Resiliometer detection tool for beam field detection robot

Abstract

The utility model belongs to the technical field of beam field detection, and aims to solve the problem that the traditional manual rebound test is tedious and has hidden dangers. According to the rebound instrument detection tool for the beam field detection robot, a movable seat is movably connected with a fixed seat through a damping spring, a rebound instrument, a rebound instrument distance measuring sensor and a monitoring camera are all arranged on the movable seat, the rebound instrument distance measuring sensor is parallel to the rebound instrument, and the detection end of the rebound instrument distance measuring sensor is located at the end, close to a rebound instrument detection head, of the rebound instrument distance measuring sensor; the monitoring camera is connected with the movable base through a camera support and located above a key panel of the resiliometer, and a resiliometer quick-changing mounting frame movably and detachably connected with the inspection vehicle body is arranged at the bottom end of the fixed base. The device is simple and compact in structure and high in detection efficiency, a series of tools related to installation of the rebound apparatus are designed, and the rebound apparatus is matched with a quick-change main disc on a mechanical arm on an existing inspection vehicle body through a quick-change auxiliary disc, so that the rebound detection range is enlarged, and the rebound detection efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of beam yard detection, and particularly relates to a rebound instrument detection tooling for a beam yard detection robot. Background Art

[0002] Using a rebound instrument to detect the strength of concrete is a most widely used non-destructive testing method in the on-site detection of concrete structures in China at present, which has the advantages of wide adaptability and no damage to concrete components. According to the specification requirements: the distance between two adjacent measuring areas should not be greater than 2m, the area of the measuring area should not be greater than 0.04 square meters, and 16 rebound values are read in each measuring area, and the measuring points are evenly distributed in the measuring area.

[0003] When detecting each concrete component, generally 10 measuring areas need to be rebound. Usually, the constructor directly holds the rebound instrument and presses it in the grid of each measuring area to obtain the rebound value. Due to the large number of measuring areas to be drawn, when performing the rebound operation of the measuring area at a high place, tools such as ladders have to be used, which poses potential hazards.

[0004] Therefore, in order to avoid the cumbersome and potential hazards of traditional manual rebound testing and complete the detection quickly and efficiently, the intellectualization of rebound instrument detection is the development trend. Content of the Utility Model

[0005] The utility model provides a rebound instrument detection tooling for a beam yard detection robot in order to solve at least one of the above technical problems existing in the prior art.

[0006] The utility model is realized by adopting the following technical scheme: a rebound instrument detection tooling for a beam yard detection robot includes a fixed seat, a movable seat, a rebound instrument, a shock damping spring, a rebound instrument ranging sensor and a monitoring camera;

[0007] The movable seat is movably connected with the fixed seat through the shock damping spring. The rebound instrument, the rebound instrument ranging sensor and the monitoring camera are all arranged on the movable seat. The rebound instrument ranging sensor is arranged parallel to the rebound instrument and its detection end is located at one end close to the detection head of the rebound instrument. The monitoring camera is connected with the movable seat through a camera bracket and is located above the key panel of the rebound instrument. The bottom end of the fixed seat is provided with a rebound instrument quick-change mounting bracket which is movably and detachably connected with the inspection vehicle body.

[0008] Preferably, the fixed seat includes a front guide sleeve mounting plate, a rear guide sleeve mounting plate and a quick-change sub-disk mounting plate which are arranged in sequence. Guide sleeves are inlaid at the front guide sleeve mounting plate and the rear guide sleeve mounting plate. The front guide sleeve mounting plate, the rear guide sleeve mounting plate and the quick-change sub-disk mounting plate are connected into a whole through a bottom plate;

[0009] The movable seat includes a front guide post fixing plate, an intermediate guide post fixing plate, and a rear guide post fixing plate arranged in sequence, and two guide posts fixedly connecting the above three plates. A damping front sleeve and a damping rear sleeve are respectively fixed at the front end and the middle of the guide post. Shock-absorbing damping springs are arranged between the damping front sleeve and the front guide sleeve mounting plate, and between the intermediate guide post fixing plate and the rear guide sleeve mounting plate. The intermediate guide post fixing plate and the damping rear sleeve are located between the front guide sleeve mounting plate and the rear guide sleeve mounting plate.

[0010] Preferably, the length of the extension section of the guide post at the front is greater than the length of the extension section at the rear, and there is a space between the rear guide post fixing plate and the rear guide sleeve mounting plate.

[0011] Preferably, the rebound instrument is fixed on the movable seat by a rebound instrument pressing block. The front and rear rebound instrument pressing blocks are respectively connected to the upper ends of the front guide post fixing plate and the rear guide post fixing plate by bolts. Clamping cavities matching the shape of the rebound instrument are provided on both the rebound instrument pressing block and the movable seat.

[0012] Preferably, the front end of the cross plate of the camera bracket is connected to the front rebound instrument pressing block and the front guide post fixing plate in front by bolts, the middle of the cross plate is connected to the intermediate guide post fixing plate by bolts, and the rear end of the cross plate is connected to the rear rebound instrument pressing block and the rear guide post fixing plate in the rear by bolts; the monitoring camera is connected to the vertical plate of the camera bracket by bolts.

[0013] Preferably, the mounting bracket of the rebound instrument distance sensor is connected to the rebound instrument pressing block, the front guide post fixing plate, and the rear guide post fixing plate by bolts, and is located on the opposite side of the cross plate of the camera bracket.

[0014] Preferably, a quick-change sub-disk is provided at the rear end of the quick-change sub-disk mounting plate, and the quick-change sub-disk can be locked and separated from the quick-change main disk on the robotic arm of the inspection vehicle body.

[0015] Preferably, the upper end of the quick-change mounting bracket of the rebound instrument is connected to the fixed seat by bolts. The lower end of the vertical plate of the quick-change mounting bracket of the rebound instrument extends to both sides to form lower wing plates connected to the inspection vehicle body, and long circular holes matching the positioning pins on the inspection vehicle body are provided on the lower wing plates.

[0016] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0017] The device has a simple and compact structure and high detection efficiency. By designing a series of tooling related to the installation of the rebound instrument, and matching the rebound instrument with the quick-change main disk on the robotic arm of the existing inspection vehicle body through a quick-change sub-disk, the range and efficiency of rebound detection are increased, and the hidden dangers of detecting with a hand-held rebound instrument are avoided. Description of the Drawings

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0019] Figure 1 is the three-dimensional schematic diagram of this embodiment;

[0020] Figure 2 is the front view of this embodiment;

[0021] Figure 3 is the side view of this embodiment;

[0022] Figure 4 is the top view of this embodiment;

[0023] Figure 5 is the structural schematic diagram of the quick-change main disk of this embodiment (the first perspective, the quick-change sub-disk is hidden);

[0024] Figure 6 is the structural schematic diagram of the quick-change main disk of this embodiment (the second perspective, the quick-change sub-disk is hidden).

[0025] In the figure: 1 - fixed seat; 1.1 - front mounting plate of the guide sleeve; 1.2 - rear mounting plate of the guide sleeve; 1.3 - mounting plate of the quick-change sub-disk; 1.4 - bottom plate; 1.5 - guide post; 2 - movable seat; 2.1 - front fixing plate of the guide post; 2.2 - intermediate fixing plate of the guide post; 2.3 - rear fixing plate of the guide post; 2.4 - front damping sleeve; 2.5 - rear damping sleeve; 3 - rebound instrument; 4 - shock damping spring; 5 - rebound instrument ranging sensor; 6 - monitoring camera; 7 - camera bracket; 8 - quick-change mounting bracket of the rebound instrument; 9 - pressing block of the rebound instrument; 10 - quick-change sub-disk; 111 - main connection disk; 112 - cylinder; 113 - locking head; 114 - locking steel ball; 115 - sub-disk in-place detection sensor; 116 - main disk cylinder extension in-place detection sensor; 117 - main disk cylinder retraction in-place sensor. Specific embodiments

[0026] Combined with the drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by the present invention.

[0027] It should be noted that the structures, proportions, sizes, etc. shown in the attached drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the implementation conditions of the present utility model. Therefore, they do not have any substantial technical significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present utility model can produce and the purposes that can be achieved, should fall within the scope covered by the technical content disclosed in the present utility model. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0028] The present utility model provides an embodiment:

[0029] As Figures 1 to 4 shown, a rebound tester detection tool for a beam yard inspection robot, characterized in that:

[0030] It includes a fixed seat 1, a movable seat 2, a rebound tester 3, a shock damping spring 4, a rebound tester ranging sensor 5, and a monitoring camera 6;

[0031] The movable seat 2 is movably connected to the fixed seat 1 through the shock damping spring 4. The rebound tester 3, the rebound tester ranging sensor 5, and the monitoring camera 6 are all arranged on the movable seat 2. The rebound tester ranging sensor 5 is arranged parallel to the rebound tester 3 and its detection end is located at one end close to the detection head of the rebound tester 3. The monitoring camera 6 is connected to the movable seat 2 through a camera bracket 7 and is located above the key panel of the rebound tester 3. The bottom end of the fixed seat 1 is provided with a rebound tester quick-change mounting bracket 8 that is movably and detachably connected to the inspection vehicle body. The rear end of the fixed seat 1 is installed with a quick-change sub-disk 10 that matches the quick-change main disk on the robotic arm of the inspection vehicle body.

[0032] In this embodiment, the fixed seat 1 includes a guide sleeve front mounting plate 1.1, a guide sleeve rear mounting plate 1.2, and a quick-change sub-disk mounting plate 1.3 arranged in sequence. Guide sleeves are inlaid at the guide sleeve front mounting plate 1.1 and the guide sleeve rear mounting plate 1.2. The guide sleeve front mounting plate 1.1, the guide sleeve rear mounting plate 1.2, and the quick-change sub-disk mounting plate 1.3 are connected into a whole through a bottom plate 1.4;

[0033] The movable seat 2 includes a front guide post fixing plate 2.1, an intermediate guide post fixing plate 2.2, and a rear guide post fixing plate 2.3 arranged in sequence, and two guide posts 2.6 fixedly connecting the above three plates. A damping front sleeve 2.4 and a damping rear sleeve 2.5 are respectively fixed at the front end and the middle of the guide post 2.6. Shock damping springs 4 are arranged between the damping front sleeve 2.4 and the front guide sleeve mounting plate 1.1, and between the intermediate guide post fixing plate 2.2 and the rear guide sleeve mounting plate 1.2. The intermediate guide post fixing plate 2.2 and the damping rear sleeve 2.5 are located between the front guide sleeve mounting plate 1.1 and the rear guide sleeve mounting plate 1.2.

[0034] The rebound instrument 3 is fixed on the movable seat 2 by being pressed by a rebound instrument pressing block 9. The front and rear two rebound instrument pressing blocks 9 are respectively connected to the upper ends of the front guide post fixing plate 2.1 and the rear guide post fixing plate 2.3 by bolts. Both the rebound instrument pressing block 9 and the movable seat 2 have clamping cavities matching the shape of the rebound instrument 3.

[0035] The front end of the cross plate of the camera bracket 7 is connected to the front rebound instrument pressing block 9 and the front guide post fixing plate 2.1 in front by bolts. The middle of the cross plate is connected to the intermediate guide post fixing plate 2.2 by bolts. The rear end of the cross plate is connected to the rear rebound instrument pressing block 9 and the rear guide post fixing plate 2.3 in the rear by bolts. The monitoring camera 6 is connected to the vertical plate of the camera bracket 7 by bolts. The mounting bracket of the rebound instrument distance measuring sensor 5 is connected to the rebound instrument pressing block 9, the front guide post fixing plate 2.1 and the rear guide post fixing plate 2.3 by bolts and is located on the opposite side of the cross plate of the camera bracket 7.

[0036] The upper end of the quick-change mounting bracket 8 of the rebound instrument is connected to the fixed seat 1 by bolts. The lower end of the vertical plate of the quick-change mounting bracket 8 of the rebound instrument extends to both sides to form lower wing plates connected to the inspection vehicle body, and long circular holes matching the positioning pin shafts on the inspection vehicle body are arranged on the lower wing plates.

[0037] A quick-change sub-disk 10 is arranged at the rear end of the quick-change sub-disk mounting plate 1.3. The quick-change sub-disk 10 can be locked and separated from the quick-change main disk on the mechanical arm of the inspection vehicle body. The quick-change main disk includes a main connection disk 111 and an electromagnetic valve. A cylinder 112 is arranged in the main connection disk 111. A locking head 113 is arranged at the connection end of the main connection disk 111. A plurality of locking steel balls 114 are arranged on the locking head 113. The push rod of the cylinder 112 can extend into the locking head 113 and push out the locking steel balls 114 in the locking head 113. A sub-disk in-place detection sensor 115, a main disk cylinder extension in-place detection sensor 116, and a main disk cylinder retraction in-place sensor 117 are arranged on the main connection disk 111.

[0038] The signal output ends of the sub-disk in-place detection sensor 115, the main-disk cylinder extended-in-place detection sensor 116, and the main-disk cylinder retracted-in-place sensor 117 are connected to the control module of the manipulator 2. The solenoid valve is located on the air path where the cylinder is located and is electrically connected to the sub-disk in-place detection sensor 115. The sub-disk in-place detection sensor 115 is used to detect whether the quick-change sub-disk and the quick-change main-disk are aligned. The main-disk cylinder extended-in-place detection sensor 116 and the main-disk cylinder retracted-in-place sensor 117 are respectively used to detect whether the cylinder 112 in the quick-change main-disk extends and retracts in place;

[0039] The quick-change sub-disk 10 includes a sub-connection disk. A first card slot for accommodating the locking head 113 is provided at the center of the sub-connection disk. A second card slot for accommodating the locking steel balls 114 is provided on the surface of the first card slot; the locking head 113 can be clamped in the first card slot of the quick-change sub-disk 10. The locking steel balls are used to be pushed up from the locking head 113 under the push of the cylinder 112 and clamped in the second card slot of the quick-change sub-disk 10. Electric signal modules are provided on both the quick-change main-disk and the quick-change sub-disk.

[0040] Specific operation steps:

[0041] The stylus of the robotic arm control point of the inspection vehicle body is moved above the key panel of the rebound hammer tooling. Based on the cooperation of the monitoring camera, the power-on and setting of the rebound hammer 3 are realized. The monitoring camera 6 can monitor and judge the touch and setting screen of the stylus in real time;

[0042] The robotic arm returns the stylus tooling to its original position and replaces the tooling connected to the quick-change main-disk with the rebound hammer tooling;

[0043] The robotic arm controls the rebound hammer tooling to return to the stamping position for rebound measurement; there is a distance measurement sensor on the rebound hammer, which is connected to the robotic arm control terminal and can control the robotic arm to move linearly or obliquely; a shock-absorbing damping spring is installed on the rebound hammer, and the spring force needs to match the pressure during the measurement of the rebound hammer. When the compression amount of the measurement rod of the rebound hammer is the largest, the compression amount of the shock-absorbing damping spring is about 5 - 10 mm; the measurement data of the rebound hammer is saved in the rebound hammer itself and can be viewed later; it can also be viewed in real time through the monitoring camera of the rebound hammer in the background.

[0044] The above is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A rebound tester detection tooling for a beam yard inspection robot, characterized in that: It includes a fixed seat (1), a movable seat (2), a rebound tester (3), a shock damping spring (4), a rebound tester ranging sensor (5) and a monitoring camera (6); The movable seat (2) is movably connected to the fixed seat (1) through the shock damping spring (4). The rebound tester (3), the rebound tester ranging sensor (5) and the monitoring camera (6) are all arranged on the movable seat (2). The rebound tester ranging sensor (5) is arranged parallel to the rebound tester (3) and its detection end is located at one end close to the detection head of the rebound tester (3). The monitoring camera (6) is connected to the movable seat (2) through a camera bracket (7) and is located above the key panel of the rebound tester (3). The bottom end of the fixed seat (1) is provided with a rebound tester quick-change mounting bracket (8) that is movably and detachably connected to the inspection vehicle body. The rear end of the fixed seat (1) is installed with a quick-change sub-disk (10) that matches the quick-change main disk on the robotic arm of the inspection vehicle body.

2. The rebound tester detection tooling for a beam yard inspection robot according to claim 1, characterized in that: The fixed seat (1) includes a front guide sleeve mounting plate (1.1), a rear guide sleeve mounting plate (1.2) and a quick-change sub-disk mounting plate (1.3) arranged in sequence. Guide sleeves are inlaid at the front guide sleeve mounting plate (1.1) and the rear guide sleeve mounting plate (1.2). The front guide sleeve mounting plate (1.1), the rear guide sleeve mounting plate (1.2) and the quick-change sub-disk mounting plate (1.3) are connected into a whole through a bottom plate (1.4); The movable seat (2) includes a front guide post fixing plate (2.1), a middle guide post fixing plate (2.2), a rear guide post fixing plate (2.3) arranged in sequence and two guide posts (2.6) fixedly connecting the above three plates. The front end and the middle of the guide post (2.6) are respectively fixed with a damping front sleeve (2.4) and a damping rear sleeve (2.5). Shock damping springs (4) are arranged between the damping front sleeve (2.4) and the front guide sleeve mounting plate (1.1), and between the middle guide post fixing plate (2.2) and the rear guide sleeve mounting plate (1.2). The middle guide post fixing plate (2.2) and the damping rear sleeve (2.5) are located between the front guide sleeve mounting plate (1.1) and the rear guide sleeve mounting plate (1.2).

3. The rebound tester detection tooling for the beam yard detection robot according to claim 2, characterized in that: The rebound tester (3) is fixed on the movable seat (2) by a rebound tester pressing block (9). The front and rear rebound tester pressing blocks (9) are respectively connected to the upper ends of the front guide post fixing plate (2.1) and the rear guide post fixing plate (2.3) through bolts. The rebound tester pressing block (9) and the movable seat (2) both have clamping cavities that match the shape of the rebound tester (3).

4. The rebound tester detection tooling for the beam yard detection robot according to claim 3, characterized in that: The front end of the cross plate of the camera bracket (7) is connected to the front rebound tester pressing block (9) and the front guide post fixing plate (2.1) through bolts. The middle of the cross plate is connected to the middle guide post fixing plate (2.2) through bolts. The rear end of the cross plate is connected to the rear rebound tester pressing block (9) and the rear guide post fixing plate (2.3) through bolts; The monitoring camera (6) is connected to the vertical plate of the camera bracket (7) through bolts.

5. A rebound tester detection tool for a beam yard inspection robot according to claim 4, characterized in that: The mounting bracket of the rebound hammer ranging sensor (5) is connected to the rebound hammer pressing block (9), the front guide post fixing plate (2.1) and the rear guide post fixing plate (2.3) by bolts, and is located on the opposite side of the cross plate of the camera bracket (7).

6. The rebound tester detection tooling for the beam yard detection robot according to claim 2, characterized in that: A quick-change sub-disk (10) is provided at the rear end of the quick-change sub-disk mounting plate (1.3), and the quick-change sub-disk (10) can be locked and separated from the quick-change main disk on the mechanical arm of the inspection vehicle body.

7. A rebound tester detection tool for a beam yard inspection robot according to claim 2, characterized in that: The upper end of the quick-change mounting bracket (8) of the rebound hammer is connected to the fixed seat (1) by bolts. The lower end of the vertical plate of the quick-change mounting bracket (8) of the rebound hammer extends to both sides to form lower wing plates connected to the inspection vehicle body, and long circular holes matching the positioning pin shafts on the inspection vehicle body are provided on the lower wing plates.

Images