A mobile flaw detection device for concrete piles based on non-destructive testing.

Abstract

This invention discloses a walking flaw detection device for concrete foundation piles based on non-destructive testing, belonging to the field of concrete foundation pile flaw detection technology. Addressing the upward climbing motion during concrete foundation pile flaw detection, this invention is based on the principles of liquid level balance and electromagnetic interference transmission. While the flaw detection unit moves synchronously with the overall structure, its movement is further interfered with. Essentially, the flaw detection unit moves synchronously with the overall structure without relative displacement. The movement of the flaw detection unit is further interfered with through the liquid level balance process in the first-order and second-order liquid cylinders, causing it to move differentially relative to the overall structure. Furthermore, electromagnetic principles are used to interfere with the movement of the flaw detection unit. The purpose is to maintain the flaw detection unit in a relatively stable motion without changing its walking mode, thereby improving the accuracy of the flaw detection data.

Description

Technical Field

[0001] This invention relates to the field of concrete pile flaw detection technology, and specifically to a mobile flaw detection device for concrete piles based on non-destructive testing. Background Technology

[0002] As a key structure in buildings, concrete foundation piles can be tested using non-destructive testing methods after construction, such as acoustic wave transmission and low-strain reflected wave methods. For relevant technical content published in CN119335045A and CN103255785A, please refer to the relevant technical content.

[0003] For concrete pile foundations that are difficult to directly detect, walking robots are often used. Refer to the walking robot disclosed in CN113713131A. The robot structure used in concrete pile foundations is described as follows: a continuous flaw detection process is required to accurately collect relevant data, so the flaw detection structure and the walking unit move synchronously. During this movement, the vibration generated between the walking unit and the concrete pile indirectly affects the flaw detection data. Taking the acoustic transmission method as an example, the main data is the feedback acoustic wave data, and the vibration generated by the walking unit indirectly affects the flaw detection process. Furthermore, it should be noted that during the flaw detection process, it is also necessary to ensure that the flaw detection unit moves at a constant speed. However, conventional walking robots find it difficult to maintain a constant speed during upward movement. This application proposes a solution to address this issue. Summary of the Invention

[0004] The purpose of this invention is to provide a walking flaw detection device for concrete piles based on non-destructive testing. The walking robot used in concrete pile flaw detection operations needs to climb upwards along the outer surface of the concrete pile. During this process, the vibration generated between the walking unit and the pile will indirectly affect the accuracy of the detection data in the flaw detection unit. In addition, it is difficult to maintain the flaw detection unit in a relatively uniform movement state.

[0005] The objective of this invention can be achieved through the following technical solution: a walking flaw detection device for concrete piles based on non-destructive testing, which uses a flaw detection unit composed of multiple disassembly units, each of which is arranged in a circular array along the center point of the concrete pile, and the flaw detection unit is set in one or more of the disassembly units.

[0006] The disassembly unit includes a mounting arc plate, a traveling assembly, and a mounting frame. A first-stage liquid cylinder is mounted vertically in the mounting frame. A mounting base is provided on the first-stage liquid cylinder, and a second-stage liquid cylinder is mounted on one side of the first-stage liquid cylinder. The flaw detection unit is mounted in the mounting base. A magnetic interference module is provided between the mounting frame and the mounting base. The first-stage liquid cylinder and the second-stage liquid cylinder are combined to form a U-shaped cooperative balancing module.

[0007] The configuration is further defined as follows: each of the disassembly units is equipped with a pre-detection unit, which includes an elastic curved arm, a roller, and a speed encoder. The roller contacts the outer wall of the concrete pile, and the roller performs speed detection through the speed encoder.

[0008] The setting is further configured such that the roller is positioned higher than the flaw detection unit.

[0009] The configuration is further defined as follows: a piston rod assembly is provided in the first-stage liquid cylinder, the top end of the piston rod assembly is fixedly connected to the mounting base, and the lower end of the piston rod assembly is slidably connected inside the first-stage liquid cylinder.

[0010] The mounting base is further configured such that multiple rubber guide wheels are provided on the outer wall of the mounting base near the outer wall of the concrete pile.

[0011] The magnetic interference module is further configured such that it consists of a permanent magnet and a magnetic strip, which are respectively installed in the mounting base and the mounting frame, and the permanent magnet and the magnetic strip are positioned correspondingly with a gap between them.

[0012] The magnetic strip is further configured such that it is arranged vertically and a winding electromagnetic coil is provided inside the magnetic strip.

[0013] The second-order liquid cylinder is further configured to be connected to the first-order liquid cylinder, and an electric transmission structure is provided at the upper end of the second-order liquid cylinder. The electric transmission structure includes a piston block, a permanent magnet fixing block, and a magnetic flux group. The piston block is slidably connected inside the second-order liquid cylinder, and the piston block is fixedly connected to the permanent magnet fixing block. The permanent magnet fixing block and the piston block move in the vertical direction through the magnetic flux group.

[0014] The present invention has the following beneficial effects:

[0015] For the flaw detection process of concrete foundation piles, the flaw detection method is not limited. The improvement is made to the walking method. Based on the conventional walking assembly, multiple walking assemblies hug the outer wall of the concrete foundation pile in a ring-like manner. The flaw detection unit moves synchronously with the upward climbing method of the walking assembly. Theoretically, the flaw detection unit moves upward synchronously with the overall walking unit. In this invention, a first-stage liquid cylinder and a second-stage liquid cylinder are added. The principle of liquid level balance between the two is used to change the walking method of the flaw detection unit. Specifically, the liquid level height inside the second-stage liquid cylinder is actively changed using the principle of electromagnetic transmission, which further interferes with the differential movement of the flaw detection unit relative to the overall structure. The purpose is to avoid the flaw detection data in the flaw detection unit from being affected by obvious jerking during the upward climbing process of the whole structure.

[0016] Based on the above, when changing the movement mode of the flaw detection unit through the principle of liquid level balance, the magnetic method between the permanent magnet and the magnetic strip is further utilized. The difference is that: firstly, a gap is set between the permanent magnet and the magnetic strip to form a simple "magnetic levitation" between the mounting base and the mounting frame. However, it is important to note that after changing the movement mode of the flaw detection unit through the principle of liquid level balance, a backward interference action occurs between the permanent magnet and the magnetic strip. The combination of attraction and repulsion is used to further change the sliding speed of the mounting base relative to the disassembled unit. The overall purpose is to maintain the motion stability of the flaw detection unit during its movement, thereby indirectly improving the accuracy of the flaw detection data. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the walking flaw detection device for concrete pile foundation based on non-destructive testing proposed in this invention.

[0019] Figure 2 In this invention Figure 1 Top view;

[0020] Figure 3 This is a schematic diagram of the structure of the splitting unit in this invention;

[0021] Figure 4 This is a schematic diagram of the mounting frame in this invention;

[0022] Figure 5 This is a cross-sectional view of the first-order liquid cylinder and the second-order liquid cylinder in this invention;

[0023] Figure 6 This is a schematic diagram of the magnetic strip in the mounting frame of the present invention.

[0024] In the diagram: 1. Mounting arc plate; 2. Walking assembly; 3. Mounting frame; 4. First-stage liquid cylinder; 5. Front detection unit; 6. Mounting base; 7. Flaw detection unit; 8. Second-stage liquid cylinder; 9. Magnetic strip; 10. Permanent magnet; 11. Electrical transmission structure. Detailed Implementation

[0025] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Example 1: For the walking robot used in concrete pile flaw detection, its essential function is to climb upwards along the outer surface of the concrete pile. During this process, the vibration generated between the walking unit and the pile indirectly affects the accuracy of the detection data in the flaw detection unit. Furthermore, it is difficult to maintain the flaw detection unit at a relatively uniform speed. The following technical solution is proposed to address this issue:

[0027] Reference Figures 1-6 The non-destructive testing-based walking flaw detection device for concrete piles in this embodiment uses a flaw detection unit 7, which is composed of multiple disassembly units. Each disassembly unit is arranged in a circular array along the center point of the concrete pile, and the flaw detection unit 7 is set in one or more of the disassembly units.

[0028] The disassembly unit 7 includes an installation arc plate 1, a walking assembly 2, and an installation frame 3. A first-stage liquid cylinder 4 is installed in the installation frame 3, and a mounting seat 6 is provided on the first-stage liquid cylinder 4. A second-stage liquid cylinder 8 is installed on one side of the first-stage liquid cylinder 4. The flaw detection unit 7 is installed in the mounting seat 6. A magnetic interference module is provided between the installation frame 3 and the mounting seat 6. The first-stage liquid cylinder 4 and the second-stage liquid cylinder 8 are combined to form a U-shaped cooperative balance module. Multiple rubber guide wheels are provided in the mounting seat 6 along the outer wall near the outer wall of the concrete foundation pile.

[0029] Basic Principle: For the flaw detection process of concrete pile foundations, ultrasonic testing methods can be used. The flaw detection unit 7 proposed in this invention mainly represents the relevant structures responsible for flaw detection, such as ultrasonic wave generators / receivers. This invention does not describe the type of flaw detection unit 7; what needs to be explained is the movement of the overall structure on the concrete pile foundation. Figure 1 and Figure 2For example, if the concrete pile is relatively high, multiple walking units 2 are needed to drive the overall flaw detection unit 7 to climb upwards. In the specific operation, firstly, multiple subdivision units are selected according to the outer diameter of the concrete pile, so as to... Figure 1 For example, each walking unit 2 can be completely secured to the outer wall of the concrete foundation pile using bolts. Then, under the action of the walking unit 2, the entire structure will continuously climb and move upwards. (Referring to...) Figure 3 To clarify, the walking unit 2 is essentially a tracked structure. As the overall structure ascends, the flaw detection unit 7 monitors data in real time, and a dedicated analysis system performs unified analysis. This part will not be elaborated upon in detail here. It should be noted that, theoretically, the flaw detection unit 7 and the overall structure should move synchronously. However, the walking unit 2 cannot guarantee that the overall structure will move at a constant speed during its ascent. Therefore, it can be understood that the flaw detection unit 7 moves intermittently during its ascent. Under this movement pattern, if the flaw detection unit 7 quickly passes through a local point on the concrete pile, the flaw detection time for that local point is insufficient, resulting in inaccurate data. Consequently, the relevant data obtained during the overall flaw detection process will be inaccurate. The accuracy of flaw detection data cannot be guaranteed to be completely uniform, which affects the accuracy of the flaw detection data. This is the problem that this invention needs to solve. The main solution is to improve the movement mode of the flaw detection unit 7. Although the flaw detection unit 7 is fixed in the mounting base 6, the mounting base 5 has the ability to move up and down through the first-stage liquid cylinder 4. Thus, the flaw detection unit 7 also has the ability to move twice between itself and the overall structure. The purpose is to "isolate" the flaw detection unit 7 from the overall structure by improving its movement mode, so that it can move independently and smoothly upward. When the overall structure is climbing upward, it is also necessary to ensure that the mounting base 6 contacts the outer wall of the concrete pile. For this purpose, rubber guide wheels are needed. The elasticity of the rubber guide wheels reduces the vibration generated during contact and avoids affecting the working state of the flaw detection unit 7.

[0030] Example 2: Primarily used to supplement the overall upward climbing process with a pre-detection unit:

[0031] Each disassembly unit is equipped with a pre-detection unit 5, which includes an elastic curved arm, a roller, and a speed encoder. The roller contacts the outer wall of the concrete pile, and the roller performs speed detection through the speed encoder. The roller is positioned higher than the flaw detection unit 7.

[0032] Solution Description: Refer to Figure 1 To explain, in actual operation, a pre-detection unit 5 needs to be added to each disassembly unit 1, as shown above. Essentially, its rollers make stable contact with the outer wall of the concrete pile, and then refer to... Figure 3To explain, the rollers are mainly connected by elastic curved arms. The elastic curved arms consist of two curved arms with a spring structure between them. Under the tension of the spring itself, the roller on one of the curved arms continuously contacts the concrete pile. When the overall structure climbs upward, the roller rolls due to friction. The rotational speed of the roller can be recorded in real time by a speed encoder to provide feedback on the upward climbing speed of the overall structure. It is necessary to ensure that the roller in the front detection unit 5 is positioned above the flaw detection unit 7 to sense the upward speed in real time.

[0033] Example 3: Based on Example 1, the movement method of the overall flaw detection unit is described as follows:

[0034] A vertically arranged piston rod assembly is provided in the first-stage liquid cylinder 4. The top end of the piston rod assembly is fixedly connected to the mounting base 6, and the lower end of the piston rod assembly is slidably connected inside the first-stage liquid cylinder 4. The magnetic interference module consists of a permanent magnet 10 and a magnetic strip 9. The permanent magnet 10 and the magnetic strip 9 are respectively installed in the mounting base 6 and the mounting frame 3. The permanent magnet 10 and the magnetic strip 9 are positioned correspondingly and there is a gap between them. The magnetic strip 9 is arranged vertically and has a winding electromagnetic coil inside. The interior of the second-stage liquid cylinder 8 is connected to the interior of the first-stage liquid cylinder 4. An electric transmission structure 11 is provided at the upper end of the interior of the second-stage liquid cylinder 8. The electric transmission structure 11 includes a piston block, a permanent magnet fixing block, and a magnetic flux group. The piston block is slidably connected inside the second-stage liquid cylinder 8 and is fixedly connected to the permanent magnet fixing block. The permanent magnet fixing block and the piston block move vertically through the magnetic flux group.

[0035] Solution Description: Refer to Figure 3 To clarify, although the flaw detection unit 7 proposed in this invention is mainly mounted on the mounting base 6, theoretically the flaw detection unit 7 and the overall structure can move upward synchronously. However, referring to... Figure 5 To explain, the mounting base 6 and the first-stage liquid cylinder 4 form a hydraulic cylinder structure. When the volume of the oil chamber inside the first-stage liquid cylinder 4 increases, the mounting base 6 undergoes a secondary sliding process of moving upward again on the basis of its overall upward climbing, or a secondary sliding process of moving downward again on the basis of its overall upward climbing. The present invention proposes an improved process of a second-stage liquid cylinder 8 based on the first-stage liquid cylinder 4, as detailed below:

[0036] S1: As Figure 5As shown, a U-shaped tube structure is formed between the first-stage liquid cylinder 4 and the second-stage liquid cylinder 8. Both have piston structures inside, but there is a difference: although the principle of liquid level balance is referenced, in the initial state, by limiting the setting height of the piston structures inside the two, the liquid level in the second-stage liquid cylinder 8 is always higher than the liquid level inside the first-stage liquid cylinder 4. Therefore, when there is an intermittent unstable state during the upward movement of the overall structure, the liquid inside the second-stage liquid cylinder 4 will exert continuous "pressure" on the liquid inside the first-stage liquid cylinder 4, so that the mounting base 4 has the ability to move up and down and changes the relative position of the flaw detection unit 7. Then, when there is a speed difference during the upward climbing process of the overall structure, and due to the difference in inertial force, the flaw detection unit 7 will have a small displacement.

[0037] S2: Referring to S1 for supplementary explanation, the key is the interference process of the second-order liquid cylinder 8 on the liquid volume inside the first-order liquid 4. The electrical sensing structure 11 mainly uses the electromagnetic transmission principle. When the electromagnetic group in the electrical sensing structure 11 generates the repulsive force of the corresponding permanent magnet fixed block, it will drive the piston block in the second-order liquid cylinder 8 to move down and reduce the hydraulic pressure in the second-order liquid cylinder 8. In this process, the active interference mounting seat 8 drives the flaw detection unit 7 to move up. Conversely, if the electromagnetic group in the electrical sensing structure 11 generates the attractive force of the corresponding permanent magnet fixed block and drives the piston block inside it to move up, the active interference mounting seat 8 drives the flaw detection unit 7 to move down.

[0038] S3: Referring to Embodiment 2, the main point is that the forward detection unit 5 detects the speed of the overall structure as it climbs upwards in real time. To facilitate timely adjustment of the movement speed of the flaw detection unit 7, this invention primarily uses electric drive to change the differential state between the first-order liquid cylinder 4 and the second-order liquid cylinder 8. During this process, the independent sliding motion of the flaw detection unit 7 relative to the overall structure also experiences significant fluctuations. Therefore, a magnetic interference module needs to be installed between the mounting base 7 and the mounting frame 3, as detailed below:

[0039] S3-1: with Figure 4 and Figure 6 For example, the permanent magnet 10 is directly fixed on the mounting base 6, while the magnetic body 9 is installed in the mounting frame 3 along the sliding direction of the flaw detection unit 7. Specifically, it relies on the winding coil installed inside the magnetic body 9 to generate a vertical magnetic field, which cooperates with the permanent magnet 10. The permanent magnet 10 and the magnetic strip 9 are positioned correspondingly and there is a gap between them. The purpose is to avoid the friction between the permanent magnet 10 and the magnetic strip 9 from affecting the sliding process of the fixed base 6. Therefore, in the initial state, the mounting base 6 is adjusted only by the difference process between the first-order liquid cylinder 4 and the second-order liquid cylinder 8.

[0040] S3-2: However, in actual situations, the winding coil inside the magnetic body 9 can be energized to generate a magnetic field in conjunction with the permanent magnet 10, thus forming a "magnetic levitation" connection between the permanent magnet 10 and the magnetic strip 9. However, the permanent magnet 10 and the magnetic strip 9 do not have transmission capabilities. The movement of the flaw detection unit 7 still depends on the differential process between the first-order liquid cylinder 4 and the second-order liquid cylinder 8. The permanent magnet 10 and the magnetic strip 9 mainly restrict the sliding state of the fixed seat 6 through the magnetic field cooperation. For example, when the fixed seat 6 slides downward through the differential process between the first-order liquid cylinder 4 and the second-order liquid cylinder 8, the winding coil inside the magnetic strip 9 is energized to increase the magnetic field strength between the permanent magnet 10 and the magnetic strip 9. During this process, the fixed seat 6 is "hindered" by the interference of the permanent magnet 10, thereby reducing the speed amplitude when the flaw detection unit 7 moves upward. The energizing current intensity of the winding coil in the magnetic body 10 is proportional to the resistance when the fixed seat 6 slides twice.

[0041] In summary, the overall method uses the speed data obtained from the front detection unit 5, and controls the secondary sliding process of the flaw detection unit in reverse through the liquid level balance process in the first-order liquid cylinder and the second-order liquid cylinder. Furthermore, the secondary sliding process is interfered with by electromagnetic principles to maintain the flaw detection unit in a relatively stable motion form, thereby improving the accuracy of the flaw detection data.

[0042] In summary: Regarding the upward climbing motion during concrete pile flaw detection, based on the principles of liquid level balance and electromagnetic interference transmission, the movement of the flaw detection unit is further interfered with as it moves synchronously with the overall structure. Essentially, the flaw detection unit moves synchronously with the overall structure without relative displacement. The movement of the flaw detection unit is further interfered with through the liquid level balance process in the first and second-order liquid cylinders, causing it to move differentially relative to the overall structure. Furthermore, electromagnetic interference is used to further interfere with the movement of the flaw detection unit. The purpose is to maintain the flaw detection unit in a relatively stable motion without changing its movement pattern, thereby improving the accuracy of the flaw detection data.

[0043] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, all of which should fall within the protection scope of the present invention.

[0044] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0045] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to specific implementations. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A mobile flaw detection device for concrete foundation piles based on non-destructive testing, using a flaw detection unit (7), characterized in that, It consists of multiple dismantling units, each of which is arranged in a circular array along the center point of the concrete pile, and the flaw detection unit (7) is set in one or more of the dismantling units; The disassembly unit (7) includes an mounting arc plate (1), a walking assembly (2), and a mounting frame (3). A first-order liquid cylinder (4) is installed in the mounting frame (3) and is arranged vertically. A mounting base (6) is provided on the first-order liquid cylinder (4), and a second-order liquid cylinder (8) is installed on one side of the first-order liquid cylinder (4). The flaw detection unit (7) is installed in the mounting base (6). A magnetic interference module is provided between the mounting frame (3) and the mounting base (6). The first-order liquid cylinder (4) and the second-order liquid cylinder (8) are combined to form a U-shaped cooperative balance module. The first-stage liquid cylinder (4) is provided with a vertically arranged piston rod assembly. The top end of the piston rod assembly is fixedly connected to the mounting base (6), and the lower end of the piston rod assembly is slidably connected inside the first-stage liquid cylinder (4). Multiple rubber guide wheels are provided on the outer wall of the mounting base (6) near the outer wall of the concrete foundation pile. The magnetic interference module consists of a permanent magnet (10) and a magnetic strip (9). The permanent magnet (10) and the magnetic strip (9) are respectively installed in the mounting base (6) and the mounting frame (3), and the permanent magnet (10) is fixedly connected to the mounting base (6). 0) The magnetic strip (9) is positioned correspondingly and there is a gap between them. The interior of the second-order liquid cylinder (8) is connected to the interior of the first-order liquid cylinder (4). An electric transmission structure (11) is provided at the upper end of the interior of the second-order liquid cylinder (8). The electric transmission structure (11) includes a piston block, a permanent magnet fixing block and a magnetic flux group. The piston block is slidably connected inside the second-order liquid cylinder (8), and the piston block is fixedly connected to the permanent magnet fixing block. The permanent magnet fixing block and the piston block move in the vertical direction through the magnetic flux group.

2. The mobile flaw detection device for concrete foundation piles based on non-destructive testing according to claim 1, characterized in that, Each of the disassembly units is provided with a pre-detection unit (5), which includes an elastic curved arm, a roller and a speed encoder. The roller contacts the outer wall of the concrete pile, and the roller performs speed detection through the speed encoder.

3. The mobile flaw detection device for concrete foundation piles based on non-destructive testing according to claim 2, characterized in that, The roller is positioned higher than the flaw detection unit (7).

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