follows:

[0036] Determine whether the tooling to be disconnected is aligned with the installation position, and if so, control the cylinder on the quick-change main plate to retract;

[0037] It is determined whether the signal of the retracted position detection sensor is received. If so, the robot arm is controlled to drive the quick-change main disk to reset and leave the quick-change sub-disk.

[0038] Preferably, the method further includes the following steps: the manipulator moves to the placement position of the touch pen tooling, and controls the quick-change main disk to connect to the quick-change sub-disk of the touch pen tooling to achieve the connection between the two;

[0039] The manipulator controls the stylus pen to move to the top of the button panel of the rebound tester tooling, and based on the built-in moving path of the manipulator and the cooperation of the monitoring camera, the rebound tester is turned on and set;

[0040] The robot moves to the placement position of the touch pen tooling, and controls the quick-change main disk to disconnect the quick-change sub-disk to return the touch pen tooling to its original position.

[0041] Preferably, the robot controls the stamp of the measuring area to be dipped in oil in the ink box.

[0042] Preferably, before replacing the tooling connected to the quick-change main disk at the manipulator, the following steps are required: the sub-disk arrival detection sensor at the quick-change main disk detects whether there is a quick-change sub-disk that has been grabbed by the current manipulator; if there is a quick-change sub-disk that has been grabbed, the manipulator controls the tooling corresponding to the quick-change sub-disk to reset, and separates the quick-change sub-disk from the quick-change main disk.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] The device has a simple and compact structure and high detection efficiency. By designing a series of tooling related to the installation of the rebound tester and matching the rebound tester with the quick-change main disk on the manipulator on the existing robot body through the quick-change sub-disk, the range and efficiency of the rebound detection are increased, and the tediousness and errors of hand-held rebound detection are avoided.

[0045] The setting of the lifting platform can expand the coverage of the manipulator; the supporting platform is set around the lifting platform, which makes it convenient for the manipulator to replace the connecting equipment more conveniently; the quick-change mechanism facilitates the rapid assembly and disassembly of the manipulator and other tooling; the stamp of the rebound test area measures the distance between the stamp and the concrete detection surface through the stamp distance sensor, which is convenient for finding the target position on the concrete surface for stamping. During the stamping process, the stamp buffer mechanism can play an effective buffering role and make the stamp of the test area fully contact with the concrete surface; the shock-absorbing damping spring on the rebound tester can reduce the impact of the rebound tester on the manipulator when the rebound tester is working, and the rebound tester distance sensor is used to control the distance from the wall during the rebound tester test; the stylus tooling effectively reduces the impact force generated by the stylus when clicking the screen or button, thereby protecting the screen and the pen tip from damage, while providing stable support for the stylus, making the stylus more stable when used and reducing errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 It is a schematic diagram of the structure of the present invention;

[0048] Figure 2 It is a schematic diagram of the structure of the stamp in the rebound test area of ​​the present invention;

[0049] Figure 3 It is a three-dimensional schematic diagram of the structure of the rebound hammer tooling of the present invention;

[0050] Figure 4 This is a front view of the rebound test tooling structure of the present invention;

[0051] Figure 5 It is a side view of the rebound test tooling structure of the present invention;

[0052] Figure 6 It is a top view of the structure of the rebound hammer tooling of the present invention;

[0053] Figure 7 This is a schematic diagram of the structure of the stylus tooling of the present invention;

[0054] Figure 8 This is a schematic diagram of the structure of the quick-change main disk of the present invention (first perspective, the quick-change secondary disk is hidden);

[0055] Fig. 9 This is a schematic diagram of the structure of the quick-change main disk of the present invention (second perspective, the quick-change auxiliary disk is hidden);

[0056] Fig.10 This is the flow chart of the beam yard rebound detection.

[0057] In the figure: 1-robot body; 2-manipulator; 3-rebound tester stamp fixture; 31-testing area stamp; 32-seal mounting plate; 33-seal connecting plate; 34-seal buffer mechanism; 35-seal distance sensor; 36-seal positioning plate; 4-rebound tester fixture; 41-fixed seat; 411-guide sleeve front mounting plate; 412-guide sleeve rear mounting plate; 413-quick change sub-disc mounting plate; 414-bottom plate; 42-movable seat; 421-front guide column fixing plate; 422-middle guide column fixing plate; 423-rear guide column fixing plate; 424-damping front sleeve; 425-damping rear sleeve; 426-guide column; 43-rebound tester; 44-shock-absorbing damping spring; 45-rebound tester distance sensor Sensor; 46-surveillance camera; 47-camera bracket; 48-rebound tester quick-change mounting bracket; 49-rebound tester clamping block; 5-stylus pen tooling; 51-pen holder mounting plate; 52-buffer pen holder fixing seat; 53-stylus pen; 54-stylus pen guide rod; 55-buffer pen holder slider; 56-stylus pen buffer spring; 57-pen holder positioning plate; 61-sub-disk in-place detection sensor; 62-main disk cylinder extended in-place detection sensor; 63-main disk cylinder retracted in-place sensor; 64-electric signal module; 65-cylinder; 66-locking steel ball; 7-lifting platform; 8-carrying platform; 9-quick-change main disk; 91-main connecting disk; 92-cylinder; 93-locking head; 94-locking steel ball; 10-quick-change sub-disk. DETAILED DESCRIPTION

[0058] In conjunction with the drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0059] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0060] Embodiment 1

[0061] Embodiment 1 of the present invention provides an inspection robot for beam yard rebound detection, such as Figures 1 to 6 As shown, it includes a robot body 1 and a manipulator 2 arranged above it, a rebound test area stamp tool 3 and a rebound test tool 4;

[0062] Among them, the test area stamp 31 in the rebound hammer test area stamp tool 3 is used to stamp the test area pattern on the target position of the concrete surface of the beam structure, and the rebound hammer 43 of the rebound hammer tool 4 is used to perform concrete rebound test at the position where the test area pattern is stamped; the rebound hammer test area stamp tool 3 and the rebound hammer tool 4 are both detachably connected to the robot body 1, and the above-mentioned tools are both provided with a quick-change sub-disk 10, and the quick-change sub-disk 10 is used to cooperate with the quick-change main disk 9 to fix the corresponding tool with the free end of the manipulator 2. The free end of the manipulator 2 can realize multi-directional and multi-angle movement relative to the robot body 1, and the free end of the manipulator 2 is provided with a quick-change main disk 9; the manipulator 2 is used to control the rebound hammer test area stamp tool 3 to stamp the test area pattern on the target position of the concrete surface of the beam structure, and control the rebound hammer tool 4 to perform concrete rebound test at each position where the test area pattern is stamped. A lifting platform 7 for placing the manipulator 2 is arranged at the center of the upper end of the robot body 1, and a receiving platform 8 for placing the rebound test area seal tooling 3 and the rebound test tooling 4 is arranged around the outer periphery of the lifting platform 7; a distance measuring sensor is arranged on the lifting platform 7 to measure the distance between the lifting platform 7 and the receiving platform 8, and then correct the free end coordinates of the manipulator 2. The connection between the sensor and the control module of the manipulator is a wireless connection.

[0063] In this embodiment, the rebound tester measuring area seal tooling 3 includes a measuring area seal 31, a seal mounting plate 32, a seal connecting plate 33, a seal buffer mechanism 34, a seal distance sensor 35 and a seal positioning plate 36; the measuring area seal 31 is arranged at the bottom end of the seal mounting plate 32, and a horizontal wing plate extends outward along the plate surface of the seal mounting plate 32 as a seal positioning plate 36, and the end of the seal positioning plate 36 has a socket matching the seal tooling plug-in column on the robot body 1, and the seal connecting plate 33 is connected to the robot body 1. The seal buffer mechanism 34 is arranged at the upper end of the seal mounting plate 32, and a bent wing plate extends outward along the plate surface of the seal connecting plate 33 as a bracket for installing the seal distance sensor 35, and the seal distance sensor 35 is connected to the control module of the manipulator 2; the seal distance sensor 35 is arranged perpendicular to the measuring area seal 31, and the detection end of the seal distance sensor 35 is located at the end thereof close to the measuring area seal 31; the quick-change sub-disc on the rebound tester measuring area seal tooling 3 is arranged at the upper end of the seal connecting plate 33.

[0064] The rebound tester tooling 4 includes a fixed seat 41, a movable seat 42, a rebound tester 43, a shock-absorbing damping spring 44, a rebound tester distance sensor 45 and a monitoring camera 46; the movable seat 42 is movably connected to the fixed seat 41 through the shock-absorbing damping spring 44, the rebound tester 43, the rebound tester distance sensor 45 and the monitoring camera 46 are all arranged on the movable seat 42, the rebound tester distance sensor 45 is arranged parallel to the rebound tester 43 and its detection end is located at one end close to the detection head of the rebound tester 43, the monitoring camera 46 is connected to the movable seat 42 through a camera bracket 47 and is located above the button panel of the rebound tester 43, the rebound tester distance sensor 45 and the monitoring camera 46 are both connected to the control module of the manipulator 2, and a rebound tester quick-change mounting frame 48 movably and detachably connected to the robot body is provided at the bottom end of the fixed seat 41, and a quick-change sub-disk 10 matching the quick-change main disk on the robot body manipulator is installed at the rear end of the fixed seat 41.

[0065] Specifically, the fixed seat 41 includes a guide sleeve front mounting plate 411, a guide sleeve rear mounting plate 412 and a quick-change sub-disc mounting plate 413, which are arranged in sequence. The guide sleeve front mounting plate 411 and the guide sleeve rear mounting plate 412 are inlaid with guide sleeves. The guide sleeve front mounting plate 411, the guide sleeve rear mounting plate 412 and the quick-change sub-disc mounting plate 413 are connected to form a whole through a bottom plate 414; the movable seat 42 includes a front guide column fixing plate 421, an intermediate guide column fixing plate 422 and a rear guide column fixing plate 423, which are arranged in sequence, and two guide columns 426 fixedly connected to the above three plates. The guide column 42 6 is respectively fixed with a damping front sleeve 424 and a damping rear sleeve 425 at the front end and the middle thereof, and a shock absorbing damping spring 44 is arranged between the damping front sleeve 424 and the guide sleeve front mounting plate 411, and between the intermediate guide column fixing plate 422 and the guide sleeve rear mounting plate 412, and the intermediate guide column fixing plate 422 and the damping rear sleeve 425 are located between the guide sleeve front mounting plate 411 and the guide sleeve rear mounting plate 412; the lower end of the rebound tester quick-change mounting frame 48 extends to both sides to form a lower wing plate connected to the robot body, and a socket matching the rebound tester tooling plug-in column on the robot body is arranged on the lower wing plate.

[0066] The rebound hammer 43 is fixed on the movable seat 42 by the rebound hammer clamping block 49. The front and rear rebound hammer clamping blocks 49 are respectively connected to the upper ends of the front guide column fixing plate 421 and the rear guide column fixing plate 423 by bolts. The rebound hammer clamping block 49 and the movable seat 42 both have a clamping cavity matching the shape of the rebound hammer 43. The front end of the horizontal plate of the camera bracket 7 is connected to the rebound hammer clamping block 9 and the front guide column fixing plate 421 in the front by bolts, the middle end of the horizontal plate is connected to the middle plate 422 by bolts, and the rear end of the horizontal plate is connected to the rebound hammer clamping block 49 and the rear guide column fixing plate 423 in the rear by bolts; the monitoring camera 46 is connected to the vertical plate of the camera bracket 47 by bolts. The mounting frame of the rebound hammer distance sensor 45 is connected to the rebound hammer clamping block 49, the front guide column fixing plate 421 and the rear guide column fixing plate 423 by bolts, and is located on the opposite side of the horizontal plate of the camera bracket 7.

[0067] Embodiment 2

[0068] Embodiment 2 of the present invention provides an inspection robot for beam yard rebound detection. Similar to Embodiment 1, it includes a robot body 1 and a manipulator 2, a rebound test area stamp tooling 3 and a rebound test tooling 4 arranged thereon.

[0069] Different from the first embodiment, in this embodiment, a patrol robot for beam yard rebound detection is used, and the stylus tooling 5 is used to touch or press the operating instrument on the patrol robot under the control of the manipulator 2. Specifically, Figure 7 As shown, the stylus tooling 5 specifically includes a stylus tooling 5, including a pen holder mounting plate 51, a buffer pen holder fixing seat 52, a stylus 53, a stylus guide rod 54, a buffer pen holder slider 55, a stylus buffer spring 56 and a pen holder positioning plate 57; the buffer pen holder fixing seat 52 is arranged on one end surface of the pen holder mounting plate 51, and the buffer pen holder fixing seat 52 is provided with a guide groove and a slide groove, wherein the stylus guide rod 54 is arranged in the guide groove, the buffer pen holder slider 55 is slidably arranged in the slide groove and is slidably connected with the stylus guide rod 54, and a stylus guide rod 54 between the end of the buffer pen holder slider 55 and the buffer pen holder fixing seat 52 is sleeved There is a stylus buffer spring 56, and the stylus 53 is fixed on the buffer pen holder slider 55 and is arranged parallel to the stylus guide rod 54; the stylus 53 on the buffer pen holder fixing seat 52 and its guide and sliding structure are divided into two groups, and the contact heads of the two groups of stylus 53 are arranged in opposite directions, and the stylus 53 is arranged parallel to the plate surface of the pen holder positioning plate 57; the pen holder positioning plate 57 is arranged on the other end surface of the pen holder mounting plate 51 and has a side wing plate extending outwardly and has a socket on the side wing plate that matches the stylus tooling plug-in column on the robot body 1; the quick-change sub-disc 10 on the stylus tooling 5 is arranged on the end surface of the pen holder positioning plate 57 away from the pen holder mounting plate 51.

[0070] Embodiment 3

[0071] Embodiment 3 of the present invention provides an inspection robot for beam yard rebound detection. Similar to embodiment 2, it includes a robot body 1 and a manipulator 2, a rebound test area stamp tooling 3, a rebound test tooling 4, and a stylus tooling 5 arranged thereon.

[0072] like Figures 8-9 As shown, different from the first and second embodiments, in this embodiment, the quick-change main disk 9 includes a main connection disk 91 and a solenoid valve. A cylinder 92 is arranged in the main connection disk 91. A locking head 93 is arranged at the connection end of the main connection disk 91. A plurality of locking steel balls 94 are arranged on the locking head 93. The push rod of the cylinder 92 can extend into the locking head 93 and push out the locking steel balls 94 in the locking head 93. The main connection disk 91 is provided with a secondary disk in-place detection sensor 61, a main disk cylinder extended in-place detection sensor 62 and a main disk cylinder retracted in-place sensor 63;

[0073] The signal output ends of the auxiliary disk in-place detection sensor 61, the main disk cylinder extended in-place detection sensor 62 and the main disk cylinder retracted in-place sensor 63 are connected to the control module of the manipulator 2, the solenoid valve is located on the air path where the cylinder is located and is electrically connected to the auxiliary disk in-place detection sensor 61, the auxiliary disk in-place detection sensor 61 is used to detect whether the quick-change auxiliary disk and the quick-change main disk are aligned, the main disk cylinder extended in-place detection sensor 62 and the main disk cylinder retracted in-place sensor 63 are used to detect whether the cylinder 92 in the quick-change main disk 9 is extended and retracted in place respectively;

[0074] The quick-change auxiliary disk 10 includes an auxiliary connection disk, the center of which is provided with a first slot for accommodating a locking head 93, and the surface of the first slot is provided with a second slot for accommodating the locking steel ball 94; the locking head 93 can be clamped in the first slot of the quick-change auxiliary disk 10, and the locking steel ball is used to be pushed up from the locking head 93 by the cylinder 92 and clamped in the second slot of the quick-change auxiliary disk 10. The electric signal module 64 is provided on both the main change disk and the quick-change auxiliary disk.

[0075] Embodiment 4

[0076] Embodiment 4 of the present invention provides a detection method for beam yard rebound detection, comprising the following steps:

[0077] In the concrete rebound measurement, the stamp distance sensor 35 is used to obtain the distance between the stamp tooling and the beam surface and transmit it back to the control module of the manipulator 2. The rebound instrument distance sensor 45 is used to obtain the distance between the rebound instrument 43 and the wall during testing and transmit it back to the control module of the manipulator 2. The monitoring camera 46 is used to obtain the operation image of the stylus 53 on the button panel of the rebound instrument tooling and transmit it back to the control module of the manipulator 2.

[0078] First, before replacing the tooling connected to the quick-change main disk 9 at the manipulator 2, the following steps are required: the sub-disk arrival detection sensor 61 at the quick-change main disk detects whether there is a quick-change sub-disk 10 that has been grabbed on the current manipulator 2; if there is a quick-change sub-disk 10 that has been grabbed, the manipulator 2 controls the tooling corresponding to the quick-change sub-disk 10 to reset, and separates the quick-change sub-disk 10 from the quick-change main disk 9.

[0079] The manipulator 2 moves to the placement position of the touch pen tooling 5, and controls the quick-change main disk 9 to connect to the quick-change sub-disk 10 of the touch pen tooling 5, so as to realize the connection between the two;

[0080] The manipulator 2 controls the stylus pen 53 to move to the top of the key panel of the rebound tester tooling 4, and based on the built-in moving path of the manipulator 2 and the cooperation of the monitoring camera 46, the rebound tester 43 is turned on and set; when the touch stroke of the manipulator exceeds the specified stroke, the stylus pen stroke sensor is activated, and the manipulator immediately stops pressing down to protect the screen and buttons;

[0081] The manipulator 2 moves to the placement position of the touch pen tooling 5 , and controls the quick-change main disk 9 to disconnect the quick-change auxiliary disk 10 , so as to return the touch pen tooling 5 to its original position.

[0082] Next, the steps S11-S16 are executed. S11: the manipulator 2 moves to the placement position of the stamp tooling 3 in the rebound test area.

[0083] And control the quick-change main plate 9 to connect with the quick-change sub-plate 10 of the stamp tooling 3 in the rebound test area;

[0084] S12: The manipulator 2 controls the rebound tester measuring area stamp tooling 3 to move to the concrete rebound measurement area, and stamps the measuring area pattern at the target position; during the stamping process, the manipulator's control module controls the stamping angle of the measuring area stamp through the distance measurement values ​​of each stamp distance measurement sensor, so that it is parallel to the surface to be measured. At the same time, the distance measurement value of the stamp distance measurement sensor can also control the pressure applied by the manipulator to the measuring area stamp. When the manipulator controls the measuring area stamp to approach the surface to be stamped, the distance measurement value gradually decreases. When the measuring area stamp moves to the surface to be stamped and contacts, the stamp buffer mechanism begins to be compressed, and the distance measurement value continues to be small. When the distance measurement value is less than the threshold value, it means that the measuring area stamp has been in tight contact with the surface to be stamped and has reached the required pressure value, then the manipulator stops moving forward and maintains for 1 to 2 seconds;

[0085] S13: After the stamping of the test area pattern is completed, the manipulator 2 moves to the placement position of the stamp tooling 3 of the rebound test area, and disconnects the connection between the quick-change main disk 9 and the quick-change auxiliary disk 10 to realize the return of the stamp tooling 3 of the rebound test area;

[0086] S14: the manipulator 2 moves to the placement position of the rebound test tool 4, and controls the quick-change main plate 9 to connect to the rebound test tool 4;

[0087] S15: the manipulator 2 controls the rebound test tool 4 to move to the concrete rebound measurement area covered with the measurement area pattern, and performs rebound measurement on the concrete in each grid of the above area in turn; the control module of the manipulator controls the pressure value applied by the rebound tester on the surface to be measured through the distance value of the rebound tester distance sensor, and specifically, when the distance value is less than the set threshold value, the manipulator stops moving forward;

[0088] S16: After the rebound measurement of the above-mentioned area is completed, the manipulator 2 moves to the placement position of the rebound tester tool 4 to return the rebound tester tool 4 to its original position; and then repeats steps S11-S16 to repeat the covering of the measurement area pattern and the rebound measurement.

[0089] The measured data of the rebound tester is saved in the rebound tester and can be viewed later. The monitoring screen of the rebound tester can also be viewed in real time in the background through the monitoring camera of the rebound tester.

[0090] The connection method of the quick-change main disk 9 and the quick-change auxiliary disk 10 is as follows:

[0091] Determine whether the signal of the retracted-in-place detection sensor 63 is received. If so, control the manipulator 2 to move to the installation location of the tooling for the next step of detection; determine whether the signal of the sub-disk in-place detection sensor 61 is received. If so, control the cylinder 92 on the quick-change main disk 9 to extend, so that the locking steel ball 94 moves toward the second slot of the quick-change sub-disk 10 on the tooling; determine whether the signal of the extended-in-place sensor 62 is received. If so, it is determined that the connection between the quick-change main disk 9 and the quick-change sub-disk 10 is completed.

[0092] The specific steps are: the system sends out a command, and at the same time, the sub-disk in-position detection sensor on the quick-change main disk has no induction, indicating that there is no tooling in place on the manipulator, and then the manipulator moves to above the stylus tooling, the quick-change main disk solenoid valve operates, the quick-change main disk cylinder retracts, and the locking steel ball retracts, and the manipulator continues to run to above the touchpad tooling quick-change sub-disk, the manipulator slows down and approaches slowly until the sub-disk in-position sensor on the quick-change main disk operates, indicating that the quick-change main and sub-disks have been combined in place, and then the quick-change main disk solenoid valve is reset, the quick-change main disk cylinder rises forward, and the locking steel ball extends to lock the quick-change main and sub-disks firmly.

[0093] The method of separating the quick-change main disk 9 and the quick-change auxiliary disk 10 is as follows:

[0094] Determine whether the tooling to be disconnected is aligned with the installation position. If so, the solenoid valve of the quick-change main disk will be activated to control the cylinder on the quick-change main disk to retract; determine whether the signal of the retraction detection sensor 63 is received. If so, the manipulator will be controlled to drive the quick-change main disk 9 to reset and leave the quick-change sub-disk 10.

[0095] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A patrol robot for beam yard rebound detection, characterized in that: It comprises a robot body (1), a manipulator (2) arranged on the robot body, a rebound hammer test area stamp tooling (3) and a rebound hammer tooling (4); The free end of the manipulator (2) can move in multiple directions and angles relative to the robot body (1), and the free end of the manipulator (2) is provided with a quick-change main plate (9); the rebound hammer test area stamp tooling (3) and the rebound hammer tooling (4) are both detachably connected to the robot body (1), and the above tooling is provided with a quick-change sub-plate (10), the quick-change sub-plate (10) is used to cooperate with the quick-change main plate (9) to fix the corresponding tooling to the free end of the manipulator (2); the manipulator (2) is used to control the rebound hammer test area stamp tooling (3) to stamp the target position of the concrete surface of the beam structure with a test area pattern, and to control the rebound hammer tooling (4) to perform concrete rebound test at each position of the stamped test area pattern.

2. The inspection robot for beam yard rebound detection according to claim 1 is characterized in that: The rebound tester measuring area seal tooling (3) comprises a measuring area seal (31), a seal mounting plate (32), a seal connecting plate (33), a seal distance measuring sensor (35) and a seal positioning plate (36); The measuring area seal (31) is arranged at the bottom end of the seal mounting plate (32); a horizontal wing plate is extended outwardly along the plate surface of the seal mounting plate (32) as a seal positioning plate (36); the end of the seal positioning plate (36) has a socket matched with the seal tooling plug-in column on the robot body (1); a seal connecting plate (33) is arranged at the upper end of the seal mounting plate (32); a bent wing plate is extended outwardly along the plate surface of the seal connecting plate (33) for installing a seal distance measuring sensor (35); and a quick-change sub-disc (10) on the rebound tester measuring area seal tooling (3) is arranged at the upper end of the seal connecting plate (33).

3. The inspection robot for beam yard rebound detection according to claim 2 is characterized in that: The seal distance sensor (35) is arranged perpendicular to the measuring area seal (31), the detection end of the seal distance sensor (35) is located at one end thereof close to the measuring area seal (31), and the seal distance sensor (35) is connected to a control module of the manipulator (2); a seal buffer mechanism (34) is arranged between the seal connecting plate (33) and the seal mounting plate (32).

4. The inspection robot for beam yard rebound detection according to claim 1 is characterized in that: The rebound hammer tooling (4) comprises a fixed seat (41), a movable seat (42), a rebound hammer (43), a shock absorbing damping spring (44), a rebound hammer distance measuring sensor (45) and a monitoring camera (46); the movable seat (42) is movably connected to the fixed seat (41) through the shock absorbing damping spring (44) and a guide column (426); the rebound hammer (43), the rebound hammer distance measuring sensor (45) and the monitoring camera (46) are all arranged on the movable seat (42); the rebound hammer distance measuring sensor (45) is arranged parallel to the rebound hammer (43) and its detection end is located at The monitoring camera (46) is connected to the movable seat (42) through a camera bracket (47) and is located above the key panel of the rebound tester (43). The rebound tester distance sensor (45) and the monitoring camera (46) are both connected to the control module of the manipulator (2). The bottom end of the fixed seat (41) is provided with a rebound tester quick-change mounting frame (48) that is movably plugged into the robot body. The rear end of the fixed seat (41) is provided with a quick-change sub-disk (10) that matches the quick-change main disk on the robot body manipulator (2).

5. The inspection robot for beam yard rebound detection according to claim 4 is characterized in that: The fixing seat (41) comprises a guide sleeve front mounting plate (411), a guide sleeve rear mounting plate (412) and a quick-change sub-disc mounting plate (413) which are arranged in sequence, the guide sleeve front mounting plate (411) and the guide sleeve rear mounting plate (412) are inlaid with guide sleeves, and the guide sleeve front mounting plate (411), the guide sleeve rear mounting plate (412) and the quick-change sub-disc mounting plate (413) are connected to form a whole through a bottom plate (414); The movable seat (42) comprises a front guide column fixing plate (421), an intermediate guide column fixing plate (422) and a rear guide column fixing plate (423) which are arranged in sequence and two guide columns (426) fixedly connected to the above three plates; a damping front sleeve (424) and a damping rear sleeve (425) are respectively fixed to the front end and the middle of the guide column (426); a shock-absorbing damping spring (44) is arranged between the damping front sleeve (424) and the guide sleeve front mounting plate (411) and between the intermediate guide column fixing plate (422) and the guide sleeve rear mounting plate (412); the intermediate guide column fixing plate (422) and the damping rear sleeve (425) are located between the guide sleeve front mounting plate (411) and the guide sleeve rear mounting plate (412); The lower end of the rebound tester quick-change mounting frame (48) extends to both sides to form a lower wing plate connected to the robot body, and the lower wing plate is provided with a socket matching the rebound tester tooling plug-in column on the robot body.

6. The inspection robot for beam yard rebound detection according to claim 1 is characterized in that: It also includes a stylus tooling (5), wherein the stylus tooling (5) includes a pen holder mounting plate (51), a buffer pen holder fixing seat (52), a stylus (53), a stylus pen guide rod (54), a buffer pen holder slider (55), a stylus pen buffer spring (56) and a pen holder positioning plate (57); The buffer pen holder fixing seat (52) is arranged on one end surface of the pen holder mounting plate (51), and the buffer pen holder fixing seat (52) is provided with a guide groove and a slide groove, wherein a stylus pen guide rod (54) is arranged in the guide groove, a buffer pen holder slider (55) is slidably arranged in the slide groove and is slidably connected with the stylus pen guide rod (54), and a stylus pen buffer spring (56) is sleeved on the stylus pen guide rod (54) between the end of the buffer pen holder slider (55) and the buffer pen holder fixing seat (52). 56), the stylus pen (53) is fixed on the buffer pen holder slider (55) and is arranged parallel to the stylus pen guide rod (54); the pen holder positioning plate (57) is arranged on the other end surface of the pen holder mounting plate (51) and has a side wing plate extending outwardly and having a socket matching the stylus pen tooling plug-in column on the robot body (1); the quick-change sub-disc (10) on the stylus pen tooling (5) is arranged on the end surface of the pen holder positioning plate (57) away from the pen holder mounting plate (51); The manipulator (2) is also used to control the stylus tooling (5) to perform key operations on the rebound tester in the rebound tester tooling (4).

7. The inspection robot for beam yard rebound detection according to claim 6 is characterized in that: The touch pen (53) and its guide and sliding structure on the buffer pen holder fixing seat (52) are divided into two groups. The touch heads of the two groups of touch pens (53) are arranged in opposite directions. The touch pens (53) are arranged parallel to the plate surface of the pen holder positioning plate (57).

8. The inspection robot for beam yard rebound detection according to claim 1 is characterized in that: The quick-change main disk (9) comprises a main connection disk (91) and a solenoid valve. A cylinder (92) is arranged inside the main connection disk (91). A locking head (93) is arranged at the connection end of the main connection disk (91). A plurality of locking steel balls (94) are arranged on the locking head (93). A push rod of the cylinder (92) can extend into the locking head (93) and push out the locking steel balls (94) in the locking head (93). The main connection disk (91) is provided with a secondary disk in-position detection sensor (61), a main disk cylinder extension in-position detection sensor (62) and a main disk cylinder retraction in-position sensor (63). The signal output ends of the auxiliary disk in-place detection sensor (61), the main disk cylinder extended in-place detection sensor (62) and the main disk cylinder retracted in-place sensor (63) are connected to the control module of the manipulator (2); the solenoid valve is located on the air path where the cylinder is located and is electrically connected to the auxiliary disk in-place detection sensor (61); the auxiliary disk in-place detection sensor (61) is used to detect whether the quick-change auxiliary disk and the quick-change main disk are aligned; the main disk cylinder extended in-place detection sensor (62) and the main disk cylinder retracted in-place sensor (63) are used to detect whether the cylinder (92) in the quick-change main disk (9) is extended and retracted respectively; The quick-change auxiliary disk (10) comprises an auxiliary connecting disk, a first slot for accommodating a locking head (93) is arranged at the center of the auxiliary connecting disk, and a second slot for accommodating the locking steel ball (94) is arranged on the surface of the first slot; The locking head (93) can be clamped in the first clamping groove of the quick-change sub-disk (10), and the locking steel ball is used to be pushed up from the locking head (93) by the cylinder (92) and clamped in the second clamping groove of the quick-change sub-disk (10).

9. The inspection robot for beam yard rebound detection according to claim 1, characterized in that: A lifting platform (7) for placing a manipulator (2) is arranged at the center of the upper end of the robot body (1); a receiving platform (8) for placing a rebound tester measuring area stamp tooling (3) and a rebound tester tooling (4) is arranged around the outer periphery of the lifting platform (7); a distance measuring sensor is arranged on the lifting platform (7) for measuring the distance between the lifting platform (7) and the receiving platform (8), thereby correcting the free end coordinates of the manipulator (2).

10. A detection method for beam yard rebound detection, based on the inspection robot for beam yard rebound detection according to any one of claims 1 to 9, characterized in that: The following steps are involved: S11: the manipulator (2) moves to the placement position of the stamp tooling (3) in the rebound test area, and controls the quick-change main disk (9) to connect with the quick-change auxiliary disk (10) of the stamp tooling (3) in the rebound test area; S12: the manipulator (2) controls the rebound test area stamp tooling (3) to move to the concrete rebound measurement area, and stamps the measurement area pattern at the target position; S13: After the stamping of the test area pattern is completed, the manipulator (2) moves to the placement position of the stamp tooling (3) of the rebound hammer test area, and disconnects the connection between the quick-change main disk (9) and the quick-change auxiliary disk (10), so as to realize the return of the stamp tooling (3) of the rebound hammer test area; S14: the manipulator (2) moves to the placement position of the rebound test tool (4), and controls the quick-change main plate (9) to connect to the rebound test tool (4); S15: the manipulator (2) controls the rebound test tool (4) to move to the concrete rebound measurement area covered with the measurement area pattern, and sequentially performs rebound measurement on the concrete in each grid of the above area; S16: After the rebound measurement of the above-mentioned area is completed, the manipulator (2) moves to the placement position of the rebound tester tool (4) to return the rebound tester tool (4); and then repeats steps S11-S16 to repeat the covering of the measurement area pattern and the rebound measurement.

11. A detection method for beam yard rebound detection according to claim 10, characterized in that: The method of connecting the quick-change main disk (9) and the quick-change auxiliary disk (10) is as follows: Determine whether a signal from a retracted position detection sensor (63) is received, and if received, control the manipulator (2) to move to the installation position of the tooling for the next step of detection; Determine whether a signal from a secondary disk in-position detection sensor (61) is received, and if received, control the cylinder (92) on the quick-change main disk (9) to extend so that the locking steel ball (94) moves toward the second locking groove of the quick-change secondary disk (10) on the tooling; It is determined whether a signal from the extended-in-place sensor (62) is received. If received, it is determined that the connection between the quick-change main disk (9) and the quick-change auxiliary disk (10) is completed.

12. A detection method for beam yard rebound detection according to claim 10, characterized in that: The method for separating the quick-change main disk (9) and the quick-change auxiliary disk (10) is as follows: Determine whether the tooling to be disconnected is aligned with the installation position, and if so, control the cylinder on the quick-change main plate to retract; It is judged whether a signal from the retracted position detection sensor (63) is received. If so, the robot arm is controlled to drive the quick-change main disk (9) to reset and leave the quick-change auxiliary disk (10).

13. A detection method for beam yard rebound detection according to claim 10, characterized in that: The following steps are also included: The manipulator (2) moves to the placement position of the touch pen tooling (5), and controls the quick-change main disk (9) to connect with the quick-change sub-disk (10) of the touch pen tooling (5), thereby realizing the connection between the two; The manipulator (2) controls the stylus (53) to move to the top of the key panel of the rebound tester tooling (4), and based on the built-in moving path of the manipulator (2) and the cooperation of the monitoring camera (46), the rebound tester (43) is turned on and set; The manipulator (2) moves to the placement position of the touch pen tooling (5), and controls the quick-change main disk (9) to disconnect the quick-change auxiliary disk (10), thereby returning the touch pen tooling (5) to its original position.

14. A detection method for beam yard rebound detection according to claim 10, characterized in that: Step S12 also includes the following steps: the robot (2) controls the test area seal (31) to be dipped in oil in the ink box.

15. A detection method for beam yard rebound detection according to claim 10, characterized in that: Before replacing the tooling connected to the quick-change main disk (9) at the manipulator (2), the following steps are required: the sub-disk arrival detection sensor (61) at the quick-change main disk detects whether there is a quick-change sub-disk (10) that has been grabbed on the current manipulator (2); if there is a quick-change sub-disk (10) that has been grabbed, the manipulator (2) controls the tooling corresponding to the quick-change sub-disk (10) to reset, and separates the quick-change sub-disk (10) from the quick-change main disk (9).

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