Infrared detection device and method for compactness of concrete filled in steel pipe

Abstract

The invention belongs to the technical field of building material detection, and particularly discloses an infrared detection device and method for compactness of concrete filled in a steel pipe, and the device comprises an infrared detection robot capable of longitudinally moving along a preformed hole of the concrete filled in the steel pipe and a heating structure for heating the concrete filled in the steel pipe, the infrared detection robot and the heating structure can receive control signals of the upper computer to achieve operation. The method comprises the following steps: firstly, heating a steel pipe by using a heating structure, then putting an infrared detection robot into a preformed hole in concrete, then acquiring an infrared image of the side wall of the preformed hole, and then judging whether the compactness of the concrete meets the requirement or not according to the acquired infrared image; the technical scheme provided by the invention has the advantages of simple structure, high adaptability and high practicability.

Description

Technical Field

[0001] The invention belongs to the technical field of building material detection, and particularly relates to an infrared detection device and method for the density of concrete filled in a steel pipe. Background Art

[0002] Steel tube concrete is a new type of building structure that has gradually developed in recent years. It is formed by pouring the mixed concrete into the empty steel tube and then curing it. As the main vertical load-bearing system of the building structure, it has many advantages such as high strength, good seismic performance, convenient construction, and large plastic deformation. In addition, the fire resistance limit of this new type of building structure is also longer than that of ordinary steel. Therefore, for the structure of steel tube concrete, it is an ideal system that can be promoted. At present, this structure is mostly used in super high-rise building structures, single-story industrial plants, arch bridges and other buildings. Because steel tube concrete is composed of two completely different materials, steel and concrete, combined with each other. On the one hand, due to the different properties of the two materials, their affinity is limited; on the other hand, its construction process is to pour concrete into the steel tube and then cure it during the actual construction process, which cannot ensure that the interior of the steel tube is completely uniform and full without the corresponding hollows, cavities and other density defects.

[0003] In order to detect whether there is a density defect in the concrete inside the steel tube, the prior art "Research on Density Defect Detection of Steel Tube Concrete Based on Infrared Thermal Imaging Technology (Hu Shuang, Chongqing University)" discloses that the steel tube is heated, and then an infrared camera is used to capture an infrared image of the outside of the steel tube, and then whether there is a void defect between the steel tube and the concrete; for example, a Chinese invention patent with application publication number CN111077184A discloses a method for identifying void defects in steel tube concrete components based on infrared thermal imaging, which also heats the steel tube, then captures an image of the outside of the steel tube, and then determines whether there is a void defect between the steel tube and the concrete.

[0004] However, since the concrete filled in the steel pipe has a certain thickness, the infrared image of the heated steel pipe collected by the aforementioned existing technology can only determine the image information between the concrete and the steel pipe, but cannot obtain the image information of the internal concrete, and cannot determine the density of the concrete near the center of the steel pipe. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides an infrared detection device and method for the density of concrete filled in a steel pipe, aiming to solve the problems raised in the above-mentioned background technology.

[0006] The present invention is achieved in that:

[0007] The technical solution of an infrared detection device for density of concrete filled in a steel pipe provided by the present invention is as follows:

[0008] An infrared detection device for the density of concrete filled in a steel pipe comprises an infrared detection robot capable of moving longitudinally along a reserved hole of concrete filled in the steel pipe and a heating structure for heating the concrete filled in the steel pipe, wherein both the infrared detection robot and the heating structure can receive control signals from a host computer to realize operation, and the infrared detection robot comprises a telescopic cross, wherein the four ends of the telescopic cross are provided with walking wheels with hub motors installed inside, an infrared camera capable of rotating 360° is provided at the lower end at the center of the telescopic cross, and a driving device capable of driving the infrared camera to rotate and / or extending the telescopic cross is also provided at the center of the telescopic cross.

[0009] Furthermore, the telescopic cross includes a central tube and four telescopic components arranged in a cross shape on the outer wall of the central tube. A traveling wheel with a hub motor installed inside is provided at one end of the telescopic component away from the central tube, and the infrared camera is rotatably installed at the lower end of the central tube via a rotating shaft.

[0010] Furthermore, the telescopic assembly includes a fixed cylinder fixed on the outer wall of the central cylinder and a movable rod with one end slidably inserted in the fixed cylinder, a spring is provided between one end of the movable rod located in the fixed cylinder and the inner wall of the fixed cylinder, and the walking wheel is installed on one end of the movable rod extending outside the fixed cylinder.

[0011] Furthermore, the driving device includes a driving motor installed in the central tube and a main shaft fixed on the output end of the driving motor.

[0012] Furthermore, a sleeve is sleeved on the main shaft, a pull rope is fixed to one end of the movable rod located in the fixed sleeve, and the other end of the pull rope is fixed to the sleeve.

[0013] Furthermore, the rotating shaft switches between a transmission connection state and a non-transmission connection state with the main shaft through a first switching component, and the sleeve switches between a transmission connection state and a non-transmission connection state with the main shaft through a second switching component.

[0014] Furthermore, the first switching assembly has the same structure as the second switching assembly, both comprising an electromagnetic push-pull rod fixed inside the center tube, a connecting rod fixed at the end of the electromagnetic push-pull rod, and a bearing whose outer ring is fixedly connected to the connecting rod, and the inner ring of the bearing is fixed with a key.

[0015] Furthermore, the inner ring of the bearing is in smooth contact with the main shaft, and a slide groove matching the key is provided on the side wall of the main shaft, and a clamping groove is provided on the upper end of the rotating shaft and the lower end of the sleeve.

[0016] Furthermore, the heating structure is an annular electric heating plate.

[0017] The infrared detection device for density of concrete filled in a steel pipe provided by the present invention has the following beneficial effects compared with the prior art:

[0018] 1) The present invention heats the concrete filled in the steel pipe by a heating structure, and uses an infrared camera on an infrared detection robot to collect images of the interior of the concrete, and judges whether the density of the concrete filled in the steel pipe meets the requirements according to the characteristics of displaying images of different colors at different densities, thereby being able to detect the density from the inside of the concrete, avoiding errors caused by only detecting from the outside;

[0019] 2) The infrared detection robot provided by the present invention adopts a telescopic cross structure. On the one hand, the setting of the cross structure can keep the infrared detection robot stably supported in the reserved hole, and on the other hand, it can adapt to the reserved holes of different apertures, thereby ensuring that the infrared detection robot has better adaptability;

[0020] 3) The telescopic cross structure and the infrared camera in the infrared detection robot provided by the present invention are driven by the same driving device to achieve corresponding telescopic or 360° rotation, thereby effectively simplifying the structure of the infrared detection robot;

[0021] In summary, the infrared detection device for the density of concrete filled in a steel pipe provided by the present invention has the advantages of simple structure, strong adaptability and high practicality.

[0022] The technical solution of an infrared detection method for density of concrete filled in a steel pipe provided by the present invention is as follows:

[0023] An infrared detection method for the density of concrete filled in a steel pipe, using the aforementioned detection device to detect the density of concrete filled in the steel pipe, adopts the following method:

[0024] Step S1, heating the steel pipe filled with concrete using a heating structure;

[0025] Step S2, placing the infrared detection robot into a reserved hole reserved in the concrete, and controlling the infrared detection robot to move longitudinally along the reserved hole, while controlling the infrared camera in the infrared detection robot to reciprocate 360° to collect an infrared image of the side wall of the reserved hole;

[0026] Step S3, judging whether the density of the concrete being tested meets the requirements based on the infrared image obtained in step S2.

[0027] Compared with the prior art, the infrared detection method for density of concrete filled in a steel pipe provided by the present invention has the following beneficial effects:

[0028] The infrared detection method for the density of concrete filled in a steel pipe provided by the present invention heats the steel pipe filled with concrete, and while an infrared detection robot moves longitudinally along a reserved hole in the concrete, an infrared camera performs 360° reciprocating rotation to collect infrared images of the side walls of the reserved hole, thereby effectively collecting infrared images of the interior of the concrete, and then the density of the interior of the concrete can be obtained. Compared with the method of obtaining infrared images from the outside of the steel pipe, the method provided by the present invention can better obtain the density of the interior of the concrete, making the detection more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required to be used in some embodiments of the present invention. Obviously, the drawings described below are only drawings of some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings. In addition, the drawings described below can be regarded as schematic diagrams, and are not intended to limit the actual size of the product involved in the embodiments of the present invention, the actual process of the method, the actual timing of the signal, etc.

[0030] Figure 1 It is a schematic diagram of the use state of the infrared detection device for density of concrete filled in a steel pipe of the present invention;

[0031] Figure 2 Bit Figure 1 A partial enlarged schematic diagram in the middle;

[0032] Figure 3 for Figure 2 A top view of

[0033] Figure 4 It is a cross-sectional schematic diagram of the infrared detection robot;

[0034] Figure 5 for Figure 4 A partial enlarged schematic diagram of point B in the middle.

[0035] In the figure: 1, retractable cross, 101, walking wheel, 102, infrared camera, 103, center tube, 1031, first horizontal plate, 1032, second horizontal plate, 1033, third horizontal plate, 1034, first guide rope wheel, 1035, second guide rope wheel, 104, telescopic assembly, 1041, fixed tube, 1042, movable rod, 1043, spring, 105, rotating shaft, 106, main shaft, 107, sleeve, 1071, partition plate, 108, pull rope, 109, slide groove, 1001, drive motor, 201, electromagnetic push-pull rod, 202, connecting rod, 203, bearing, 204, key, 205, slot, 3, heating structure, 4, mounting shell. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] Example 1

[0038] like Figure 1-5 As shown, this embodiment provides an infrared detection device for the density of concrete filled in a steel pipe, including an infrared detection robot capable of moving longitudinally along a reserved hole of concrete filled in the steel pipe and a heating structure 3 for heating the concrete filled in the steel pipe, the infrared detection robot and the heating structure 3 can both receive control signals from a host computer to realize operation, the infrared detection robot includes a telescopic cross 1, the four ends of the telescopic cross 1 are provided with walking wheels 101 with hub motors installed inside, the lower end at the center of the telescopic cross 1 is provided with an infrared camera 102 capable of rotating 360°, and the center of the telescopic cross 1 is also provided with a driving device capable of driving the infrared camera 102 to rotate and / or making the telescopic cross 1 telescopic.

[0039] The reserved holes are reserved when filling concrete into the steel pipe. If the steel pipe is a circular pipe, the reserved holes are reserved in a circular matrix. If the steel pipe is a rectangular pipe, the reserved holes are reserved in a rectangular matrix. The apertures between adjacent reserved holes can be set according to the situation. After the test is completed or the test results meet the requirements, concrete mortar can be used for filling.

[0040] Among them, the driving device can drive the infrared camera 102 to rotate and the telescopic cross 1 to extend and retract at the same time as needed, or can drive the infrared camera 102 to rotate and the telescopic cross 1 to extend and retract separately as needed (in this case, the driving device can only drive one of the infrared camera 102 and the telescopic cross 1).

[0041] like Figure 2 and Figure 3 As shown, the telescopic cross 1 includes a central tube 103 and four telescopic components 104 arranged in a cross shape on the outer wall of the central tube 103. The end of the telescopic component 104 away from the central tube 103 is provided with a walking wheel 101 with a hub motor installed inside. The infrared camera 102 is rotatably installed at the lower end of the central tube 103 through a rotating shaft 105.

[0042] Among them, hub motors are provided in the four walking wheels 101, and there is no need to set an additional motor on the telescopic component 104. The walking wheel 101 can be driven to operate by the built-in hub motor, thereby effectively driving the infrared detection robot to move longitudinally along the side wall of the reserved hole; and the setting of the rotating shaft 105 can provide support for the infrared camera 102 to realize rotation connection with the central tube 103.

[0043] like Figure 3 As shown, the telescopic assembly 104 includes a fixed cylinder 1041 fixed on the outer wall of the central cylinder 103 and a movable rod 1042 with one end slidably inserted in the fixed cylinder 1041, a spring 1043 is arranged between one end of the movable rod 1042 located in the fixed cylinder 1041 and the inner wall of the fixed cylinder 1041, and the walking wheel 101 is installed on one end of the movable rod 1042 extending outside the fixed cylinder 1041;

[0044] Specifically, the four fixed cylinders 1041 are evenly fixed on the outer wall of the central cylinder 103, and the four fixed cylinders 1041 are located at the same horizontal position on the central cylinder 103, and the connecting line between two opposite fixed cylinders 1041 is a cross, and the fixed cylinder 1041 is fixed to the outer wall of the central cylinder 103 by welding or screws, and one end of the spring 1043 abuts against the bottom wall of the fixed cylinder 1041 close to one end of the central cylinder 103, and the other end of the spring 1043 abuts against the side surface of the movable rod 1042 located inside the fixed cylinder 1041. When the end of the movable rod 1042 is located at the end of the fixed cylinder 1041 away from the central cylinder 103, the spring 1043 is in a compressed state. In order to avoid the spring 1043 Under the action of the elastic force, the movable rod 1042 separates from the fixed cylinder 1041. The diameter of the movable rod 1042 is smaller than the inner diameter of the fixed cylinder 1041. A large through hole with the same diameter as the movable rod 1042 is opened at the end of the fixed cylinder 1041 away from the center cylinder 103. The movable rod 1042 passes through the fixed cylinder 1041 from the large through hole. The end of the movable rod 1042 located in the fixed cylinder 1041 is provided with an annular plate integrally formed on the movable rod 1042. The diameter of the annular plate is consistent with the inner diameter of the fixed cylinder 1041. Therefore, when the end of the movable rod 1042 located in the fixed cylinder 1041 is located at the end of the fixed cylinder 1041, the annular plate and the bottom wall of the fixed cylinder 1041 form a barrier to prevent the movable rod 1042 from separating from the fixed cylinder 1041.

[0045] like Figure 3As shown, the driving device includes a driving motor 1001 installed in a central tube 103 and a main shaft 106 fixed on the output end of the driving motor 1001; the inner wall of the central tube 103 is fixed with a first transverse plate 1031, a second transverse plate 1032 and a third transverse plate 1033 by screws from top to bottom, the driving motor 1001 is installed on the upper side of the first transverse plate 1031 by screws, and the main shaft 106 passes through the second transverse plate 1032 and the third transverse plate 1033 in turn and extends to between the third transverse plate 1033 and the lower side wall of the central tube 103.

[0046] like Figure 3 and Figure 4 As shown, the main shaft 106 is sleeved with a sleeve 107, one end of the movable rod 1042 located in the fixed cylinder 1041 is fixed with a pull rope 108, and the other end of the pull rope 108 is fixed on the sleeve 107; the main shaft 106 and the sleeve 107 are in smooth contact, the sleeve 107 is rotatably connected to the second horizontal plate 1032 through a bearing, and the lower end of the main shaft 106 is connected to the rotating shaft;

[0047] The sleeve 107 is fixed with a partition plate 1701, and the number of the partition plates 1701 is 5. The 5 partition plates 1701 are fixed on the outer surface of the sleeve 107 at equal intervals, thereby separating four winding areas for winding the pull rope 108. The pull ropes 108 in the four telescopic components 104 are respectively wound in the corresponding winding areas;

[0048] Specifically, in order to ensure that the pull rope 108 can smoothly pass through the central tube 103 and the fixed tube 1041, threading holes are correspondingly opened on the bottom walls of the central tube 103 and the fixed tube 1041, and the pull rope 108 passes through the central tube 103 and the fixed tube 1041 through the threading holes. In order to ensure that the pull rope 108 is smoothly wound into the corresponding winding area, a guide rope assembly is provided at the corresponding threading hole on the central tube 103, and the guide rope assembly includes a first guide rope wheel 1034 and a second guide rope wheel 1035. The first guide rope wheel 1034 is installed on the inner side wall of the threading hole on the central tube 103, and the second guide rope wheel 1035 at the threading hole corresponding to each fixed tube 1041 is reasonably arranged according to needs. For example, the second guide rope wheel 1035 can ensure that the corresponding pull rope 108 is wound into the corresponding winding area; for example, Figure 5As shown, the second guide rope wheel 1035 in the guide rope assembly corresponding to the fixed cylinder 1041 on the left side is located on the upper side of the threading hole and corresponds to the uppermost winding area; the second guide rope wheel 1035 in the guide rope assembly corresponding to the fixed cylinder 1041 on the right side is located on the lower side of the threading hole and corresponds to the lowermost winding area; the second guide rope wheel 1035 in the guide rope assembly corresponding to the fixed cylinder 1041 on the front side is located on the upper side of the threading hole and corresponds to the second winding area from the top to the bottom; the second guide rope wheel 1035 in the guide rope assembly corresponding to the fixed cylinder 1041 on the rear side is located on the lower side of the threading hole and corresponds to the third winding area from the top to the bottom; thus, by arranging the guide rope assembly at the threading hole corresponding to each fixed cylinder 1041 on the central cylinder 103, it is ensured that the pull rope 108 in each fixed cylinder 1041 can be wound around the corresponding winding area, and when the sleeve 107 rotates in the opposite direction, the pull rope 108 can be released in an orderly manner to avoid the situation where multiple pull ropes 108 are entangled.

[0049] like Figure 4 As shown, the rotating shaft 105 realizes the switching between the transmission connection state and the non-transmission connection state with the main shaft 106 through the first switching component, and the sleeve 107 realizes the switching between the transmission connection state and the non-transmission connection state with the main shaft 106 through the second switching component;

[0050] The first switching assembly has the same structure as the second switching assembly, and both include an electromagnetic push-pull rod 201 fixed inside the center tube 103, a connecting rod 202 fixed at the end of the electromagnetic push-pull rod 201, and a bearing 203 whose outer ring is fixedly connected to the connecting rod 202, and a key 204 is fixed to the inner ring of the bearing 203; the inner ring of the bearing 203 is in smooth contact with the main shaft 106, and a slide groove 109 matching the key 204 is provided on the side wall of the main shaft 106, and a clamping groove 205 is provided on the upper end of the rotating shaft 105 and the lower end of the sleeve 107; since the inner ring and the outer ring of the bearing 203 can rotate with each other, the key 204 is fixed on the inner ring of the bearing 203, and the connecting rod 202 is fixed on the outer ring of the bearing 203, so that the electromagnetic push-pull rod 201 can be fixed inside the center tube 103 without affecting the key 204 rotating with the main shaft 106;

[0051] Specifically, the upper and lower sides of the third transverse plate 1033 are fixed with mounting shells 4 by bolts, and the first switching assembly and the second switching assembly are respectively installed in the corresponding mounting shells 4;

[0052] Among them, for the first switching component, the electromagnetic push-pull rod 201 of the first switching component is fixed on the inner wall of the mounting shell 4 on the lower side of the third cross plate 1033, and the output end of the electromagnetic push-pull rod 201 is set downward, and the corresponding connecting rod 202 is fixed on the output end of the electromagnetic push-pull rod 201. The key 204 of the first switching component is a long strip key structure fixed on the inner wall of the inner ring of the corresponding bearing 203. The lower end of the main shaft 106 is provided with a slide groove 109 connected to the end, and the corresponding key 204 is slidably connected in the slide groove 109. When the electromagnetic push-pull rod 201 is energized, the electromagnetic push-pull rod 201 is in a retracted state. At this time, the key 204 is completely embedded in the slide groove 109 (that is, the key 204 does not protrude from the lower end of the main shaft 106). After the push-pull rod 201 loses power, under the elastic force of the elastic spring on the electromagnetic push-pull rod 201, the connecting rod 202 drives the bearing 203 to move downward, and the bearing 203 drives the key 204 to slide downward, and finally the key 204 is engaged in the slot 205 on the rotating shaft 105. If the electromagnetic push-pull rod 201 loses power when the main shaft 106 is rotating, then when the key 204 moves downward, it may not be directly engaged in the slot 205 on the rotating shaft 105, but will contact the upper side of the rotating shaft 105. However, as the main shaft 106 rotates, when the key reaches the position of the slot 205, under the elastic force of the elastic spring on the electromagnetic push-pull rod 201, the key 204 will be engaged in the slot 205, thereby making the main shaft 106 and the rotating shaft 105 transmission connected;

[0053] Among them, for the second switching component, the electromagnetic push-pull rod 201 of the second switching component is fixed on the inner wall of the mounting shell 4 on the upper side of the third cross plate 1033, and the output end of the electromagnetic push-pull rod 201 is set upward, and the corresponding connecting rod 202 is fixed on the output end of the electromagnetic push-pull rod 201. The key 204 of the second switching component is a rectangular structure fixed on the upper side of the inner ring of the corresponding bearing 203. The upper part of the main shaft 106 is provided with a slide groove 109, and the corresponding key 204 is slidably connected in the slide groove 109. When the electromagnetic push-pull rod 201 is energized, the electromagnetic push-pull rod 201 is in a retracted state. At this time, the key 204 is located at the lower part of the slide groove 109. When the electromagnetic push-pull rod 201 of the second switching component loses power, the electromagnetic push-pull rod 201 is in a retracted state. Under the elastic force of the elastic spring on the rod 201, the connecting rod 202 drives the bearing 203 to move upward, and the bearing 203 drives the key 204 to slide upward, and finally the key 204 is engaged in the slot 205 at the lower end of the sleeve 107. If the electromagnetic push-pull rod 201 loses power when the main shaft 106 is rotating, then when the key 204 moves upward, it may not be directly engaged in the slot 205 at the lower end of the sleeve 107, but will be in contact with the lower end of the sleeve 107. However, as the main shaft 106 rotates, when the key reaches the position of the slot 205, under the elastic force of the elastic spring on the electromagnetic push-pull rod 201, the key 204 will be engaged in the slot 205, thereby enabling a transmission connection between the main shaft 106 and the sleeve 107.

[0054] In this embodiment, the heating structure 3 is an annular electric heating plate, which can be designed as a circular ring or a rectangular ring according to the shape of the steel pipe. When in use, the heating structure 3 can be used to heat the steel pipe, and the steel pipe will transfer the heat to the concrete inside it through heat conduction. Moreover, the heating structure 3 can be used to heat the steel pipe from top to bottom in sequence.

[0055] Of course, in other embodiments, the concrete in the steel pipe can be heated by blowing hot air into the reserved holes; any method that can improve the heating efficiency of the concrete in the steel pipe can be used to heat the concrete in the steel pipe.

[0056] In the specific implementation of this embodiment, the wheel hub motor and the drive motor 1001 are both connected to the host computer for communication, and the host computer controls the wheel hub motor and the drive motor 1001 to rotate forward and reverse.

[0057] The use process of the infrared detection device for density of concrete filled in a steel pipe provided in this embodiment is as follows:

[0058] The heating structure 3 is put on the outer surface of the steel pipe, and then the heating structure 3 is started to heat the steel pipe, and the edge of the steel pipe will transfer heat to the inside of the concrete;

[0059] When the temperature of the concrete rises significantly relative to the external atmospheric space, the infrared detection robot is placed in the reserved holes. One infrared detection robot can be placed in each of the reserved holes at the same time, or the reserved holes can be grouped and placed according to the number of infrared detection robots.

[0060] Since in the initial state, the movable rod 1042 is located at the end of the fixed cylinder 1041 away from the central cylinder 103, it is necessary to determine the aperture of the reserved hole before placing the infrared detection robot. Then, according to the aperture of the reserved hole, the upper computer controls the drive motor 1001 to run and keeps the electromagnetic push-pull rod 201 of the first switching component energized to keep the key 204 of the first switching component completely embedded in the slide groove 109 at the lower end of the main shaft 106, and the electromagnetic push-pull rod 201 of the second switching component is in a power-off state. At this time, the electromagnetic push-pull rod 201 of the second switching component is in a power-off state. The key 204 of the push-pull rod 201 is inserted into the slot 205 at the lower end of the sleeve 107, and the drive motor 1001 is operated to wind the pull rope 108 to pull the movable rod 1042 toward the central tube 103. When the diameter of the circular contour of the outer edges of the four walking wheels 101 with the center of the central tube 103 as the center matches the aperture of the reserved hole, the drive motor 1001 stops running, and the electromagnetic push-pull rod 201 of the second switching component is energized, so that the key 204 of the second switching component is disengaged from the slot 205 at the lower end of the sleeve 107;

[0061] After the infrared detection robot is placed in the reserved hole, the host computer controls the hub motor to drive the walking wheel 101 to roll along the inner wall of the reserved hole, so that the infrared detection robot moves along the reserved hole, and the host computer controls the electromagnetic push-pull rod 201 of the first switching component to be powered off, so that the key 204 of the first switching component is inserted into the slot 205 at the upper end of the rotating shaft 105; the host computer controls the driving motor 1001 to repeatedly rotate forward and reverse, so as to drive the infrared camera 102 to reciprocate 306° forward and reverse, so as to obtain an infrared image inside the reserved hole;

[0062] When the infrared detection robot walks to the lower end of the reserved hole, the infrared image head at the lower end of the reserved hole is collected, and the upper computer controls the drive motor 1001 to stop running, and controls the hub motor to rotate in the opposite direction to drive the infrared detection robot to move upward along the reserved hole. Finally, after the infrared detection robot moves to the upper end of the reserved hole, the infrared detection robot is taken out, and then the electromagnetic push-pull rod 201 of the first switching component is controlled by the upper computer to be energized, and the electromagnetic push-pull rod 201 of the second switching component is kept de-energized, and then the drive motor 1001 is started to release the entangled pull rope 108. In the process of the pull rope 108 being released, under the elastic force of the spring 1043, the movable rod 1042 moves outward. Finally, when the movable rod 1042 reaches the end of the fixed cylinder 1041, the drive motor 1001 is stopped and the electromagnetic push-pull rod 201 of the first switching component is de-energized.

[0063] Example 2

[0064] This embodiment discloses an infrared detection method for the density of concrete filled in a steel pipe. The detection device in Embodiment 1 is used to detect the density of concrete filled in a steel pipe. The following method is used:

[0065] Step S1, heating the steel pipe filled with concrete using the heating structure 3;

[0066] Step S2, placing the infrared detection robot into a reserved hole reserved in the concrete, and controlling the infrared detection robot to move longitudinally along the reserved hole, while controlling the infrared camera in the infrared detection robot to reciprocate 360° to collect an infrared image of the side wall of the reserved hole;

[0067] Step S3, judging whether the density of the concrete being tested meets the requirements based on the infrared image obtained in step S2.

[0068] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An infrared detection device for density of concrete filled in a steel pipe, comprising an infrared detection robot capable of longitudinally moving along a reserved hole of the steel pipe filled with concrete and a heating structure (3) for heating the concrete filled in the steel pipe, wherein both the infrared detection robot and the heating structure (3) are capable of receiving control signals from a host computer to realize operation, and characterized in that: The infrared detection robot comprises a telescopic cross (1), the four ends of the telescopic cross (1) are provided with walking wheels (101) with hub motors installed inside, the lower end at the center of the telescopic cross (1) is provided with an infrared camera (102) capable of 360° rotation, and the center of the telescopic cross (1) is also provided with a driving device capable of driving the infrared camera (102) to rotate and / or causing the telescopic cross (1) to extend and retract.

2. The infrared detection device for density of concrete filled in a steel pipe according to claim 1 is characterized in that: The telescopic cross (1) comprises a central tube (103) and four telescopic components (104) arranged in a cross shape on the outer wall of the central tube (103); a running wheel (101) with a hub motor installed inside is provided at one end of the telescopic component (104) away from the central tube (103); and the infrared camera (102) is rotatably mounted on the lower end of the central tube (103) via a rotating shaft (105).

3. The infrared detection device for density of concrete filled in a steel pipe according to claim 2 is characterized in that: The telescopic assembly (104) comprises a fixed cylinder (1041) fixed on the outer wall of the central cylinder (103) and a movable rod (1042) with one end slidably inserted into the fixed cylinder (1041); a spring (1043) is provided between one end of the movable rod (1042) located in the fixed cylinder (1041) and the inner wall of the fixed cylinder (1041); and the walking wheel (101) is mounted on one end of the movable rod (1042) extending outside the fixed cylinder (1041).

4. The infrared detection device for density of concrete filled in a steel pipe according to claim 3 is characterized in that: The driving device comprises a driving motor (1001) installed in a central tube (103) and a main shaft (106) fixed on the output end of the driving motor (1001).

5. The infrared detection device for density of concrete filled in a steel pipe according to claim 4, characterized in that: A sleeve (107) is sleeved on the main shaft (106); a pull rope (108) is fixed to one end of the movable rod (1042) located in the fixed cylinder (1041); and the other end of the pull rope (108) is fixed to the sleeve (107).

6. The infrared detection device for density of concrete filled in a steel pipe according to claim 5, characterized in that: The rotating shaft (105) switches between a transmission connection state and a non-transmission connection state with the main shaft (106) through a first switching component, and the sleeve (107) switches between a transmission connection state and a non-transmission connection state with the main shaft (106) through a second switching component.

7. The infrared detection device for density of concrete filled in a steel pipe according to claim 6, characterized in that: The first switching assembly and the second switching assembly have the same structure, and both include an electromagnetic push-pull rod (201) fixed inside a central tube (103), a connecting rod (202) fixed at the end of the electromagnetic push-pull rod (201), and a bearing (203) whose outer ring is fixedly connected to the connecting rod (202), and a key (204) is fixed to the inner ring of the bearing (203).

8. The infrared detection device for density of concrete filled in a steel pipe according to claim 7, characterized in that: The inner ring of the bearing (203) is in smooth contact with the main shaft (106), and a slide groove (109) matching the key (204) is provided on the side wall of the main shaft (106), and a clamping groove (205) is provided at the upper end of the rotating shaft (105) and the lower end of the sleeve (107).

9. The infrared detection device for density of concrete filled in a steel pipe according to claim 1, characterized in that: The heating structure (3) is a ring-shaped electric heating plate.

10. An infrared detection method for the density of concrete filled in a steel pipe, using the detection device according to any one of claims 1 to 8 to detect the density of concrete filled in a steel pipe, characterized in that: Use the following method: Step S1, heating the steel pipe filled with concrete using the heating structure (3); Step S2, placing the infrared detection robot into a reserved hole reserved in the concrete, and controlling the infrared detection robot to move longitudinally along the reserved hole, while controlling the infrared camera in the infrared detection robot to reciprocate 360° to collect an infrared image of the side wall of the reserved hole; Step S3, judging whether the density of the concrete being tested meets the requirements based on the infrared image obtained in step S2.

Images