An intelligent detection device for damage of connecting beams of joint shear walls

Abstract

The invention relates to the technical field of detection devices, and proposes an intelligent detection device for damage of a joint shear wall connecting beam. The device uses a flying drone to achieve positioning relative to a beam body before detection. The detection preparation work has less requirements on the wall body and is more practical. In addition, the limitation of the detection position is low and the detection items are more abundant. The device comprises an ultrasonic automatic detection mechanism and a flying drone. The flying drone comprises a flying fuselage, an axle-mounted section is arranged in the flying fuselage, a rotating mounting frame is rotatably connected to the axle-mounted section, a servo motor is installed in the rotating mounting frame, the servo motor is used for adjusting and controlling the rotation of the rotating mounting frame relative to the axle-mounted section, the rotating mounting frame is installed with an external mounting frame by adjusting a capsule assembly, two sliding mounting frames are slidably connected to the external mounting frame, both sliding mounting frames are rotatably connected to aligning rotating rollers, two pressure sensors are installed on the external mounting frame, and the ultrasonic automatic detection mechanism is installed on the external mounting frame.

Description

Technical Field

[0001] The present invention relates to the technical field of detection devices, and in particular to an intelligent detection device for damage of a coupling beam of a joint shear wall. Background Art

[0002] As we all know, coupling beams are beams that connect the two limbs of shear walls. They are usually used to connect wall limbs with openings or disconnected limbs to enhance the integrity and stability of the structure. They are subjected to large internal forces under wind loads and earthquakes and are important load-bearing components in shear wall structures. In order to facilitate the detection of coupling beams of coupled shear walls, we propose an intelligent detection device for coupling beam damage of coupled shear walls.

[0003] After searching, the Chinese patent publication number CN114965712A and the Chinese patent publication number CN118032773A respectively disclose an intelligent detection device for damage of a shear wall connecting beam and an alarm device based on the health detection of a bridge structure. One of the intelligent detection devices for damage of a shear wall connecting beam is roughly described as comprising a frame, both left and right ends of the upper side of the frame are rotatably connected with long cylinder rollers, a first driving mechanism is arranged between the two long cylinder rollers, both left and right sides of the frame are rotatably connected with bidirectional threaded rods parallel to the long cylinder rollers, a second driving mechanism is arranged between the two bidirectional threaded rods, both ends of the outer wall of the bidirectional threaded rods are threadedly connected with a first moving seat, and the first moving seat is slidably connected to the frame. When in use, it can stably crawl along the wall edge of the connected wall to any position of the bottom of the connecting beam, and can stably crawl from the bottom of the connecting beam to any position of the wall edge of the connected wall, and can detect damage to the connecting beam through an ultrasonic automatic detection mechanism. An alarm device based on bridge structure health detection is roughly described as including a mounting frame, one side of the mounting frame is fixedly connected to a limit plate, the bottom outer wall of the sliding rod at the top of the limit plate is rotatably connected to a rotating frame, one side of the rotating frame is fixedly connected to a rangefinder, and the detection plates on one side of the rotating frame are provided with waist-shaped holes used in conjunction with infrared rays emitted by the rangefinder, a camera is arranged on the rotating frame, a controller and an alarm are arranged in the display, the camera is connected to the display by wires, the controller is connected to the rangefinder by wires, and the alarm is connected to the controller by wires. When in use, the device is set up on the side of the bridge, the second motor is started, the second motor drives the gear to rotate, and the sliding rod is driven to move downward through the rack, and at the same time the first motor drives the worm to rotate, the worm drives the sleeve rod to rotate through the worm gear, the sleeve rod rotation can drive the first screw to move downward, drive the first sliding block to move downward, the first sliding block drives the rotating frame to rotate through the connecting rod, so that the detection plate contacts the bottom of the bridge, and the rangefinder is started to perform the detection operation.

[0004] Although the above-mentioned existing technical solutions can form auxiliary inspections for corresponding concrete structures, during use, it is necessary to rely on walls or bridges to assist in climbing or mounting, and the limitations of use need to be further reduced. In addition, the bottom inspection operation of structures such as beams is difficult during the inspection process. A single inspection form has limited evaluation data for beams, and the inspection items need to be further enriched. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides an intelligent detection device for damage of a joint shear wall connecting beam, which utilizes the form of an unmanned aerial vehicle to fly in position relative to the beam before detection. The detection preparation work has lower requirements for the wall and is more practical. The detection position is less limited, the detection items are more abundant, and the detection data is more complete.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent detection device for joint shear wall connecting beam damage, comprising an ultrasonic automatic detection mechanism, and also comprising a flying drone, wherein the flying drone comprises a flying fuselage, wherein an axle-mounted section is arranged inside the flying fuselage, a rotating mounting frame is rotatably connected to the axle-mounted section, a servo motor is installed inside the rotating mounting frame, and the servo motor is used for adjusting and controlling the rotation of the rotating mounting frame relative to the axle-mounted section, the rotating mounting frame is installed with an external mounting frame by adjusting a capsule assembly, and two sliding mounting frames are slidably connected to the external mounting frame, and the two sliding mounting frames are The mounting frames are rotatably connected with aligning rotating rollers, two pressure sensors are installed on the external mounting frame, and the two pressure sensors are matched with two sliding mounting frames respectively. The ultrasonic automatic detection mechanism is installed on the left side of the external mounting frame, and an optical detection component is installed in the external mounting frame. A swing arm is rotatably connected to the external mounting frame, and a reset spring is connected to the swing arm. The reset spring is connected to the external mounting frame, and an electromagnet is installed in the external mounting frame. The electromagnet is equipped with a permanent magnet, and the permanent magnet is connected to the swing arm. A composite working hammer is installed at the end of the swing arm away from the permanent magnet.

[0007] Preferably, the optical detection component includes a cross rod, which is fixedly connected in the external mounting frame, a center ball is fixedly connected to the cross rod, a spherical sleeve is connected to the center ball, a limit rod is fixedly connected to the center ball, a middle arc opening is formed on the spherical sleeve, the limit rod is inserted into the middle arc opening, the spherical sleeve is fixedly connected to a mounting rod, the mounting rod is fixedly connected to a counterweight frame, and a laser emitter and a visual camera are installed in the counterweight frame.

[0008] Preferably, the regulating sac assembly includes an elastic sac and an air pump, one end of the elastic sac is fixedly connected to the rotating mounting frame, the other end of the elastic sac is fixedly connected to the external mounting frame, the air pump is installed in the rotating mounting frame, and an air supply control pipeline is installed between the air pump and the elastic sac.

[0009] Preferably, a guide sliding cylinder is fixedly connected inside the rotating mounting frame, a guide prismatic cylinder is sleeved inside the guide sliding cylinder, the guide prismatic cylinder is fixedly connected to the external mounting frame, and there is a clearance fit between the guide sliding cylinder and the guide prismatic cylinder.

[0010] Preferably, the composite working hammer includes a barrel hammer shell, which is rotatably connected to the swing arm, and a plurality of side holes are opened on the barrel hammer shell, and hammer seats are slidably connected in the plurality of side holes, and a conical cylinder is slidably connected in the barrel hammer shell, and the conical cylinder is used for the synchronous pushing out and collecting linkage of the plurality of hammer seats, and a telescopic cylinder is connected in the conical cylinder, and one end of the telescopic cylinder away from the conical cylinder is fixedly connected in the barrel hammer shell, and the telescopic cylinder is connected to an air duct, and the air duct is connected to the air supply control pipeline, and an electromagnetic three-way valve is installed on the air duct.

[0011] Preferably, the conical cylinder is provided with a plurality of side inclined strip openings, each of the plurality of side inclined strip openings is slidably connected with a side sliding strip, the plurality of side sliding strips are respectively hinged to the plurality of hammer seats, the plurality of hammer seats are provided with threaded grooves, and the plurality of threaded grooves are detachably threaded with pointed nails.

[0012] Preferably, a rotating connecting cylinder is fixedly connected to the swing arm, a rotating connecting groove matching the rotating connecting cylinder is provided on the barrel hammer shell, a limiting prism is slidably connected in the rotating connecting cylinder, the limiting prism is provided with a limiting tooth surface matching the barrel hammer shell, the limiting prism is fixedly connected to a limiting spring, the limiting spring is fixedly connected to a rotating ring, the rotating ring is rotatably connected to a threaded rod, and the threaded rod is threadedly connected to the rotating connecting cylinder.

[0013] Preferably, the shaft mounting section is connected to a driven gear, the driven gear is meshed with a driving gear, and the driving gear is fixedly connected to the output shaft of the servo motor.

[0014] Preferably, two fixed wings are connected to the flying fuselage, and two rotating wings are rotatably connected to the flying fuselage. Variable frequency motors are installed on the two rotating wings and the two flying wings, and the flying wings are installed on the output shafts of the four variable frequency motors. Two control motors are installed on the flying fuselage, and the two control motors are respectively used for rotation control and adjustment of the two rotating wings.

[0015] Preferably, a permanent magnetic ring is embedded and fixedly connected to the bottom end of the rotating mounting frame, and an iron ring is fixedly connected to the external mounting frame, and the iron ring matches the permanent magnetic ring.

[0016] Compared with the prior art, the present invention provides an intelligent detection device for damage of a shear wall coupling beam, which has the following beneficial effects:

[0017] (1) In the present invention, a flying drone is designed to form a carrier of the detection functional components in the intelligent detection device for damage to the shear wall connecting beam. The detection functional components are positioned relative to the beam body of the shear wall connecting beam before detection by using the flying drone. The detection preparation work has less requirements on the specific environment of the auxiliary wall near the beam body to be detected, and the detection position is less limited.

[0018] (2) In the present invention, by equipping with an ultrasonic automatic detection mechanism, an acoustic wave detection component corresponding to the beam body is formed, which facilitates the use of acoustic waves to form corresponding detection on the inside of the beam body. By equipping with an optical detection component, it is convenient to calibrate and detect the corresponding external shape of the beam body, so that the detection items are richer and the detection data are more complete.

[0019] (3) In the present invention, by carrying a swing arm and a composite working hammer, it is possible to cooperate with the beam body to form a surface hammering detection operation. On the one hand, the hardness of the beam body can be evaluated, and on the other hand, the debris on the surface of the beam body can be removed to reduce the impact of foreign objects on the surface of the beam body on the detection of the beam body itself, which is more practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention when viewed from above;

[0021] Figure 2 For the present invention Figure 1 A schematic diagram of the local enlarged structure at point A in the middle;

[0022] Figure 3 It is a schematic diagram of the three-dimensional structure of the external mounting frame, the sliding mounting frame and the aligning rotating roller of the present invention;

[0023] Figure 4 It is a schematic diagram of a partially cutaway three-dimensional structure of the present invention;

[0024] Figure 5 For the present invention Figure 4 A schematic diagram of the local enlarged structure at B in the middle;

[0025] Figure 6 It is a schematic diagram of the three-dimensional structure of the barrel hammer shell and the hammer seat of the present invention;

[0026] Figure 7 It is a schematic diagram of the three-dimensional structure of the tapered cylinder, hammer seat and telescopic cylinder of the present invention;

[0027] Figure 8 It is a schematic diagram of the three-dimensional structure of the tapered tube and the side slide bar of the present invention;

[0028] Fig. 9 It is a schematic diagram of the three-dimensional structure of the ultrasonic automatic detection mechanism, the rotating mounting frame and the external mounting frame of the present invention;

[0029] Fig.10 It is a partially cutaway three-dimensional structural schematic diagram of the cooperation between the sliding mounting frame and the aligning rotating roller of the present invention;

[0030] Fig.11 It is a schematic diagram of the three-dimensional structure of the external mounting frame, the elastic bag and the guiding prismatic tube of the present invention;

[0031] Fig.12 It is a schematic diagram of the three-dimensional structure of the present invention working relative to the side working surface;

[0032] Fig.13 For the present invention Fig.12 A schematic diagram of the local enlarged structure at C in the middle;

[0033] Fig.14 It is a schematic diagram of the three-dimensional structure of the present invention relative to the top working surface;

[0034] Fig.15 For the present invention Fig.14 A schematic diagram of the local enlarged structure at D in the middle;

[0035] Fig.16 It is a partially cutaway three-dimensional structural schematic diagram of the cooperation of the rotary connecting cylinder, the limiting prism and the limiting spring of the present invention;

[0036] Fig.17 It is a schematic diagram of the three-dimensional structure of the limit spring, the rotating ring and the threaded rod of the present invention;

[0037] Fig.18 It is a schematic diagram of the exploded three-dimensional structure of the hammer seat, the side slide bar and the pointed nail of the present invention.

[0038] In the figure: 1. ultrasonic automatic detection mechanism; 2. flight fuselage; 3. shaft mounting section; 4. rotating mounting frame; 5. servo motor; 6. external mounting frame; 7. sliding mounting frame; 8. alignment rotating roller; 9. pressure sensor; 10. swing arm; 11. reset spring; 12. electromagnet; 13. permanent magnet; 14. cross rod; 15. center ball; 16. spherical sleeve; 17. mounting rod; 18. counterweight frame; 19. limit rod; 20. middle arc mouth; 21. laser transmitter; 22. visual camera; 23. elastic bag; 24. air pump; 25. air supply control pipeline; 26. Guide sliding cylinder; 27. Guide prismatic cylinder; 28. Cylinder hammer shell; 29. ​​Conical cylinder; 30. Hammer seat; 31. Telescopic cylinder; 32. Air duct; 33. Solenoid three-way valve; 34. Side inclined strip; 35. Side sliding strip; 36. Threaded groove; 37. Pointed nail; 38. Rotating cylinder; 39. Limiting prism; 40. Limiting spring; 41. Rotating ring; 42. Threaded rod; 43. Driven gear; 44. Driving gear; 45. Fixed wing; 46. Rotating wing; 47. Frequency conversion motor; 48. Flying wing; 49. Control motor; 50. Permanent magnet ring; 51. Iron ring. DETAILED DESCRIPTION

[0039] 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.

[0040] Example

[0041] See also Figure 1-Figure 18A joint shear wall connecting beam damage intelligent detection device includes an ultrasonic automatic detection mechanism 1 and a flying drone. The flying drone includes a flying fuselage 2. An axle-mounted section 3 is arranged inside the flying fuselage 2. A rotating mounting frame 4 is rotatably connected to the axle-mounted section 3. A servo motor 5 is installed inside the rotating mounting frame 4. A driven gear 43 is connected to the axle-mounted section 3. The driven gear 43 is meshed with a driving gear 44. The driving gear 44 is fixedly connected to the output shaft of the servo motor 5. The servo motor 5 is used for adjusting and controlling the rotation of the rotating mounting frame 4 relative to the axle-mounted section 3. The movable mounting frame 4 is installed with an external mounting frame 6 by adjusting the capsule assembly, the adjusting capsule assembly includes an elastic capsule 23 and an air pump 24, one end of the elastic capsule 23 is fixedly connected to the rotating mounting frame 4, and the other end of the elastic capsule 23 is fixedly connected to the external mounting frame 6, the air pump 24 is installed in the rotating mounting frame 4, and an air supply control pipeline 25 is installed between the air pump 24 and the elastic capsule 23, the rotating mounting frame 4 is fixedly connected with a guide sliding cylinder 26, and a guide prismatic cylinder 27 is sleeved in the guide sliding cylinder 26, and the guide prismatic cylinder 27 is fixedly connected to the external mounting frame 6, and the guide sliding cylinder 26 is fixedly connected to the external mounting frame 6. There is a clearance fit between the cylinder 26 and the guiding prismatic cylinder 27. Two sliding mounting frames 7 are slidably connected to the external mounting frame 6. The two sliding mounting frames 7 are both rotatably connected with a counter-rotating roller 8. Two pressure sensors 9 are installed on the external mounting frame 6. The two pressure sensors 9 are matched with the two sliding mounting frames 7 respectively. The two sliding mounting frames 7 are connected with auxiliary push rods through connecting springs, and the auxiliary push rods are in contact with the detection surface of the pressure sensor 9. Two open guide cylinders are fixedly connected to the external mounting frame 6. The two auxiliary push rods are respectively slidably connected in the two open guide cylinders. The two connecting springs are respectively located in the two open guide cylinders. The two sliding mounting frames 7 are respectively inserted into the two open guide cylinders. The two open guide cylinders are provided with missing side openings for inserting the pressure sensors 9. Through the design of a flying drone, a carrier of the detection functional component in the intelligent detection device for damage of the shear wall connecting beam is formed. The detection functional component is put in place relative to the beam body of the shear wall connecting beam before detection by using the form of drone flight. The detection preparation work has relatively small requirements for the specific environment of the auxiliary wall near the beam body to be detected, and the limitation of the detection position is relatively low.

[0042] It should be further explained that two fixed wings 45 are connected to the flight fuselage 2, and two rotating wings 46 are rotatably connected to the flight fuselage 2. Variable frequency motors 47 are installed on the two rotating wings 46 and the two flying wings 48, and the output shafts of the four variable frequency motors 47 are installed with flying wings 48. Two control motors 49 are installed on the flight fuselage 2, and the two control motors 49 are respectively used for the rotation control and adjustment of the two rotating wings 46, so that the flight fuselage 2 can be matched and adjusted according to the flight needs to facilitate the rotating wings 46 to effectively avoid the detected beam body. The bottom end of the rotating mounting frame 4 is embedded with a permanent magnetic ring 50, and an iron ring 51 is fixedly connected to the external mounting frame 6, and the iron ring 51 is matched with the permanent magnetic ring 50. When the gas in the elastic bag 23 is extracted, that is, the elastic bag 23 is in a folded state as a whole, the external mounting frame 6 will be relatively close to and in contact with the rotating mounting frame 4. In this state, the mutual magnetic attraction between the iron ring 51 and the permanent magnetic ring 50 can assist in realizing the external The relative position of the mounting frame 6 relative to the rotating mounting frame 4 is stable, and the ultrasonic automatic detection mechanism 1 is installed on the left side of the external mounting frame 6. Through the configuration of the ultrasonic automatic detection mechanism 1, an acoustic wave detection component corresponding to the beam body is formed, which is convenient for using acoustic waves to form corresponding detection on the inside of the beam body. An optical detection component is installed in the external mounting frame 6, and the optical detection component includes a cross rod 14, and the cross rod 14 is fixedly connected in the external mounting frame 6. A center ball 15 is fixedly connected to the cross rod 14, and a spherical sleeve 16 is connected to the center ball 15. A limit rod 19 is fixedly connected to the center ball 15, and a middle arc opening 20 is opened on the spherical sleeve 16. The limit rod 19 is inserted into the middle arc opening 20, and the spherical sleeve 16 is fixedly connected to the mounting rod 17, and the mounting rod 17 is fixedly connected to the counterweight frame 18. A laser emitter 21 and a visual camera 22 are installed in the counterweight frame 18. Through the configuration of the optical detection component, it is convenient to form corresponding calibration and detection of the external shape of the beam body, and the detection items are richer and the detection data is more complete.

[0043] It should be further explained that the external mounting frame 6 is rotatably connected to a swing arm 10, the swing arm 10 is connected to a reset spring 11, the reset spring 11 is connected to the external mounting frame 6, an electromagnet 12 is installed in the external mounting frame 6, the electromagnet 12 is equipped with a permanent magnet 13, the permanent magnet 13 is connected to the swing arm 10, and a composite working hammer is installed at one end of the swing arm 10 away from the permanent magnet 13. The composite working hammer includes a barrel hammer shell 28, the barrel hammer shell 28 is rotatably connected to the swing arm 10, and a plurality of side holes are opened on the barrel hammer shell 28, multiple A hammer seat 30 is slidably connected in each side hole, a conical cylinder 29 is slidably connected in the cylinder hammer shell 28, and the conical cylinder 29 is used for the synchronous push-out and collection linkage of multiple hammer seats 30. A telescopic cylinder 31 is connected in the conical cylinder 29, and one end of the telescopic cylinder 31 away from the conical cylinder 29 is fixedly connected in the cylinder hammer shell 28. The telescopic cylinder 31 is connected to an air bleed pipe 32, and the air bleed pipe 32 is connected to the air supply control pipeline 25, and an electromagnetic three-way valve 33 is installed on the air bleed pipe 32. A plurality of side oblique strips 34 are opened in the conical cylinder 29, and a plurality of side oblique strips 34 are provided. The strip openings 34 are all slidably connected with side slide strips 35, and the multiple side slide strips 35 are respectively hinged with the multiple hammer seats 30. The multiple hammer seats 30 are all provided with threaded grooves 36, and the multiple threaded grooves 36 are all detachably threaded with pointed nails 37. By carrying the swing arm 10 and the composite working hammer, the surface hammering detection operation can be formed in cooperation with the beam body. On the one hand, the hardness of the beam body can be evaluated, and on the other hand, the sundries on the surface of the beam body can be removed to reduce the influence of the foreign objects on the surface of the beam body on the detection of the beam body itself, which is more practical. A rotating connecting cylinder 38 is fixedly connected to the swing arm 10, and a rotating connecting groove matching the rotating connecting cylinder 38 is opened on the barrel hammer shell 28. A limiting prism 39 is slidably connected in the rotating connecting cylinder 38. The limiting prism 39 is provided with a limiting tooth surface matching the barrel hammer shell 28. The limiting prism 39 is fixedly connected to a limiting spring 40. The limiting spring 40 is fixedly connected to a rotating ring 41. The rotating ring 41 is rotatably connected to a threaded rod 42. The threaded rod 42 is threadedly connected to the rotating connecting cylinder 38, so as to facilitate the adjustment of the relative rotational freedom of the barrel hammer shell 28 relative to the swing arm 10.

[0044] The flying drone in this embodiment is equipped with a battery body, a central controller and a wireless communicator. The battery body, the central controller, the wireless communicator, the ultrasonic automatic detection mechanism 1, the servo motor 5, the pressure sensor 9, the electromagnet 12, the laser transmitter 21, the visual camera 22, the air pump 24, the electromagnetic three-way valve 33, the frequency conversion electric and the control motor 49 are all conventional equipment purchased on the market and well known to those skilled in the art. In the present invention, we only use them and do not improve their structure and function. For those skilled in the art, their setting method, installation method and electrical connection method can be debugged according to the requirements of their instruction manual. No further details will be given herein, and the central controller, wireless communicator, ultrasonic automatic detection mechanism 1, servo motor 5, pressure sensor 9, electromagnet 12, laser transmitter 21, visual camera 22, air pump 24, electromagnetic three-way valve 33, frequency conversion power and control motor 49 are all powered by the battery body, and the wireless communicator, ultrasonic automatic detection mechanism 1, servo motor 5, pressure sensor 9, electromagnet 12, laser transmitter 21, visual camera 22, air pump 24, electromagnetic three-way valve 33, frequency conversion power and control motor 49 are all controlled and operated by the central controller, and the wireless communicator can realize communication control and information transmission between the external control terminal and the central controller.

[0045] In summary, the working principle of the intelligent detection device for joint shear wall connecting beam damage is as follows: when in use, first check the power of the battery body in the intelligent detection device for joint shear wall connecting beam damage, charge the battery body when necessary, and then realize the flight control of the flying UAV through the external control terminal. The take-off and flight of the flying UAV are realized by four variable frequency motors 47 driving four flying wings 48 to rotate respectively. The flying fuselage 2 forms a speed difference by controlling the four variable frequency motors 47 during the flight, so as to realize the steering and attitude adjustment of the flying fuselage 2. When the flying fuselage 2 is close to the beam body to be detected, the flying fuselage 2 is controlled by the flying motors 47. The real-time camera on the flight fuselage 2 forms the recognition and auxiliary control of the relative position of the flight fuselage 2 with respect to the beam body. Before the detection, the air pump 24 works to inflate the elastic bag 23. The elastic bag 23 is filled with gas and stretches, forming an adjustment of the external mounting frame 6 away from the rotating mounting frame 4. In this process, the magnetic attraction between the permanent magnet ring 50 and the iron ring 51 is overcome, and the permanent magnet ring 50 and the iron ring 51 are separated from each other. Then the servo motor 5 works to realize the rotation adjustment of the rotating mounting frame 4 relative to the shaft mounting section 3. When the side of the beam body is detected, the rotating mounting frame 4 is rotated relative to the shaft mounting section 3 to be adjusted as shown in the attached Fig.12In the state shown, the alignment rotating roller 8 enters the upright state. In this state, by controlling the movement of the flight fuselage 2, the alignment rotating roller 8 is brought close to the side of the beam to be detected until it contacts the side. After the alignment rotating roller 8 contacts the side of the beam and has a certain interaction force, the pressure sensor 9 will have a certain reading. By controlling the rotation speed of the four flight wings 48 respectively, the flight fuselage 2 is pressed against the side of the beam, thereby achieving a relative squeezing trend between the alignment rotating roller 8 and the side of the beam, and through the readings of the two pressure sensors 9, the two sliding mounting frames 7 are controlled relative to the side of the beam, and then the external mounting frame 6 is parallelly controlled relative to the side of the beam, and then the ultrasonic The automatic detection mechanism 1 forms a scanning detection on the inside of the beam body. After the position of the external mounting frame 6 is adjusted, the spherical sleeve 16 is adjusted relative to the central ball 15 under the action of the gravity of the counterweight frame 18. Therefore, the light emission port of the laser emitter 21 will still correspond to the side of the beam body. The laser emitter 21 emits light relative to the side of the beam body, and the light is irradiated on the side of the beam body to form a linear calibration. Due to the action of the counterweight frame 18, the laser emitter 21 will be controlled to be in a relatively stable horizontal state at all times. Therefore, the relative situation of the linear calibration light and the position of the side of the beam body, such as along the edge, can be collected by the visual camera 22, and then it can be judged whether there is a large local settlement problem in the beam body.

[0046] Furthermore, when the bottom surface of the beam body needs to be inspected, it is only necessary to control the rotating mounting frame 4 to rotate relative to the shaft mounting section 3 to the position shown in the figure. Fig.14In the state shown in the figure, the aligning rotating roller 8 is located just above the flight fuselage 2, so as to facilitate the external mounting frame 6 to form a relative position against the bottom surface of the beam body. During the detection process, the flight fuselage 2 is controlled to form a relative position movement relative to the beam body to realize the detection of the entire beam body. When the beam body needs to be hammered, the current of the electromagnet 12 is controlled to be on and off, so that the relative magnetic attraction between the electromagnet 12 and the permanent magnet 13 can be achieved. The force generated by the magnetic attraction is used to overcome the elastic force of the reset spring 11, thereby realizing the rotation of the swing arm 10 relative to the external mounting frame 6. The cylinder hammer shell 28 is driven to perform a knocking operation relative to the beam body. Due to the setting of the elastic bag 23, it can not only control the distance of the external mounting frame 6 relative to the rotating mounting frame 4 to a certain extent, but also alleviate the vibration transmission between the external mounting frame 6 and the rotating mounting frame 4. In order to enrich the hammering effect of the cylinder hammer shell 28 on the beam body, the electromagnetic three-way valve 33 is used to control the air duct 32 to be connected with the telescopic cylinder 31, so as to realize the pumping of gas in the telescopic cylinder 31. After the gas is pumped into the telescopic cylinder 31, the conical cylinder 29 will form a relative sliding adjustment relative to the cylinder hammer shell 28. Through the side inclined strip opening 34 and the side sliding strip 35 The transmission effect between them can realize the pushing of multiple hammer seats 30 relative to the barrel hammer shell 28 respectively, and finally realize the exposure of the pointed nail 37. In this state, when the barrel hammer shell 28 forms a knock relative to the beam body, the pointed nail 37 will act on the beam body, thereby achieving a rich knocking form on the surface of the beam body. During the knocking process, the knocking force of the pointed nail 37 relative to the beam body can be controlled by controlling the current of the electromagnet 12, and after the knocking is completed, the appearance image of the beam body after being knocked can be collected through the visual camera 22, so as to form an auxiliary detection of the surface hardness of the beam body and the internal area after removing the surface layer of the beam body. During the beam body detection process, when the positioning rotating roller 8 comes into contact with the beam body, the motor 49 can be controlled to move to form a rotation adjustment of the rotating wing 46 relative to the flying fuselage 2, so as to achieve the adjustment of the relative positions of the four flying wings 48, thereby facilitating the four flying wings 48 to pass through a narrow space during the detection process. After leaving the beam body detection state, the four flying wings 48 are adjusted to have a relatively long distance, which can improve the flight stability of the flying fuselage 2. In order to widen the relative adjustment range of the four flying wings 48, the fixed wings 45 and the rotating wings 46 are arranged in an upper and lower staggered manner.

[0047] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent detection device for damage of a shear wall coupling beam, comprising an ultrasonic automatic detection mechanism (1), characterized in that: The invention also comprises a flying unmanned aerial vehicle, wherein the flying unmanned aerial vehicle comprises a flying fuselage (2), wherein an axle-mounted section (3) is arranged inside the flying fuselage (2), a rotating mounting frame (4) is rotatably connected to the axle-mounted section (3), a servo motor (5) is installed inside the rotating mounting frame (4), and the servo motor (5) is used for adjusting and controlling the rotation of the rotating mounting frame (4) relative to the axle-mounted section (3), the rotating mounting frame (4) is installed with an external mounting frame (6) by adjusting a capsule assembly, two sliding mounting frames (7) are slidably connected to the external mounting frame (6), and both of the two sliding mounting frames (7) are rotatably connected to a counter-positioning rotating roller (8), and two pressure sensors (9) are installed on the external mounting frame (6). , the two pressure sensors (9) are matched with the two sliding mounting frames (7) respectively, the ultrasonic automatic detection mechanism (1) is installed on the left side of the external mounting frame (6), an optical detection component is installed in the external mounting frame (6), a swing arm (10) is rotatably connected to the external mounting frame (6), a return spring (11) is connected to the swing arm (10), the return spring (11) is connected to the external mounting frame (6), an electromagnet (12) is installed in the external mounting frame (6), the electromagnet (12) is equipped with a permanent magnet (13), the permanent magnet (13) is connected to the swing arm (10), and a composite working hammer is installed at one end of the swing arm (10) away from the permanent magnet (13); The optical detection assembly comprises a cross-rod (14), the cross-rod (14) is fixedly connected to the external mounting frame (6), a center ball (15) is fixedly connected to the cross-rod (14), a spherical sleeve (16) is connected to the center ball (15), a limit rod (19) is fixedly connected to the center ball (15), a middle arc opening (20) is formed on the spherical sleeve (16), the limit rod (19) is inserted into the middle arc opening (20), the spherical sleeve (16) is fixedly connected to a mounting rod (17), the mounting rod (17) is fixedly connected to a counterweight frame (18), and a laser emitter (21) and a visual camera (22) are installed in the counterweight frame (18); The regulating sac assembly comprises an elastic sac (23) and an air pump (24); one end of the elastic sac (23) is fixedly connected to the rotating mounting frame (4); the other end of the elastic sac (23) is fixedly connected to the external mounting frame (6); the air pump (24) is installed in the rotating mounting frame (4); an air supply control pipeline (25) is installed between the air pump (24) and the elastic sac (23); a guide sliding cylinder (26) is fixedly connected to the rotating mounting frame (4); a guide prismatic cylinder (27) is sleeved in the guide sliding cylinder (26); the guide prismatic cylinder (27) is fixedly connected to the external mounting frame (6); and there is a clearance fit between the guide sliding cylinder (26) and the guide prismatic cylinder (27); The composite working hammer comprises a barrel hammer shell (28), wherein the barrel hammer shell (28) is rotatably connected to the swing arm (10), a plurality of side holes are provided on the barrel hammer shell (28), hammer seats (30) are slidably connected in the plurality of side holes, a conical cylinder (29) is slidably connected in the barrel hammer shell (28), the conical cylinder (29) is used for synchronously pushing out and pulling in linkage of the plurality of hammer seats (30), a telescopic cylinder (31) is connected in the conical cylinder (29), one end of the telescopic cylinder (31) away from the conical cylinder (29) is fixedly connected in the barrel hammer shell (28), the telescopic cylinder (31) is connected to an air bleed pipe (32), the air bleed pipe (32) is connected to the air supply control pipeline (25), and an electromagnetic three-way valve (33) is installed on the air bleed pipe (32).

2. The intelligent detection device for damage of a shear wall coupling beam according to claim 1 is characterized in that: The conical cylinder (29) is provided with a plurality of side inclined strip openings (34), each of the plurality of side inclined strip openings (34) is slidably connected with a side sliding strip (35), each of the plurality of side sliding strips (35) is hingedly connected to a plurality of hammer seats (30), each of the plurality of hammer seats (30) is provided with a thread groove (36), and each of the plurality of thread grooves (36) is detachably threadedly connected with a pointed nail (37).

3. The intelligent detection device for damage of a shear wall coupling beam according to claim 2 is characterized in that: The swing arm (10) is fixedly connected with a rotating connecting tube (38), the barrel hammer shell (28) is provided with a rotating connecting groove matching the rotating connecting tube (38), a limiting prism (39) is slidably connected in the rotating connecting tube (38), the limiting prism (39) is provided with a limiting tooth surface matching the barrel hammer shell (28), the limiting prism (39) is fixedly connected with a limiting spring (40), the limiting spring (40) is fixedly connected with a rotating ring (41), the rotating ring (41) is rotatably connected with a threaded rod (42), and the threaded rod (42) is threadedly connected to the rotating connecting tube (38).

4. The intelligent detection device for damage of a shear wall coupling beam according to claim 3 is characterized in that: The shaft mounting section (3) is connected to a driven gear (43), the driven gear (43) is meshed with a driving gear (44), and the driving gear (44) is fixedly connected to the output shaft of the servo motor (5).

5. The intelligent detection device for damage of a shear wall coupling beam according to claim 4 is characterized in that: Two fixed wings (45) are connected to the flying fuselage (2); two rotating wings (46) are rotatably connected to the flying fuselage (2); variable frequency motors (47) are installed on the two rotating wings (46) and the two flying wings (48); the flying wings (48) are installed on the output shafts of the four variable frequency motors (47); two control motors (49) are installed on the flying fuselage (2); the two control motors (49) are respectively used for rotation control and adjustment of the two rotating wings (46).

6. The intelligent detection device for damage of a shear wall coupling beam according to claim 5, characterized in that: A permanent magnetic ring (50) is embedded and fixedly connected at the bottom end of the rotating mounting frame (4), and an iron ring (51) is fixedly connected to the external mounting frame (6), wherein the iron ring (51) matches the permanent magnetic ring (50).

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