Basement concrete crack detection robot

Abstract

The invention relates to crack detection equipment, in particular to a basement concrete crack detection robot. Comprising an energy converter, an ultrasonic generator and a connecting line, the energy converter and the ultrasonic generator are connected through the connecting line, and the device further comprises a walking vehicle, a shear fork type lifter, a transverse sliding plate, a movable plate, a rotating mechanism, a longitudinal moving mechanism, a distance adjusting mechanism, an angle adjusting mechanism, a linear module, a camera, a laser device and a display screen; a transverse sliding plate is slidably arranged at the top of the scissor lift, a movable plate is arranged on one side of the transverse sliding plate in the length direction, a longitudinal moving mechanism is arranged on the movable plate and connected with the movable plate through a rotating mechanism, and a distance adjusting mechanism is mounted at the top of the longitudinal moving mechanism. By adopting the design of combining the walking vehicle with the scissor lift, the instability problem of the unmanned aerial vehicle during hovering is avoided, so that the data accuracy in the ultrasonic detection process is ensured.

Description

Technical Field

[0001] The present invention relates to a crack detection device, and particularly to a basement concrete crack detection robot. Background Art

[0002] With the continuous increase in investment in the infrastructure construction field, especially the growing demand for water conservancy, transportation, and construction projects, ensuring the safe and stable operation of these large-scale infrastructures has become particularly important. As one of the most commonly used materials in infrastructure construction, concrete is prone to cracks due to its characteristics, which not only affects the function of the facilities but also may pose significant safety hazards.

[0003] Traditional crack detection mainly relies on manual operation, which is inefficient and poses safety hazards. To solve these problems, in recent years, drone-based crack detection technology has been developed. For example, Patent CN118279316B proposes an airborne detection device and working method for concrete infrastructure structure cracks, including a multi-rotor drone, on which an ultrasonic mechanism for collecting the depth information of concrete cracks, a camera mechanism for calibrating crack points, collecting crack images, and extracting crack morphology information based on the crack images are fixed. However, this drone-based method also exposes some deficiencies in practical applications: 1. When using a drone for ultrasonic detection, due to the stability problem of the drone during hovering, the ultrasonic detection results are not accurate enough.

[0004] 2. In complex environments such as basements, there are usually obstacles such as fire pipes and ventilation ducts, which increase the difficulty of drone operation and raise the risk of crashing.

[0005] 3. The operation of a drone requires a relatively high technical level, especially when operating in a narrow or obstacle-rich space, which is difficult for ordinary operators to handle. Summary of the Invention

[0006] In order to overcome the disadvantages of the existing drone-based crack detection technology, such as poor stability, high operation difficulty, and low detection accuracy in complex environments, the object of the present invention is to provide a basement concrete crack detection robot applicable to complex environments that can detect stably and accurately.

[0007] Technical solution: A basement concrete crack detection robot includes a transducer, an ultrasonic generator, and a connecting wire. The transducer and the ultrasonic generator are connected by the connecting wire. It also includes a walking vehicle, a scissor lift, a transverse slide plate, a movable plate, a rotating mechanism, a longitudinal moving mechanism, a distance adjusting mechanism, an angle adjusting mechanism, a linear module, a camera, a laser, and a display screen. The top of the walking vehicle is connected with a scissor lift. The top of the scissor lift is slidably provided with a transverse slide plate. On one side in the length direction of the transverse slide plate, there is a movable plate. A longitudinal moving mechanism is provided on the movable plate. The longitudinal moving mechanism is connected to the movable plate through a rotating mechanism. The top of the longitudinal moving mechanism is installed with a distance adjusting mechanism. Two transducers are installed on the distance adjusting mechanism. The distance adjusting mechanism is used to synchronously adjust the distance between the two transducers and the crack. An angle adjusting mechanism is connected between the transverse slide plate and the movable plate. The top of the scissor lift is connected with a linear module. The linear module is connected to the transverse slide plate. The camera and the laser are installed on the distance adjusting mechanism. The camera is electrically connected to the display screen.

[0008] As an improvement of the above solution, the rotating mechanism includes a first servo motor, a worm, a worm gear, and a circular slide rail. The first servo motor is installed on the top of the movable plate. The output shaft of the first servo motor is connected with the worm. The worm gear is connected to the longitudinal moving mechanism. The worm is meshed with the worm gear. The longitudinal moving mechanism is slidably connected to the movable plate through the circular slide rail.

[0009] As an improvement of the above solution, the longitudinal moving mechanism includes a fixed seat, a longitudinal slide rail, a longitudinal slide plate, a rack, a second servo motor, and a gear. The worm gear is connected to the bottom of the fixed seat. The top of the fixed seat is slidably connected with the longitudinal slide plate through the longitudinal slide rail. A rack is connected to the fixed seat. A second servo motor is installed on the longitudinal slide plate. The second servo motor is connected with a gear meshed with the rack.

[0010] As an improvement of the above solution, the distance adjusting mechanism includes a guide frame, a bidirectional lead screw, a stepping motor, and a slider. The guide frame is connected to the longitudinal slide plate. The bidirectional lead screw is rotatably installed on the guide frame. The stepping motor is installed at one end of the guide frame. The bidirectional lead screw is connected to the stepping motor to provide power for the rotation of the bidirectional lead screw. Two sliders are slidably connected to the guide frame. The two sliders are respectively meshed with the threads with opposite helix directions on both sides of the bidirectional lead screw. The transducer is detachably installed on the slider.

[0011] As an improvement of the above solution, it also includes a first spring. A first spring is provided between the slider and the transducer.

[0012] As an improvement of the above solution, the angle adjusting mechanism includes a disc, a connecting rod, an L-shaped plate, a second spring, and a limit block. A disc is provided on one side of the movable end of the movable plate. An L-shaped plate is slidably provided on the transverse slide plate. A connecting rod is rotatably connected between the eccentric position of the disc and the L-shaped plate. A second spring is provided between the L-shaped plate and the transverse slide plate. A limit block is connected to one end of the top of the scissor lift facing the L-shaped plate. The limit block is used to block the L-shaped plate.

[0013] As an improvement to the above solution, it further includes a smearing mechanism. The smearing mechanism includes a reduction motor, a connecting frame, a storage pipe, a cylinder, a movable pipe, and a third spring. The reduction motor is installed on a fixed seat. The connecting frame is connected to the output shaft of the reduction motor. There are two storage pipes, and both storage pipes are slidably sleeved on the connecting frame. A cylinder is connected to the connecting frame. The telescopic rod of the cylinder is connected to the two storage pipes through a connecting rod. The discharge end of the storage pipe is slidably provided with a movable pipe. The top of the movable pipe is a closed structure. Feeding holes are circumferentially and spacedly formed in the movable pipe. A third spring is connected between the storage pipe and the movable pipe. The diameter of one end of the storage pipe close to the movable pipe is smaller than that of the other end.

[0014] As an improvement to the above solution, it further includes a tapered block, and the tapered block is connected to one end of the closed structure of the movable pipe.

[0015] As an improvement to the above solution, it further includes a lighting lamp, and the lighting lamp is connected to the guiding frame.

[0016] The beneficial effects of the present invention are as follows: 1. By adopting the design of a walking vehicle combined with a scissor lift, the present invention avoids the instability problem during the hovering of the unmanned aerial vehicle, thereby ensuring the data accuracy during the ultrasonic detection process. The provided rotating mechanism, longitudinal movement mechanism, and angle adjustment mechanism can flexibly avoid obstacles and complete accurate detection tasks.

[0017] 2. Compared with the unmanned aerial vehicle, the robot provided by the present invention is more intuitive and simple to operate, reduces the requirements for the skill level of the operator, and reduces the risk of equipment damage caused by operation errors.

[0018] 3. Through the smearing mechanism, the present invention realizes the rapid and uniform automatic smearing of the coupling agent during the concrete crack detection process, improves the detection efficiency and accuracy, and also reduces the operation difficulty, especially suitable for efficient and accurate detection in complex environments such as basements. Description of the Drawings

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 It is a schematic diagram of the structures of the scissor lift, the horizontal slide rail, the horizontal slide plate, and the movable plate.

[0021] Figure 3 It is a schematic diagram of the structures of the longitudinal movement mechanism, the distance adjustment mechanism, the transducer, and the ultrasonic generator.

[0022] Figure 4 It is a three-dimensional structure schematic diagram of the angle adjustment mechanism of the present invention.

[0023] Figure 5 It is a cross-sectional structure schematic diagram of the rotating mechanism and the longitudinal movement mechanism of the present invention.

[0024] Figure 6 This is a schematic structural diagram of the distance adjustment mechanism, camera and laser of the present invention.

[0025] Figure 7 This is a schematic structural diagram of the transducer, slider and first spring of the present invention.

[0026] Figure 8 This is a three-dimensional structural schematic diagram of the coating mechanism of the present invention.

[0027] Figure 9 This is a partial sectional structural schematic diagram of the coating mechanism of the present invention.

[0028] Figure 10 This is a state diagram when the inclined state of the movable plate of the present invention is applicable to detecting vertical cracks in an inclined wall.

[0029] Figure 11 This is a state diagram when the inclined state of the movable plate of the present invention is applicable to detecting horizontal cracks in an inclined wall.

[0030] Figure 12 This is a state diagram when the coupling agent is added to the transducer by the coating mechanism of the present invention.

[0031] Names of the reference numerals in the figure: 1, walking vehicle; 2, protective shell; 3, scissor lift; 4, horizontal slide rail; 5, horizontal slide plate; 6, movable plate; 7, rotation mechanism, 71, first servo motor, 72, worm, 73, worm gear, 74, circular slide rail; 8, longitudinal movement mechanism, 81, fixed seat, 82, longitudinal slide rail, 83, longitudinal slide plate, 84, rack, 85, second servo motor, 86, gear; 9, distance adjustment mechanism, 91, guide frame, 92, bidirectional lead screw, 93, stepper motor, 94, slider, 95, first spring; 10, transducer; 11, ultrasonic generator; 12, connecting wire; 13, angle adjustment mechanism, 131, disc, 132, connecting rod, 133, L-shaped plate, 134, second spring, 135, limit block; 14, linear module; 15, coating mechanism, 151, reduction motor, 152, connecting frame, 153, storage pipe, 154, cylinder, 155, lid, 156, movable pipe, 157, feed hole, 158, third spring, 159, tapered block; 16, camera; 17, laser; 18, lighting lamp; 19, display screen. Detailed implementation manners

[0032] First embodiment: A basement concrete crack detection robot, as Figures 1-6 and Figure 10 and Figure 11As shown in the figure, it includes a walking vehicle 1, a protective shell 2, a scissor lift 3, a horizontal slide rail 4, a horizontal slide plate 5, a movable plate 6, a rotating mechanism 7, a longitudinal movement mechanism 8, a distance adjustment mechanism 9, a transducer 10, an ultrasonic generator 11, a connecting wire 12, an angle adjustment mechanism 13, a linear module 14, a camera 16, a laser 17 and a display screen 19. The top of the walking vehicle 1 is connected with a scissor lift 3 and a protective shell 2. The top of the protective shell 2 is an open structure. The scissor lift 3 is located inside the protective shell 2. The protective shell 2 plays a protective role for the scissor lift 3. When the scissor lift 3 contracts, its upper end blocks the opening at the top of the protective shell 2 to prevent impurities from entering the protective shell 2. Both the left and right sides of the top of the scissor lift 3 are connected with a horizontal slide rail 4. A horizontal slide plate 5 is slidably connected between the two horizontal slide rails 4. The rear side of the top of the horizontal slide plate 5 is rotatably connected with a movable plate 6. Above the movable plate 6 is provided with a longitudinal movement mechanism 8. The longitudinal movement mechanism 8 is connected with the movable plate 6 through a rotating mechanism 7. The top of the longitudinal movement mechanism 8 is installed with a distance adjustment mechanism 9. Two transducers 10 are installed on the distance adjustment mechanism 9. The transducer 10 is detachably connected with the distance adjustment mechanism 9. The front side of the protective shell 2 is connected with an ultrasonic generator 11 and a display screen 19. The ultrasonic generator 11 is connected with the transducer 10 through a connecting wire 12. An angle adjustment mechanism 13 is connected between the horizontal slide plate 5 and the movable plate 6. The angle adjustment mechanism 13 is used to adjust the angle of the movable plate 6. The top of the scissor lift 3 is connected with a linear module 14. The moving part of the linear module 14 is connected with the bottom of the horizontal slide plate 5. The camera 16 and the laser 17 are installed in the middle of the distance adjustment mechanism 9. The camera 16 and the laser 17 are both located between the two transducers 10. The camera 16 is electrically connected with the display screen 19.

[0033] Move the robot to the basement. When detecting the cracks across the joints on the concrete ceiling, start the laser 17 so that the laser beam emitted by it irradiates on the ceiling surface. Control the walking vehicle 1 to move slowly. When the laser beam is accurately aligned with the crack position, immediately stop the walking vehicle 1 to ensure that the robot is directly below the crack. Subsequently, evenly apply a coupling agent on the surfaces of the two transducers 10 to ensure good acoustic contact. Start the scissor lift 3 to drive the transducer 10 to rise slowly. When the transducer 10 approaches the ceiling, turn off the scissor lift 3. Next, drive the longitudinal movement mechanism 8, the distance adjustment mechanism 9 and the transducer 10 to rotate integrally through the rotation mechanism 7 so that the two transducers 10 are accurately arranged on both sides of the crack. Start the scissor lift 3 again to further move the transducer 10 upward until it is in close contact with the ceiling and apply appropriate pressure. At this time, start the ultrasonic generator 11. One of the transducers 10 acts as a transmitting end to emit ultrasonic pulse waves with a specific frequency into the concrete. The pulse wave passes through the concrete medium in the form of longitudinal waves or transverse waves and attempts to propagate through the crack to the other side. The other transducer 10 acts as a receiving end, responsible for receiving the ultrasonic signal after penetrating the crack, converting it into an electrical signal, and transmitting it through the connecting wire 12 to the analysis module built in the ultrasonic generator 11. By comprehensively analyzing parameters such as the propagation time, amplitude attenuation and waveform change of ultrasonic waves in the concrete, the influence of the crack on the ultrasonic wave propagation can be evaluated, thereby inferring the depth of the crack. The cross-joint detection is centered on the crack and needs to be carried out at distances of 100 mm, 150 mm and 200 mm on both sides of the crack. In this embodiment, the position 100 mm away from the crack is the first detection point, 150 mm is the second detection point, and 200 mm is the third detection point. After the first detection point is detected, start the distance adjustment mechanism 9 to drive the two transducers 10 to move synchronously away from each other to the second detection point and repeat the above detection process; then move to the third detection point in turn. Each time the transducer 10 moves, it is necessary to start the scissor lift 3 to lower a small distance to avoid scratching the transducer 10 against the concrete structure surface. After the transducer 10 completes the movement, control the scissor lift 3 to rise and reset. When the data acquisition and analysis of all detection points are completed, turn off the ultrasonic generator 11. Start the rotation mechanism 7 to drive the longitudinal movement mechanism 8, the distance adjustment mechanism 9 and the transducer 10 to reset, and then start the scissor lift 3 to contract into the protective shell 2.

[0034] When there are obstacles such as pipelines below the ceiling crack, the direct upward movement of the scissor lift 3 will be blocked by the obstacles. At this time, the walking vehicle 1 can be controlled to move the robot to one side below the crack to be detected, and then the scissor lift 3 is started to rise. When the transducer 10 approaches the ceiling, the scissor lift 3 is closed. The longitudinal movement mechanism 8 is started to drive the distance adjustment mechanism 9 and the transducer 10 to move. The camera 16 and the laser 17 are turned on. The laser beam emitted by the laser 17 irradiates on the ceiling surface, and the image captured by the camera 16 is displayed through the display screen 19, which is convenient for the inspectors to observe the position of the laser beam on the ceiling surface. The angle of the longitudinal movement mechanism 8 can also be adjusted by starting the rotation mechanism 7. When the laser beam is located at the crack position, the longitudinal movement mechanism 8 is closed, and then the scissor lift 3 is started to rise. When the transducer 10 approaches the ceiling, the scissor lift 3 is closed. The ultrasonic generator 11 is started for detection. After the detection is completed, the rotation mechanism 7, the longitudinal movement mechanism 8, the distance adjustment mechanism 9 and the scissor lift 3 are started in sequence to return to their original positions.

[0035] When it is necessary to perform cross-crack detection on the concrete of the basement wall, the walking vehicle 1 is controlled to move the robot to the side of the wall crack. The surface of the transducer 10 is evenly coated with a coupling agent. The scissor lift 3 is started to drive the longitudinal movement mechanism 8, the distance adjustment mechanism 9 and the transducer 10 to move to the wall crack to be detected. Then the linear module 14 is started to drive the cross slide 5 to move towards one side of the wall crack. The cross slide rail 4 guides the cross slide 5. During the movement of the cross slide 5, the movable plate 6 is driven to rotate by the angle adjustment mechanism 13 until the movable plate 6 rotates to an angle parallel to the wall, and then the linear module 14 is closed. The laser 17 is started to make the laser beam emitted by it irradiate on the wall surface. The walking vehicle 1 is controlled to move slowly. When the laser beam moves to the crack position, the walking vehicle 1 is controlled to stop moving, and then the rotation mechanism 7 and the longitudinal movement mechanism 8 are controlled to make the laser beam accurately align with the crack, and the two transducers 10 are respectively symmetric on both sides of the crack, so as to realize the accurate positioning and detection of cracks at different angles, and improve the adaptability and accuracy of the detection operation. The walking vehicle 1 is controlled to approach the wall, so that the transducer 10 contacts the wall, and then the ultrasonic generator 11 is started for detection.

[0036] Second Embodiment: On the basis of the first embodiment, as Figure 2 and Figure 5 shown, the rotation mechanism 7 includes a first servo motor 71, a worm 72, a worm gear 73 and a circular slide rail 74. A first servo motor 71 is installed in the middle of the top of the movable plate 6. A worm 72 is connected to the output shaft of the first servo motor 71. The worm gear 73 is connected to the bottom of the longitudinal movement mechanism 8. The worm 72 meshes with the worm gear 73. Circular slide rails 74 are connected to both the bottom of the longitudinal movement mechanism 8 and the top of the movable plate 6. The two circular slide rails 74 are slidably matched with each other. The first servo motor 71, the worm 72 and the worm gear 73 are all located within the circular slide rail 74.

[0037] Start the first servo motor 71 to drive the worm 72 to rotate. The rotation of the worm 72 drives the longitudinal movement mechanism 8 to rotate through the worm gear 73. The distance adjustment mechanism 9 and the transducer 10 rotate accordingly. The two circular slide rails 74 cooperate to play a guiding and supporting role.

[0038] As Figure 1 、 Figure 3 and Figure 5 As shown in

[0039] Start the second servo motor 85 to drive the gear 86 to rotate. Since the gear 86 meshes with the rack 84, the longitudinal slide plate 83 is slidably connected to the fixed seat 81 through the longitudinal slide rail 82, and the rack 84 is connected to the fixed seat 81. Therefore, when the gear 86 rotates, it will drive the longitudinal slide plate 83 to move, and the longitudinal slide rail 82 plays a guiding role, thereby adjusting the positions of the distance adjustment mechanism 9 and the transducer 10.

[0040] As Figure 3 、 Figure 6 and Figure 7As shown in the figure, the distance adjustment mechanism 9 includes a guide frame 91, a bidirectional lead screw 92, a stepping motor 93, sliders 94 and a first spring 95. The guide frame 91 is fixedly connected to the top of the longitudinal slide plate 83. The bidirectional lead screw 92 is rotatably installed at the lower part of the guide frame 91. The stepping motor 93 is fixedly installed at the lower right end of the guide frame 91. The right end of the bidirectional lead screw 92 is connected to the output shaft of the stepping motor 93 through a coupling to provide power for the rotation of the bidirectional lead screw 92. Two sliders 94 are slidably connected to the guide frame 91. The two sliders 94 are respectively engaged with the threads with opposite helix directions on both sides of the bidirectional lead screw 92. When the bidirectional lead screw 92 rotates, due to the different directions of the threads on both sides, these two sliders 94 will move relatively inward or outward along the guide frame 91. Through holes are provided on both sliders 94, and the transducer 10 is installed in the through holes. An anti-slip sleeve is provided outside the transducer 10. When the transducer 10 is installed in the through hole, the anti-slip sleeve can prevent the transducer 10 from falling out of the through hole. Before testing, the two transducers 10 can be coated with a coupling agent, and the transducers 10 are taken out of the through holes, and the two transducers 10 are directly contacted to check whether the ultrasonic signal can be effectively transmitted from the transmitting end to the receiving end. A first spring 95 is provided between the slider 94 and the transducer 10. The lower end of the first spring 95 is connected to the top of the slider 94. A limit ring is provided on the outer side of the upper part of the transducer 10. The top of the first spring 95 contacts the limit ring. The first spring 95 is sleeved outside the transducer 10.

[0041] When adjusting the position of the transducer 10, precise control is achieved by starting the stepping motor 93. The stepping motor 93 drives the bidirectional lead screw 92 to rotate, prompting the two sliders 94 to move synchronously towards or away from each other. This process allows the position of the slider 94 to be accurately adjusted according to a preset program, ensuring that the transducer 10 accurately stops at three predetermined detection points. In addition, the application of the first spring 95 ensures that even when the concrete surface is uneven, the two transducers 10 can closely fit the concrete surface, effectively avoiding the problem of the transducer 10 being suspended due to the uneven surface. This not only improves the detection accuracy but also enhances the adaptability and reliability of the system.

[0042] As Figure 6 shown, it further includes a lighting lamp 18. The lighting lamps 18 are connected to both the front and rear sides of the guide frame 91. When performing crack detection, especially in a basement environment with insufficient light, when the camera 16 starts to work and needs to obtain image information of the ceiling or wall surface, the lighting lamp 18 is turned on synchronously to provide supplementary lighting.

[0043] Third Embodiment: On the basis of the second embodiment, as Figure 3 and Figure 4As shown in the figure, the angle adjustment mechanism 13 includes a disc 131, a connecting rod 132, an L-shaped plate 133, a second spring 134 and a limit block 135. A disc 131 is connected to the left side of the rear end of the movable plate 6. The disc 131 is concentrically arranged with the rotating shaft at the rear end of the movable plate 6. A guide sleeve is connected to the front side of the left end of the cross slide 5. The L-shaped plate 133 is slidably connected inside the guide sleeve. A connecting rod 132 is rotatably connected between the eccentric position of the disc 131 and the rear end of the L-shaped plate 133. A second spring 134 is connected between the guide sleeve and the L-shaped plate 133. A limit block 135 is connected to the rear side of the left end of the scissor lift 3. The limit block 135 is used to block the L-shaped plate 133.

[0044] When the linear module 14 is started and drives the cross slide 5 to move backward, components such as the L-shaped plate 133, the guide sleeve, the disc 131 and the connecting rod 132 move synchronously. When the L-shaped plate 133 moves to be blocked by the limit block 135, the cross slide 5 still continues to move backward. At this time, through the action of the L-shaped plate 133 and the connecting rod 132, the disc 131 is pulled to rotate. The rotation of the disc 131 drives the movable plate 6 to deflect counterclockwise, and then drives components such as the rotation mechanism 7, the longitudinal movement mechanism 8 and the distance adjustment mechanism 9 to rotate together. When the movable plate 6 rotates to an angle parallel to the wall surface, the linear module 14 is turned off, and the adjustment of the detection angle of the transducer 10 is completed. This structure can achieve precise crack detection on concrete structural surfaces with different inclination angles and improve the detection adaptability.

[0045] Fourth Embodiment: On the basis of the third embodiment, as Figure 3 , Figure 8 , Figure 9 and Figure 12 shown, it further includes a coating mechanism 15. The coating mechanism 15 includes a reduction motor 151, a connecting frame 152, a storage pipe 153, a cylinder 154, a lid 155, a movable pipe 156, a third spring 158 and a conical block 159. The reduction motor 151 is installed on the fixed seat 81. The connecting frame 152 is connected to the output shaft of the reduction motor 151. There are two storage pipes 153. Both storage pipes 153 are slidably sleeved on the connecting frame 152. A cylinder 154 is connected to the connecting frame 152. The telescopic rod of the cylinder 154 is connected to the two storage pipes 153 through a connecting rod. One end of the storage pipe 153 is threadedly connected with a lid 155. The other end of the storage pipe 153 is internally provided with a movable pipe 156 in a sliding manner. The top of the movable pipe 156 is a closed structure. Feeding holes 157 are circumferentially spaced on the movable pipe 156. A third spring 158 is connected between the storage pipe 153 and the movable pipe 156. The third spring 158 is sleeved outside the movable pipe 156. The diameter of one end of the storage pipe 153 close to the lid 155 is larger than the end close to the movable pipe 156. The conical block 159 is connected to the side of the movable pipe 156 facing the inside of the storage pipe 153.

[0046] Start the reduction motor 151 to drive the connecting frame 152 to rotate, adjust the storage pipe 153 to a position perpendicular to the ground, and ensure that the two storage pipes 153 are respectively directly above the two transducers 10. Open the lid 155 at the top of the storage pipe 153, pour the coupling agent into it, and then cover the lid 155 again. At this time, the closed structure at the top of the movable pipe 156 can prevent the coupling agent from overflowing. When it is necessary to add the coupling agent to the transducer 10, start the cylinder 154 to contract it, and drive the two storage pipes 153 to move downward synchronously through the connecting rod. When the movable pipe 156 contacts the top of the transducer 10, the storage pipe 153 continues to move downward, and the third spring 158 is stretched accordingly. At this time, the movable pipe 156 remains stationary, and the storage pipe 153 slides downward. Since the diameter of the storage pipe 153 at the end close to the lid 155 is larger than the end close to the movable pipe 156, when the feed hole 157 of the movable pipe 156 is in the larger inner diameter section of the storage pipe 153, the coupling agent can enter the interior of the movable pipe 156 through the feed hole 157 and finally fall on the surface of the transducer 10. Subsequently, the cylinder 154 extends and resets, driving the storage pipe 153 to return upward to its original position. Under the action of the third spring 158, the movable pipe 156 also returns downward synchronously, and the closed structure at its top seals the bottom of the storage pipe 153 again to prevent the coupling agent from leaking. Then start the reduction motor 151 to rotate in the reverse direction to drive the storage pipe 153 to reset. In addition, the design of the conical block 159 helps the coupling agent to flow quickly along its inclined plane, improving the feeding efficiency and avoiding residue in the storage pipe 153. Especially when the stock of the coupling agent is small, it can still ensure smooth discharging.

Claims

1. A basement concrete crack detection robot, comprising a transducer (10), an ultrasonic generator (11) and a connecting wire (12), wherein the transducer (10) and the ultrasonic generator (11) are connected by the connecting wire (12), and it is characterized in that, It also includes a walking vehicle (1), a scissor lift (3), a transverse slide plate (5), a movable plate (6), a rotating mechanism (7), a longitudinal movement mechanism (8), a distance adjustment mechanism (9), an angle adjustment mechanism (13), a linear module (14), a camera (16), a laser (17) and a display screen (19). The top of the walking vehicle (1) is connected to the scissor lift (3). The top of the scissor lift (3) is slidably provided with a transverse slide plate (5). One side in the length direction of the transverse slide plate (5) is provided with a movable plate (6). A longitudinal movement mechanism (8) is provided on the movable plate (6). The longitudinal movement mechanism (8) is connected to the movable plate (6) through a rotating mechanism (7). The top of the longitudinal movement mechanism (8) is installed with a distance adjustment mechanism (9). Two transducers (10) are installed on the distance adjustment mechanism (9). The distance adjustment mechanism (9) is used to synchronously adjust the distance between the two transducers (10) and the crack. An angle adjustment mechanism (13) is connected between the transverse slide plate (5) and the movable plate (6). The top of the scissor lift (3) is connected to a linear module (14). The linear module (14) is connected to the transverse slide plate (5). The camera (16) and the laser (17) are installed on the distance adjustment mechanism (9). The camera (16) is electrically connected to the display screen (19).

2. The basement concrete crack detection robot according to claim 1, characterized in that, The rotating mechanism (7) includes a first servo motor (71), a worm (72), a worm gear (73) and a circular slide rail (74). The first servo motor (71) is installed on the top of the movable plate (6). The output shaft of the first servo motor (71) is connected to the worm (72). The worm gear (73) is connected to the longitudinal movement mechanism (8). The worm (72) is meshed with the worm gear (73). The longitudinal movement mechanism (8) is slidably connected to the movable plate (6) through the circular slide rail (74).

3. The basement concrete crack detection robot according to claim 2, characterized in that, The longitudinal movement mechanism (8) includes a fixed seat (81), a longitudinal slide rail (82), a longitudinal slide plate (83), a rack (84), a second servo motor (85) and a gear (86). The worm gear (73) is connected to the bottom of the fixed seat (81). The top of the fixed seat (81) is slidably connected to the longitudinal slide plate (83) through the longitudinal slide rail (82). A rack (84) is connected to the fixed seat (81). The second servo motor (85) is installed on the longitudinal slide plate (83). The second servo motor (85) is connected to a gear (86) that meshes with the rack (84).

4. The basement concrete crack detection robot according to claim 3, characterized in that, The distance adjustment mechanism (9) includes a guide frame (91), a bidirectional lead screw (92), a stepping motor (93) and a slider (94). The guide frame (91) is connected to the longitudinal slide plate (83). The bidirectional lead screw (92) is rotatably installed on the guide frame (91). The stepping motor (93) is installed at one end of the guide frame (91). The bidirectional lead screw (92) is connected to the stepping motor (93) to provide power for the rotation of the bidirectional lead screw (92). Two sliders (94) are slidably connected to the guide frame (91). The two sliders (94) are respectively meshed with the threads with opposite helix directions on both sides of the bidirectional lead screw (92). The transducer (10) is detachably installed on the slider (94).

5. The basement concrete crack detection robot according to claim 4, characterized in that, It also includes a first spring (95). A first spring (95) is provided between the slider (94) and the transducer (10).

6. The concrete crack detection robot for basement as claimed in claim 1, wherein the angle The adjusting mechanism (13) includes a disc (131), a connecting rod (132), an L-shaped plate (133), a second spring (134) and a limiting block (135). A disc (131) is provided on one side of the movable end of the movable plate (6). An L-shaped plate (133) is slidably provided on the cross slide plate (5). A connecting rod (132) is rotatably connected between the eccentric position of the disc (131) and the L-shaped plate (133). A second spring (134) is provided between the L-shaped plate (133) and the cross slide plate (5). One end of the top of the scissor lift (3) facing the L-shaped plate (133) is connected with a limiting block (135), and the limiting block (135) is used to block the L-shaped plate (133).

7. The basement concrete crack detection robot according to claim 5, characterized in that, It further includes a coating mechanism (15). The coating mechanism (15) includes a reduction motor (151), a connecting frame (152), a storage pipe (153), a cylinder (154), a movable pipe (156) and a third spring (158). The reduction motor (151) is installed on the fixed seat (81). The connecting frame (152) is connected to the output shaft of the reduction motor (151). There are two storage pipes (153), and both storage pipes (153) are slidably sleeved on the connecting frame (152). A cylinder (154) is connected to the connecting frame (152). The telescopic rod of the cylinder (154) is connected to the two storage pipes (153) through a connecting rod. A movable pipe (156) is slidably provided at the discharging end of the storage pipe (153). The top of the movable pipe (156) is a closed structure. Feeding holes (157) are circumferentially and spacedly provided on the movable pipe (156). A third spring (158) is connected between the storage pipe (153) and the movable pipe (156). The diameter of one end of the storage pipe (153) close to the movable pipe (156) is smaller than that of the other end.

8. The basement concrete crack detection robot according to claim 7, characterized in that, It further includes a tapered block (159), and the tapered block (159) is connected to one end of the closed structure of the movable pipe (156).

9. The basement concrete crack detection robot according to claim 4, characterized in that, It further includes a lighting lamp (18), and the lighting lamp (18) is connected to the guiding frame (91).

Images