Inspection robot for beam yard rebound detection and detection method thereof

Abstract

The present application belongs to the technical field of beam yard detection, aiming at solving the problems of complexity and error in traditional ranging manual line drawing and rebound detection. A kind of inspection robot for beam yard rebound detection and its detection method are provided, the free end of manipulator can realize multidirectional, multi-angle movement relative to robot body, and the free end of manipulator is provided with quick-change main disc;The measuring area seal of rebound instrument measuring area seal tool is used to cover the measuring area pattern at the target position of beam structure concrete surface, and the rebound instrument of rebound instrument tool is used for concrete rebound test at the position of covering measuring area pattern;The measuring area seal of rebound instrument measuring area seal tool and the rebound instrument tool are detachably connected with the robot body, and quick-change secondary disc is arranged on the above tool, and any quick-change secondary disc can form a quick-change mechanism with quick-change main disc. The device can increase the range and efficiency of rebound detection, avoid the complexity and error of manual line drawing and handheld rebound instrument detection.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of beam yard detection, and particularly relates to a patrol robot for beam yard rebound detection and a detection method thereof. BACKGROUND

[0002] The rebound hammer detection of concrete strength is the most widely used nondestructive testing method in the current concrete structure field detection in China, and has the advantages of wide adaptability, no damage to the concrete member, etc. According to the specification requirements: the interval between adjacent two measuring areas should not be greater than 2m, the area of the measuring area should not be greater than 0.04 square meters, 16 rebound values are read in each measuring area, and the measuring points are uniformly distributed in the measuring area.

[0003] Generally, 10 measuring areas of rebound are needed for each concrete member during detection, so 10 measuring areas of rebound are needed for the rebound method to detect the compressive strength of concrete. In the prior art, a marker pen, a ruler or a template is usually used to draw a grid on the concrete measuring surface to mark the measuring area. Since a large number of measuring areas are drawn, it not only takes a long time, but also has a large deviation in drawing different measuring areas, and there is a safety hazard in drawing the measuring area at a high place.

[0004] In addition, the rebound hammer is usually directly held by the constructor in the grid of each measuring area to obtain the rebound value. Since a large number of measuring areas are drawn, the measuring area rebound operation at a high place also needs to use a ladder and other tools, which has a hidden danger.

[0005] Therefore, in order to avoid the tediousness and error of the traditional distance measuring manual line drawing, and to quickly and efficiently complete the task, the intelligentization of the rebound hammer detection of concrete strength is the development trend. SUMMARY

[0006] The present application provides a patrol robot for beam yard rebound detection and a detection method thereof to solve at least one of the above technical problems in the prior art.

[0007] The present application adopts the following technical solution: a patrol robot for beam yard rebound detection, comprising a robot body, a mechanical hand arranged above the robot body, a rebound hammer measuring area seal tool and a rebound hammer tool;

[0008] The free end of the mechanical hand can move in multiple directions and at multiple angles relative to the robot body, and the free end of the mechanical hand is provided with a quick-change main disc; the measuring area seal in the rebound hammer measuring area seal tool is used to cover the measuring area pattern at the target position of the beam structure concrete surface, and the rebound hammer of the rebound hammer tool is used to test the concrete rebound at the position covered with the measuring area pattern; the rebound hammer measuring area seal tool and the rebound hammer tool are detachably connected with the robot body, and a quick-change secondary disc is arranged on each of the above tools, and the quick-change secondary disc is used to cooperate with the quick-change main disc to fixedly connect the corresponding tool with the free end of the mechanical hand.

[0009] Preferably, the rebound hammer test area stamp fixture includes a test area stamp, a stamp mounting plate, a stamp connecting plate, a stamp ranging sensor, and a stamp positioning plate;

[0010] The test area stamp is located at the bottom of the stamp mounting plate. A horizontal wing plate extends outward from the plate surface of the stamp mounting plate as a stamp positioning plate. The end of the stamp positioning plate has a socket that matches the stamp tooling insertion post on the robot body. The stamp connecting plate is located at the top of the stamp mounting plate. A bent wing plate extends outward from the plate surface of the stamp connecting plate for mounting the stamp ranging sensor. The quick-change sub-plate on the rebound hammer test area stamp tooling is located at the top of the stamp connecting plate.

[0011] Preferably, the stamp ranging sensor is arranged perpendicular to the stamp in the measurement area, and the detection end of the stamp ranging sensor is located at the end closest to the stamp in the measurement area. The stamp ranging sensor is connected to the control module of the robot arm. A stamp buffer mechanism is provided between the stamp connecting plate and the stamp mounting plate.

[0012] Preferably, the rebound hammer fixture includes a fixed base, a movable base, a rebound hammer, a shock-absorbing damping spring, a rebound hammer ranging sensor, and a monitoring camera. The movable base is movably connected to the fixed base via the shock-absorbing damping spring and guide post. The rebound hammer, the rebound hammer ranging sensor, and the monitoring camera are all mounted on the movable base. The rebound hammer ranging sensor is arranged parallel to the rebound hammer, with its detection end located at the end closest to the rebound hammer detection head. The monitoring camera is connected to the movable base via a camera bracket and is located above the button panel of the rebound hammer. Both the rebound hammer ranging sensor and the monitoring camera are connected to the control module of the robot arm. The bottom of the fixed base is provided with a quick-change mounting bracket for the rebound hammer that is movably inserted into the robot body. The rear end of the fixed base is equipped with a quick-change auxiliary plate that matches the quick-change main plate on the robot arm.

[0013] Preferably, the fixed base includes a guide sleeve front mounting plate, a guide sleeve rear mounting plate, and a quick-change auxiliary plate mounting plate arranged in sequence. Guide sleeves are embedded in the guide sleeve front mounting plate and the guide sleeve rear mounting plate. The guide sleeve front mounting plate, the guide sleeve rear mounting plate, and the quick-change auxiliary plate mounting plate are connected to the quick-change auxiliary plate as a whole through a base plate.

[0014] The movable seat includes a front guide column fixing plate, a middle guide column fixing plate, and a rear guide column fixing plate arranged in sequence, and two guide columns that are fixedly connected to the above three plates. A damping front sleeve and a damping rear sleeve are fixed at the front end and the middle of the guide column, respectively. A shock-absorbing damping spring is provided between the damping front sleeve and the front mounting plate of the guide sleeve, and between the middle guide column fixing plate and the rear mounting plate of the guide sleeve. The middle 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 quick-change mounting bracket for the rebound spring extends to both sides to form a lower wing plate that connects to the robot body. The lower wing plate is provided with a socket that matches the rebound spring tooling insertion post on the robot body.

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

[0017] A buffer pen holder fixing seat is located on one end face of the pen holder mounting plate. The buffer pen holder fixing seat is provided with a guide groove and a sliding groove. The stylus guide rod is located in the guide groove, and the buffer pen holder slider is slidably located in the sliding groove and slidably connected to the stylus guide rod. A stylus buffer spring is sleeved on the stylus guide rod between the end of the buffer pen holder slider and the buffer pen holder fixing seat. The stylus is fixed on the buffer pen holder slider and is arranged parallel to the stylus guide rod. The pen holder positioning plate is located on the other end face of the pen holder mounting plate and extends outward with a side wing plate. The side wing plate has a socket that matches the stylus tooling insertion post on the robot body. The quick-change sub-plate on the stylus tooling is located on the end face of the pen holder positioning plate away from the pen holder mounting plate.

[0018] Preferably, the stylus and its guiding and sliding structure on the buffer pen holder fixing base are in two sets, with the stylus tips of the two sets of stylus arranged in opposite directions and the stylus arranged parallel to the surface of the pen holder positioning plate.

[0019] Preferably, the quick-change main plate includes a main connecting plate and a solenoid valve. A cylinder is installed inside the main connecting plate, and a locking head is installed at the connecting end of the main connecting plate. The locking head is equipped with multiple locking steel balls. The push rod of the cylinder can extend into the locking head and push out the locking steel balls in the locking head. The main connecting plate is equipped with a secondary plate position detection sensor, a main plate cylinder extension position detection sensor, and a main plate cylinder retraction position detection sensor.

[0020] The signal output terminals of the auxiliary plate position detection sensor, the main plate cylinder extension position detection sensor, and the main plate cylinder retraction position detection sensor are connected to the control module of the robot. The solenoid valve is located in the air circuit where the cylinder is located and is electrically connected to the auxiliary plate position detection sensor. The auxiliary plate position detection sensor is used to detect whether the quick-change auxiliary plate and the quick-change main plate are aligned. The main plate cylinder extension position detection sensor and the main plate cylinder retraction position detection sensor are used to detect whether the cylinder in the quick-change main plate has extended and retracted into place, respectively.

[0021] The quick-change sub-disc includes a sub-connecting disc, the center of which is provided with a first slot for accommodating a locking head, and the surface of the first slot is provided with a second slot for accommodating the locking steel ball;

[0022] The locking head can be locked in the first slot of the quick-change sub-disc, and the locking steel ball is used to be pushed out of the locking head by the cylinder and locked in the second slot of the quick-change sub-disc.

[0023] Preferably, a lifting platform for placing a robotic arm is provided at the upper center of the robot body, and a support platform for placing the rebound hammer test area stamp fixture and the rebound hammer fixture is provided around the outer periphery of the lifting platform; a distance sensor is provided on the lifting platform to measure the distance between the lifting platform and the support platform, thereby correcting the coordinates of the free end of the robotic arm.

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

[0025] S11: The robotic arm moves to the placement position of the stamp fixture in the rebound hammer test area and controls the quick-change main plate to connect with the quick-change auxiliary plate of the stamp fixture in the rebound hammer test area.

[0026] S12: The robotic arm controls the rebound hammer test area stamping fixture to move to the concrete rebound measurement area and stamps the test area pattern at the target position;

[0027] S13: After the pattern of the test area is stamped, the robot arm moves to the position of the stamp fixture of the rebound hammer test area and disconnects the connection between the quick change main plate and the quick change auxiliary plate to realize the return of the stamp fixture of the rebound hammer test area.

[0028] S14: The robotic arm moves to the placement position of the rebound hammer fixture and controls the quick-change master plate to connect to the rebound hammer fixture;

[0029] S15: The robotic arm controls the rebound hammer fixture to move to the concrete rebound measurement area with the test area pattern covered, and sequentially performs rebound measurements on the concrete in each grid of the above area.

[0030] S16: The rebound measurement of the above area is completed. The robot arm moves to the placement position of the rebound hammer fixture and puts the rebound hammer fixture back into place. Then, repeat steps S11-S16 to repeat the covering of the test area pattern and rebound measurement.

[0031] Preferably, the connection method between the quick-change master disk and the quick-change slave disk is as follows:

[0032] Determine whether a signal has been received from the main plate cylinder retraction detection sensor. If received, control the robot arm to move to the installation position of the tooling for the next detection step, and control the cylinder in the quick-change main plate to extend, so that the locking head moves toward the quick-change auxiliary plate on the tooling.

[0033] Determine whether a signal from the auxiliary plate positioning detection sensor has been received. If so, control the cylinder on the quick-change main plate to extend, causing the locking steel ball to move into the second slot of the quick-change auxiliary plate on the tooling.

[0034] Determine whether a signal has been received from the sensor detecting the extension of the main disc cylinder. If so, determine that the connection between the quick-change main disc and the quick-change auxiliary disc is complete.

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

[0036] Determine if the tooling to be disconnected is aligned with the installation position. If so, control the cylinder on the quick-change master plate to retract.

[0037] If a signal is received from the sensor detecting the retraction of the main plate cylinder, then the robot arm is controlled to drive the quick-change main plate to reset and move away from the quick-change auxiliary plate.

[0038] Preferably, the method further includes the following steps: the robotic arm moves to the placement position of the stylus fixture and controls the quick-change main plate to connect to the quick-change auxiliary plate of the stylus fixture, thereby achieving the connection between the two.

[0039] The robotic arm control stylus moves to the top of the button panel of the rebound spring fixture. Based on the robotic arm's built-in movement path and the cooperation of the monitoring camera, the rebound spring can be powered on and set.

[0040] The robotic arm moves to the placement position of the stylus fixture and controls the quick-change main plate to disconnect the quick-change secondary plate, thus returning the stylus fixture to its original position.

[0041] Preferably, the robotic arm controls the stamp in the test area to be dipped in ink in the inkpad.

[0042] Preferably, before changing the tooling connected to the quick-change master plate at the robot arm, the following steps are required: the auxiliary plate positioning detection sensor at the quick-change master plate detects whether there is a quick-change auxiliary plate that has been grasped by the robot arm; if there is a quick-change auxiliary plate that has been grasped, the robot arm controls the tooling corresponding to the quick-change auxiliary plate to reset and separates the quick-change auxiliary plate from the quick-change master plate.

[0043] Compared with the prior art, the beneficial effects of the present invention are:

[0044] This device has a simple and compact structure and high detection efficiency. By designing a series of tooling related to the installation of the rebound spring, and matching the rebound spring with the quick-change main plate on the existing robot arm via the quick-change auxiliary plate, the range and efficiency of rebound detection are increased, avoiding the cumbersome and error-prone handheld rebound detection.

[0045] The lifting platform expands the robot's coverage area; the surrounding support platform facilitates easier replacement of connected equipment; the quick-change mechanism allows for rapid assembly and disassembly of the robot and other tooling; the rebound hammer's test area stamp uses a stamp distance sensor to calculate the distance between the stamp and the concrete test surface, facilitating the location of the target on the concrete surface for stamping; the stamp buffer mechanism provides effective cushioning during the stamping process, ensuring full contact between the test area stamp and the concrete surface; the shock-absorbing damping spring on the rebound hammer reduces the impact on the robot during operation; the rebound hammer distance sensor controls the distance between the rebound hammer and the wall during testing; the stylus tooling effectively reduces the impact force generated when the stylus clicks the screen or buttons, protecting the screen and pen tip from damage, while providing stable support for the stylus, making its use more stable and reducing errors. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

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

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

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

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

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

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

[0055] Figure 9 This is a structural schematic diagram of the quick-change main disk of the present invention (second view, quick-change secondary disk is hidden).

[0056] Figure 10 This is a flowchart for the rebound test at the beam yard.

[0057] In the diagram: 1-Robot body; 2-Manipulator; 3-Rebound hammer test area stamp fixture; 31-Test area stamp; 32-Stamp mounting plate; 33-Stamp connecting plate; 34-Stamp buffer mechanism; 35-Stamp distance sensor; 36-Stamp positioning plate; 4-Rebound hammer fixture; 41-Fixed base; 411-Front mounting plate of guide sleeve; 412-Rear mounting plate of guide sleeve; 413-Quick change auxiliary plate mounting plate; 414-Base plate; 42-Modible base; 421-Front guide column fixing plate; 422-Intermediate guide column fixing plate; 423-Rear guide column fixing plate; 424-Front damping sleeve; 425-Rear damping sleeve; 426-Guide column; 43-Rebound hammer; 44-Shock damping spring; 45-Rebound hammer distance sensor 46-Monitoring camera; 47-Camera bracket; 48-Rebound spring quick-change mounting bracket; 49-Rebound spring clamping block; 5-Point stylus tooling; 51-Pen holder mounting plate; 52-Buffer pen holder fixing seat; 53-Point stylus; 54-Point stylus guide rod; 55-Buffer pen holder slider; 56-Point stylus buffer spring; 57-Pen holder positioning plate; 61-Sub-disc position detection sensor; 62-Main disc cylinder extension position detection sensor; 63-Main disc cylinder retraction position detection sensor; 64-Electrical signal module; 65-Cylinder; 66-Locking steel ball; 7-Lifting platform; 8-Placement platform; 9-Quick-change main disc; 91-Main connecting disc; 92-Cylinder; 93-Locking head; 94-Locking steel ball; 10-Quick-change sub-disc. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in 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] Example 1

[0061] Embodiment 1 of the present invention provides an inspection robot for rebound detection in beam yards, such as... Figures 1 to 6 As shown, it includes a robot body 1 and a robotic arm 2 mounted on top of it, a rebound hammer measuring area stamp fixture 3, and a rebound hammer fixture 4;

[0062] The rebound hammer test area stamp fixture 31 is used to stamp a test area pattern on the target position of the concrete surface of the beam structure using the rebound hammer test area stamp fixture 3. The rebound hammer 43 of the rebound hammer test area stamp fixture 4 is used to perform concrete rebound tests at the position where the test area pattern is stamped. Both the rebound hammer test area stamp fixture 3 and the rebound hammer test area stamp fixture 4 are detachably connected to the robot body 1, and each of the above fixtures is equipped 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 fixture to the free end of the manipulator 2. 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 equipped with the quick-change main plate 9. The manipulator 2 is used to control the rebound hammer test area stamp fixture 3 to stamp a test area pattern on the target position of the concrete surface of the beam structure, and to control the rebound hammer test area stamp fixture 4 to perform concrete rebound tests at various positions where the test area pattern is stamped. The robot body 1 has a lifting platform 7 at its upper center for placing the robotic arm 2. Surrounding the lifting platform 7 are supporting platforms 8 for placing the rebound hammer test area stamp fixture 3 and the rebound hammer fixture 4. A distance sensor is installed on the lifting platform 7 to measure the distance between the lifting platform 7 and the supporting platform 8, thereby correcting the coordinates of the free end of the robotic arm 2. The connection between the sensor and the control module of the robotic arm is wireless.

[0063] In this embodiment, the rebound hammer test area stamp fixture 3 includes a test area stamp 31, a stamp mounting plate 32, a stamp connecting plate 33, a stamp buffer mechanism 34, a stamp ranging sensor 35, and a stamp positioning plate 36. The test area stamp 31 is located at the bottom end of the stamp mounting plate 32. A horizontal wing plate extends outward from the plate surface of the stamp mounting plate 32 as the stamp positioning plate 36. The end of the stamp positioning plate 36 has a socket that matches the stamp fixture insertion post on the robot body 1. The stamp connecting plate 33 is connected to the test area stamp 31. The stamp buffer mechanism 34 is located at the upper end of the stamp mounting plate 32. A bent wing plate extends outward from the stamp connecting plate 33 as a bracket for mounting the stamp ranging sensor 35. The stamp ranging sensor 35 is connected to the control module of the robot arm 2. The stamp ranging sensor 35 is arranged perpendicular to the stamp 31 in the measurement area, and the detection end of the stamp ranging sensor 35 is located at the end closest to the stamp 31 in the measurement area. The quick-change sub-plate on the rebound hammer measurement area stamp fixture 3 is located at the upper end of the stamp connecting plate 33.

[0064] The rebound spring fixture 4 includes a fixed base 41, a movable base 42, a rebound spring 43, a shock-absorbing damping spring 44, a rebound spring ranging sensor 45, and a monitoring camera 46. The movable base 42 is movably connected to the fixed base 41 through the shock-absorbing damping spring 44. The rebound spring 43, the rebound spring ranging sensor 45, and the monitoring camera 46 are all mounted on the movable base 42. The rebound spring ranging sensor 45 is arranged parallel to the rebound spring 43, and its detection end is located at the end closest to the detection head of the rebound spring 43. The monitoring camera 46 is connected to the movable base 42 through a camera bracket 47 and is located above the button panel of the rebound spring 43. The rebound spring ranging sensor 45 and the monitoring camera 46 are both connected to the control module of the robot arm 2. The bottom of the fixed base 41 is provided with a rebound spring quick-change mounting bracket 48 that is movably and detachably connected to the robot body. The rear end of the fixed base 41 is provided with a quick-change auxiliary plate 10 that matches the quick-change main plate on the robot arm.

[0065] Specifically, the fixed base 41 includes a front mounting plate 411, a rear mounting plate 412, and a quick-change sub-plate mounting plate 413 arranged sequentially. Guide sleeves are embedded in the front mounting plate 411 and the rear mounting plate 412. The front mounting plate 411, the rear mounting plate 412, and the quick-change sub-plate mounting plate 413 are connected as a whole by a base plate 414. The movable base 42 includes a front guide post fixing plate 421, a middle guide post fixing plate 422, and a rear guide post fixing plate 423 arranged sequentially, and two guide posts 426 fixedly connecting the above three plates. The front end and the middle of 6 are respectively fixed with a damping front sleeve 424 and a damping rear sleeve 425. A damping spring 44 is provided between the damping front sleeve 424 and the guide sleeve front mounting plate 411, and between the middle guide column fixing plate 422 and the guide sleeve rear mounting plate 412. The middle 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 spring quick-change mounting bracket 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 that matches the rebound spring tooling insertion post on the robot body.

[0066] The rebound spring 43 is clamped and fixed to the movable seat 42 by the rebound spring clamping block 49. The front and rear rebound spring clamping blocks 49 are respectively bolted to the upper ends of the front guide column fixing plate 421 and the rear guide column fixing plate 423. Both the rebound spring clamping block 49 and the movable seat 42 have clamping cavities that match the shape of the rebound spring 43. The front end of the horizontal plate of the camera bracket 7 is bolted to the front rebound spring clamping block 9 and the front guide column fixing plate 421. The middle end of the horizontal plate is bolted to the middle plate 422. The rear end of the horizontal plate is bolted to the rear rebound spring clamping block 49 and the rear guide column fixing plate 423. The monitoring camera 46 is bolted to the vertical plate of the camera bracket 47. The mounting bracket of the rebound spring ranging sensor 45 is bolted to the rebound spring clamping block 49, the front guide column fixing plate 421 and the rear guide column fixing plate 423, and is located on the opposite side of the horizontal plate of the camera bracket 7.

[0067] Example 2

[0068] Embodiment 2 of the present invention provides an inspection robot for rebound detection in beam yards. Similar to Embodiment 1, it includes a robot body 1 and a manipulator 2, a rebound hammer test area stamping fixture 3, and a rebound hammer fixture 4 mounted on it.

[0069] Unlike Embodiment 1, this embodiment uses a stylus pen fixture 5 for touch or button operation of the operating instruments on the inspection robot under the control of the robotic arm 2, in an inspection robot for beam yard rebound detection. Specifically, as shown... Figure 7 As shown, the stylus fixture 5 specifically includes a stylus fixture 5, comprising a stylus holder mounting plate 51, a buffer stylus holder fixing seat 52, a stylus 53, a stylus guide rod 54, a buffer stylus holder slider 55, a stylus buffer spring 56, and a stylus holder positioning plate 57; the buffer stylus holder fixing seat 52 is disposed on one end face of the stylus holder mounting plate 51, and the buffer stylus holder fixing seat 52 is provided with a guide groove and a sliding groove, wherein the stylus guide rod 54 is disposed in the guide groove, the buffer stylus holder slider 55 is slidably disposed in the sliding groove and slidably connected to the stylus guide rod 54, and a stylus guide rod 54 is sleeved on the end of the buffer stylus holder slider 55 between the end of the buffer stylus holder slider 55 and the buffer stylus holder fixing seat 52. 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 guiding and sliding structure are two sets, the stylus 53 of the two sets of stylus 53 are arranged in opposite directions, and the stylus 53 is arranged parallel to the surface of the pen holder positioning plate 57; the pen holder positioning plate 57 is located on the other end face of the pen holder mounting plate 51 and extends outward with a side wing plate, and the side wing plate has a socket that matches the stylus tooling insertion post on the robot body 1; the quick-change sub-plate 10 on the stylus tooling 5 is located on the end face of the pen holder positioning plate 57 away from the pen holder mounting plate 51.

[0070] Example 3

[0071] Embodiment 3 of the present invention provides an inspection robot for rebound detection in beam yards. Similar to Embodiment 2, it includes a robot body 1 and a manipulator 2, a rebound hammer test area stamp fixture 3, a rebound hammer fixture 4, and a stylus fixture 5 mounted on it.

[0072] like Figures 8~9 As shown, unlike Embodiments 1 and 2, in this embodiment, the quick-change main plate 9 includes a main connecting plate 91 and a solenoid valve. A cylinder 92 is installed inside the main connecting plate 91, and a locking head 93 is installed at the connecting end of the main connecting plate 91. Multiple locking steel balls 94 are installed 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 connecting plate 91 is equipped with a secondary plate position detection sensor 61, a main plate cylinder extension position detection sensor 62, and a main plate cylinder retraction position detection sensor 63.

[0073] The signal output terminals of the auxiliary plate position detection sensor 61, the main plate cylinder extension position detection sensor 62, and the main plate cylinder retraction position detection sensor 63 are connected to the control module of the robot 2. The solenoid valve is located in the air circuit where the cylinder is located and is electrically connected to the auxiliary plate position detection sensor 61. The auxiliary plate position detection sensor 61 is used to detect whether the quick-change auxiliary plate and the quick-change main plate are aligned. The main plate cylinder extension position detection sensor 62 and the main plate cylinder retraction position detection sensor 63 are used to detect whether the cylinder 92 in the quick-change main plate 9 has extended and retracted into place, respectively.

[0074] The quick-change auxiliary plate 10 includes an auxiliary connecting plate. The center of the auxiliary connecting plate has a first slot for accommodating a locking head 93. The surface of the first slot has a second slot for accommodating the locking ball 94. The locking head 93 can be engaged in the first slot of the quick-change auxiliary plate 10. The locking ball is pushed out of the locking head 93 by the cylinder 92 and engaged in the second slot of the quick-change auxiliary plate 10. Both the main plate and the quick-change auxiliary plate are equipped with an electrical signal module 64.

[0075] Example 4

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

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

[0078] First, before changing the tooling connected to the quick-change main plate 9 at the robot arm 2, the following steps are required: the auxiliary plate position detection sensor 61 at the quick-change main plate detects whether there is a quick-change auxiliary plate 10 that has been gripped on the robot arm 2; if there is a quick-change auxiliary plate 10 that has been gripped, the robot arm 2 controls the tooling corresponding to the quick-change auxiliary plate 10 to reset and separate the quick-change auxiliary plate 10 from the quick-change main plate 9.

[0079] The robotic arm 2 moves to the placement position of the stylus fixture 5 and controls the quick-change main plate 9 to connect to the quick-change auxiliary plate 10 of the stylus fixture 5, thus realizing the connection between the two.

[0080] The robotic arm 2 controls the stylus 53 to move above the button panel of the rebound spring fixture 4. Based on the built-in movement path of the robotic arm 2 and the cooperation of the monitoring camera 46, the rebound spring 43 is powered on and set. When the robotic arm's touch stroke exceeds the specified stroke, the stylus stroke sensor is activated, and the robotic arm immediately stops pressing down to protect the screen and buttons.

[0081] The robotic arm 2 moves to the placement position of the stylus fixture 5 and controls the quick-change main plate 9 to disconnect the quick-change secondary plate 10, so as to return the stylus fixture 5 to its original position.

[0082] Next, steps S11-S16 are executed. S11: The robot arm 2 moves to the placement position of the stamp fixture 3 in the rebound hammer test area and controls the quick change main plate 9 to connect with the quick change auxiliary plate 10 of the stamp fixture 3 in the rebound hammer test area.

[0083] S12: The robotic arm 2 controls the rebound hammer test area stamp fixture 3 to move to the concrete rebound measurement area and stamp the test area pattern at the target position. During the stamping process, the robotic arm's control module controls the stamping angle of the test area stamp through the distance measurement values ​​of each stamp distance sensor, making it parallel to the surface to be measured. At the same time, the distance measurement value of the stamp distance sensor can also control the pressure applied by the robotic arm to the test area stamp. When the robotic arm controls the test area stamp to approach the surface to be stamped, the distance measurement value gradually decreases. When the test area stamp moves close to the surface to be stamped, the stamp buffer mechanism begins to be compressed, and the distance measurement value continues to decrease. When the distance measurement value is less than the threshold, it means that the test area stamp has made tight contact with the surface to be stamped and reached the required pressure value. Then the robotic arm stops moving forward and holds for 1~2 seconds.

[0084] S13: After the pattern of the test area is stamped, the robot arm 2 moves to the position of the rebound hammer test area stamp fixture 3 and disconnects the connection between the quick change main plate 9 and the quick change auxiliary plate 10 to realize the return of the rebound hammer test area stamp fixture 3 to its original position.

[0085] S14: The robotic arm 2 moves to the placement position of the rebound spring fixture 4 and controls the quick-change master plate 9 to connect to the rebound spring fixture 4;

[0086] S15: The robot arm 2 controls the rebound hammer fixture 4 to move to the concrete rebound measurement area with the test area pattern covered, and sequentially performs rebound measurement on the concrete in each grid of the above area; the control module of the robot arm controls the pressure value applied by the rebound hammer to the surface to be measured by the distance value of the rebound hammer distance sensor. Specifically, when the distance value is less than the set threshold, the robot arm stops moving forward.

[0087] S16: The rebound measurement of the above area is completed. The robot arm 2 moves to the placement position of the rebound hammer fixture 4 and puts the rebound hammer fixture 4 back into place. Then, repeat steps S11-S16 to repeat the covering test area pattern and rebound measurement.

[0088] The rebound hammer's measurement data is stored on the rebound hammer itself and can be viewed later. Alternatively, the rebound hammer's monitoring footage can be viewed in real-time via a monitoring camera in the background.

[0089] The connection method between the fast-swap master disk 9 and the fast-swap slave disk 10 is as follows:

[0090] The system determines whether it receives a signal from the main plate cylinder retraction detection sensor 63. If so, it controls the robot arm 2 to move to the installation position of the tooling for the next inspection. It also determines whether it receives a signal from the auxiliary plate positioning detection sensor 61. If so, it controls the cylinder 92 on the quick-change main plate 9 to extend, causing the locking steel ball 94 to move into the second slot of the quick-change auxiliary plate 10 on the tooling. Finally, it determines whether it receives a signal from the main plate cylinder extension positioning detection sensor 62. If so, it determines that the connection between the quick-change main plate 9 and the quick-change auxiliary plate 10 is complete.

[0091] The specific steps are as follows: The system issues a command, and at the same time, the auxiliary plate position detection sensor on the quick-change main plate does not register a response, indicating that no fixture is in place on the robotic arm. Then, the robotic arm moves to above the stylus fixture, the quick-change main plate solenoid valve activates, the quick-change main plate cylinder retracts, and the locking steel ball retracts. The robotic arm continues to move to above the quick-change auxiliary plate of the touchpad fixture. The robotic arm slows down and approaches slowly until the auxiliary plate position sensor on the quick-change main plate activates, indicating that the quick-change main and auxiliary plates have been engaged. Then, the quick-change main plate solenoid valve resets, the quick-change main plate cylinder rises forward, and the locking steel ball extends, locking the quick-change main and auxiliary plates securely.

[0092] The method for separating the quick-swap main plate 9 and the quick-swap secondary plate 10 is as follows:

[0093] Determine if the tooling to be disconnected is aligned with the installation position. If so, the solenoid valve of the quick-change main plate is activated, controlling the cylinder on the quick-change main plate to retract. Determine if a signal is received from the main plate cylinder retraction detection sensor 63. If so, control the robot arm to drive the quick-change main plate 9 to reset and move away from the quick-change auxiliary plate 10.

[0094] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A patrol robot for beam yard rebound detection, characterized in that: The robot body (1) is provided with a manipulator (2), a rebound instrument test area seal stamp tool (3) and a rebound instrument tool (4) above it. 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 disc (9); the rebound instrument test area seal stamp tool (3) and the rebound instrument tool (4) are detachably connected with the robot body (1), and a quick-change secondary disc (10) is arranged on each of the tools, the quick-change secondary disc (10) is used for cooperating with the quick-change main disc (9) to fixedly connect the corresponding tool with the free end of the manipulator (2); the manipulator (2) is used for controlling the rebound instrument test area seal stamp tool (3) to cover a test area pattern on a target position of a beam structure concrete surface, and controlling the rebound instrument tool (4) to perform a concrete rebound test at each position of the covered test area pattern; The rebound instrument tool (4) comprises a fixed seat (41), a movable seat (42), a rebound instrument (43), a damping spring (44), a rebound instrument distance sensor (45) and a monitoring camera (46); the movable seat (42) is movably connected with the fixed seat (41) through the damping spring (44) and a guide column (426), the rebound instrument (43), the rebound instrument distance sensor (45) and the monitoring camera (46) are arranged on the movable seat (42), the rebound instrument distance sensor (45) is arranged parallel to the rebound instrument (43) and the detection end thereof is located at one end close to the detection head of the rebound instrument (43), the monitoring camera (46) is connected with the movable seat (42) through a camera support (47) and located above the key panel of the rebound instrument (43), the rebound instrument distance sensor (45) and the monitoring camera (46) are connected with the control module of the manipulator (2), the bottom end of the fixed seat (41) is provided with a rebound instrument quick-change mounting rack (48) movably connected with the robot body, and the rear end of the fixed seat (41) is provided with a quick-change secondary disc (10) matched with the quick-change main disc on the manipulator (2) of the robot body. The point touch pen tool (5) comprises a pen rack mounting plate (51), a buffer pen rack fixing base (52), a point touch pen (53), a point touch pen guide rod (54), a buffer pen rack slider (55), a point touch pen buffer spring (56) and a pen rack positioning plate (57). The buffer pen rack fixing base (52) is arranged at one end surface of the pen rack mounting plate (51), and is provided with a guide groove and a sliding groove. The point touch pen guide rod (54) is arranged in the guide groove, the buffer pen rack slider (55) is slidingly arranged in the sliding groove and is slidingly connected with the point touch pen guide rod (54), the point touch pen buffer spring (56) is sleeved on the point touch pen guide rod (54) between the end of the buffer pen rack slider (55) and the buffer pen rack fixing base (52), and the point touch pen (53) is fixed on the buffer pen rack slider (55) and is arranged in parallel with the point touch pen guide rod (54). The pen rack positioning plate (57) is arranged at the other end surface of the pen rack mounting plate (51) and extends outwardly with a side wing plate, and the side wing plate is provided with a socket matched with a point touch pen tool plug-in column on the robot body (1). The quick-change sub-disc (10) on the point touch pen tool (5) is arranged on the end surface of the pen rack positioning plate (57) away from the pen rack mounting plate (51). The mechanical hand (2) is further used for controlling the point touch pen tool (5) to perform key operation on the rebound instrument in the rebound instrument tool (4). The point touch pen (53) on the buffer pen rack fixing base (52) and the guide and sliding structure thereof are two groups, the point touch heads of the two groups of point touch pens (53) are arranged in opposite directions, and the point touch pens (53) are arranged in parallel to the plate surface of the pen rack positioning plate (57).

2. The inspection robot for girder yard rebound detection of claim 1, wherein: The rebound instrument measuring area seal tool (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), the seal mounting plate (32) extends outwardly along the plate surface with a horizontal wing plate as the seal positioning plate (36), the end of the seal positioning plate (36) is provided with a socket matched with a seal tool plug-in column on the robot body (1), the seal connecting plate (33) is arranged at the upper end of the seal mounting plate (32), and the seal connecting plate (33) extends outwardly along the plate surface with a bent wing plate for mounting the seal distance measuring sensor (35). The quick-change sub-disc (10) on the rebound instrument measuring area seal tool (3) is arranged at the upper end of the seal connecting plate (33).

3. The inspection robot for girder yard rebound detection of claim 2, wherein: The seal distance measuring sensor (35) is arranged perpendicularly to the measuring area seal (31), the detection end of the seal distance measuring sensor (35) is located at one end thereof close to the measuring area seal (31), and the seal distance measuring sensor (35) is connected with the control module of the mechanical hand (2). The seal buffer mechanism (34) is arranged between the seal connecting plate (33) and the seal mounting plate (32).

4. The inspection robot for girder yard rebound detection of claim 3, wherein: The fixed seat (41) comprises guiding sleeve front mounting plate (411), guiding sleeve rear mounting plate (412) and quick change secondary disc mounting plate (413) arranged in sequence, guiding sleeve front mounting plate (411) and guiding sleeve rear mounting plate (412) are inlaid with guiding sleeves, guiding sleeve front mounting plate (411), guiding sleeve rear mounting plate (412) and quick change secondary disc mounting plate (413) are connected into a whole through bottom plate (414); The movable seat (42) comprises front guiding column fixing plate (421), middle guiding column fixing plate (422) and rear guiding column fixing plate (423) arranged in sequence and two guiding columns (426) fixedly connected with the three plates, the front end of guiding column (426) is fixed with damping front sleeve (424) and damping rear sleeve (425) respectively, damping spring (44) is arranged between damping front sleeve (424) and guiding sleeve front mounting plate (411) and between middle guiding column fixing plate (422) and guiding sleeve rear mounting plate (412), middle guiding column fixing plate (422) and damping rear sleeve (425) are located between guiding sleeve front mounting plate (411) and guiding sleeve rear mounting plate (412); The lower end of the rebound instrument quick change mounting frame (48) extends to both sides to form a lower wing plate connected with the robot body, and the lower wing plate is provided with a jack hole matched with the rebound instrument tool plug-in column on the robot body.

5. The inspection robot for girder yard rebound detection of claim 1, wherein: The quick change main disc (9) comprises a main connecting disc (91) and an electromagnetic valve, the main connecting disc (91) is provided with a cylinder (92) therein, the connecting end of the main connecting disc (91) is provided with a locking head (93), the locking head (93) is provided with a plurality of locking steel balls (94) thereon, the push rod of the cylinder (92) can extend into the locking head (93) and push the locking steel balls (94) in the locking head (93) out; the main connecting disc (91) is provided with a secondary disc in-place detection sensor (61), a main disc cylinder extension in-place detection sensor (62) and a main disc cylinder retraction in-place detection sensor (63); The signal output ends of the secondary disc in-place detection sensor (61), the main disc cylinder extension in-place detection sensor (62) and the main disc cylinder retraction in-place detection sensor (63) are connected with the control module of the mechanical hand (2), the electromagnetic valve is located on the gas circuit where the cylinder is located and is electrically connected with the secondary disc in-place detection sensor (61), the secondary disc in-place detection sensor (61) is used for detecting whether the quick change secondary disc and the quick change main disc have been aligned, and the main disc cylinder extension in-place detection sensor (62) and the main disc cylinder retraction in-place detection sensor (63) are respectively used for detecting whether the cylinder (92) in the quick change main disc (9) is extended and retracted in place; The quick change secondary disc (10) comprises a secondary connecting disc, the center of the secondary connecting disc is provided with a first clamping groove for accommodating the locking head (93), and the surface of the first clamping groove is provided with a second clamping groove for accommodating the locking steel balls (94); The locking head (93) can be clamped in the first clamping groove of the quick change secondary disc (10), and the locking steel balls are used for being pushed out of the locking head (93) under the pushing of the cylinder (92) and clamped in the second clamping groove of the quick change secondary disc (10).

6. The inspection robot for girder yard rebound detection of claim 1, wherein: The upper end center of the robot body (1) is provided with a lifting platform (7) for placing a mechanical hand (2), and the outer periphery of the lifting platform (7) is provided with a supporting platform (8) for placing a rebound instrument measuring area seal tool (3) and a rebound instrument tool (4); a distance measuring sensor is arranged on the lifting platform (7) for measuring the distance between the lifting platform (7) and the supporting platform (8), and then correcting the coordinates of the free end of the mechanical hand (2).

7. A detection method for girder yard rebound detection, based on the inspection robot for girder yard rebound detection according to any one of claims 1-6, characterized in that, The method comprises the following steps: S11: The mechanical hand (2) moves to the placing position of the rebound instrument measuring area seal tool (3), and controls the quick-change main disc (9) to be connected with the quick-change secondary disc (10) of the rebound instrument measuring area seal tool (3); S12: The mechanical hand (2) controls the rebound instrument measuring area seal tool (3) to move to the concrete rebound measurement area, and covers the target position with a measuring area pattern; S13: After the measuring area pattern is covered, the mechanical hand (2) moves to the placing position of the rebound instrument measuring area seal tool (3), and disconnects the quick-change main disc (9) and the quick-change secondary disc (10), so that the rebound instrument measuring area seal tool (3) is returned to the original position; S14: The mechanical hand (2) moves to the placing position of the rebound instrument tool (4), and controls the quick-change main disc (9) to be connected with the rebound instrument tool (4); S15: The mechanical hand (2) controls the rebound instrument tool (4) to move to the concrete rebound measurement area where the measuring area pattern is covered, and sequentially measures the rebound of the concrete in each grid in the above area; S16: After the rebound measurement of the above area is completed, the mechanical hand (2) moves to the placing position of the rebound instrument tool (4), and returns the rebound instrument tool (4) to the original position; the steps S11-S16 are repeated subsequently, and the covering of the measuring area pattern and the rebound measurement are repeatedly performed.

8. The method of claim 7, wherein: The connection method of the quick-change main disc (9) and the quick-change secondary disc (10) is as follows: It is judged whether the signal of the main disc cylinder retracted to the position detection sensor (63) is received, if yes, the mechanical hand (2) is controlled to move to the installation position of the tool for next detection; It is judged whether the signal of the secondary disc to the position detection sensor (61) is received, if yes, the cylinder (92) on the quick-change main disc (9) is controlled to extend, so that the locking steel ball (94) moves to the second clamping groove of the quick-change secondary disc (10) of the tool; It is judged whether the signal of the main disc cylinder extended to the position detection sensor (62) is received, if yes, it is determined that the connection of the quick-change main disc (9) and the quick-change secondary disc (10) is completed.

9. The method of claim 7, wherein: The separation method of the quick-change main disc (9) and the quick-change secondary disc (10) is as follows: It is judged whether the tool to be disconnected is aligned with the installation position, if yes, the cylinder on the quick-change main disc is controlled to retract; It is judged whether the signal of the main disc cylinder retracted to the position detection sensor (63) is received, if yes, the mechanical hand drives the quick-change main disc (9) to reset and move away from the quick-change secondary disc (10).

10. The method of claim 7, wherein: The method further comprises the following steps: The mechanical hand (2) moves to the placing position of the point touch pen tool (5), and controls the quick-change main disc (9) to be connected with the quick-change secondary disc (10) of the point touch pen tool (5), so that the two are connected; The mechanical arm (2) controls the point touch pen (53) to move above the key panel of the rebound instrument tooling (4), and based on the cooperation of the built-in movement path in the mechanical arm (2) and the monitoring camera (46), the start-up and setting of the rebound instrument (43) are realized. The mechanical arm (2) moves to the point touch pen tooling (5) placement position, and controls the quick-change main disc (9) to disconnect the quick-change sub-disc (10), so as to return the point touch pen tooling (5) to the original position.

11. The method of claim 7, wherein: Step S12 further includes the following steps: the mechanical arm (2) controls the test area seal (31) to dip in the ink pad box.

12. The method of claim 7, wherein: Before the tooling connected to the quick-change main disc (9) at the mechanical arm (2) is changed, the following steps need to be performed: the sub-disc in-place detection sensor (61) at the quick-change main disc detects whether there is a quick-change sub-disc (10) that has been grabbed on the current mechanical arm (2); if there is a quick-change sub-disc (10) that has been grabbed, the mechanical arm (2) controls the tooling corresponding to the quick-change sub-disc (10) to return to the original position, and separates the quick-change sub-disc (10) from the quick-change main disc (9).

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