Device for detecting defects of concrete-filled steel tube arch structure

Abstract

The invention relates to the technical field of engineering quality detection, in particular to a device for detecting defects of a concrete-filled steel tube arch structure, which comprises a magnetic attraction wheel set, a machine body, a camera and a detection assembly, the magnetic attraction wheel set is connected to one side of the machine body, and the detection assembly is connected to the machine body. The detection assembly is used for detecting the concrete-filled steel tube arch structure; the camera is electrically connected with a wireless transmission device, and the wireless transmission device can receive and send out images shot by the camera. Through the arrangement, the capacity of the device for adapting to the curved surface is improved, the device can feed back working conditions, and the capacity of the device for adapting to a complex steel tube concrete arch structure is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering quality inspection, and particularly relates to a device for detecting defects in a concrete-filled steel tube arch structure. Background Art

[0002] In the field of inspection of concrete-filled steel tube arch structures, traditional inspection methods mainly rely on manual operation. The concrete-filled steel tube arch has the characteristics of being relatively long, having a curved surface to be inspected, a curved overall structure of the component, large component dimensions, and many cross-connection parts. Therefore, manual operation has problems such as low efficiency, difficult inspection, and poor operation safety.

[0003] Chinese Patent Application No. CN117147689A discloses an intelligent device system for detecting the void of a concrete-filled steel tube arch structure, which can realize the vibration knocking detection and intelligent positioning of the machine. However, its moving device cannot adapt to the concrete-filled steel tube arch with a curved surface to be inspected and many cross-connection parts, and when facing a concrete-filled steel tube arch with a complex structure, it is difficult to feedback the walking road conditions, further reducing its ability to adapt to the inspection working conditions. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art that the moving device cannot adapt to the concrete-filled steel tube arch with a curved surface to be inspected and many cross-connection parts, and when facing a concrete-filled steel tube arch with a complex structure, it is difficult to feedback the walking road conditions, further reducing its ability to adapt to the inspection working conditions, and to provide a device for detecting defects in a concrete-filled steel tube arch structure.

[0005] The present invention provides a device for detecting defects in a concrete-filled steel tube arch structure, including: a magnetic adsorption wheel group, a fuselage, a camera, and a detection component. The magnetic adsorption wheel group is connected to one side of the fuselage, and the detection component is connected to the fuselage. The detection component is used for detecting the concrete-filled steel tube arch structure;

[0006] The magnetic adsorption wheel group includes a frame component and two driving wheel components. The magnetic adsorption wheel group is connected to the fuselage through the frame component. The driving wheel component includes a magnetic adsorption roller. The magnetic adsorption wheel group can adsorb to the surface to be inspected through the magnetic adsorption roller. One driving wheel component is provided on each side of the frame component so that the magnetic adsorption rollers are arranged oppositely. The driving wheel component is hinged to the frame component;

[0007] The camera is electrically connected to a wireless transmission device, and the wireless transmission device can receive and send the images taken by the camera.

[0008] The magnetic adsorption rollers in the magnetic adsorption wheel set rotate to enable the device to move. The magnetic adsorption rollers can adsorb on the concrete-filled steel tubular arch structure to be detected, improving the stability of the device during operation. The magnetic adsorption rollers of the two drive wheel assemblies in the magnetic adsorption wheel set adopt a hinged structure with opposite settings and adjustable angles. When encountering a curved surface (such as an arched arc surface), the angles of the two magnetic adsorption rollers can change with the curvature of the contact surface of the magnetic adsorption rollers, enabling the device to always fit surfaces with different curvatures. There are usually multi-directional curved surface intersections at the cross-connection parts of the concrete-filled steel tubular arch structure. The hinged drive wheel assemblies can adapt to different contact surfaces. For example, at the steel pipe intersections, continuous adsorption can be achieved through the angle change of the wheel set, reducing the probability of jamming or detachment caused by rigid connection of traditional wheeled devices. By setting up a camera, the traveling path and the surrounding environment can be photographed in real time, and the image information is sent to the remote control terminal through a wireless transmission device. The operator can dynamically adjust the moving path based on this to avoid obstacles (such as cross-connection parts like welds and bolts) or select a suitable path to pass through the obstacles.

[0009] The detection component can be an ultrasonic detection component or a percussion detection component, etc. The ultrasonic detection component can detect whether there are damages or hollowness inside the object to be detected by emitting ultrasonic waves and receiving the ultrasonic waves reflected by the object to be detected. The percussion detection component can detect whether there is hollowness inside the object by percussing the object to be detected and collecting and analyzing the sound emitted when percussing the object to be detected. Different detection components can be selected according to actual working requirements. Preferably, the detection component is set as a percussion detection component.

[0010] When the detection component is a percussion detection component, a percussion tool such as a percussion hammer or a percussion rod can be used to percuss the object to be detected to obtain sound information.

[0011] The frame component can be of any shape. For example, it can be set as an "inverted T" structure or a rectangle. When the frame component is an "inverted T" structure, the drive wheel assemblies are connected to both ends of the component arranged horizontally in the inverted T structure. When the frame component is a rectangle, the drive wheel assemblies are arranged at both ends of the rectangle along the length direction of the rectangle.

[0012] Through this setting, the ability of the device to adapt to curved surfaces is improved, and the device can provide feedback on the working conditions, further enhancing the ability of the device to adapt to complex concrete-filled steel tubular arch structures.

[0013] The fuselage is also provided with a host computer and a slave computer. The camera is electrically connected to the wireless transmission device through the host computer. The host computer is electrically connected to the detection component. The host computer is used to receive and process the information collected by the camera and the detection component and transmit the information.

[0014] The way the host computer processes the information collected by the camera and the detection component is prior art. For example: using libraries such as OpenCV or Halcon for image preprocessing, then combining the information collected by the camera and the detection component, providing comprehensive environmental information, and using machine learning, deep learning or traditional algorithms to analyze the above information, and generating a movement strategy based on the analysis result using a path planning algorithm (such as A* or Dijkstra) or reinforcement learning.

[0015] The host computer and the slave computer are electrically connected. The slave computer is respectively electrically connected to the magnetic adsorption wheel group and the detection component. The slave computer can control the movement of the magnetic adsorption roller and the knocking component by receiving the information sent by the host computer.

[0016] By making the host computer responsible for processing the information collected by the camera and the detection component, and generating a movement strategy through algorithm analysis; the slave computer directly controls the movement of the magnetic adsorption roller and the knocking component. This hierarchical control architecture improves the response speed and enables the device to quickly adapt to the dynamically changing detection environment.

[0017] The frame assembly includes a first connecting frame, a second connecting frame, a third connecting frame and a first spring. One side of the first connecting frame is connected to the magnetic adsorption roller, and the other side is hinged to the second connecting frame. The side of the second connecting frame away from the first connecting frame is hinged to the third connecting frame. The two ends of the first spring are respectively hinged to the first connecting frame and the third connecting frame. The frame assembly is connected to the fuselage through the third connecting frame;

[0018] The host computer and the slave computer are electrically connected. The slave computer is respectively electrically connected to the magnetic adsorption wheel group and the detection component. The slave computer can control the start and stop of the magnetic adsorption wheel group and the start and stop of the detection component by receiving the information sent by the host computer.

[0019] The start of the magnetic adsorption wheel group means that the magnetic adsorption roller rotates, the stop means that the magnetic adsorption roller stops rotating, the start of the detection component means that the detection component starts to work, and the stop means that the detection component stops working.

[0020] By connecting the first spring to the first connecting frame and the third connecting frame, the ability to absorb vibrations and impacts from the drive wheel assembly can be improved, reducing the vibrations transmitted to the fuselage, thereby improving the stability of the device;

[0021] Through the hinge design among the first connecting frame, the second connecting frame and the third connecting frame, a multi-stage hinge structure is formed. Compared with a single hinge structure, the ability of the frame assembly to flexibly cope with the uneven ground is improved, and the damping effect is further enhanced. This design method provides multiple degrees of freedom, enabling the driving wheel assembly to better fit the surface to be detected and enhancing the stability of the device. Through the hinge design of multiple connecting frames, external forces can be dispersed to different connection points, avoiding excessive stress on a single component, thereby improving the strength and durability of the overall structure of the device.

[0022] The detection component includes a knocking component for knocking the surface to be detected. The knocking component includes a second driving device and a knocking rod. The second driving device is connected to the knocking rod, and the lower computer drives the knocking rod to knock the surface to be detected through the second driving device.

[0023] The first driving device and the second driving device can be respectively set as a motor, an electric motor or a small engine, etc., preferably an electric motor.

[0024] The detection component further includes a detection information acquisition component for acquiring the sound generated when the knocking rod knocks the surface to be detected.

[0025] The detection information acquisition component includes a sound collection microphone or a vibration sensor, etc., preferably a sound collection microphone.

[0026] The knocking component is further connected with a ratchet component. The second driving device and the knocking rod are connected through a crank connecting rod mechanism. The ratchet component is arranged between the second driving device and the crank connecting rod mechanism and is used to limit the one-way rotation of the crank connecting rod mechanism. The knocking component further includes a second spring and a limiting plate. The second spring is sleeved outside the knocking rod, and the lower end of the second spring is connected to the knocking rod. The knocking rod can drive the second spring to stretch and contract, and limiting plates are provided at both ends of the second spring.

[0027] After one knocking is completed, if the knocking rod descends for the second time, the ratchet component limits the one-way rotation of the crank connecting rod mechanism to prevent the knocking rod from knocking for the second time, thereby improving the detection efficiency and the accuracy of each detection, reducing the interference caused by the second knocking, and enabling the torque output by the motor to be effectively converted into knocking kinetic energy. Compared with a two-way structure, the energy utilization rate is improved.

[0028] The second spring is used for energy storage. The second driving device drives the striking rod to move vertically upward. The second spring is compressed by the driving of the striking rod. The second spring stores elastic potential energy in the compressed state and can quickly convert the energy into the kinetic energy of the striking rod when released, thereby increasing the initial velocity of the striking rod. A higher initial velocity means that the striking rod can contact the detection surface with a greater impact force, enabling the device to meet the requirements of the detection work. The elastic characteristics of the second spring enable the striking rod to quickly rebound and prepare for the next strike, improving the striking frequency and efficiency. Moreover, the pre-tightening force of the second spring assists the movement of the striking rod, reducing the load on the second driving device and enabling the motor to drive the striking component more easily. The pre-tightening force of the second spring increases the probability of the consistency of the initial velocity and force of each strike, improving the reliability of the detection result.

[0029] The limiting plate restricts the elongation range of the second spring, preventing the second spring from being overstretched or the striking rod from moving overload, and protecting the component structure.

[0030] The ratchet assembly includes a pawl, a ratchet body, and a pawl spring. The ratchet body is connected to the second driving device. The pawl includes a bent end and a connecting end. The bent end can contact the ratchet body. The connecting end is rotatably arranged. The pawl can rotate around the connecting end. The pawl is used to restrict the one-way rotation of the ratchet body. One end of the pawl spring is fixedly arranged and the other end is connected to the pawl.

[0031] The engagement design of the ratchet and pawl can store the inertial kinetic energy during the return stroke in the pawl spring, realizing the recycling of energy and improving the energy utilization efficiency.

[0032] The crank and connecting rod mechanism includes a transmission shaft, a driving push rod, a driven push rod, and a driven connecting rod. The second driving device is connected to the crank and connecting rod mechanism through the transmission shaft. One end of the driving push rod is connected to the transmission shaft and the other end is connected to the driven push rod. The end of the driven push rod away from the driving push rod is movably connected to the driven connecting rod. The striking rod is connected to the crank and connecting rod mechanism through the driven connecting rod.

[0033] Through the rigid connection of the transmission shaft, the driving push rod, the driven push rod, and the driven connecting rod, the rotational motion of the second driving device can be converted into the linear motion of the striking rod with small energy loss. The crank and connecting rod mechanism can amplify the small torque of the motor into a greater impact force of the striking rod, improving the energy utilization efficiency. The geometric structure of the crank and connecting rod mechanism determines the motion trajectory of the striking rod, enabling an accurate reciprocating linear motion and increasing the probability of the consistency of the force and position of each strike. By adjusting the length of the crank or the angle of the connecting rod, the stroke and force of the striking rod can be flexibly changed to adapt to different detection requirements.

[0034] The fuselage is provided with a magnetic adsorption component, omnidirectional wheels, and an energy supply device. The magnetic adsorption component and the omnidirectional wheels are both arranged on the bottom surface of the fuselage. The magnetic adsorption component is used for adsorbing on the surface to be detected. The omnidirectional wheels are arranged at the rear side of the fuselage, and the magnetic adsorption rollers are arranged at the front side of the fuselage.

[0035] The front side of the fuselage refers to the side at the very front along the forward direction when the device moves forward, and the rear side refers to the side on the fuselage opposite to the front side.

[0036] The omnidirectional wheels can achieve movement in any direction (including horizontal, vertical, and rotation), greatly improving the flexibility and mobility of the fuselage. At the same time, the omnidirectional wheels are arranged at the rear side of the fuselage, and the magnetic adsorption rollers are arranged at the front side of the fuselage, improving the stability of the fuselage.

[0037] When it is necessary to enhance the stability of the device, the magnetic adsorption component can firmly adsorb the fuselage on the metal surface, reducing the probability of the device being disturbed by movement or vibration during work, making the device suitable for working on inclined or vertical surfaces; the energy supply device is directly integrated into the fuselage, reducing the dependence on external cables, increasing the freedom of movement, supporting long-term work, and reducing the need for frequent charging or energy replacement.

[0038] The energy supply device is a battery, a small engine, etc.

[0039] The detection component is provided with a dust-proof plate.

[0040] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0041] 1. The present invention provides a device for detecting defects in a concrete-filled steel tubular arch structure. Through this setting, the ability of the device to adapt to curved surfaces is improved, and the device can provide feedback on the working conditions, further enhancing the ability of the device to adapt to complex concrete-filled steel tubular arch structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a three-dimensional schematic diagram of the device for detecting defects in a concrete-filled steel tubular arch structure according to the embodiment provided by the present invention;

[0043] Figure 2 is a front view schematic diagram of the internal structure of the fuselage of the device for detecting defects in a concrete-filled steel tubular arch structure according to the embodiment provided by the present invention;

[0044] Figure 3 is a three-dimensional schematic diagram of the magnetic adsorption wheel set of the device for detecting defects in a concrete-filled steel tubular arch structure according to the embodiment provided by the present invention;

[0045] Figure 4 is an exploded schematic diagram of the structure of the detection component of the device for detecting defects in a concrete-filled steel tubular arch structure according to the embodiment provided by the present invention;

[0046] Figure 5 For the present invention Figure 4 Schematic enlarged view of part A;

[0047] Figure 6 Bottom view schematic of the device for detecting defects in a concrete-filled steel tubular arch structure provided by the embodiment of the present invention;

[0048] Figure 7 Schematic of the device for detecting defects in a concrete-filled steel tubular arch structure provided by the embodiment of the present invention working on a curved surface;

[0049] Markings in the figure:

[0050] 1 - Magnetic wheel set, 11 - Driving wheel assembly, 111 - Magnetic roller, 112 - First driving device, 12 - Frame assembly, 121 - First connecting frame, 122 - Second connecting frame, 123 - Third connecting frame, 124 - First spring, 2 - Machine body, 201 - Magnetic component, 202 - Omnidirectional wheel, 203 - Energy supply device, 204 - Host computer, 205 - Slave computer, 3 - Camera, 31 - Wireless transmission device, 4 - Detection component, 401 - Transmission shaft, 402 - Active push rod, 403 - Driven push rod, 404 - Driven connecting rod, 41 - Knocking component, 411 - Second driving device, 412 - Knocking rod, 413 - Limiting plate, 414 - Second spring, 42 - Detection information acquisition component, 43 - Ratchet component, 431 - Pawl, 432 - Ratchet body, 433 - Pawl spring, 51 - Dust-proof plate, 52 - Dust-proof cover. Detailed implementation manners

[0051] The present invention will be further described in detail below with reference to specific embodiments. However, this should not be construed as limiting the scope of the above-mentioned subject matter of the present invention to the following embodiments. Any technology implemented based on the content of the present invention belongs to the scope of the present invention.

[0052] In the description of the specific embodiments of the present invention, without special explanation, the expressions of terms indicating orientation or positional relationships such as "upper", "lower", "left", "right", "center", "inner", "outer", etc. are all based on the orientation or positional relationships shown in the drawings, or the orientation or positional relationships when the invention product / device / equipment is commonly used. These terms of orientation or positional relationships are only for the convenience of describing the solution of the present invention or simplifying the description in specific embodiments, so as to facilitate technicians to quickly understand the solution, rather than indicating or implying that a specific device / component / element must have a specific orientation or be constructed and operated in a specific positional relationship. Therefore, it should not be construed as a limitation to the present invention.

[0053] In addition, when terms such as "horizontal", "vertical", "hanging", "parallel" appear, it does not mean that the corresponding device / component / element is required to be absolutely horizontal or vertical or hanging or parallel, but it can be slightly inclined or deviated. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and it does not mean that the structure must be completely horizontal, but it can be slightly inclined. Or, it can be simply understood that the corresponding device / component / element is arranged in directions such as "horizontal", "vertical", "hanging", "parallel", and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably an error / deviation within ±8%, more preferably an error / deviation within ±6%, more preferably an error / deviation within ±5%, more preferably an error / deviation within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its function in the solution of the present invention.

[0054] In addition, when expressions such as "first", "second", "third", etc. appear in the terms, they are only used to distinguish the description of the same or similar components, and should not be understood as emphasizing or implying the relative importance of specific components.

[0055] In addition, in the description of the embodiments of the present invention, "several", "multiple", "a number of" represent at least 2. It can be any situation such as 2, 3, 4, 5, 6, 7, 8, 9, etc., and even can be a situation exceeding 9.

[0056] In addition, in the description of the technical solution of the present invention, unless otherwise clearly specified / defined / restricted, where terms such as "set", "installed", "connected", "linked", "provided with", "laid", "arranged" appear, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be connection means commonly used in the art such as welding, riveting, bolting, threaded connection, etc. Such a connection can be a mechanical connection, an electrical connection or a communication connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements.

[0057] Embodiment

[0058] As Figures 1-7 shown, a device for detecting defects in a concrete-filled steel tubular arch structure, including a magnetic adsorption wheel set 1, a fuselage 2, a camera 3 and a detection component 4. The magnetic adsorption wheel set 1 is connected to one side of the fuselage 2, the camera 3 is arranged on the top of the magnetic adsorption wheel set 1, the detection component 4 includes a knocking component 41, the detection component 4 is arranged in the fuselage 2, and the side of the knocking component 41 for contacting the surface to be detected can extend out from the bottom of the fuselage 2;

[0059] The magnetic attraction wheel set 1 includes a frame assembly 12 and two drive wheel assemblies 11. The magnetic attraction wheel set 1 is connected to the fuselage 2 through the frame assembly 12. The drive wheel assembly 11 includes a magnetic attraction roller 111. One drive wheel assembly 11 is provided on each side of the frame assembly 12 so that the magnetic attraction rollers 111 are arranged oppositely. The drive wheel assembly 11 is hinged to the frame assembly 12. When the drive wheel assembly 11 rotates, the included angle between the oppositely arranged magnetic attraction rollers 111 can be changed;

[0060] The camera 3 is electrically connected to a wireless transmission device 31. The wireless transmission device 31 can receive and send out the information obtained by the camera 3.

[0061] The camera 3 is a depth camera. The drive wheel assembly 11 further includes a first driving device 112. The first driving device 112 is a reduction motor, which provides driving power for the magnetic attraction roller 111. The frame assembly 12 is hinge-connected to the drive wheel assembly 11; the magnetic attraction wheel set 1 is fixedly connected to the fuselage 2 by bolts; the fuselage 2 includes an upper frame and a lower frame. A control system assembly and a protective cover are installed on the upper frame of the fuselage 2. The protective cover is fixedly connected to the upper frame by hexagon head bolts. The protective cover is used to shield the control system assembly. The host computer 204 of the control system assembly is fixedly installed at the upper end of the upper frame by short hexagon head bolts, and the slave computer 205 is fixedly installed at the lower end of the upper frame by short hexagon head bolts; the host computer 204 is used to collect and process the signals of the depth camera and the detection assembly 4, and interact with the terminal in real time through a wireless transceiver device, and output control signals to the slave computer 205. The slave computer 205 controls the magnetic attraction wheel set 1 and the detection assembly 4; the lower frame is installed with a magnetic attraction assembly 201, an omnidirectional wheel 202 and an energy supply device 203. The energy supply device 203 is a battery pack.

[0062] Two drive wheel assemblies 11 are installed on both sides of the frame assembly 12. The drive wheel assembly 11 is provided with a motor mounting bracket and a connecting flange. The reduction motor is fixedly connected to the motor mounting bracket by screws. The connecting flange is fixedly connected to the shaft of the reduction motor by screws. The magnetic attraction roller 111 is fixedly connected to the connecting flange by screws.

[0063] Further, the frame assembly 12 includes a C-shaped connecting plate, a third connecting frame 123, a first spring 124, a second connecting frame 122, and a first connecting frame 121. The C-shaped connecting plate is fixedly connected to the motor mounting frame by bolts. One end of the second connecting frame 122 is hingedly connected to the third connecting frame 123 by a dowel bolt, and the other end is hingedly connected to the first connecting frame 121 by a dowel bolt. One end of the first spring 124 is hingedly connected to the third connecting frame 123 by a dowel bolt, and the other end is hingedly connected to the first connecting frame 121 by a dowel bolt. When the magnetic adsorption wheel adheres to curved surfaces with different curvatures, the first connecting frame 121 changes accordingly and presents a corresponding rotation angle to adapt to the change of the curved surface.

[0064] The upper frame and the lower frame of the fuselage 2 are respectively fixedly connected to the C-shaped connecting plate by bolts, and the upper frame is fixedly connected to the lower frame by bolts.

[0065] The detection assembly 4 includes a mounting plate, a knocking assembly 41, a ratchet assembly 43, a detection information acquisition assembly 42, a dust-proof plate 51, and a dust-proof cover 52. The knocking assembly 41 and the ratchet assembly 43 are fixedly connected through the mounting plate. The detection information acquisition assembly 42 is installed on the mounting plate by screws. The dust-proof plate 51 is fixedly connected to the mounting plate by screws. The dust-proof plate 51 is used to cover the knocking assembly 41. The dust-proof cover 52 is fixedly connected to two limiting plates 413. The dust-proof cover 52 is used to cover the knocking assembly 41 and the ratchet assembly 43.

[0066] The knocking assembly 41 includes a second driving device 411, a driving push rod 402, a transmission shaft 401, a driven push rod 403, a limiting plate 413, a driven connecting rod 404, a knocking rod 412, and a second spring 414. The second driving device 411 is fixed on the mounting plate by bolts. The motor shaft of the second driving device 411 is connected to the transmission shaft 401 by a key. The driving push rod 402 and the transmission shaft 401 are connected by a flat key. The driven push rod 403 is connected to the driven connecting rod 404 by a retaining ring. A knocking second spring 414 is installed between the knocking rod 412 and the limiting plate 413.

[0067] The second driving device 411 is a motor.

[0068] The ratchet assembly 43 includes a pawl 431, a ratchet body 432, a connecting bearing, a pawl 431 fixing shaft, a second spring 414 fixing shaft, and a pawl spring 433. The ratchet body 432 and the connecting bearing are fixed on the mounting plate. The ratchet body 432 is fixedly connected to the driven push rod 403 by screws. The pawl 431 and the pawl 431 fixing shaft are movably connected by two retaining rings. One end of the pawl spring 433 is movably connected to the fixing shaft by two retaining rings, and the other end of the pawl spring 433 is movably connected to the pawl 431 by two retaining rings.

[0069] The detection component 4 includes a microphone mounting plate and a sound collection microphone, and the sound collection microphone is fixedly connected to the microphone mounting plate by screws.

[0070] The omnidirectional wheel 202 includes an omnidirectional wheel 202 mounting bracket, a bearing support, an omnidirectional wheel 202 body, and an omnidirectional wheel 202 shaft. The omnidirectional wheel 202 body is fixedly connected to the omnidirectional wheel 202 shaft, and the bearing support, the omnidirectional wheel 202 mounting bracket, and the lower frame are connected by bolts.

[0071] When the device is in use, place the device on the steel pipe arch surface of the bridge, so that the device realizes stable contact with the arch surface through the magnetic adsorption wheel set 1 and the magnetic adsorption component 201. The frame component 12 enables the device to adapt to the change of the surface curvature and stably adhere to the arch surface; turn on the power supply, the control system is initialized, the device automatically checks the operating status of each component, and establishes a connection with the terminal through the wireless transmission device 31. After the initialization is completed, wait for the terminal to issue a work order. The movement is realized by driving the magnetic adsorption roller 111 through the reduction motor, and the steering movement is realized by differential control; the depth camera collects images and imports them into the upper computer 204. The upper computer 204 can establish a spatial model according to the image data for path planning. At the same time, the upper computer 204 is connected to the terminal for real-time data interaction to realize remote monitoring and data processing; the device automatically runs and works according to the preset program. After the device moves to the working point, the detection component 4 automatically performs a knocking detection. The specific process of the knocking detection is as follows: the lower computer 205 outputs a control signal to make the second driving device 411 start to work. The second driving device 411 drives the transmission shaft 401 to rotate, the transmission shaft 401 drives the active push rod 402 to rotate, the active push rod 402 drives the driven push rod 403 and the ratchet to rotate and drives the driven connecting rod 404 to move upward. At the same time, the driven connecting rod 404 drives the knocking rod 412 to rise, and the knocking rod 412 compresses the second spring 414. When the knocking rod 412 reaches the preset highest point, the driven push rod 403 is released, and a knocking is completed. At the same time, the sound collection microphone collects the knocking sound signal and transmits it; after one knocking ends, if the knocking rod 412 descends for the second time and the ratchet rotates in the reverse stroke, the pawl 431 can be clamped to prevent the ratchet from rotating in the reverse stroke and thus prevent secondary knocking; after one knocking is completed, the device walks and positions the next knocking point, performs the second knocking, and transmits the detection data to the terminal through the upper computer 204.

[0072] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A device for detecting defects in a steel tube concrete arch structure, characterized in that: include: A magnetic wheel group (1), a fuselage (2), a camera (3) and a detection component (4), wherein the magnetic wheel group (1) is connected to one side of the fuselage (2), the detection component (4) is connected to the fuselage (2), and the detection component (4) is used to detect the steel tube concrete arch structure; The magnetic wheel assembly (1) comprises a frame assembly (12) and two driving wheel assemblies (11); the magnetic wheel assembly (1) is connected to the body (2) via the frame assembly (12); the driving wheel assembly (11) comprises a magnetic roller (111); the magnetic wheel assembly (1) can be adsorbed on the surface to be detected via the magnetic roller (111); one driving wheel assembly (11) is provided on each side of the frame assembly (12) so that the magnetic rollers (111) are arranged opposite to each other; and the driving wheel assembly (11) is hinged to the frame assembly (12); The camera (3) is electrically connected to a wireless transmission device (31), and the wireless transmission device (31) is capable of receiving and sending images captured by the camera (3).

2. The device for detecting defects of concrete-filled steel tube arch structures according to claim 1, characterized in that: The body (2) is also provided with a host computer (204) and a lower computer (205); the camera (3) is electrically connected to the wireless transmission device (31) via the host computer (204); the host computer (204) is electrically connected to the detection component (4); the host computer (204) is used to receive and process information collected by the camera (3) and the detection component (4) and to send information; The upper computer (204) and the lower computer (205) are electrically connected to each other, and the lower computer (205) is electrically connected to the magnetic wheel group (1) and the detection component (4) respectively. The lower computer (205) can control the start and stop of the magnetic wheel group (1) and the start and stop of the detection component (4) by receiving information sent by the upper computer (204).

3. The device for detecting defects of a steel tube concrete arch structure according to claim 2, characterized in that: The frame assembly (12) comprises a first connecting frame (121), a second connecting frame (122), a third connecting frame (123) and a first spring (124); one side of the first connecting frame (121) is connected to the magnetic roller (111), and the other side is hinged to the second connecting frame (122); a side of the second connecting frame (122) away from the first connecting frame (121) is hinged to the third connecting frame (123); two ends of the first spring (124) are respectively hinged to the first connecting frame (121) and the third connecting frame (123); the frame assembly (12) is connected to the body (2) via the third connecting frame (123); The driving wheel assembly (11) further comprises a first driving device (112), wherein the first driving device (112) is connected to the corresponding magnetic roller (111), and the lower computer (205) is electrically connected to the magnetic wheel assembly (1) via the first driving device (112), and the lower computer (205) controls the first driving device (112) to move the magnetic roller (111).

4. The device for detecting defects of a steel tube concrete arch structure according to claim 2, characterized in that: The detection component (4) comprises a knocking component (41), the knocking component (41) is used to knock the surface to be detected, the knocking component (41) comprises a second driving device (411) and a knocking rod (412), the second driving device (411) is connected to the knocking rod (412), and the lower computer (205) drives the knocking rod (412) to knock the surface to be detected through the second driving device (411).

5. The device for detecting defects of concrete-filled steel tube arch structures according to claim 4, characterized in that: The detection component (4) further comprises a detection information collection component (42), wherein the detection information collection component (42) is used to collect the sound generated by the knocking rod (412) knocking the surface to be detected.

6. The device for detecting defects of concrete-filled steel tube arch structures according to claim 4, characterized in that: The knocking assembly (41) is also connected to a ratchet assembly (43). The second driving device (411) and the knocking rod (412) are connected via a crank-connecting rod mechanism. The ratchet assembly (43) is arranged between the second driving device (411) and the crank-connecting rod mechanism. The ratchet assembly (43) is used to limit the crank-connecting rod mechanism to unidirectional rotation. The knocking assembly (41) also includes a second spring (414) and a limit plate (413). The second spring (414) is sleeved outside the knocking rod (412). The lower end of the second spring (414) is connected to the knocking rod (412). The knocking rod (412) can drive the second spring (414) to expand and contract. The limit plates (413) are provided at both ends of the second spring (414).

7. The device for detecting defects of concrete-filled steel tube arch structures according to claim 6, characterized in that: The crank-connecting rod mechanism comprises a transmission shaft (401), an active push rod (402), a driven push rod (403) and a driven connecting rod (404); the second driving device (411) is connected to the crank-connecting rod mechanism via the transmission shaft (401); one end of the active push rod (402) is connected to the transmission shaft (401) and the other end is connected to the driven push rod (403); one end of the driven push rod (403) away from the active push rod (402) is movably connected to the driven connecting rod (404); and the knocking rod (412) is connected to the crank-connecting rod mechanism via the driven connecting rod (404).

8. The device for detecting defects of concrete-filled steel tube arch structures according to claim 6, characterized in that: The ratchet assembly (43) comprises a pawl (431), a ratchet body (432), and a pawl spring (433); the ratchet body (432) is connected to the second driving device (411); the pawl (431) can contact the ratchet body (432); the pawl (431) is used to limit the unidirectional rotation of the ratchet body (432); one end of the pawl spring (433) is fixedly arranged, and the other end is connected to the pawl (431).

9. A device for detecting defects of a concrete-filled steel tube arch structure according to any one of claims 1 to 8, characterized in that: The body (2) is provided with a magnetic attraction component (201), an omnidirectional wheel (202) and an energy supply device (203); the magnetic attraction component (201) and the omnidirectional wheel (202) are both arranged on the bottom surface of the body (2); the magnetic attraction component (201) is used to be adsorbed on the surface to be detected; the omnidirectional wheel (202) is arranged on the rear side of the body (2); and the magnetic attraction roller (111) is arranged on the front side of the body (2).

10. The device for detecting defects of concrete-filled steel tube arch structures according to claim 9, characterized in that: The detection component (4) is provided with a dustproof plate (51) and a dustproof cover (52).

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