Vertical crawling trolley for detecting defects of concrete-filled steel tube member

Abstract

The utility model belongs to the technical field of structural defect detection, and aims to solve the problems of high structural defect detection difficulty and low detection efficiency. According to the vertical crawling trolley for detecting the defects of the steel tube concrete member, a waveform generator is used for generating excitation signals and generating a stress field for detecting the concrete defects through a PZT actuator, the waveform generator is connected with a remote controller and the PZT actuator, a PZT receiver is used for receiving signal responses, and a signal acquisition module is connected with the PZT receiver and a terminal; the PZT actuator and the PZT receiver are connected to the output ends of the two telescopic motors correspondingly and located at the lower end of a bottom plate of the vehicle body. The vehicle body is attracted to the concrete-filled steel tube member through the electromagnet, a gap is reserved between the electromagnet and the concrete-filled steel tube member, and the walking motor is connected with the remote controller and used for controlling walking and steering of the vehicle body. According to the device, through the adsorption effect of the electromagnet, the trolley can vertically climb, the time for manually transferring the detection equipment can be shortened, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of structural defect detection, and in particular relates to a vertical crawling trolley for detecting defects of steel tube concrete components. Background Art

[0002] Concrete has high compressive strength, but low tensile strength; steel, especially steel, has good tensile, compressive and elastic properties, but is prone to instability under pressure, thus losing its axial compressive properties. Steel tube concrete can organically combine the advantages of both, so that concrete can be doubled when subjected to lateral compression. Steel tube concrete columns are the main load-bearing components in building structures.

[0003] For steel tube concrete structures, the commonly used methods for on-site inspection are: manual tapping, drilling and coring, ultrasonic, fiber optic sensing, surface wave method, etc. Among them, manual tapping is done by technicians based on their experience to determine the defect location and type of steel tube concrete; drilling and coring technology can intuitively reflect the integrity of steel tube concrete and accurately test whether its strength reaches the design index, but there are sampling restrictions, and it can only reflect the quality of concrete around the borehole, which is easy to cause misjudgment and missed judgment. Ultrasonic technology plays an important role in detecting the bonding between steel tubes and concrete and determining the density and uniformity of its interior, but it is limited to detecting defects such as defects and damage; since the fiber optic sensing monitoring system requires that the concrete be buried in the arch ring during the concrete pouring process, other detection methods should be adopted for the state of the full concrete after the bridge is completed; at present, there are only indoor model tests, which are rarely used for actual steel tube concrete arch rib detection.

[0004] Chinese application CN201922044633 discloses a "steel tube concrete void detection device", which requires the installation of PZT actuators and PZT receivers at each detection location, which is labor-intensive and inconvenient to install; Chinese application CN202121970483 discloses a "steel tube concrete defect detection device", which requires the disassembly and installation of the device at multiple detection locations on the steel tube, and the pulling of the elastic parts to impact the steel tube, which is time-consuming and labor-intensive, and the difficulty of installing and disassembling the device increases with the increase in height, and the detection efficiency is not high; Chinese application CN202220805410 discloses a "pickup bracket for steel tube concrete void detection", which also requires multiple installation and disassembly during use, and its use difficulty will be increased at a higher position.

[0005] The above application has the problems of high difficulty in detecting structural defects and low detection efficiency. Utility Model Content

[0006] In order to solve at least one of the above technical problems existing in the prior art, the utility model provides a vertical crawling trolley for detecting defects of steel tube concrete components.

[0007] The utility model is implemented by the following technical scheme: a vertical crawling trolley for detecting defects of steel tube concrete components, comprising a vehicle body, a defect detection unit, a mobile crawling unit and a remote controller; the defect detection unit comprises a waveform generator, a PZT actuator, a PZT receiver, a signal acquisition module, a terminal and a telescopic motor, wherein the waveform generator is used to generate an excitation signal and generate a stress field for detecting concrete defects via the PZT actuator, the waveform generator is connected to the remote controller and the PZT actuator, the PZT receiver is used to receive a signal response, and the signal acquisition module is connected to the PZT receiver and the terminal; The waveform generator, signal acquisition module and telescopic motor are all arranged on the bottom plate of the vehicle body. The PZT actuator and PZT receiver are respectively connected to the output ends of the two telescopic motors and are located at the lower end of the bottom plate of the vehicle body. The PZT actuator and PZT receiver are both connected to the remote control. The mobile crawling unit includes wheels, a travel motor and an electromagnet. The travel motor and the electromagnet are arranged on the bottom plate of the vehicle body. The electromagnet is connected to the remote control. The vehicle body is adsorbed on the steel tube concrete component through the electromagnet and a gap is left between the electromagnet and the steel tube concrete component. The travel motor is connected to the remote control and is used to control the travel and steering of the vehicle body.

[0008] Preferably, the defect detection unit further includes a power amplifier, which is used to amplify the amplitude of the excitation signal. The power amplifier is connected to the waveform generator, the PZT actuator and the remote controller, and the power amplifier is arranged on the bottom plate of the vehicle body.

[0009] Preferably, it also includes a power supply, a control main board and an antenna, wherein the power supply is used to supply power to power-consuming components on the vehicle body, the control main board is used to connect the remote control and the components to be controlled by the remote control, a power button is provided on the side wall of the vehicle body, and the antenna is provided on the bottom plate of the vehicle body and the upper end extends to the outside.

[0010] Preferably, the two telescopic motors are respectively located at the front and rear ends of the vehicle body, and the output shafts of the telescopic motors movably penetrate the bottom plate of the vehicle body.

[0011] Preferably, the PZT actuator and the PZT receiver are metal packaged sensors.

[0012] Preferably, the remote controller has operating buttons, keys and a display screen, and is used to control the actions of the telescopic motor and the travel motor, set the power of the electromagnet, and set the power of the waveform generator, PZT actuator, PZT receiver and power amplifier.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] This device is designed to perform structural inspection on any position of vertical steel tube concrete components, improve the reuse rate of piezoelectric ceramics, improve inspection efficiency, reduce costs, and reduce the difficulty of vertical structure inspection. Through the adsorption effect of the electromagnet, the trolley is adsorbed on the steel section, which can realize the vertical crawling of the trolley, shorten the time of manual mobilization of inspection equipment, and improve work efficiency; at the same time, the PZT sensor loaded on the trolley detects every part of the steel tube concrete column, which can save the tediousness of manual installation and mobilization of equipment, and reduce the difficulty of defect detection; avoid piezoelectric ceramics being glued to the surface of the steel section, and the piezoelectric ceramics can be used multiple times, which improves the utilization rate of piezoelectric ceramics; at the same time, the trolley can climb to detect the defects of any steel tube concrete components and steel-concrete composite components, which can improve the applicability and extensiveness of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 is a schematic diagram of the overall structure of this embodiment (first viewing angle);

[0017] Figure 2 2 is a schematic diagram of the overall structure of this embodiment (second viewing angle);

[0018] Figure 3 This is a front view of the trolley of this embodiment when it is working;

[0019] Figure 4 is a side view of the trolley of this embodiment when working;

[0020] Figure 5 Schematic diagram of the structure of the remote controller of this embodiment.

[0021] In the figure: 1-body; 2.1-waveform generator; 2.2-PZT actuator; 2.3-PZT receiver; 2.4-signal acquisition module; 2.5-terminal; 2.6-telescopic motor; 2.7-power amplifier; 3.1-wheel; 3.2-travel motor; 3.3-electromagnet; 4-remote control; 5-power supply; 5.1-power button; 6-control mainboard; 7-antenna; 8-steel tube concrete component. DETAILED DESCRIPTION

[0022] Combined with the drawings in the embodiments of the utility model, the technical solutions in the embodiments of the utility model are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, all other implementation methods obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented, so they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0024] The utility model provides an embodiment:

[0025] like Figures 1 to 5 As shown, a vertical crawling vehicle for detecting defects of steel tube concrete components includes a vehicle body 1, a defect detection unit, a mobile crawling unit and a remote controller 4; the defect detection unit includes a waveform generator 2.1, a PZT actuator 2.2, a PZT receiver 2.3, a signal acquisition module 2.4, a terminal 2.5 and a telescopic motor 2.6, wherein the waveform generator 2.1 is used to generate an excitation signal and generate a stress field for detecting concrete defects via the PZT actuator 2.2, the waveform generator 2.1 is connected to the remote controller 4 and the PZT actuator 2.2, and the PZT receiver 2.3 is used to generate an excitation signal and generate a stress field for detecting concrete defects via the PZT actuator 2.2. In response to receiving the signal, the signal acquisition module 2.4 is connected to the PZT receiver 2.3 and the terminal; the waveform generator 2.1, the signal acquisition module 2.4, and the telescopic motor 2.6 are all arranged at the bottom plate of the vehicle body 1, and the two telescopic motors 2.6 are respectively located at the front and rear ends of the vehicle body 1, and the output shafts of the telescopic motors 2.6 are movable through the bottom plate of the vehicle body 1; the PZT actuator 2.2 and the PZT receiver 2.3 are respectively connected to the output ends of the two telescopic motors 2.6 and are located at the lower end of the bottom plate of the vehicle body 1, and the PZT actuator 2.2 and the PZT receiver 2.3 are both connected to the remote controller 4;

[0026] The mobile crawling unit includes wheels 3.1, a travel motor 3.2 and an electromagnet 3.3. The travel motor 3.2 and the electromagnet 3.3 are arranged on the bottom plate of the vehicle body 1. The electromagnet 3.3 is connected to a remote controller 4. The vehicle body 1 is adsorbed on the steel tube concrete component through the electromagnet 3.3 and a gap is left between the electromagnet 3.3 and the steel tube concrete component. The travel motor 3.2 is connected to the remote controller 4 and is used to control the travel and steering of the vehicle body 1.

[0027] The device also includes a power supply 5, a control mainboard 6 and an antenna 7, wherein the power supply 5 is used to supply power to power-consuming components on the vehicle body 1, and the control mainboard 6 is used to connect the remote controller 4 and the components required to be controlled by the remote controller 4, process the signals from the remote controller 4, and control the relevant circuits on the vehicle; a power button 5.1 is provided on the side wall of the vehicle body 1, and the antenna 7 is provided on the bottom plate of the vehicle body 1 and the upper end thereof extends to the outside.

[0028] In this embodiment, the defect detection unit further includes a power amplifier 2.7, which is used to amplify the amplitude of the excitation signal. The power amplifier 2.7 is connected to the waveform generator 2.1, the PZT actuator 2.2 and the remote controller 4, and the power amplifier 2.7 is arranged at the bottom plate of the vehicle body 1.

[0029] The PZT actuator 2.2 and the PZT receiver 2.3 are metal packaged sensors that can effectively shield external electromagnetic interference and use the piezoelectric properties of piezoelectric ceramics to detect the cavities and gaps inside the concrete. The remote controller 4 has operation buttons, keys and a display screen. The remote controller 4 is used to control the movement of the telescopic motor 2.6 and the travel motor 3.2, set the power of the electromagnet 3.3, and set the power of the waveform generator 2.1, the PZT actuator 2.2, the PZT receiver 2.3 and the power amplifier 2.7.

[0030] Working principle:

[0031] Turn on the power switch 5.1, adjust the power of the electromagnet 3.3 through the remote controller 4, so that the trolley is adsorbed on the steel section with a suitable adsorption force, and move the trolley to the detection position through the remote controller 4. At this time, the trolley is stationary and adsorbed on the steel section;

[0032] The telescopic motor 2.6 is controlled to make the telescopic motor rod descend and contact the steel section, so that the PZT actuator 2.2 and the PZT receiver 2.3 located at the end of the telescopic motor rod are tightly attached to the structure, and the parameters of the waveform generator 2.1, the power amplifier 2.7, the PZT actuator 2.2 and the PZT receiver 2.3 are set and adjusted. The waveform generator 2.1 serves as a signal excitation end. The original setting signal excited by the waveform generator 2.1 is amplified by the power amplifier 2.7 and then transmitted to the PZT actuator 2.2. The excitation signal generates a stable stress field similar to static force in the concrete through the PZT actuator 2.2 at the end of the telescopic motor 2.6 rod, and the damage such as cracks in the concrete will affect the uniformity of the distribution of the stress field. The PZT receiver 2.3 at the end of the telescopic motor 2.6 rod serves as a signal receiving end, receives the signal response, converts the stress wave into an electrical signal, and then transmits it to the signal acquisition module 2.4. Then the data storage module stores the finally collected signal response, and finally the terminal 2.5 analyzes and processes the stored signal response. The collected electrical signals will be different due to structural damage, and the structural damage conclusion can be drawn by comparing the collected signals.

[0033] The above is only a preferred specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the utility model should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model shall be based on the protection scope of the claims.

Claims

1. A vertical crawling vehicle for detecting defects in steel tube concrete components, characterized in that: It comprises a vehicle body (1), a defect detection unit, a mobile crawling unit and a remote controller (4); The defect detection unit comprises a waveform generator (2.1), a PZT actuator (2.2), a PZT receiver (2.3), a signal acquisition module (2.4), a terminal (2.5) and a telescopic motor (2.6), wherein the waveform generator (2.1) is used to generate an excitation signal and generate a stress field for detecting concrete defects via the PZT actuator (2.2), the waveform generator (2.1) is connected to a remote controller (4) and the PZT actuator (2.2), and the PZT receiver (2.3) is used to receive a signal. In response, the signal acquisition module (2.4) is connected to the PZT receiver (2.3) and the terminal; the waveform generator (2.1), the signal acquisition module (2.4), and the telescopic motor (2.6) are all arranged at the bottom plate position of the vehicle body (1); the PZT actuator (2.2) and the PZT receiver (2.3) are respectively connected to the output ends of the two telescopic motors (2.6) and are located at the lower end of the bottom plate of the vehicle body (1); the PZT actuator (2.2) and the PZT receiver (2.3) are both connected to the remote controller (4); The mobile crawling unit comprises a wheel (3.1), a travel motor (3.2) and an electromagnet (3.3); the travel motor (3.2) and the electromagnet (3.3) are arranged at the bottom plate position of the vehicle body (1); the electromagnet (3.3) is connected to a remote controller (4); the vehicle body (1) is adsorbed on the steel tube concrete component via the electromagnet (3.3) and a gap is left between the electromagnet (3.3) and the steel tube concrete component; the travel motor (3.2) is connected to the remote controller (4) and is used to control the travel and steering of the vehicle body (1).

2. A vertical crawling vehicle for detecting defects of steel tube concrete components according to claim 1, characterized in that: The defect detection unit also includes a power amplifier (2.7), which is used to amplify the amplitude of the excitation signal. The power amplifier (2.7) is connected to the waveform generator (2.1), the PZT actuator (2.2) and the remote controller (4). The power amplifier (2.7) is arranged on the bottom plate of the vehicle body (1).

3. A vertical crawling vehicle for detecting defects of concrete-filled steel tube components according to claim 1, characterized in that: The vehicle body (1) further comprises a power supply (5), a control mainboard (6) and an antenna (7), wherein the power supply (5) is used to supply power to power-consuming components on the vehicle body (1), the control mainboard (6) is used to connect the remote controller (4) and the components to be controlled by the remote controller (4), a power button (5.1) is arranged on the side wall of the vehicle body (1), and the antenna (7) is arranged on the bottom plate of the vehicle body (1) and the upper end thereof extends outward.

4. A vertical crawling vehicle for detecting defects of steel tube concrete components according to claim 1, characterized in that: The two telescopic motors (2.6) are respectively located at the front and rear ends of the vehicle body (1), and the output shafts of the telescopic motors (2.6) movably penetrate the bottom plate of the vehicle body (1).

5. A vertical crawling vehicle for detecting defects of steel tube concrete components according to claim 1, characterized in that: The PZT actuator (2.2) and the PZT receiver (2.3) are metal encapsulated sensors.

6. A vertical crawling vehicle for detecting defects of concrete-filled steel tube components according to claim 1, characterized in that: The remote controller (4) is provided with operation buttons, keys and a display screen, and is used to control the actions of the telescopic motor (2.6) and the travel motor (3.2), set the power of the electromagnet (3.3), and set the power of the waveform generator (2.1), the PZT actuator (2.2), the PZT receiver (2.3) and the power amplifier (2.7).

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