Concrete detection robot

Abstract

The utility model provides a concrete detection robot, which comprises a shell, a first mounting plate and a second mounting plate, the driving assembly is mounted above the first mounting plate and comprises a first driving motor mounted on the first mounting plate; the driving wheel is rotationally mounted above the first mounting plate and is in driving connection with the driving motor; the driven wheel is rotationally mounted above the driving wheel through a bracket assembly; the detection assembly comprises a 3D camera, a 2D camera and a second driving motor, wherein the 3D camera and the 2D camera are rotationally mounted below the first mounting plate, and the second driving motor drives the 3D camera and the 2D camera to rotate. The concrete surface quality, strength, temperature, humidity and other indexes can be automatically detected and evaluated, manual detection can be effectively replaced, the detection period is shortened, personnel injury is avoided, meanwhile, an accurate mathematical model can be established for quantification of detection results, evaluation and feedback of the detection results are facilitated, and the working efficiency is improved. And the accuracy and rapidity of concrete quality detection are improved.

Description

Technical Field

[0001] The utility model belongs to the field of construction engineering, and particularly relates to a concrete detection robot. Background Art

[0002] With the acceleration of urbanization, high-rise buildings are appearing more and more in our lives. Traditional construction methods can no longer meet the requirements of modern society for construction speed and quality, so construction robots have come into being. A construction robot is an automated equipment that can independently complete construction tasks. This type of robot can greatly improve the efficiency and quality of construction, reduce labor intensity, and reduce safety accidents. In the field of construction robots, building robots are an important research direction. A building robot is a robot that can independently complete tasks such as installation, welding, concrete pouring, and inspection and evaluation of building structural components at the construction site. The equipment described in this patent is mainly used in the field of inspection and evaluation.

[0003] In high-rise buildings, the inspection of constructed concrete walls is often carried out manually, which places high demands on the experience and professional quality of the inspectors. The inspectors need to visually judge whether there are cracks, roughness, holes, exposed reinforcement or honeycombs on the surface quality of the concrete. This means that the judgment conclusions are often not specific enough, difficult to quantify, and cannot form effective records, resulting in low efficiency of the inspection process and hidden dangers of errors in the inspection results. At the same time, due to the characteristics of building machine operations, inspectors, as a link in the construction process, often need to carry out long-term on-site operations, which increases the risk of personal injury and sharply increases economic costs. Utility Model Content

[0004] In view of the above shortcomings of the existing technology, the purpose of the present invention is to provide a concrete inspection robot to solve the problem that in the existing technology, the inspection of constructed concrete walls in high-rise buildings is often carried out manually, and the judgment conclusions are often not specific enough, difficult to quantify, and cannot form effective records, resulting in low efficiency of the inspection process and hidden dangers of errors in the inspection results. At the same time, due to the operating characteristics of building construction machines, inspection personnel, as a link in the construction process, often need to carry out long-term on-site work, which increases the risk of personal injury and a sharp increase in economic costs.

[0005] To achieve the above-mentioned and other related purposes, the present invention provides a concrete inspection robot, comprising:

[0006] a housing, wherein a first mounting plate is disposed in the housing;

[0007] A drive assembly is mounted above the first mounting plate, the drive assembly comprising:

[0008] a first drive motor, mounted on the first mounting plate;

[0009] A driving wheel, which is rotatably mounted above the first mounting plate and is drivingly connected to the driving motor;

[0010] A driven wheel, which is rotatably mounted above the driving wheel through a bracket assembly;

[0011] The detection component includes a 3D camera and a 2D camera rotatably mounted below the first mounting plate, and a second driving motor driving the 3D camera and the 2D camera to rotate.

[0012] In one embodiment of the present invention, the bracket assembly includes:

[0013] a first support frame and a second support frame, wherein the first support frame and the second support frame are mounted on the first mounting plate and are located on both sides of the driving wheel;

[0014] A bracket, one end of which is rotatably connected to the first support frame, and the other end of which is provided with a screw, which passes through the second support frame in a vertical direction, and the portion of the screw passing through the second support frame is sleeved with a spring and connected by a fastening nut;

[0015] The driven wheels are located on both sides of the bracket and are rotatably connected to the bracket.

[0016] In one embodiment of the present invention, the driving assembly further includes an auxiliary wheel, the auxiliary wheel is rotatably connected to the bracket, and the auxiliary wheel is horizontally arranged.

[0017] In one embodiment of the present invention, the detection component further includes:

[0018] an auxiliary bracket detachably connected to the bottom surface of the first mounting plate;

[0019] A mounting frame, both ends of which are rotatably connected to the two auxiliary brackets, and the 3D camera and the 2D camera are fixedly mounted on the mounting frame;

[0020] A second driving motor is fixedly connected to the auxiliary bracket and connected to the mounting bracket to drive the mounting bracket to rotate.

[0021] In one embodiment of the present invention, a control system is further included. The control system is located below the first mounting plate and is electrically connected to the first drive motor, the second drive motor, and the detection component.

[0022] In one embodiment of the present invention, the control system includes:

[0023] a second mounting plate, which is detachably mounted below the first mounting plate and forms an accommodating space between the second mounting plate and the first mounting plate;

[0024] A control component is fixedly mounted on the second mounting plate and is located in the accommodating space.

[0025] In one embodiment of the present invention, the detection assembly further includes a gyroscope, and the gyroscope is mounted on the bottom of the mounting frame.

[0026] In one embodiment of the present invention, the detection component further includes a temperature sensor and a humidity sensor, which are installed on the outside of the housing and are electrically connected to the control system.

[0027] In one embodiment of the present invention, an ultrasonic sensor is provided on at least one side of the housing.

[0028] In one embodiment of the present invention, a fill light is further included. The fill light is arranged on one side of the housing where the 3D camera and the 2D camera are arranged, and is located on both sides of the 3D camera.

[0029] The utility model proposes a concrete inspection robot, which can automatically inspect and evaluate indicators such as concrete surface quality, strength, temperature and humidity. The robot is used as a link in the construction process of a building machine, which can effectively replace manual inspection, shorten the inspection cycle, and avoid personal injury. At the same time, the quantification of the inspection results is conducive to the establishment of an accurate mathematical model, which is beneficial to the evaluation and feedback of the inspection results, effectively solving various errors and risks caused by manual inspection, and improving the accuracy and speed of concrete quality inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 This is a structural diagram of a concrete detection system in one embodiment of the present invention.

[0032] Figure 2 The figure is a schematic structural diagram of a concrete inspection robot in one embodiment of the present invention.

[0033] Figure 3 This is a structural schematic diagram of a concrete inspection robot from another angle in one embodiment of the present invention.

[0034] Figure 4 The figure is a schematic diagram of the internal structure of a concrete inspection robot in one embodiment of the present invention.

[0035] Figure 5 The figure is a schematic structural diagram of a drive assembly of a concrete inspection robot in one embodiment of the present invention.

[0036] Figure 6 This is a structural schematic diagram of a concrete inspection robot drive assembly from another angle in one embodiment of the present invention.

[0037] Figure 7 The figure is a schematic structural diagram of a cross section of a track in a concrete detection system in one embodiment of the present invention.

[0038] Figure 8 This is a schematic diagram of the coordination between the drive assembly and the track of a concrete inspection robot in one embodiment of the present invention.

[0039] Figure 9 The figure is a partial structural diagram of the detection components in a concrete detection robot in one embodiment of the present invention.

[0040] Description of labels:

[0041] 1000, concrete testing system; 100, concrete testing robot; 200, track; 300, intelligent rebound test hammer; 10, housing; 20, drive assembly; 30, testing assembly; 101, first mounting plate; 21, first drive motor; 22, driving pulley; 23, driven pulley; 201, first mounting seat; 202, second mounting seat; 204, synchronous belt assembly; 2041, master synchronous pulley; 2042, slave synchronous pulley; 2043, synchronous belt; 2011, oblong through hole; 210, opening ; 2031. First support frame; 2032. Second support frame; 2033. Bracket; 2034. Screw; 2035. Spring; 2036. Fastening nut; 24. Auxiliary wheel; 31. 3D camera; 32. 2D camera; 33. Second drive motor; 34. Auxiliary bracket; 35. Mounting bracket; 36. Gyroscope; 37. Temperature sensor; 38. Humidity sensor; 39. Fill light; 103. Auxiliary connector; 104. Bridge; 105. Ultrasonic sensor; 220. Storage compartment. DETAILED DESCRIPTION

[0042] The following describes the embodiments of the present invention through specific examples. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the details in this specification may be modified or altered based on different perspectives and applications without departing from the spirit of the present invention.

[0043] It should be noted that the illustrations provided in this embodiment are only used to schematically illustrate the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0044] See also Figures 1 to 9 As shown, in order to solve the problems of time-consuming and labor-intensive manual inspection at construction sites, low efficiency, and difficulty in quantifying inspection indicators and forming accurate inspection conclusions, the present invention proposes a concrete inspection system. The concrete inspection system is installed inside a building construction machine to realize automated inspection of constructed concrete walls in high-rise buildings. The concrete inspection system 1000 includes: a concrete inspection robot 100, a track 200, and an intelligent rebound test hammer 300. The concrete inspection robot 100 is slidably connected to the track 200. The track 200 is arranged inside the building construction machine and surrounds each concrete wall to be inspected. The concrete inspection robot 100 can be driven to move along the track 200 to inspect the quality of concrete walls at different locations. The intelligent rebound test hammer 300 can be used handheld and is in communication with the concrete inspection robot 100. It can transmit data detected by the intelligent rebound test hammer 300 to the concrete inspection robot 100, and the data can be aggregated with the inspection data detected by the concrete robot 100 to form an inspection report.

[0045] See also Figure 1 、 Figure 2 、 Figure 3 and Figure 4As shown, in this embodiment, the concrete inspection robot 100 includes a housing 10, a drive assembly 20, and a detection assembly 30. A first mounting plate 101 is provided within the housing 10. The drive assembly 20 is mounted within the housing 10 and is located above the first mounting plate 101. The detection assembly 30 is mounted on the housing 10 and is located below the first mounting plate 101. The drive assembly 20 is used to drive the concrete inspection robot 100 to move along the track 200, and the detection assembly 30 is used to perform concrete wall inspection. It will be understood that in this embodiment, the housing 10 can be designed as a metal housing to cope with the harsh environment of the construction site and ensure the safety and reliability of the concrete inspection robot 100.

[0046] See also Figure 4 、 Figure 5 and Figure 6 As shown, in this embodiment, the driving assembly 20 includes a first driving motor 21, a driving wheel 22 and a driven wheel 23. The first driving motor 21 is fixedly connected to the first mounting plate 101 through a first mounting seat 201. The driving wheel 22 is mounted on the first mounting plate 101 through a second mounting seat 202. The second mounting seat 202 is fixedly connected to the first mounting plate 101. The driving wheel 22 is rotatably connected to the second mounting seat 202. The driven wheel 23 is rotatably mounted on the first mounting plate 101 through a bracket assembly and is located above the driving wheel 22.

[0047] See also Figure 4 、 Figure 5 and Figure 6 As shown, in this embodiment, the first drive motor 21 and the driving pulley 22 are connected via a synchronous belt assembly 204. The synchronous belt assembly 204 includes a main synchronous pulley 2041, a slave synchronous pulley 2042, and a synchronous belt 2043. The main synchronous pulley 2041 is connected to the output shaft of the first drive motor 21, the slave synchronous pulley 2042 is connected to the driving pulley 2041, and the synchronous belt 2043 is connected to the main synchronous pulley 2041 and the slave synchronous pulley 2042. In this embodiment, the mounting seat 201 is provided with an oblong through-hole 2011. The mounting seat 201 is fixedly connected to the first mounting portion 101 by a fastening bolt passing through the oblong through-hole 2011. The distance between the first drive motor 21 and the driving pulley 22 can be adjusted by adjusting the position of the fastening bolt in the oblong through-hole 2011, thereby adjusting the tension of the synchronous belt 2043.

[0048] See also Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 8As shown, in this embodiment, the track 200 is designed to have a square cross-section and an opening 210 is provided on its bottom surface. The driven wheel 23 in the drive assembly 20 is located in the track 200 and is in contact with the inner surface of the side of the track 200 provided with the opening 210. The driving wheel 22 is in contact with the outer surface of the side of the track 200 provided with the opening 210, so that the concrete inspection robot 100 is suspended on the track 200. The driving motor 21 drives the driving wheel 22 to rotate, thereby driving the concrete inspection robot 100 to slide along the track 200, thereby inspecting different positions of the concrete wall.

[0049] See also Figure 4 、 Figure 5 and Figure 6 As shown, in this embodiment, the bracket assembly includes a first support frame 2031, a second support frame 2032 and a bracket 2033. The first support frame 2031 and the second support frame 2032 are installed on the first mounting plate 101 and are located on both sides of the driving wheel 22. One end of the bracket 2033 is rotatably connected to the first support frame 2032, and the other end is provided with a screw 2034. The screw 2034 passes through the second support frame 2032 in the vertical direction, and the part passing through the second support frame 2032 is provided with a spring 2035 and is connected by a fastening nut 2036. By rotating the fastening nut 2036, the tightness of the spring 2035 can be changed, so that the driving wheel 22, the driven wheel 23 and the track 200 are more fully in contact, ensuring the smoothness of their movement process. At the same time, such a design is also conducive to the installation of the concrete detection robot 100 on the track 200.

[0050] See also Figure 4 、 Figure 5 and Figure 6 As shown, in this embodiment, the driving assembly 20 further includes an auxiliary wheel 24, which is connected to the bracket assembly. Specifically, the auxiliary wheel 24 is rotatably connected to the bracket 2033, and the auxiliary wheel 2033 is horizontally arranged and contacts both sides of the opening 210 of the track 200, so as to play an auxiliary role when the concrete inspection robot 100 slides on the track 200 and turns, which is conducive to the concrete inspection robot 100 to smoothly turn.

[0051] It is understandable that, in this embodiment, the track 200 can be configured to be in a straight, U-shaped, or ring-shaped shape to adapt to the number and position of the concrete walls to be inspected.

[0052] See also Figure 4 and Figure 9As shown, in this embodiment, the detection component 30 includes a 3D camera 31 and a 2D camera 32 rotatably mounted below the first mounting plate 201, and a second drive motor 33 that drives the 3D camera 31 and the 2D camera 32 to rotate. Specifically, the detection component 30 also includes an auxiliary bracket 34 and a mounting bracket 35. The auxiliary bracket 34 is connected to the bottom surface of the first mounting plate 101, for example, it can be set to a detachable connection. The two ends of the mounting bracket 35 are respectively rotatably connected to the two auxiliary brackets 34. The 3D camera 31 and the 2D camera 32 are mounted on the mounting bracket 35. The second drive motor 33 is fixedly connected to the auxiliary bracket 34 and connected to the mounting bracket 35. The second drive motor 33 drives the mounting bracket 35 to rotate, thereby driving the 3D camera 31 and the 2D camera 32 to rotate, so as to adjust the angle between the 3D camera 31, the 2D camera 32 and the concrete wall, thereby realizing comprehensive detection of the vertical direction of the concrete wall. In this embodiment, a gyroscope 36 is further installed at the bottom of the mounting frame 35. The gyroscope 36 rotates synchronously with the mounting frame 35, thereby realizing the detection of the rotation angle.

[0053] See also Figure 2 、 Figure 3 、 Figure 4 and Figure 9 As shown, in this embodiment, the detection component 30 also includes a temperature sensor 37 and a humidity sensor 38. The temperature sensor 37 and the humidity sensor 38 are installed on the outside of the housing 10 and are electrically connected to the control system to detect the temperature and humidity at the current location. In this embodiment, a fill light 39 is installed on the side of the housing 10 where the 3D camera 31 and the 2D camera 32 are installed. The fill light 39 is located on both sides of the 3D camera 31 to provide lighting and ensure the accuracy of the data collected by the 3D camera 31 and the 2D camera 32.

[0054] See also Figure 2 、 Figure 3 、 Figure 4 and Figure 9 As shown, in this embodiment, the concrete inspection robot 100 further includes a control system, which is located below the first mounting plate 10. The control system is electrically connected to the first drive motor 21, the 3D camera 31, the 2D camera 32, the second drive motor 33, the gyroscope 36, the temperature sensor 37, and the humidity sensor 38 in the inspection assembly, and is used to control the 3D camera 31 and the 2D camera 32, and receive inspection data from the 3D camera 31, the 2D camera 32, the temperature sensor 37, and the humidity sensor 38, as well as inspection data from the intelligent rebound test hammer 300, and summarize the data to form an inspection report, and receive angle information detected by the gyroscope 36 to control the rotation angle of the 3D camera 31 and the 2D camera 32.

[0055] See also Figure 2 、 Figure 3 、 Figure 4 and Figure 9 As shown, in this embodiment, the control system includes a second mounting plate 102 and a control component. The second mounting plate 102 is detachably mounted below the first mounting plate 101 and forms an accommodating space between the second mounting plate 102 and the first mounting plate 101. The control component is fixedly mounted on the second mounting plate 102 and is located in the accommodating space. Specifically, a notch is provided on one side of the second mounting plate 102, the mounting frame 35 is located at the notch, and both sides of the notch are fixedly connected to the auxiliary bracket 34. The side of the second mounting plate 102 opposite to the notch is detachably connected to the first mounting plate 101 through two auxiliary connecting members 103. It can be understood that since the control system and the second mounting plate 102 are installed, the drive assembly 20 is installed on the first mounting plate 101, and the first mounting plate 101 and the second mounting plate 102 are detachably connected, the first mounting plate 101 and the second mounting plate 102 divide the interior of the concrete robot 100 into layers, and the shell 10 is divided into an upper shell and a lower shell, the lower shell corresponds to the control system, and the upper shell corresponds to the drive assembly 20. When necessary, it is only necessary to disassemble the lower shell of the shell 10, and then disassemble the second mounting plate 102 and the first mounting plate 101, and the entire control system can be disassembled, which is convenient for maintenance.

[0056] See also Figure 2 、 Figure 3 、 Figure 4 and Figure 9 As shown, in this embodiment, cables are arranged along the track 200, and a bridge 104 is provided on the outside of the concrete inspection robot 100. The bridge 104 is connected to the internal electrical equipment of the concrete inspection robot 100 and is also connected to the external cables. During the movement of the concrete inspection robot 100, the bridge 104 always maintains good contact with the external cables, thereby ensuring a stable circuit connection. Of course, in some other embodiments, a power supply can also be provided inside the concrete robot to provide it with power.

[0057] See also Figure 2 、 Figure 3 、 Figure 4 and Figure 9As shown, in this embodiment, an ultrasonic sensor 105 is installed on at least one side of the concrete inspection robot 100 along the track 200. This ultrasonic sensor 105 detects obstacles during the movement of the concrete inspection robot 100. Due to the complex environment and frequent personnel at the construction site, the ultrasonic sensor 105 can be used to prevent the concrete inspection robot 100 from colliding with obstacles and causing damage to itself, as well as to prevent injuries to construction workers. It is understood that ultrasonic sensors 105 can also be installed on both sides of the concrete inspection robot 100 along the track 200 to detect obstacles when the concrete inspection robot 100 moves in different directions along the track 200. It is also understood that the concrete inspection robot 100 is also equipped with various interfaces, such as data transmission and reception, power interfaces, etc., as well as various buttons, such as a start button and an emergency stop button.

[0058] See also Figure 1 As shown, in this embodiment, a storage compartment 220 is also arranged on the track 200. When the concrete inspection robot 100 is not in operation, it can be controlled to move into the storage compartment 220 to prevent the concrete inspection robot 100 from being affected by the harsh environment of the construction site, which could cause damage to the concrete inspection robot 100 or reduce inspection accuracy, thereby protecting the concrete inspection robot 100. Furthermore, a mounting position for the smart rebound test hammer 300 can be provided in the storage compartment 220. When the smart rebound test hammer 300 is not in use, it can be placed in this mounting position to avoid loss or damage. It is also understood that the smart rebound test hammer 300 can be placed in this mounting position for charging.

[0059] The utility model proposes a concrete inspection robot, which can automatically inspect and evaluate indicators such as concrete surface quality, strength, temperature and humidity. The robot is used as a link in the construction process of a building machine, which can effectively replace manual inspection, shorten the inspection cycle, and avoid personal injury. At the same time, the quantification of the inspection results is conducive to the establishment of an accurate mathematical model, which is beneficial to the evaluation and feedback of the inspection results, effectively solving various errors and risks caused by manual inspection, and improving the accuracy and speed of concrete quality inspection.

[0060] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope involved in the present application is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the concept of the utility model, such as the technical solutions formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this application.

[0061] Except for the technical features in the specification, the remaining technical features are known technologies to those skilled in the art. In order to highlight the innovative features of the present invention, the remaining technical features will not be described here in detail.

Claims

1. A concrete inspection robot, characterized in that: include: a housing, wherein a first mounting plate is disposed in the housing; A drive assembly is mounted above the first mounting plate, the drive assembly comprising: a first drive motor, mounted on the first mounting plate; A driving wheel, which is rotatably mounted above the first mounting plate and is drivingly connected to the driving motor; A driven wheel, which is rotatably mounted above the driving wheel through a bracket assembly; The detection component includes a 3D camera and a 2D camera rotatably mounted below the first mounting plate, and a second driving motor driving the 3D camera and the 2D camera to rotate.

2. The concrete inspection robot according to claim 1, characterized in that: The bracket assembly includes: a first support frame and a second support frame, wherein the first support frame and the second support frame are mounted on the first mounting plate and are located on both sides of the driving wheel; A bracket, one end of which is rotatably connected to the first support frame, and the other end of which is provided with a screw, which passes through the second support frame in a vertical direction, and the portion of the screw passing through the second support frame is provided with a spring and is connected by a fastening nut; The driven wheels are located on both sides of the bracket and are rotatably connected to the bracket.

3. The concrete inspection robot according to claim 2, characterized in that: The driving assembly further includes an auxiliary wheel, which is rotatably connected to the bracket and is arranged horizontally.

4. The concrete inspection robot according to claim 1, characterized in that: The detection component also includes: an auxiliary bracket detachably connected to the bottom surface of the first mounting plate; A mounting frame, both ends of which are rotatably connected to the two auxiliary brackets, and the 3D camera and the 2D camera are fixedly mounted on the mounting frame; The second driving motor is fixedly connected to the auxiliary bracket and is connected to the mounting bracket to drive the mounting bracket to rotate.

5. The concrete inspection robot according to claim 4, characterized in that: It also includes a control system, which is located below the first mounting plate and is electrically connected to the first drive motor and the detection component.

6. The concrete inspection robot according to claim 5, characterized in that: The control system includes: a second mounting plate, which is detachably mounted below the first mounting plate and forms an accommodating space between the second mounting plate and the first mounting plate; A control component is fixedly mounted on the second mounting plate and is located in the accommodating space.

7. The concrete inspection robot according to claim 4, characterized in that: The detection assembly further includes a gyroscope, which is mounted on the bottom of the mounting frame.

8. The concrete inspection robot according to claim 5, characterized in that: The detection component further includes a temperature sensor and a humidity sensor, which are installed on the outside of the shell and are electrically connected to the control system.

9. The concrete inspection robot according to claim 1, characterized in that: An ultrasonic sensor is provided on at least one side of the housing.

10. The concrete inspection robot according to claim 1, characterized in that: The system further comprises a fill light, which is arranged on one side of the housing where the 3D camera and the 2D camera are arranged, and is located on both sides of the 3D camera.

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