Rotary robot for detecting arch rib of concrete-filled steel tube arch bridge

Abstract

The rotary robot for detecting the arch rib of the concrete-filled steel tube arch bridge comprises a robot shell, a motor, a motor driver, a knocking signal unit, a positioning detection unit and a sound collector used for collecting knocking signals of the knocking signal unit, the robot shell is cylindrical, and a rotating shaft is arranged in the middle of the robot shell. The motor is connected with the rotating shaft through the motor driver, the positioning detection unit and the sound collector are both arranged in the robot shell, a plurality of supporting rods are symmetrically arranged in the circumferential direction of the two sides outside the robot shell in an array mode, and each supporting rod is provided with an electromagnet. The knocking signal unit comprises push rod supporting shells, an electric push rod and a push rod controller, the push rod supporting shells are arranged between every two adjacent supporting rods, the electric push rods are installed on the push rod supporting shells, and the push rod controller is connected with the electric push rods.

Description

Technical Field

[0001] The utility model belongs to the technical field of steel tube concrete arch bridge arch rib detection equipment, in particular to a rotary robot for steel tube concrete arch bridge arch rib detection. Background Art

[0002] Arch ribs are the key load-bearing components of large-span concrete-filled steel tube arch bridges, which are mainly composed of concrete-filled steel tube components. The ability of steel tubes and core concrete to work together is the basis for concrete-filled steel tube components to perform their working performance. During the construction and operation period of concrete-filled steel tube arch bridges, due to the influence of factors such as construction technology, technical level, and external load environment, concrete-filled steel tubes are prone to voiding, which seriously weakens the cross-sectional characteristics and bearing capacity of concrete-filled steel tube components and threatens the overall safety of concrete-filled steel tube arch bridges. Efficient and accurate detection of concrete-filled steel tube arch rib voiding has important engineering significance and theoretical value. Currently, the existing detection of concrete-filled steel tube arch ribs mainly uses ultrasonic transmission devices, that is, a transmitting transducer is placed on one section of the arch rib to be detected, and a receiving transducer is placed on the other section, so that the ultrasonic wave starts from the transmitting transducer, passes through the arch rib and reaches the receiving transducer, thereby completing the detection. The ultrasonic transmission device has the following disadvantages:

[0003] (1) The cost of using ultrasonic transmissive devices is high. Ultrasonic transmissive devices are relatively complex and require professional training from technicians before they can be used. In addition, ultrasonic transmissive devices are difficult to maintain and any problems that arise during use require additional professional support to resolve them.

[0004] (2) The ultrasonic transmission device's test results are not intuitive. The ultrasonic transmission device does not provide intuitive test results or diagrams, but only uses test data to present the test results. However, the test data is relatively complex, and it is impossible to intuitively and quickly determine the actual status of the arch rib being tested.

[0005] (3) Ultrasonic transmission devices are easily affected by material properties. Due to the high precision of ultrasonic transmission devices, the detection effect will be affected by the properties of the material to be tested, such as moisture content and porosity. Therefore, professional technicians are required to make adaptive adjustments for different materials.

[0006] (4) The ultrasonic transmission device is cumbersome to operate. When performing detection, the ultrasonic transmission device needs to be installed on both sides, the distance between the two transducers needs to be measured, and the coupling agent needs to be applied to the surface of the structure. The operation is cumbersome and indispensable, which reduces the efficiency of the detection.

[0007] (5) Ultrasonic transmission equipment is difficult to fully inspect. Because ultrasonic transmission equipment requires transducers to be installed on both sides of the arch rib, it is difficult to place a complete set of equipment for inspection in complex structures or special locations. In addition, the non-uniformity of the structure can easily affect the propagation of ultrasonic waves, making inspection difficult and prone to errors. Utility Model Content

[0008] In response to the technical problems existing in the above-mentioned prior art, the utility model provides a rotary robot for inspecting the arch ribs of steel tube concrete arch bridges. The purpose is to enable the robot to automatically move along the arch ribs of steel tube concrete arch bridges for inspection by adopting a rotary self-propelled structure, without the need for additional professional training and technical support, and with low cost of use; it can automatically calculate and analyze the collected data through the internal computing unit, and finally transmit the intuitive detection results to the user's terminal device through the network, and the detection results are intuitive.

[0009] In order to achieve the above purpose, the solution of the utility model is as follows:

[0010] A rotary robot for detecting the arch ribs of steel tube concrete arch bridges includes a robot shell, a motor, a motor driver, a knocking signal unit, a positioning detection unit and a sound collector for collecting knocking signals of the knocking signal unit. The robot shell is cylindrical, a rotating shaft is provided in the middle of the robot shell, the motor is connected to the rotating shaft through the motor driver, the positioning detection unit and the sound collector are respectively arranged in the robot shell, a plurality of support rods are symmetrically arrayed along the circumferential direction on both sides of the outside of the robot shell, and an electromagnet is respectively installed on each support rod. The knocking signal unit includes a push rod support shell, an electric push rod and a push rod controller. A push rod support shell is provided between each two adjacent support rods, the electric push rod is installed on the push rod support shell, and the push rod controller is connected to the electric push rod.

[0011] Furthermore, it also includes a battery pack and a control chip, which are respectively arranged in the robot shell. The control chip is respectively connected to the sound collector, electromagnet, motor driver, push rod controller and positioning detection unit. The battery pack provides working voltage for the control chip, motor and electric push rod.

[0012] Furthermore, the positioning detection unit includes a GPS module, an NBIOT module and a temperature and humidity module, and the GPS module, the NBIOT module and the temperature and humidity module are respectively connected to the control chip.

[0013] Furthermore, it also includes a terminal device, which is a mobile phone, iPad, laptop or computer.

[0014] Furthermore, the height of the support rod is greater than the height of the push rod supporting shell.

[0015] Advantages of the present invention

[0016] (1) The utility model is a rotary robot for detecting the arch ribs of steel tube concrete arch bridges. It adopts a rotary self-propelled structure. When in use, the robot only needs to be placed on the arch ribs of the steel tube concrete arch bridge. The robot will automatically move along the arch ribs of the steel tube concrete arch bridge for detection. No additional professional training and technical support are required, and the cost of use is low. The robot can automatically calculate and analyze the collected data through the internal calculation unit, and finally transmit the intuitive detection results to the user's mobile device through the network. The detection results are intuitive.

[0017] (2) The rotary robot has the advantage of being less susceptible to the influence of materials. It obtains sound information by using the knocking method, and the material influence is only the noise in the sound information. A rotary robot for detecting the arch ribs of steel tube concrete arch bridges uses a computing unit to perform noise reduction processing in the sound information, greatly reducing the influence of the material on the sound information.

[0018] (3) The rotary robot has the advantage of being easy to operate and does not require additional pre-operation. It only requires the user to install the robot. At the beginning, the robot is placed on the arch rib of the steel tube concrete arch bridge, and at the end, the robot is recovered to complete the inspection operation.

[0019] (4) The rotary robot has the advantage of a wide detection coverage range. It does not require the installation of a complete set of related equipment, nor does it require the user to climb onto the bridge for manual inspection. Therefore, the robot can perform full coverage inspection of the arch ribs of steel tube concrete arch bridges, and there is no problem of being unable to detect due to difficulties in placing equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the main structure of a rotary robot for detecting the arch ribs of steel tube concrete arch bridges according to the present invention.

[0021] Figure 2 for Figure 1 Schematic diagram of the top view cross section.

[0022] Figure 3 for Figure 1 Schematic diagram of the structure of a rotary robot walking on steel tubes for inspecting the arch ribs of a steel tube concrete arch bridge.

[0023] Figure 4 for Figure 1 The working principle diagram of the rotary robot for detecting the arch ribs of steel tube concrete arch bridges of the present invention.

[0024] In the picture:

[0025] 1. Robot housing; 2. Support rod; 3. Electromagnet; 4. Electric push rod; 5. Push rod support housing; 6. Battery pack; 7. Motor driver; 8. Motor; 9. Control chip; 10. GPS module; 11. NBIOT module; 12. Temperature and humidity module; 13. Push rod controller; 14. Sound collector; 15. Steel tube concrete arch bridge arch rib. DETAILED DESCRIPTION

[0026] The present invention will be further explained and illustrated below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the specific embodiments are not intended to limit the scope of rights of the present invention.

[0027] like Figures 1 to 4 As shown, the rotary robot for detecting the arch ribs of steel tube concrete arch bridges provided in this specific embodiment includes a robot shell 1, a motor 8, a motor driver 7, a knocking signal unit, a positioning detection unit, a battery pack 6, a control chip 9, a terminal device and a sound collector 14 for collecting knocking signals of the knocking signal unit.

[0028] The robot shell 1 is cylindrical, and a rotating shaft is provided in the middle of the robot shell 1. The motor 8 is connected to the rotating shaft through the motor driver 7. The positioning detection unit, the sound collector 14, the battery pack 6 and the control chip 9 are respectively arranged in the robot shell 1. The positioning detection unit includes a GPS module 10, an NBIOT module 11 and a temperature and humidity module 12.

[0029] The model of battery pack 6 is Chenke-6SNP, which can be purchased on Taobao.

[0030] The model of the motor driver 7 is RISYM-7A160W, which can be purchased on Taobao.

[0031] The model of the control chip 9 is Broadcom-BCM2711, which can be purchased on Taobao.

[0032] The model of the GPS module 10 is Daxia Longque-DXGP10, which can be purchased on Taobao.

[0033] The model of NBIOT module 11 is Tashi-E33V, which can be purchased on Taobao.

[0034] The model of the temperature and humidity module 12 is Zejie-DHT11, which can be purchased on Taobao.

[0035] The model of the electric linear actuator 4 is Xingrui-SYA02B, which can be purchased on Taobao.

[0036] The model of the electric push rod controller 13 is YEYY-YMR8F, which can be purchased on Taobao.

[0037] The model of motor 8 is Qiwo-QW80BL007, which can be purchased on Taobao.

[0038] The model of the electromagnet 3 is ELECALL-ELEP20, which can be purchased on Taobao.

[0039] The model of the sound collector 14 is RISYM-ISD1820, which can be purchased on Taobao.

[0040] like Figure 2 As shown, multiple support rods 2 are symmetrically arranged in an array along the circumference of both sides of the robot housing 1. Each support rod 2 is equipped with an electromagnet 3. The knock signal unit includes a push rod support housing 5, an electric push rod 4, and a push rod controller 13. A push rod support housing 5 is provided between each two adjacent support rods 2. The height of each support rod 2 is greater than that of the push rod support housing 5, so that the support rod 2 can stably move on the steel tube concrete arch bridge arch rib 15 through the electromagnet 3. The electric push rod 4 is installed on the push rod support housing 5, and the push rod controller 13 is connected to the electric push rod 4.

[0041] The sound collector 14, electromagnet 3, motor driver 7, push rod controller 13, GPS module 10, NBIOT module 11, and temperature and humidity module 12 are each connected to the control chip 9. The battery pack 6 provides operating voltage for the control chip 9, motor 8, and electric push rod 4, respectively, ensuring that the rotary robot of this embodiment can normally perform signal control, overall rotational motion, and sound percussion motion. The terminal device is a mobile phone, iPad, laptop computer, or computer.

[0042] Working principle:

[0043] During use, the robot shell 1 is placed on the arch rib of the steel tube concrete arch bridge, and the motor 8 is controlled to rotate by the control chip 9. The motor 8 drives the robot shell 1 through the rotating shaft to automatically roll along the arch rib of the steel tube concrete arch bridge. The electromagnet 3 is controlled by the control chip 9 to stabilize the rotary robot on the arch rib of the steel tube concrete arch bridge. The control chip 9 sends a signal to the push rod controller 13 to control the electric push rod 4 to knock on the arch rib of the steel tube concrete arch bridge. The sound data of the electric push rod 4 knocking on the steel tube concrete arch rib is collected by the sound collector 14 and transmitted to the control chip 9 by an electric signal. The arch rib positioning information is obtained in real time by the GPS module 10 and transmitted to the control chip 9 by an electric signal. The temperature and humidity module 12 obtains the temperature and humidity of the current environment of the rotary robot of this embodiment in real time and transmits it to the control chip 9 by an electric signal. After the control chip 9 integrates the positioning information, environmental temperature and humidity data and sound data, it is transmitted to the NBIOT module 11 by an electric signal. The NBIOT module 11 uses the network to transmit the data to the terminal device of the remote user.

Claims

1. A rotary robot for inspecting the arch ribs of a steel tube concrete arch bridge, characterized in that: It includes a robot shell, a motor, a motor driver, a knocking signal unit, a positioning detection unit and a sound collector for collecting the knocking signal of the knocking signal unit. The robot shell is cylindrical, a rotating shaft is provided in the middle of the robot shell, the motor is connected to the rotating shaft through the motor driver, the positioning detection unit and the sound collector are respectively arranged in the robot shell, and a plurality of support rods are symmetrically arrayed along the circumferential direction on both sides of the outside of the robot shell, and an electromagnet is respectively installed on each support rod. The knocking signal unit includes a push rod support shell, an electric push rod and a push rod controller. A push rod support shell is provided between each two adjacent support rods, the electric push rod is installed on the push rod support shell, and the push rod controller is connected to the electric push rod.

2. The rotary robot for inspecting the arch ribs of a steel tube concrete arch bridge according to claim 1, characterized in that: It includes a battery pack and a control chip, which are respectively arranged in the robot shell. The control chip is respectively connected to the sound collector, electromagnet, motor driver, push rod controller and positioning detection unit. The battery pack provides working voltage for the control chip, motor and electric push rod.

3. The rotary robot for inspecting the arch ribs of a steel tube concrete arch bridge according to claim 2, characterized in that: The positioning detection unit includes a GPS module, an NBIOT module and a temperature and humidity module, and the GPS module, the NBIOT module and the temperature and humidity module are respectively connected to a control chip.

4. The rotary robot for inspecting the arch ribs of a steel tube concrete arch bridge according to claim 1, characterized in that: It also includes a terminal device, which is a mobile phone, iPad, laptop or computer.

5. The rotary robot for inspecting the arch ribs of a steel tube concrete arch bridge according to claim 1, characterized in that: The height of the support rod is greater than the height of the push rod supporting shell.

Images