Concrete filled steel tube arch rib void detection device

Abstract

The invention relates to the field of bridge detection, and provides a concrete filled steel tube arch rib void detection device which comprises a support, an adjusting mechanism is arranged on one side of the support, the output ends of the two sides of the adjusting mechanism are each connected with a mobile robot, a containing shell is arranged on one side of each mobile robot, and an electric telescopic rod is arranged in each containing shell. The output end of the electric telescopic rod is connected with a testing shell, the testing shell is slidably connected to the inner wall of the containing shell, and a testing mechanism is arranged in the testing shell. Compared with the prior art, the device has the following beneficial effects that through the design of the adjusting mechanism, the mobile robot and the testing mechanism, the device can be matched with different types of arch ribs, and arch rib void detection is carried out through the testing mechanism.

Description

Technical Field

[0001] The invention discloses a steel tube concrete arch rib hollowing detection device, belonging to the field of bridge detection. Background Art

[0002] Steel tube concrete arch bridge is a new type of bridge structure developed in my country's bridge construction in recent years. It has the advantages of light weight, high strength, strong anti-deformation ability, large bearing capacity, and low material consumption, light installation weight, convenient construction, short construction period, and small maintenance workload. It is an ideal structural form for long-span arch bridges. The concrete in the tube after pouring is hidden, and the naked eye cannot directly observe whether the concrete has debonding or degassing defects. Therefore, the arch rib after pouring must be tested for degassing. At the same time, regular inspections of bridges must also detect degassing of steel tube concrete.

[0003] Existing detection methods include ultrasound and infrared imaging, among which ultrasound has better effect and does not damage steel tube concrete. It can also detect the area of ​​the void area, etc. However, when using ultrasonic equipment, a coupling agent needs to be applied to the surface of the steel tube, which is troublesome to operate. The most important problem is that it needs to be operated at high altitude on the arch rib, which is very dangerous. Some of them also need to build a working platform, which is expensive. In addition, manual inspection is very inefficient, time-consuming, and labor-intensive. There is also the same problem of missed inspections as thermal imaging. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention aims to provide a device for detecting the hollowing out of a concrete-filled steel tube arch rib.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0006] A steel tube concrete arch rib void detection device comprises a bracket, one side of the bracket is provided with an adjustment mechanism, both side output ends of the adjustment mechanism are connected to a mobile robot, one side of the mobile robot is provided with a accommodating shell, the interior of the accommodating shell is provided with an electric telescopic rod, the output end of the electric telescopic rod is connected to a test shell, the test shell is slidably connected to the inner wall of the accommodating shell, and the interior of the test shell is provided with a test mechanism.

[0007] Furthermore, the adjustment mechanism includes an adjustment groove opened on the outer surface of one side of the bracket, and an adjustment opening is respectively opened at both ends of the adjustment groove. A bidirectional threaded screw is movably connected inside the adjustment groove, and the top of the bidirectional threaded screw is connected to the output end of the adjustment motor. A nut moving block is slidably connected at both ends of the adjustment groove, and the nut moving block is sleeved on the bidirectional threaded screw. The end of the nut moving block passes through the adjustment opening to the outside of the bracket and is connected to the adjustment plate. A connecting plate is fixed to the end of the adjustment plate, and the end of the connecting plate is connected and fixed to the mobile robot.

[0008] Furthermore, a vertical groove is provided on the side wall of the adjustment groove, a straight plate is horizontally slidably connected in the vertical groove, a limiting electric push rod is installed between the outer surface of one side of the straight plate and the inner wall of the vertical groove, a plurality of groups of limiting rods are fixed to the outer surface of the other side of the straight plate, and a limiting hole matching the limiting rod is provided on the outer surface of the nut moving block.

[0009] The transmission gear of the present invention is connected with the transmission gear of the present invention, and the transmission gear of the present invention is connected with the transmission gear of the present invention.

[0010] Furthermore, an adjustable telescopic rod and a toothed plate are fixed on the inner wall of the movable shell, the toothed grooves on the toothed plate are adapted to the linkage gear, the output end of the adjustable telescopic rod is connected to the U-shaped frame, the end of the U-shaped frame is connected to a slider, and the slider is slidably connected in the annular groove on the outer surface of the side of the linkage gear.

[0011] Furthermore, a fixed pipe rack matching the drive shaft is installed on the movable shell, and the drive shaft passes through the fixed pipe rack to the outside of the movable shell. A movable opening is opened on the side of the fixed pipe rack, and the end of the rear support arm is movably connected to the drive shaft through the movable opening.

[0012] Furthermore, the testing mechanism includes a receiving groove opened in the middle of the testing shell, a plurality of groups of guide grooves are evenly spaced inside the receiving groove, guide blocks are slidably connected in the guide grooves, a sliding plate is fixed between the guide blocks on both sides of the same group, a vertical plate is fixed on both sides of the bottom of the sliding plate, a horizontal plate is connected between the bottoms of the vertical plates on both sides, a test block is fixed at the bottom center of the horizontal plate, and an acoustic sensor is installed on the inner wall of the receiving groove.

[0013] Furthermore, the testing mechanism also includes a group of guide rods arranged in the middle of the accommodating groove, the guide rods are slidably connected to a movable frame, the side of the movable frame is connected to the output end of the cylinder, the cylinder is installed on the inner wall of the accommodating groove, a groove is provided in the middle of the outer surface of the movable frame, and a movable groove is provided on the inner walls on both sides of the groove respectively, a vertical slider is slidably connected inside the movable groove, the bottom of the vertical slider is connected to the output end of the electric push rod, a cross bar is connected between the vertical sliders on both sides, a trapezoidal seat is slidably connected inside the groove, and an oblique hole matching the cross bar is provided on the trapezoidal seat.

[0014] Furthermore, the movable frame is provided with a guide rod hole matched with the guide rod.

[0015] Furthermore, a limiting slide groove is provided on the inner wall of the groove, and a limiting sliding block matching with the limiting slide groove is fixed to the bottom of the trapezoidal seat.

[0016] Beneficial effects of the present invention:

[0017] Through the design of the adjustment mechanism, the bidirectional threaded screw is driven to rotate by the adjustment motor, and the threaded drive of the nut moving block by the bidirectional threaded screw drives the adjustment plates on both sides to move. The adjustment plate drives the mobile robot to move through the connecting plate, thereby making the mobile robot adapt to the arch rib.

[0018] Through the design of the mobile robot, when it is necessary to synchronously adjust the angles of the front support arm and the rear support arm, the linkage gear is moved to the top of the driven gear, and then the driving motor is used to drive the driving gear to rotate, and the driving gear drives the driven gear to rotate. The driven gear rotates and drives the driving shaft to rotate. The driving shaft drives the front support arm to rotate, and the driven gear rotates and drives the linkage gear to rotate. The linkage gear drives the side arm to rotate through the rotating shaft, and the rotation of the side arm drives the rear moving wheel and the rear support arm to rotate, thereby realizing the synchronous rotation of the rear support arm and the front support arm.

[0019] Through the design of the mobile robot, when it is necessary to adjust the angle of the front support arm only, at this time, the U-shaped frame is pulled to move by adjusting the telescopic rod, and the U-shaped frame will pull the linkage gear to move into the tooth plate, so that the linkage gear is disengaged from the meshing state with the driven gear and moves into the tooth plate. In this process, because the spacing between the tooth plate and the driven gear is smaller than the thickness of the linkage gear, when the side edge of the linkage gear moves into the tooth plate, the other side edge of the linkage gear is still on the driven gear, so that the linkage gear can move stably into the tooth plate. Thereafter, the drive motor is started, and the drive motor drives the driven gear to rotate, thereby realizing the rotation of the front support arm connected to the driven gear, and then realizing the rotation adjustment action of the front support arm. However, the rear support arm is limited by the engagement limit of the linkage gear and the tooth plate, so that the rear support arm is limited and will not change its state.

[0020] Through the design of the test mechanism, when the mobile robot stops moving, the electric telescopic rod pushes the test shell close to the arch rib, and then the cylinder pulls the mobile frame to move on the guide rod. During the movement, the mobile frame will push the sliding plate to rise vertically through the inclined surface of the trapezoidal seat, and the sliding plate drives the horizontal plate and the test block to rise vertically through the vertical plate. When the mobile frame passes the sliding plate, under the action of gravity, the test block will drop and hit the outer surface of the arch rib, and the impact of the test block will give a pulse excitation to the hollow area of ​​the arch rib, and the acoustic sensor can receive the vibration sound wave frequency generated by the test block hitting the arch rib. The sound wave frequency is related to the area of ​​the hollow area, the shape of the hollow area and the thickness of the arch rib steel pipe. After the test block applies pulse excitation to the hollow area at different positions, the generated sound wave frequency is different, and the sound wave frequency parameters are collected. According to the changes in different sound wave frequencies, the position, area and shape of the hollow area on the arch rib are calculated and determined. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a schematic diagram of the overall structure of a steel tube concrete arch rib void detection device of the present invention;

[0023] Figure 2 A schematic diagram of the mobile robot structure of a steel tube concrete arch rib void detection device of the present invention Figure 1 ;

[0024] Figure 3 The local structure of a mobile robot for detecting the hollowing out of a steel tube concrete arch rib according to the present invention is shown in FIG. Figure 1 ;

[0025] Figure 4 The local structure of a mobile robot for detecting the hollowing out of a steel tube concrete arch rib according to the present invention is shown in FIG. Figure 2 ;

[0026] Figure 5 The local structure of a mobile robot for detecting the hollowing out of a steel tube concrete arch rib according to the present invention is shown in FIG. Figure 3 ;

[0027] Figure 6 The local structure of a mobile robot for detecting the hollowing out of a steel tube concrete arch rib according to the present invention is shown in FIG. Figure 4 ;

[0028] Figure 7 The local structure of a mobile robot for detecting the hollowing out of a steel tube concrete arch rib according to the present invention is shown in FIG. Figure 5 ;

[0029] Figure 8 A schematic diagram of the structure of the toothed plate of a steel tube concrete arch rib void detection device according to the present invention;

[0030] Fig. 9 It is a schematic diagram of the connection structure of the adjustable telescopic rod and the U-shaped frame of a steel tube concrete arch rib void detection device of the present invention;

[0031] Fig.10 A schematic diagram of the mobile robot structure of a steel tube concrete arch rib void detection device of the present invention Figure 2 ;

[0032] Fig.11 It is a schematic diagram of the structure of a testing mechanism of a steel tube concrete arch rib void detection device of the present invention;

[0033] Fig.12 It is a schematic diagram of the connection structure of a mobile frame and a trapezoidal seat of a steel tube concrete arch rib hollowing detection device of the present invention;

[0034] Fig.13 It is a schematic diagram of the structure of a mobile frame of a steel tube concrete arch rib void detection device of the present invention;

[0035] Fig.14 It is a schematic diagram of the connection structure of the vertical slider, electric push rod and cross bar of a steel tube concrete arch rib void detection device of the present invention;

[0036] Fig.15 It is a schematic diagram of the connection structure of the crossbar and the trapezoidal seat of a steel tube concrete arch rib hollowing detection device of the present invention;

[0037] Fig.16 The present invention is a schematic diagram of the partial structure of a testing mechanism of a steel tube concrete arch rib void detection device.

[0038] In the figure, 1, bracket; 2, adjustment plate; 3, connecting plate; 4, moving shell; 5, receiving groove; 6, driving gear; 7, driven gear; 8, rotating shaft; 9, front support arm; 10, rear support arm; 11, front moving wheel; 12, rear moving wheel; 13, moving motor; 14, side arm; 15, linkage gear; 16, adjusting telescopic rod; 17, U-shaped frame; 18, toothed plate; 19, driving shaft; 20, fixed pipe frame; 21, movable opening; 22, receiving Shell; 23, test shell; 24, guide slide; 25, guide block; 26, sliding plate; 27, vertical plate; 28, horizontal plate; 29, test block; 30, guide rod; 31, cylinder; 32, moving frame; 33, guide rod hole; 34, groove; 35, moving groove; 36, vertical slider; 37, electric push rod; 38, horizontal bar; 39, limit slide; 40, trapezoidal seat; 41, oblique hole; 42, adjustment groove; 43, bidirectional threaded screw; 44, adjustment motor. 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] See also Figure 1-Figure 16The present invention provides a technical solution for detecting the hollowing out of a steel tube concrete arch rib, comprising a bracket 1, one side of the bracket 1 is provided with an adjusting mechanism, both output ends of the adjusting mechanism are connected to a mobile robot, one side of the mobile robot is provided with a containing shell 22, the interior of the containing shell 22 is provided with an electric telescopic rod, the output end of the electric telescopic rod is connected to a test shell 23, the test shell 23 is slidably connected to the inner wall of the containing shell 22, and the interior of the test shell 23 is provided with a testing mechanism; the positions of the two mobile robots are adjusted by the adjusting mechanism so that the two mobile robots are adapted to the arch ribs of different sizes, and then the angles of the front support arm 9 and the rear support arm 10 on the mobile robot are adjusted according to the type of the arch rib, so that the bottom of the mobile robot The containing shell 22 and the testing mechanism of the part can be adapted to the arch rib. When testing is required, the testing shell 23 in the containing shell 22 is pushed out by the electric telescopic rod so that the testing shell 23 is close to the outer surface of the arch rib. Then the testing mechanism drives the testing block 29 to impact the outer surface of the arch rib. The impact of the testing block 29 gives a pulse excitation to the hollow area of ​​the arch rib, and the acoustic sensor can receive the vibration sound wave frequency generated by the test block 29 impacting the arch rib. The sound wave frequency is related to the area of ​​the hollow area, the shape of the hollow area and the thickness of the arch rib steel pipe. After the test block 29 applies pulse excitation to the hollow area at different positions, the sound wave frequency generated is different. The sound wave frequency parameters are collected, and the position, area and shape of the hollow area on the arch rib are calculated and determined according to the changes in different sound wave frequencies.

[0041] See also Figure 1The adjustment mechanism includes an adjustment slot 42 provided on the outer surface of one side of the bracket 1, and an adjustment opening is provided at each end of the adjustment slot 42. A bidirectional threaded screw 43 is movably connected inside the adjustment slot 42, and the top of the bidirectional threaded screw 43 is connected to the output end of the adjustment motor 44. A nut moving block is slidably connected at each end of the adjustment slot 42, and the nut moving block is sleeved on the bidirectional threaded screw 43. The end of the nut moving block passes through the adjustment opening to the outside of the bracket 1 and is connected to the adjustment plate 2. A connecting plate 3 is fixed to the end of the adjustment plate 2, and the end of the connecting plate 3 is connected and fixed to the mobile robot. A vertical slot (not shown in the figure) is provided on the side wall of the adjustment slot 42. A straight plate (not shown in the figure) is connected to the vertical slot for transverse sliding. A limited electric push rod (not shown in the figure) is installed between the outer surface of one side of the straight plate and the inner wall of the vertical slot. A plurality of groups of limit rods (not shown in the figure) are fixed to the outer surface of the other side of the straight plate. A limit hole (not shown in the figure) matching with the limit rod is opened on the outer surface of the nut moving block. Through the design of the adjustment mechanism, the bidirectional threaded screw 43 is driven to rotate by the adjustment motor 44. The threaded drive of the nut moving block by the bidirectional threaded screw 43 drives the adjustment plates 2 on both sides to move. The adjustment plates 2 drive the mobile robot to move through the connecting plate 3, thereby making the mobile robot compatible with the arch rib. Through the design of the mobile robot, when it is necessary to synchronously adjust the front support arm 9 and the rear support arm When the angle of the front support arm 9 is adjusted, the linkage gear 15 is moved to the top of the driven gear 7. Subsequently, the driving motor drives the driving gear 6 to rotate, and the driving gear 6 drives the driven gear 7 to rotate. The driven gear 7 drives the driving shaft 19 to rotate while the driving shaft 19 drives the front support arm 9 to rotate. The driven gear 7 drives the linkage gear 15 to rotate while the linkage gear 15 drives the side arm 14 to rotate through the rotating shaft 8. The rotation of the side arm 14 drives the rear moving wheel 12 and the rear support arm 10 to rotate, thereby realizing the synchronous rotation of the rear support arm 10 and the front support arm 9. When only the angle of the front support arm 9 needs to be adjusted, at this time, the telescopic rod 16 is adjusted to pull the U-shaped frame 17 to move, and the U-shaped frame 17 pulls the linkage gear 15 to move to the tooth groove Plate 18, so that the linkage gear 15 is disengaged from the meshing state with the driven gear 7 and moves into the tooth plate 18. In this process, because the spacing between the tooth plate 18 and the driven gear 7 is smaller than the thickness of the linkage gear 15, when the side edge of the linkage gear 15 moves into the tooth plate 18, the other side edge of the linkage gear 15 is still on the driven gear 7, so that the linkage gear 15 can stably move into the tooth plate 18. Thereafter, the drive motor is started, and the drive motor drives the driven gear 7 to rotate, thereby realizing the rotation of the front support arm 9 connected to the driven gear 7, and then realizing the rotation adjustment action of the front support arm 9. However, the rear support arm 10 is limited by the engagement limit of the linkage gear 15 and the tooth plate 18, so that the rear support arm 10 is limited and will not change its state.

[0042] See also Figure 2-Figure 10 The mobile robot includes a mobile shell 4, one side outer surface of the mobile shell 4 is connected and fixed to the end of the connecting plate 3, a driving motor is arranged inside the mobile shell 4, a side output end of the driving motor is connected to the driving gear 6, one side of the driving gear 6 is meshed with a driven gear 7, a driving shaft 19 is connected to the middle of the driven gear 7, an end of the driving shaft 19 passes through the outside of the mobile shell 4 and is connected to the front support arm 9, a front moving wheel 11 is installed at the end of the front support arm 9, the driving shaft 19 passes through the end of the outside of the mobile shell 4 and is movably connected to the rear support arm 10, an end of the rear support arm 10 is connected to the rear moving wheel 12, a mobile motor 13 is connected to both the rear moving wheel 12 and the front moving wheel 11, a rotating shaft 8 is rotatably connected to the inner wall of the mobile shell 4, one end of the rotating shaft 8 passes through the outside of the mobile shell 4 and is connected to the side arm 14, the The other end of the side arm 14 is movably connected to the top end of the rear moving wheel 12, the rotating shaft 8 is slidably connected with a sleeve on the outer surface of one end inside the moving shell 4, the end of the telescopic rod is connected to the linkage gear 15, and an adjusting telescopic rod 16 and a toothed plate 18 are also fixed on the inner wall of the moving shell 4, the toothed plate 18 on which the toothed plate 18 is adapted to the linkage gear 15, the output end of the adjusting telescopic rod 16 is connected to a U-shaped frame 17, the end of the U-shaped frame 17 is connected with a slider, and the slider is slidably connected in the annular groove on the outer surface of the side of the linkage gear 15, a fixed pipe frame 20 matching the drive shaft 19 is installed on the moving shell 4, the drive shaft 19 passes through the fixed pipe frame 20 to the outside of the moving shell 4, a movable opening 21 is opened on the side of the fixed pipe frame 20, and the end of the rear support arm 10 is movably connected to the drive shaft 19 through the movable opening 21.

[0043] See also Figure 11-Figure 16, the testing mechanism includes a receiving groove 5 opened in the middle of the testing shell 23. A number of groups of guiding chutes 24 are equidistantly arranged inside the receiving groove 5. A guiding block 25 is slidably connected in the guiding chute 24. A sliding plate 26 is fixed between the guiding blocks 25 on both sides of the same group. A vertical plate 27 is respectively fixed at both bottom sides of the sliding plate 26. A cross plate 28 is connected between the bottoms of the two vertical plates 27. A testing block 29 is fixed at the center of the bottom of the cross plate 28. An acoustic sensor is installed on the inner wall of the receiving groove 5. A control unit can also be set to be adapted to the acoustic sensor and the mobile robot, such as a p1c controller, etc., which can store or directly operate on the received signals. The subsequent processing of the signal data belongs to the existing technology and also does not fall within the protection scope of this application. The testing mechanism further includes a group of guide rods 30 arranged in the middle of the receiving groove 5. A moving frame 32 is slidably connected to the guide rods 30. A guide rod hole 33 matching the guide rods 30 is opened on the moving frame 32. The side surface of the moving frame 32 is connected to the output end of a cylinder 31. The cylinder 31 is installed on the inner wall of the receiving groove 5. A groove 34 is opened in the middle of the outer surface of the moving frame 32. A moving groove 35 is respectively opened on the inner walls of both sides of the groove 34. A vertical slider 36 is slidably connected inside the moving groove 35. The bottom of the vertical slider 36 is connected to the output end of an electric push rod 37. A cross bar 38 is connected between the two vertical sliders 36 on both sides. A trapezoidal seat 40 is slidably connected inside the groove 34. An inclined hole 41 matching the cross bar 38 is opened on the trapezoidal seat 40. A limiting chute 39 is opened on the inner wall of the groove 34. A limiting slider matching the limiting chute 39 is fixed at the bottom of the trapezoidal seat 40. Through the design of the testing mechanism, after the mobile robot stops moving, the testing shell 23 is pushed tightly against the arch rib by the electric telescopic rod. Subsequently, the cylinder 31 pulls the moving frame 32 to move on the guide rods 30. During the movement of the moving frame 32, the sliding plate 26 will be pushed vertically upward through the inclined surface of the trapezoidal seat 40. The sliding plate 26 drives the cross plate 28 and the testing block 29 to rise vertically through the vertical plates 27. When the moving frame 32 passes by the sliding plate 26, under the action of gravity, the testing block 29 will descend and then impact the outer surface of the arch rib. Pulse excitation is given to the void area of the arch rib through the impact of the testing block 29. The acoustic sensor can receive the vibration sound wave frequency generated by the testing block 29 hitting the arch rib. The sound wave frequency is related to the area of the void area, the shape of the void area, and the thickness of the arch rib steel pipe. After the testing block 29 applies pulse excitation to the void area at different positions, the generated sound wave frequencies are different. The sound wave frequency parameters are collected, and the position, area, and shape of the void area on the arch rib are calculated and determined according to the changes in different sound wave frequencies.

[0044] When in use, first, the positions of the two mobile robots are adjusted by the adjustment mechanism so that the two mobile robots are adapted to the arch ribs of different sizes. Then, the angles of the front support arm 9 and the rear support arm 10 on the mobile robot are adjusted according to the type of the arch rib, so that the containing shell 22 and the testing mechanism at the bottom of the mobile robot can be adapted to the arch rib. When testing is required, the test shell 23 in the containing shell 22 is pushed out by the electric telescopic rod so that the test shell 23 is close to the outer surface of the arch rib. Then, the test block 29 is driven by the testing mechanism to impact the outer surface of the arch rib. The impact of the test block 29 gives a pulse excitation to the hollow area of ​​the arch rib, and the acoustic sensor can receive the vibration sound wave frequency generated by the test block 29 impacting the arch rib. The sound wave frequency is consistent with the hollow area of ​​the arch rib. The operation process of the adjusting mechanism is as follows: the bidirectional threaded screw 43 is driven to rotate by the adjusting motor 44, and the threaded drive of the nut moving block by the bidirectional threaded screw 43 drives the adjusting plates 2 on both sides to move, and the adjusting plates 2 drive the mobile robot to move through the connecting plate 3, so that the mobile robot is adapted to the arch rib; the operation process of the mobile robot is as follows: when it is necessary to synchronously adjust the angles of the front support arm 9 and the rear support arm 10, the linkage gear The wheel 15 moves to the top of the driven gear 7, and then the driving motor drives the active gear 6 to rotate, the active gear 6 drives the driven gear 7 to rotate, and the driven gear 7 drives the driving shaft 19 to rotate while rotating, and the driving shaft 19 will drive the front support arm 9 to rotate, and the driven gear 7 will drive the linkage gear 15 to rotate while rotating, and the linkage gear 15 will drive the side arm 14 to rotate through the rotating shaft 8, and the rotation of the side arm 14 will drive the rear moving wheel 12 and the rear support arm 10 to rotate, thereby realizing the synchronous rotation of the rear support arm 10 and the front support arm 9; when it is necessary to adjust only the angle of the front support arm 9, at this time, the U-shaped frame 17 is pulled to move by adjusting the telescopic rod 16, and the U-shaped frame 17 will pull the linkage gear 15 to move into the toothed plate 18, The linkage gear 15 is disengaged from the meshing state with the driven gear 7 and moves to the tooth plate 18. In this process, because the spacing between the tooth plate 18 and the driven gear 7 is smaller than the thickness of the linkage gear 15, when the side edge of the linkage gear 15 moves into the tooth plate 18, the other side edge of the linkage gear 15 is still on the driven gear 7, so that the linkage gear 15 can stably move into the tooth plate 18. Thereafter, the driving motor is started, and the driving motor drives the driven gear 7 to rotate, so that the front support arm 9 connected with the driven gear 7 rotates, thereby realizing the rotation adjustment action of the front support arm 9. However, the rear support arm 10 is limited because of the meshing limit between the linkage gear 15 and the tooth plate 18, so that the rear support arm 10 is limited and will not change its state.The operation process of the test mechanism is as follows: when the mobile robot stops moving, the electric telescopic rod pushes the test shell 23 close to the arch rib, and then the cylinder 31 pulls the mobile frame 32 to move on the guide rod 30. During the movement, the mobile frame 32 pushes the sliding plate 26 to rise vertically through the inclined surface of the trapezoidal seat 40. The sliding plate 26 drives the horizontal plate 28 and the test block 29 to rise vertically through the vertical plate 27. After the mobile frame 32 passes the sliding plate 26, under the action of gravity, the test block 29 will drop and then hit the outer surface of the arch rib. The impact of the test block 29 gives a pulse excitation to the hollow area of ​​the arch rib, and the acoustic sensor can receive the vibration sound wave frequency generated by the test block 29 hitting the arch rib. The sound wave frequency is related to the area of ​​the hollow area, the shape of the hollow area and the thickness of the arch rib steel pipe. After the test block 29 applies pulse excitation to the hollow area at different positions, the sound wave frequency generated is different. The sound wave frequency parameters are collected, and the position, area and shape of the hollow area on the arch rib are calculated and determined according to the changes in different sound wave frequencies. ;

[0045] Although this specification is described according to implementation modes, not every implementation mode includes only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A steel tube concrete arch rib void detection device, characterized in that: The invention comprises a bracket (1), an adjustment mechanism is provided on one side of the bracket (1), output ends on both sides of the adjustment mechanism are connected to a mobile robot, a housing shell (22) is provided on one side of the mobile robot, an electric telescopic rod is provided inside the housing shell (22), the output end of the electric telescopic rod is connected to a test shell (23), the test shell (23) is slidably connected to the inner wall of the housing shell (22), and a test mechanism is provided inside the test shell (23).

2. A steel tube concrete arch rib void detection device according to claim 1, characterized in that: The adjustment mechanism comprises an adjustment groove (42) provided on the outer surface of one side of the bracket (1), an adjustment opening being provided at each end of the adjustment groove (42), a bidirectional threaded screw (43) being movably connected inside the adjustment groove (42), the top of the bidirectional threaded screw (43) being connected to the output end of the adjustment motor (44), a nut moving block being slidably connected at each end of the adjustment groove (42), the nut moving block being sleeved on the bidirectional threaded screw (43), the end of the nut moving block passing through the adjustment opening to the outside of the bracket (1) and being connected to the adjustment plate (2), the end of the adjustment plate (2) being fixed with a connecting plate (3), the end of the connecting plate (3) being connected and fixed to the mobile robot.

3. A steel tube concrete arch rib void detection device according to claim 2, characterized in that: A vertical groove is provided on the side wall of the adjustment groove (42), a straight plate is slidably connected in the vertical groove, a limit electric push rod is installed between the outer surface of one side of the straight plate and the inner wall of the vertical groove, a plurality of groups of limit rods are fixed to the outer surface of the other side of the straight plate, and a limit hole matching the limit rod is provided on the outer surface of the nut moving block.

4. A steel tube concrete arch rib void detection device according to claim 3, characterized in that: The mobile robot comprises a mobile shell (4), one side outer surface of the mobile shell (4) is connected and fixed to the end of the connecting plate (3), a driving motor is arranged inside the mobile shell (4), a side output end of the driving motor is connected to a driving gear (6), one side of the driving gear (6) is meshed with a driven gear (7), the middle of the driven gear (7) is connected to a driving shaft (19), the end of the driving shaft (19) passes through the outside of the mobile shell (4) and is connected to a front support arm (9), the end of the front support arm (9) is mounted with a front moving wheel (11), the driving shaft (19) passes through the end of the outside of the mobile shell (4) and is connected to the front support arm (9), the front moving wheel (11) is installed at the end of the front support arm (9), and the driving shaft (19) passes through the end of the outside of the mobile shell (4). A rear support arm (10) is movably connected to the front part, the end of the rear support arm (10) is connected to a rear moving wheel (12), and the rear moving wheel (12) and the front moving wheel (11) are both connected to a moving motor (13). A rotating shaft (8) is rotatably connected to the inner wall of the moving shell (4), one end of the rotating shaft (8) passes through the outer side of the moving shell (4) and is connected to the side arm (14), and the other end of the side arm (14) is movably connected to the top end of the rear moving wheel (12). A sleeve is slidably connected to the outer surface of one end of the rotating shaft (8) inside the moving shell (4), and the end of the sleeve is fixedly connected to a linkage gear (15).

5. A steel tube concrete arch rib void detection device according to claim 4, characterized in that: An adjustable telescopic rod (16) and a toothed plate (18) are also fixed to the inner wall of the movable shell (4); the toothed plate (18) has a toothed groove that matches the linkage gear (15); the output end of the adjustable telescopic rod (16) is connected to a U-shaped frame (17); the end of the U-shaped frame (17) is connected to a slider; the slider is slidably connected to an annular groove on the outer surface of the side of the linkage gear (15).

6. A steel tube concrete arch rib void detection device according to claim 5, characterized in that: A fixed pipe frame (20) matched with the drive shaft (19) is mounted on the movable shell (4); the drive shaft (19) passes through the fixed pipe frame (20) to the outside of the movable shell (4); a movable opening (21) is provided on the side of the fixed pipe frame (20); and the end of the rear support arm (10) is movably connected to the drive shaft (19) through the movable opening (21).

7. A steel tube concrete arch rib void detection device according to claim 6, characterized in that: The test mechanism comprises a receiving groove (5) provided in the middle of the test shell (23), a plurality of groups of guide grooves (24) being arranged at equal intervals inside the receiving groove (5), guide blocks (25) being slidably connected in the guide grooves (24), a sliding plate (26) being fixed between the guide blocks (25) on both sides of the same group, a vertical plate (27) being fixed on both sides of the bottom of the sliding plate (26), a horizontal plate (28) being connected between the bottoms of the vertical plates (27) on both sides, a test block (29) being fixed at the center of the bottom of the horizontal plate (28), and an acoustic sensor being installed on the inner wall of the receiving groove (5).

8. The device for detecting hollowing out of concrete-filled steel tube arch ribs according to claim 7, characterized in that: The testing mechanism further comprises a group of guide rods (30) arranged in the middle of the receiving groove (5), a movable frame (32) being slidably connected to the guide rods (30), a side surface of the movable frame (32) being connected to the output end of the cylinder (31), the cylinder (31) being mounted on the inner wall of the receiving groove (5), a groove (34) being provided in the middle of the outer surface of the movable frame (32), a movable groove (35) being provided on the inner walls on both sides of the groove (34), a vertical slider (36) being slidably connected inside the movable groove (35), the bottom of the vertical slider (36) being connected to the output end of the electric push rod (37), a cross bar (38) being connected between the vertical sliders (36) on both sides, a trapezoidal seat (40) being slidably connected inside the groove (34), and an oblique hole (41) matching the cross bar (38) being provided on the trapezoidal seat (40).

9. A steel tube concrete arch rib void detection device according to claim 8, characterized in that: The movable frame (32) is provided with a guide rod hole (33) which matches the guide rod (30).

10. A steel tube concrete arch rib void detection device according to claim 9, characterized in that: A limiting slide groove (39) is provided on the inner wall of the groove (34), and a limiting sliding block matching the limiting slide groove (39) is fixed to the bottom of the trapezoidal seat (40).

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