Steel bar protective layer detection tool for beam field detection robot

Abstract

The utility model belongs to the technical field of steel bar protective layer detection, and particularly relates to a steel bar protective layer detection tool for a beam field detection robot. Comprising a walking device; the steel bar scanner is mounted on the walking device; the bracket is fixed on the walking device; the buffer device is mounted on the bracket; and the ultrasonic sensor mounting bracket is mounted at the top of the buffer device, and an ultrasonic distance measuring sensor is mounted on the ultrasonic sensor mounting bracket. The device can be combined with a mechanical arm to automatically walk to a concrete detection surface for steel bar protection layer detection, can effectively reduce the labor cost and improve the detection efficiency, and is simple to operate, convenient and practical.

Description

Technical Field

[0001] The utility model belongs to the technical field of steel bar protective layer detection, in particular to a steel bar protective layer detection tool for a beam field detection robot. Background Art

[0002] With the rapid development of my country's economy, reinforced concrete plays a vital role in construction projects, but there are also some common quality problems that bother us, especially the impact of the quality of the steel bar protective layer on the durability of the structure is more widespread.

[0003] In the design and construction of reinforced concrete, steel bars play a significant role in bearing the majority of tensile stresses in structures and components. Tensile reinforcement is often placed at the tensile edge of concrete components to ensure maximum tensile stress bearing capacity. Therefore, excessive or insufficient reinforcement cover thickness in concrete structures or components can affect their tensile stress bearing capacity. This can also lead to concrete spalling and steel corrosion, compromising concrete performance and structural stability, and causing quality issues in the project.

[0004] For engineering construction, the thickness of the steel bar protective layer in concrete structures is directly related to the bearing capacity and durability of the concrete structure, and plays an extremely important role in the construction of the entire building project. In order to ensure the construction quality of the building project and improve the safety and stability of the building project, it is necessary to strengthen the detection of the thickness of the steel bar protective layer in concrete structures.

[0005] Therefore, it is extremely important to design a tool that can detect the protective layer of steel bars. Summary of the Invention

[0006] In order to solve the problem of steel bar protective layer detection, the utility model provides a steel bar protective layer detection tool for a beam field detection robot.

[0007] The utility model adopts the following technical solution: a steel bar protective layer detection tool for a beam yard detection robot, comprising:

[0008] running gear;

[0009] A steel bar scanner, wherein the steel bar scanner is installed on the walking device;

[0010] a first bracket, wherein the first bracket is fixed to the walking device;

[0011] a buffer device, wherein the buffer device is mounted on the bracket;

[0012] An ultrasonic sensor mounting bracket is mounted on the top of the buffer device, and an ultrasonic distance measuring sensor is mounted on the ultrasonic sensor mounting bracket.

[0013] In some embodiments, positioning pin fixing blocks are fixed on both sides of the walking device, and positioning pins are fixed on the positioning pin fixing blocks.

[0014] In some embodiments, the cushioning device comprises:

[0015] An outer cylinder, wherein a spring seat is installed at the bottom of the outer cylinder;

[0016] an inner cylinder, wherein the inner cylinder is arranged inside the outer cylinder;

[0017] A compression spring is provided between the outer cylinder and the inner cylinder.

[0018] In some embodiments, a long hole is opened on the outer wall of the outer cylinder, and a limiting rod is provided on the long hole. The part of the limiting rod passing through the long hole is fixed to the upper end of the compression spring for limiting. The lower end of the compression spring is fixed to the spring seat by a fixing rod.

[0019] In some embodiments, the buffer device is connected to the ultrasonic sensor mounting bracket via a connecting device.

[0020] In some embodiments, the connecting means comprises:

[0021] A quick-change mounting plate, the quick-change mounting plate being fixed on the top of the buffer device;

[0022] A connecting plate is fixed on the top of the quick-change mounting plate, and one end of the ultrasonic sensor mounting bracket is clamped between the connecting plate and the quick-change mounting plate.

[0023] In some embodiments, circular holes are provided at corresponding positions in the middle of the connecting disk and the quick-change mounting plate.

[0024] In some embodiments, the ultrasonic sensor mounting bracket includes:

[0025] The bracket connecting end is clamped between the connecting plate and the quick-change mounting plate, and a circular hole is provided in the middle of the bracket connecting end;

[0026] An installation end, wherein an ultrasonic ranging sensor is installed on the installation end;

[0027] A second bracket is connected between the bracket connection end and the mounting end.

[0028] In some embodiments, the bracket connecting end, the second bracket and the mounting end form a Z-shaped structure, wherein the bracket connecting end and the mounting end are arranged in a horizontal direction, and the bracket is arranged in a vertical direction.

[0029] In some embodiments, a mounting hole is provided at the center of the mounting end, and the ultrasonic ranging sensor is passed through and fixed in the mounting hole.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] The setting of the connecting device of the utility model facilitates the rapid connection of the utility model with the robotic arm, and when used in combination, it can cooperate with existing equipment such as robots to achieve more efficient and safe steel bar protective layer detection work.

[0032] The rebar scanner can detect the thickness of the rebar cover. Mounted on a walking device, the scanner uses an ultrasonic ranging sensor to calculate the distance between the walking device and the concrete inspection surface in real time, making it easy to locate the distance and angle to the concrete inspection surface. The buffer device effectively cushions the connection between the robotic arm and the connecting device. This new device, combined with the robotic arm, can automatically travel to the concrete inspection surface for rebar cover inspection, effectively reducing labor costs and improving inspection efficiency. It is also simple to operate and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a three-dimensional diagram of the structure of the utility model;

[0034] Figure 2 This is a schematic diagram of the structure of the utility model;

[0035] In the figure, 1-walking device, 2-rebar scanner, 3-first bracket, 4-buffer device, 5-connecting device, 6-ultrasonic sensor mounting bracket, 7-ultrasonic ranging sensor, 1.1-locating pin fixing block, 1.2-locating pin, 4.1-outer cylinder, 4.2-compression spring, 4.3-inner cylinder, 4.4-limiting rod, 4.5-long hole, 4.6-fixing rod, 5.1-quick change mounting plate, 5.2-connecting plate, 6.1-bracket connecting end, 6.2-second bracket, 6.3-mounting end. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments; based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0037] like Figure 1 As shown, a steel bar protective layer detection tool for a beam yard inspection robot includes:

[0038] Walking device 1;

[0039] A steel bar scanner 2, wherein the steel bar scanner 2 is installed on the walking device 1;

[0040] A first bracket 3, wherein the first bracket 3 is fixed to the walking device 1;

[0041] A buffer device 4 is mounted on the bracket 3;

[0042] The ultrasonic sensor mounting bracket 6 is mounted on the top of the buffer device 4 , and an ultrasonic distance measuring sensor 7 is mounted on the ultrasonic sensor mounting bracket 6 .

[0043] Specifically, positioning pin fixing blocks 1.1 are fixed on both sides of the walking device 1, and positioning pins 1.2 are fixed on the positioning pin fixing blocks 1.1.

[0044] Specifically, if Figure 2 As shown, the buffer device 4 includes:

[0045] An outer cylinder 4.1, wherein a spring seat is installed at the bottom of the outer cylinder 4.1;

[0046] Inner cylinder 4.3, said inner cylinder 4.3 is arranged inside the outer cylinder 4.1;

[0047] A compression spring 4.2 is provided between the outer cylinder 4.1 and the inner cylinder 4.3.

[0048] Specifically, a long hole 4.5 is opened on the outer wall of the outer cylinder 4.1, and a limiting rod 4.4 is set on the long hole 4.5. The part of the limiting rod 4.4 passing through the long hole 4.5 is fixed to the upper end of the compression spring 4.2 for limiting. The lower end of the compression spring 4.2 is fixed to the spring seat through a fixing rod 4.6.

[0049] Specifically, the buffer device 4 and the ultrasonic sensor mounting bracket 6 are connected via a connecting device 5 .

[0050] Specifically, the connecting device 5 includes:

[0051] A quick-change mounting plate 5.1, which is fixed to the top of the buffer device 4;

[0052] The connecting plate 5.2 is fixed on the top of the quick-change mounting plate 5.1, and one end of the ultrasonic sensor mounting bracket 6 is clamped between the connecting plate 5.2 and the quick-change mounting plate 5.1.

[0053] Specifically, circular holes are provided at corresponding positions in the middle of the connecting disc 5.2 and the quick-change mounting plate 5.1.

[0054] In this application, the connecting device 5 is not only used to connect the ultrasonic sensor mounting bracket 6, but also used to connect an external robotic arm. The end of the robotic arm extends into the circular hole set in the middle of the connecting plate 5.2. As the robotic arm moves in the horizontal direction, the robotic arm can control the beam yard inspection robot to move the steel bar protective layer inspection tooling to the desired position.

[0055] Specifically, a cylinder is provided at the end of the robotic arm, a locking head is provided at the end of the cylinder, and a plurality of steel balls that can be raised are provided on the locking head. When the cylinder is inflated, the steel balls are raised, thereby locking with the connecting disk 5.2. When the cylinder is deflated, the steel balls retract and then open.

[0056] The buffer device 4 is arranged at the bottom of the connecting device 5 . When the robot arm descends from directly above the connecting device 5 to connect to the connecting device 5 , the buffer device 4 is used to buffer the impact force between the robot arm and the connecting device 5 .

[0057] Specifically, the ultrasonic sensor mounting bracket 6 includes:

[0058] The bracket connecting end 6.1 is sandwiched between the connecting plate 5.2 and the quick-change mounting plate 5.1, and a circular hole is provided in the middle of the bracket connecting end 6.1;

[0059] Mounting end 6.3, on which an ultrasonic distance measuring sensor 7 is mounted;

[0060] The second bracket 6.2 is connected between the bracket connection end 6.1 and the mounting end 6.3.

[0061] Specifically, the bracket connecting end 6.1, the second bracket 6.2 and the mounting end 6.3 form a Z-shaped structure, wherein the bracket connecting end 6.1 and the mounting end 6.3 are arranged in a horizontal direction, and the second bracket 6.2 is arranged in a vertical direction.

[0062] Specifically, a mounting hole is provided at the center of the mounting end 6.3, and the ultrasonic distance measuring sensor 7 is passed through and fixed in the mounting hole and fastened thereon by a nut.

[0063] The specific operation process of this utility model includes:

[0064] The robotic arm moves to the preset point of the steel bar protective layer detection tooling, the robotic arm slowly descends, and stops moving after the robotic arm extends into the connecting plate 5.2. It keeps this position for 2 seconds to turn on the steel bar protective layer detection tooling. The steel bar protective layer measuring instrument is photographed and identified by the camera on the robotic arm. After identifying that the steel bar protective layer measuring instrument is turned on, the robotic arm moves back to the preset pressing point of the steel bar protective layer measuring instrument.

[0065] The robot grabs the steel bar protective layer detection tooling, and the robot arm drives the steel bar protective layer detection tooling to move to the preset point on the test wall.

[0066] (At this time, the wheeled robot is walking along the wall.) The four ultrasonic distance measuring sensors 7 on the steel bar protective layer detection tooling are used to perform parallel calibration on the wall, and then the steel bar protective layer detection tooling is pressed against the wall according to the measured distance.

[0067] When moving along the wall, the distance between the walking device 1 and the wall is obtained according to the ultrasonic ranging sensor 7. The angle and distance between the walking device 1 and the wall are calculated in real time based on the length of the walking device 1 and the position of the robotic arm. The steel bar scanner 2 is adjusted in real time to ensure that the steel bar scanner 2 is close to the wall. This process is executed in a loop.

[0068] When the ultrasonic distance measuring sensor 7 detects that the vehicle has exited the test wall, the program of loop execution is exited.

[0069] After the steel bar scanner 2 test is completed, the steel bar protective layer detection tooling is put back.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A steel bar protective layer detection tool for a beam yard inspection robot, characterized in that: include: Walking device (1); A steel bar scanner (2), wherein the steel bar scanner (2) is mounted on the walking device (1); A first bracket (3), the first bracket (3) being fixed on the walking device (1); A buffer device (4), the buffer device (4) being mounted on the bracket (3); An ultrasonic sensor mounting bracket (6) is mounted on the top of the buffer device (4), and an ultrasonic distance measuring sensor (7) is mounted on the ultrasonic sensor mounting bracket (6).

2. The steel bar protective layer detection tool for the beam yard inspection robot according to claim 1 is characterized in that: Positioning pin fixing blocks (1.1) are fixed on both sides of the walking device (1), and positioning pins (1.2) are fixed on the positioning pin fixing blocks (1.1).

3. The steel bar protective layer detection tool for the beam yard inspection robot according to claim 1 is characterized in that: The buffer device (4) comprises: An outer cylinder (4.1), wherein a spring seat is installed at the bottom of the outer cylinder (4.1); an inner cylinder (4.3), the inner cylinder (4.3) being arranged inside the outer cylinder (4.1); A compression spring (4.2) is provided between the outer cylinder (4.1) and the inner cylinder (4.3).

4. The steel bar protective layer detection tool for the beam yard inspection robot according to claim 3 is characterized in that: A long hole (4.5) is formed on the outer wall of the outer cylinder (4.1), a limiting rod (4.4) is provided on the long hole (4.5), and a portion of the limiting rod (4.4) passing through the long hole (4.5) is fixed to the upper end of the compression spring (4.2) for limiting position; the lower end of the compression spring (4.2) is fixed to the spring seat via a fixing rod (4.6).

5. The steel bar protective layer detection tool for the beam yard inspection robot according to claim 1 is characterized in that: The buffer device (4) is connected to the ultrasonic sensor mounting bracket (6) via a connecting device (5).

6. The steel bar protective layer detection tool for the beam yard inspection robot according to claim 5 is characterized in that: The connecting device (5) comprises: A quick-change mounting plate (5.1), wherein the quick-change mounting plate (5.1) is fixed to the top of the buffer device (4); A connecting disk (5.2) is fixed on the top of the quick-change mounting plate (5.1), and one end of the ultrasonic sensor mounting bracket (6) is clamped between the connecting disk (5.2) and the quick-change mounting plate (5.1).

7. The steel bar protective layer detection tool for the beam yard inspection robot according to claim 6 is characterized in that: Circular holes are provided at corresponding positions in the middle of the connecting disk (5.2) and the quick-change mounting plate (5.1).

8. The steel bar protective layer detection tool for the beam yard inspection robot according to claim 7 is characterized in that: The ultrasonic sensor mounting bracket (6) comprises: a bracket connecting end (6.1), the bracket connecting end (6.1) being sandwiched between the connecting plate (5.2) and the quick-change mounting plate (5.1), and a circular hole being provided in the middle of the bracket connecting end (6.1); A mounting end (6.3), wherein the mounting end (6.3) is provided with an ultrasonic distance sensor (7); A second bracket (6.2), the second bracket (6.2) is connected between the bracket connection end (6.1) and the mounting end (6.3).

9. The steel bar protective layer detection tool for a beam yard inspection robot according to claim 8, characterized in that: The bracket connecting end (6.1), the second bracket (6.2), and the mounting end (6.3) form a Z-shaped structure, wherein the bracket connecting end (6.1) and the mounting end (6.3) are arranged in a horizontal direction, and the second bracket (6.2) is arranged in a vertical direction.

10. The steel bar protective layer detection tool for a beam yard inspection robot according to claim 8, characterized in that: A mounting hole is provided at the center of the mounting end (6.3), and the ultrasonic distance measuring sensor (7) is passed through and fixed in the mounting hole.

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