Wireless force hammer rotary excitation device for bridge detection

Abstract

The utility model provides a wireless force hammer rotary excitation device for bridge detection. The wireless force hammer rotary excitation device comprises a force hammer, a hammer handle, a hammer handle connecting piece, a large gear, a small gear, a speed reducer, a clutch, a motor, a main control module, an encoder, a position switch, a force hammer blocking support, a vehicle body and a power source. The motor, the speed reducer, the force hammer blocking support and the power source are installed on the vehicle body. The hammer handle is connected with the large gear through the hammer handle connecting piece. The hammer is located at one end of the hammer handle. The motor is in driving connection with the pinion through the clutch and the speed reducer, and the large gear is meshed with the pinion. The encoder is in circuit connection with the main control module and used for obtaining inclination angle information of the hammer handle. And the main control module is used for controlling the motor to rotate forwards, rotate backwards and stop and sending a separation / suction signal to the clutch. The large gear is further provided with a follow-up protruding shaft piece. A contact of the position switch is located on the moving path of the protruding shaft piece and used for sending a motor reverse rotation stopping signal to the main control module. The force hammer blocking support is located on the reverse rotation path of the hammer handle.

Description

Technical Field

[0001] The utility model relates to the technical field of bridge detection, in particular to a wireless hammer rotation excitation device for bridge detection. Background Art

[0002] In bridge infrastructure assessments, impact hammers are used to measure the vibration response of structures to assess their health and durability. Impact hammer excitation is a common method for measuring structural dynamic parameters. Engineers typically use a handheld impact hammer to strike a bridge or other structure, observing and recording the structural response to obtain relevant parameters. This method aims to excite the structure to produce an observable vibration response, thereby understanding its dynamic characteristics.

[0003] However, manual hammering presents a series of problems that limit the efficiency and accuracy of this method. First, consistency in manual operation is difficult to ensure. Because the force of the hammer excitation is manually controlled, it is difficult to ensure that the force and frequency of each strike are exactly the same. This can lead to data instability, affecting the accuracy of the results. Second, human labor is limited. Human labor cannot provide impact forces or vibration frequencies beyond a certain range. In some cases, it may not produce sufficient excitation effects, making it difficult to meet certain testing requirements. This limits the scope of application of this method.

[0004] The method of using mechanical devices to hammer the bridge deck also has certain limitations. First, using the free-fall method for hammering vibration imposes restrictions on the weight and size of the equipment. The law of momentum states that the impact force of a hammer is determined by its mass and velocity. To achieve a wider range of impact forces, one approach is to increase the mass or the velocity. When using the free-fall method, increasing the velocity of an impactor of the same mass means increasing the height of the impactor, which inevitably increases the design volume of the device. This not only affects the portability of the device but also restricts its use in confined working environments. Second, after the hammering component collides with the bridge deck, it is rebounded by the reaction force. Under the influence of gravity, the hammering component is prone to secondary impact with the bridge deck, which in turn affects the collected vibration data. Therefore, mechanical equipment that only uses the free-fall vibration method has certain limitations.

[0005] Existing motor-driven hammering devices often utilize a motor directly connected to the hammering equipment for excitation. To maintain a high speed limit, higher-power motors are often used. However, high-power motors rotate at high speeds, and directly connecting them to the hammering device can result in excessive hammering speeds, which can easily damage the hammer. Furthermore, determining when the hammer has reached its starting and ending points is crucial. Without position control, the excitation hammer's excessive rotation angle, resulting in damage to the equipment, is inevitable. Summary of the Invention

[0006] The purpose of this utility model is to provide a motor-driven, gear-transmitted force hammer excitation device, which aims to solve the above-mentioned problems of the limitations of manual swinging of the hammer and the inconvenience of the free-fall mechanical device. The focus is on proposing a more controllable device connection structure and optimizing the speed control and start-stop position control of the motor-driven force hammer equipment.

[0007] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions.

[0008] A wireless hammer rotary vibration excitation device for bridge inspection includes: a hammer, a hammer handle, a hammer handle connecting piece, a large gear, a small gear, a reducer, a clutch, a motor, a main control module, an encoder, a position switch, a hammer blocking bracket, a vehicle body, and a power supply;

[0009] The motor, reducer, hammer blocking bracket and power supply are installed on the vehicle body; the large gear is movably connected to the vehicle body; the hammer handle is connected to the large gear through a hammer handle connector and can rotate with the large gear; the hammer is located at one end of the hammer handle; the reducer and clutch are driven and connected; the motor is driven and connected to the small gear through the clutch and reducer, and the large gear and the small gear are meshed with each other; the main control module is connected to the motor circuit; the encoder is connected to the main control module circuit to obtain the inclination information of the hammer handle; the main control module is used to control the forward, reverse and shutdown of the motor, and is also used to send a separation / engagement signal to the clutch; the large gear also has a follow-up raised shaft; the contacts of the position switch are located on the moving path of the raised shaft. When the position switch is triggered by the raised shaft, the position switch can send a motor reversal stop signal to the main control module, so that the hammer handle and the hammer stop reversing; the hammer blocking bracket is located on the reversal path of the hammer handle; the power supply is used to supply power to the motor, clutch, encoder and main control module.

[0010] Preferably, it further comprises a large gear bracket, a small gear bracket and a reducer bracket mounted on the vehicle body; the large gear is movably connected to the large gear bracket; the small gear is movably connected to the small gear bracket; the reducer is mounted on the reducer bracket; and the encoder is mounted on the large gear bracket;

[0011] One side of the clutch is connected to the output end of the motor, and the other side is connected to the input end of the reducer; the output end of the reducer drives the pinion gear.

[0012] Preferably, the output end of the reducer has a gear bearing and a shaft connecting member, and the pinion is connected to the output end of the reducer via the shaft connecting member.

[0013] Preferably, a large gear fixing part and a hammer handle connecting part are provided on one axial side end face of the large gear; the large gear fixing part is extended along the radial direction of the large gear, and the center of the large gear fixing part coincides with the axis of the large gear; the angle sensor head of the encoder is connected to the large gear fixing part through a coupling; the raised shaft part is installed on the large gear fixing part, and the position switch is installed on the large gear bracket.

[0014] Preferably, it also includes a motor controller and an inverter installed on the vehicle body; the power supply is a DC power supply; the inverter is used to convert the DC power output by the power supply into AC power, and the motor controller is used to convert the AC power output by the inverter into three-phase power and transmit it to the motor.

[0015] Preferably, the hammer includes a hammer body, a hammer head is provided at one end of the hammer body, a hammer control module is provided at the other end, and a force sensor is also provided on the hammer body; the hammer control module is communicatively connected to the force sensor and the main control module respectively.

[0016] As can be seen from the technical solutions provided by the above-described embodiments of the present invention, the present invention provides a wireless hammer rotary vibration excitation device for bridge inspection, comprising: a hammer, a hammer handle, a hammer handle connector, a gear, a pinion, a reducer, a clutch, a motor, a main control module, an encoder, a position switch, a hammer isolation bracket, a vehicle body, and a power supply. The motor, reducer, hammer isolation bracket, and power supply are mounted on the vehicle body. The gear is movably connected to the vehicle body. The hammer handle is connected to the gear via the hammer handle connector and can swing with the rotation of the gear. The hammer is located at one end of the hammer handle. The reducer is drive-connected to the clutch. The motor is drive-connected to the pinion via the clutch and reducer, and the gear and pinion mesh with each other. The main control module is connected to the motor circuit. The encoder is connected to the main control module circuit to obtain information on the hammer handle's inclination angle. The main control module is used to control the motor's forward, reverse, and shutdown, and to send a release / engagement signal to the clutch. The gear also has a follower raised shaft. When the position switch is triggered by the raised shaft, it sends a motor reversal stop signal to the main control module, causing the hammer handle and hammer to stop reversing. The hammer blocking bracket is located in the reversal path of the hammer handle and is used to prevent the hammer handle from swinging. The power supply is used to power the motor, clutch, encoder, and main control module. The device provided by this utility model has the following advantages:

[0017] This device adopts a mechanical transmission structure and an electronically controlled drive device, which has high controllability and experimental repeatability, and solves the problems of small impact force, uncontrollable frequency and non-repeatable hammering caused by limited manpower in manual hammering.

[0018] This device utilizes a motor-driven, rather than free-fall, mechanical hammering method, resolving issues related to the limited mass of the hammering component or the speed of the hammering object. By rotating the hammer with a motor, the energy of the hammer head upon impact with the bridge deck can be quantitatively controlled. Different hammering forces can be used for vibration stimulation in different field environments, making this patent highly applicable to a variety of implementation environments. The main control module coordinates the position switch, encoder, motor, and clutch to prevent secondary impacts between the hammer head and the bridge deck.

[0019] This device incorporates a suitable reduction gear and employs an appropriate gear ratio to reduce the actual speed of the motor output, making the hammering speed more controllable. A position switch and encoder are introduced to monitor and control the start and stop positions of the hammer, preventing the hammer from rotating beyond an angle and causing damage to the hammering equipment.

[0020] Additional aspects and advantages of the present invention will be partially given in the following description, which will become apparent from the following description or be understood through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of 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 paying any creative work.

[0022] Figure 1 This is a schematic diagram of the overall structure of a wireless hammer rotary vibration excitation device for bridge inspection provided by the utility model;

[0023] Figure 2 A three-dimensional schematic diagram of a wireless hammer rotary vibration excitation device for bridge inspection provided by the utility model from another perspective;

[0024] Figure 3 This is a partial three-dimensional schematic diagram of a wireless hammer rotary vibration excitation device for bridge inspection provided by the utility model, which is used to show the connection relationship between the large gear, the large gear fixing part and the hammer handle;

[0025] Figure 4 This is a partial plan view of a wireless hammer rotary vibration excitation device for bridge inspection provided by the utility model, which is used to show the state where the raised shaft member does not contact the position switch;

[0026] Figure 5 This is a partial three-dimensional schematic diagram of a wireless hammer rotary vibration excitation device for bridge inspection provided by the utility model, which is used to show the state where the raised shaft member does not contact the position switch;

[0027] Figure 6 This is a partial three-dimensional schematic diagram of a wireless hammer rotary vibration excitation device for bridge inspection provided by the utility model, which is used to show the state in which the raised shaft member contacts the position switch;

[0028] Figure 7 This is a partial three-dimensional schematic diagram of a wireless hammer rotary vibration excitation device for bridge inspection provided by the utility model, which is used to show the positional relationship between the large gear bracket, position switch and encoder on the rear side of the large gear;

[0029] Figure 8 This is a partial three-dimensional schematic diagram of a wireless hammer rotary vibration excitation device for bridge inspection provided by the utility model, which is used to show the connection relationship between the encoder, coupling and large gear;

[0030] Figure 9 This is a schematic diagram of the encoder connection and disassembly of a wireless hammer rotary vibration excitation device for bridge inspection provided by the utility model;

[0031] Figure 10 A three-dimensional schematic diagram of a wireless hammer rotary vibration excitation device for bridge inspection provided by the utility model, used to show the state in which the hammer barrier bracket is against the hammer handle;

[0032] Figure 11 The utility model provides a schematic diagram of a hammering process of a wireless hammer rotary vibration excitation device for bridge inspection.

[0033] In the picture:

[0034] 1. Hammer head, 2. Hammer body, 3. Hammer control module, 4. Force sensor, 5. Hammer handle, 6. Hammer handle connector, 7. Large gear, 8. Large gear fixing part, 9. Raised shaft, 10. Pinion, 11. Reducer output shaft, 12. Reducer, 13. Clutch, 14. Motor, 15. Reducer input shaft, 16. Motor bearing, 17. Reducer bracket, 18. Motor bracket, 19. Large gear bracket, 20. Shaft connector, 21. Pinion bracket, 22. Power supply module, 23. Inverter, 24. Main control module, 25. Motor controller, 26. Hammer barrier bracket, 27. Vehicle body, 28. Handlebars, 29. Wheels, 30. Encoder, 31. Position switch, 32. Coupling. DETAILED DESCRIPTION

[0035] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and are not to be construed as limiting the present invention.

[0036] Those skilled in the art will appreciate that, unless expressly stated otherwise, the singular forms "a", "an", "" and "the" used herein may also include the plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, "connected" or "coupled" as used herein may include wireless connections or couplings. The term "and / or" as used herein includes any unit and all combinations of one or more associated listed items.

[0037] Those skilled in the art will understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art in the art to which this invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless defined as such herein.

[0038] To facilitate understanding of the embodiments of the present invention, several specific embodiments will be further explained below with reference to the accompanying drawings, and each embodiment does not constitute a limitation on the embodiments of the present invention.

[0039] See also Figures 1 to 10 The utility model provides a wireless hammer rotary vibration excitation device for bridge inspection, including: a hammer, a hammer handle 5, a hammer handle connecting piece 6, a large gear 7, a small gear 10, a reducer 12, a clutch 13, a motor 14, a main control module 24, an encoder 30, a position switch 31, a hammer blocking bracket 26, a vehicle body 27 and a power supply 22.

[0040] The motor 14, the reducer 12, the hammer blocking bracket 26 and the power supply 22 are installed on the vehicle body. The large gear 7 is movably connected to the vehicle body 27. The hammer handle 5 is connected to the large gear 7 through the hammer handle connector 6 and can swing along with the rotation of the large gear 7. The hammer is located at one end of the hammer handle 5. The reducer 12 and the clutch 13 are driven and connected. The motor 14 is driven and connected to the pinion 10 through the clutch 30 and the reducer 12, and the large gear 7 and the pinion 10 are meshed with each other. The main control module 24 is connected to the motor 14 circuit. The encoder 30 is connected to the main control module 24 circuit and is used to obtain the inclination angle information of the hammer handle 5. The main control module 24 is used to control the forward rotation, reverse rotation and shutdown of the motor 14, and to send a separation / engagement control signal to the clutch 30. The large gear 7 also has a follower raised shaft 9. The contacts of the position switch 31 are located in the movement path of the raised shaft 9. The position switch 31 is electrically connected to the main control module 24 and is used to send a reverse stop signal to the main control module 24 to stop the motor 14. The hammer blocking bracket is located in the reverse rotation path of the hammer handle 5 and is used to block the swing of the hammer handle 5. When the raised shaft 9 rotates with the reversing gear 7, triggering the position switch 31, the position switch 31 can send a reverse stop signal to the main control module 24 to stop the motor 14, causing the main control module 24 to control the motor 14 to stop, thereby stopping the reverse rotation of the gear 7, the hammer handle 5, and the hammer. The power supply 22 is used to supply power to the motor 14, the clutch 13, the encoder 30, the position switch 31, and the main control module 24.

[0041] It should be understood that the large gear 7 and small gear 10 in this device are based on common terminology in the mechanical field, with the large gear 7 representing a larger module and larger wheel diameter. In the embodiment of the present utility model, the small gear 10 is located on the opposite power input side, while the large gear 7 is located on the output side. This is a common transmission ratio design in the art, which reduces the speed of the large gear 7 and increases the output torque. Therefore, the terms "large" and "small" are relative to each other.

[0042] In the device provided by the present invention, the motor 14 is connected to the clutch via a bearing. The other end of the clutch 13 is connected to the reducer 12 via a bearing. When powered, the two bearings rotate concentrically. The bearing at the output end of the reducer 12 is connected to the pinion 7. The pinion 10 engages with the gear 7, driving the gear 7 to rotate. The gear 7 is connected to the gear fixing member 8, which is connected to the hammer handle connecting member 6 to secure the hammer, ensuring that the hammer and gear 7 rotate in the same direction and at the same speed.

[0043] like Figures 4 to 6As shown, there is a raised shaft 9 on the large gear fixing part 8, and an encoder and a position switch are connected to the rear large gear bracket 19. An encoder 30 is installed on the bracket of the large gear 7 to monitor the rotation angle during the rotation process. When the hammer hits the ground in the forward direction, it is judged whether the preset angle is reached and the operation is stopped in time. The raised shaft 9 and the position switch 31 are debugged and installed in advance to the appropriate position, so that when the hammer swings back to the initial position, the raised shaft 9 just contacts the contacts of the position switch, triggering the switch, transmitting the position information of the hammer reset, stopping the reversal in time, and staying in the initial position. If an electric control error occurs, the hammer blocking bracket 26 can be used as a backup solution to support the hammer handle 5 in time to prevent the hammer from over-reversing and damaging the equipment. Figure 1 、 2 As shown in FIG. 10 , the hammer blocking bracket 26 is fixedly mounted on the vehicle body 27 and is located in the reversing path of the hammer handle. It should be understood that when the position switch 31 is triggered, it sends an electrical signal to the main control module 24 to stop the motor from reversing. The main control module 24 then controls the on / off state of the motor 14 circuit.

[0044] The main control module 24 is connected to the motor controller 25 and controls the operation of the motor controller 25 according to the set logic. The motor controller 25 is connected to the motor 14 and performs single-phase to three-phase power conversion while controlling the motor operation. The power supply module is connected to various power-consuming devices to provide power to them.

[0045] To maintain the stable position of each component during operation, the large gear 7, reducer 12, motor 14, and the output shaft of the reducer 12 are each connected to a bracket, and each bracket is connected to the vehicle body 27. The power supply 22, main control module 24, inverter 23, and motor controller 25 are placed and fixed on the plane of the vehicle body 27.

[0046] In the preferred embodiment provided by the present utility model, as Figure 1 As shown, the hammer includes a hammer body 2, a hammer head 1 is provided at one end of the hammer body 2, a hammer control module 3 is provided at the other end, and a force sensor 4 (which can be set on the hammer body) is also provided on the hammer body. Figure 1 The hammer control module 3 is in communication with the force sensor 4 and the main control module 24 respectively.

[0047] The working principle of the wireless hammer rotary vibration excitation device provided by the utility model is as follows:

[0048] Before officially starting the hammering, you need to adjust and set the zero point. Move the hammer away from the hammering surface and reverse the gear 7 so that it just touches the position switch 31 at a certain moment, which is the initial position of the hammer. Set this moment as the zero point of the encoder rotation angle.

[0049] The hammering officially starts. The required motor speed is calculated based on the required impact energy through an on-site workstation (not shown) and wirelessly transmitted to the main control module 24. After the workstation wirelessly sends a work command to the main control module 24, the main control module 24 accelerates the motor 14 in the forward direction according to the set value. The rotation of the motor 14 drives the connected motor bearing 16 and one end of the clutch 13 to rotate. The clutch 13 is controlled to engage, thereby causing the reducer input shaft 15 to rotate concentrically and at the same speed as the motor bearing 16 at the other end of the clutch 13. The reducer 12 drives the reducer output shaft 11 to rotate. This in turn drives the pinion 10, gear 7, hammer handle 5, hammer head 2, and hammer head 1 to rotate in the forward direction according to the planned speed, hammering the preset hammering surface. When the encoder 30 detects that the rotation angle set by the main control module 24 has been reached, the hammer should just hit the bridge deck and cannot rotate forward any further. The main control module 24 then controls the clutch 13 to open. The reducer output shaft 11, pinion 10, gear 7, and the entire hammer, which are connected to the reducer 12 behind the clutch 13, all stop rotating, preventing any damage to the components beyond the specified angle. The hammer head 1 strikes the ground, and the force sensor 4 transmits the collected data to the hammer control module 3. The hammer control module 3 then wirelessly transmits the collected data to the on-site workstation, completing the data collection process.

[0050] Subsequently, the main control module 24 controls the motor 14 to switch from forward to reverse rotation, and the clutch 13 engages. Reverse rotation begins through the bearings and large and small gears of the reducer 12, which in turn drives the hammer in the opposite direction, gradually moving away from the striking surface. When the large gear 7 rotates in the opposite direction until it contacts the position switch 31, it indicates that it has reached the initial position and cannot be reversed. The main control module 24 controls the clutch 13 to open, and the motor 14 stops. If an electronic control error occurs (i.e., a failure of the position switch 31), as a safety measure, the hammer blocking bracket 26 can promptly support the hammer handle 5 after the large gear 7 drives the hammer handle 5 to continue rotating (a short distance), preventing the hammer from excessively reversing.

[0051] The above process completes one hammering and hammer resetting.

[0052] The device provided by the utility model solves the following technical problems:

[0053] (1) Motor speed control and start / stop position control

[0054] Optimize speed control. In order to make the motor have better power load hammering equipment, the motor power generally used is larger, but the actual hammering speed does not require the degree of motor speed, so how to reasonably control the speed and deceleration is a problem that needs to be considered. The solution is as follows: This device introduces a suitable deceleration device to reduce the motor speed, and converts the motor speed into a low speed and high torque suitable for the requirements of different mechanical equipment, so as to better adapt to the actual working scene and improve the safety, stability and efficiency of the equipment. After the motor speed is input into the reducer through the bearing, the output end connects the bearing to the rotating gear end, thereby effectively reducing the speed. In addition, the design of large and small gears is introduced, and the appropriate gear ratio is adopted to effectively reduce the output speed.

[0055] Optimize position control. In order to prevent the hammer from rotating beyond the angle and causing damage to the hammer head and hammer handle, this device introduces a position detection and control design. A position monitoring device (encoder) is installed at the appropriate position of the large gear that rotates the power hammer to monitor the position of the hammer in real time. The signal output by the encoder is used to achieve closed-loop control of the hammer position to ensure accurate positioning and precise control of the hammer movement. At the same time, regarding the judgment of the initial position, a position switch is introduced. When the hammer reaches the set position, the raised shaft physically touches the position switch, and the equipment stops reversing to avoid excessive movement and damage to the equipment. At the same time, a backup plan is designed. If an electronic control error occurs, the hammer blocking bracket can support the hammer handle in time to prevent the hammer from excessive reversal.

[0056] (2) Limited manpower and inconvenience of free-fall hammering

[0057] In order to solve the uncontrollable and non-repeatable problems of manual hammering, this mechanically controlled hammering excitation device is designed.

[0058] To address the limitations of mass and speed imposed on the size and weight of the equipment during free-fall hammering, a motor-driven hammer approach was employed. Compared to the energy accumulated during free fall, the speed of the hammer's swing, driven by a motor, is more controllable, and the resulting hammer's impact force is therefore controllable, ensuring the repeatability of the hammer test. Furthermore, the higher motor speed increases the upper limit of the hammer's impact force, overcoming the limitations of manual hammering.

[0059] The energy of the hammer can be controlled by controlling the motor speed. The relationship between motor speed and impact energy is:

[0060] In this formula: Indicates the energy of the hammer hitting the bridge deck (unit: J), Indicates the equivalent mass of the hammer (unit: kg), Indicates the speed of the hammer before it strikes. Indicates the ratio of motor speed to gear speed. Indicates the angular velocity of the motor (unit: rad / s), Indicates the distance from the center line of the large gear shaft to the center line of the hammer head (unit: m).

[0061] (3) Prevent secondary hammering

[0062] The key approach to preventing secondary impacts with the hammer is to coordinate the encoder, motor, and clutch under the control of the main control module to promptly stop forward motion and initiate reverse motion, lifting the hammer off the ground and then raising it in the opposite direction, thus avoiding unnecessary secondary impacts. The specific implementation method is as follows.

[0063] Before officially starting the hammering, the hammer is reversed away from the hammering surface to the initial position, set as zero point, and transmitted to the main control module 24. The main control module 24 controls the motor to start and accelerates in the forward direction according to the set value. The clutch 13 is controlled to engage, thereby driving the hammer to rotate at the planned speed and hammering the preset hammering surface. The encoder 30 monitors the rotation angle and transmits it to the main control module 24. When the set rotation angle is reached, it means that the hammer has just hit the bridge surface and can no longer rotate forward. The clutch is then controlled to open, and the rear-end components and the hammer will stop rotating, which will not cause damage to the device beyond the angle. Subsequently, the motor 14 is controlled to change from forward to reverse, the clutch 13 is engaged, and the large and small gears of the reducer 12 begin to reverse accordingly, thereby driving the hammer to rotate in the opposite direction and lift it away from the hammering surface. After the hammering is completed, it will be promptly away from the hammering surface under the reverse control of the motor 14, thereby avoiding the problem of secondary hammering.

[0064] (4) Shock absorption

[0065] In order to mitigate the damage to the core components of the hammer caused by the reaction force of the hammer, the present invention has made the following structural design.

[0066] The connection between the hammer head 1 and the hammer body 2 is not rigid. Using a threaded design, the hammer head 1 is screwed onto the hammer body 2, ensuring a secure and reliable connection between the hammer head 1 and the hammer body 2. This connection can withstand impact during operation while minimizing damage to the integrated rigid connection. The hammer head is also replaceable.

[0067] The hammer incorporates a built-in peripheral buffer assembly. A buffer rubber ring is added around the periphery of the main circuit module to eliminate left and right gaps and provide shock absorption against external forces. The circuit cover, with its appropriate dimensions, presses the circuit module tightly into the housing, eliminating upper and lower gaps and preventing damage to the circuit caused by up-and-down vibrations during hammering, further enhancing the circuit module's impact resistance.

[0068] like Figures 1 to 9 As shown, in the preferred embodiment provided by the present utility model, the positions and matching relationships of the various components are as follows:

[0069] The hammer head 1 is connected to the hammer body 2 through the force sensor 4. The hammer body 2 is connected to the hammer control module 3. The force sensor 4 is connected to the hammer control module 3. The hammer body 2 is connected to the hammer handle 5. The hammer handle 5 is fixed to the large gear 7 via the hammer handle connector 6. The large gear fixing member 8 is connected to the axial end face of the large gear 7 and extends along its radial direction. The raised shaft member 9 is connected to the large gear fixing member 8. The small gear 10 meshes with the large gear 7 and is connected to the reducer output shaft 11. The reducer output shaft 11 is connected to the reducer 12. The reducer input shaft 15 passes through the hole reserved in the center of the reducer bracket 17 to connect to the reducer 12. One end of the clutch 13 is connected to the reducer input shaft 15, and the other end is connected to the motor bearing 16. The motor bearing 16 passes through the hole reserved in the center of the motor bracket 18 to connect to the motor 14. The reducer 12 is fixed to the reducer bracket 17. The motor 14 is fixed to the motor bracket 18. The large gear 7 is mounted on the large gear bracket 19. The reducer output shaft 11 is fixed to the pinion bracket 21 via the shaft connector 20, which is connected to the pinion bracket 21. The reducer bracket 17, motor bracket 18, gear bracket 19, and pinion bracket 21 are all connected to the vehicle body 27. The power supply 22 is fixed to the vehicle body 27, and its circuit is connected to the inverter 23 and the main control module 24. The inverter 23 is fixed to the vehicle body 27 and is connected to the motor controller 25. The main control module 24 is fixed to the vehicle body 27, and its circuit is connected to the clutch 13, the motor controller 25, the encoder 30, and the position switch 31. The hammer barrier bracket 26 is connected to the vehicle body 27. The vehicle body 27 is connected to the handlebars 28, and the wheels 29 are located at the bottom of the vehicle body 27. The encoder 30 is fixed to the gear bracket 19, and its protruding part is connected to the gear fixing member 8 and rotates with it. The position switch 31 is fixed to the gear bracket 19. When the hammer handle 5 is rotated in the direction of the hammer blocking bracket 26, the protruding shaft 9 may just contact the position switch 31 at a certain moment. Figures 7 to 9 As shown, the large gear fixing member 8 is located at the centerline of the large gear 7, and the center of the large gear fixing member 8 coincides with the axis of the rotating shaft of the large gear 7. The encoder 30 is located on the end face on the other side of the large gear 7. The angle sensor head of the encoder 30 is connected to the (center of) large gear fixing member 8 via a coupling 32 on the large gear bracket 19. The swing angle of the hammer handle is obtained by measuring the swing angle of the large gear fixing member 8. The function of the coupling 32 is to transmit torque, so that the angle sensor head of the encoder 30 and the center of the large gear fixing member 8 rotate synchronously (the body of the encoder 30 is fixed).

[0070] In some feasible embodiments, the power supply 22 utilizes a battery pack. The inverter 23 converts the battery's DC power into 220V AC power. The motor controller 25 then converts the 220V single-phase power into 220V three-phase power for the motor 14. Furthermore, the power supply 22 may include a circuit processing device that converts the 48V voltage into 24V to power the main control module. The power supply 22 includes overload and short-circuit protection circuits to ensure safe and stable system operation.

[0071] In other preferred embodiments, the main components of the device adopt the following selection scheme:

[0072] The hammer assembly is a self-made wireless hammer device with a built-in wireless data acquisition and transmission module, which can transmit data with the main control module 24 of the device.

[0073] Power supply 22 uses a 48V battery. Inverter 23 converts 48V DC power to 220V AC power. The motor controller 22 then converts the 220V AC power to 220V three-phase AC power to power the three-phase AC motor. Power supply 22 includes overload and short-circuit protection circuits to ensure safe and stable operation. Motor 14 uses a YS series 9014 three-phase AC motor. Reducer 12 uses the Ou Yuda RV series worm gear reducer NMRV-90B5, featuring a 75mm center distance and a speed ratio of 7.5 to accommodate specific load requirements. Clutch 13 uses the Tianjin Jieyuan DLD6-20 / A clutch, operating at 24V, ensuring efficient power connection and switching. The ratio of pinion 10 to gear 7 is 1:6. The rapid rotation of pinion 10 (20 teeth) provides sufficient torque for gear 7 (120 teeth). The overall transmission ratio design enables the equipment to achieve high output torque at relatively low speeds.

[0074] Power supply 22 includes some circuit processing devices that convert 48V to 24V to power main control module 24. Main control module 24 is a custom-designed circuit board equipped with an STM32F103 core MCU. This module integrates multiple sensor interfaces, provides real-time data processing capabilities, and can be connected to other sensors to expand functionality. Furthermore, considering system reliability and safety, the housing of main control module 24 is designed with protective features.

[0075] Encoder 30 uses an incremental photoelectric rotary encoder, which provides high-precision position and speed feedback. Position switch 31 uses the Omron Z-15GQ21-B limit switch. Limit switches are suitable for many different types of mechanical systems and applications, from industrial equipment to household appliances, and generally offer high reliability.

[0076] In summary, the present invention provides a wireless hammer rotary vibration excitation device for bridge inspection, comprising: a hammer, a hammer handle, a hammer handle connector, a gear, a pinion, a reducer, a clutch, a motor, a main control module, an encoder, a position switch, a hammer blocking bracket, a vehicle body, and a power supply. The motor, reducer, hammer blocking bracket, and power supply are mounted on the vehicle body. The gear is movably connected to the vehicle body. The hammer handle is connected to the gear via the hammer handle connector and can swing along with the rotation of the gear. The hammer is located at one end of the hammer handle. The reducer and clutch are drive-connected. The motor is drive-connected to the pinion via the clutch and reducer, and the gear and pinion mesh with each other. The main control module is connected to the motor circuit. The encoder is connected to the main control module circuit and is used to obtain information on the inclination angle of the hammer handle. The main control module is used to control the forward, reverse, and shutdown of the motor, and to send a release / engagement signal to the clutch. The gear also has a follower raised shaft. The position switch's contacts are located in the travel path of the raised shaft, and the position switch is connected to the main control module circuit. When the position switch is triggered by the raised shaft, it sends a motor reversal stop signal to the main control module, causing the hammer handle and the hammer to stop reversing. The hammer blocking bracket is located in the hammer handle's reversal path to prevent the hammer handle from swinging. A power supply is used to power the motor, clutch, encoder, and main control module. The device provided by this utility model has the following advantages:

[0077] This device adopts a mechanical transmission structure and an electronically controlled drive device, which has high controllability and experimental repeatability, and solves the problems of small impact force, uncontrollable frequency and non-repeatable hammering caused by limited manpower in manual hammering.

[0078] This device utilizes a motor-driven, rather than free-fall, mechanical hammering method, resolving issues related to the limited mass of the hammering component or the speed of the hammering object. By rotating the hammer with a motor, the energy of the hammer head upon impact with the bridge deck can be quantitatively controlled. Different hammering forces can be used for vibration stimulation in different field environments, making this patent highly applicable to a variety of implementation environments. The main control module coordinates the position switch, encoder, motor, and clutch to prevent secondary impacts between the hammer head and the bridge deck.

[0079] This device incorporates a suitable reduction gear and employs an appropriate gear ratio to reduce the actual speed of the motor output, making the hammering speed more controllable. A position switch and encoder are introduced to monitor and control the start and stop positions of the hammer, preventing the hammer from rotating beyond an angle and causing damage to the hammering equipment.

[0080] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A wireless hammer rotary vibration excitation device for bridge inspection, characterized in that: include: Hammer, hammer handle, hammer handle connector, gear, pinion, reducer, clutch, motor, main control module, encoder, position switch, hammer isolation bracket, vehicle body and power supply; The motor, reducer, hammer blocking bracket and power supply are installed on the vehicle body; the large gear is movably connected to the vehicle body; the hammer handle is connected to the large gear through the hammer handle connector and can rotate together with the large gear; the hammer is located at one end of the hammer handle; the reducer is driven and connected to the clutch; the motor is driven and connected to the small gear through the clutch and reducer, and the large gear and the small gear are meshed with each other; the main control module is connected to the motor circuit; the encoder is connected to the main control module circuit for obtaining the hammer handle Tilt angle information; the main control module is used to control the forward rotation, reverse rotation and shutdown of the motor, and is also used to send a separation / engagement signal to the clutch; the large gear also has a follow-up raised shaft; the contacts of the position switch are located on the moving path of the raised shaft, and when the position switch is triggered by the raised shaft, the position switch can send a motor reversal stop signal to the main control module, so that the hammer handle and the force hammer stop reversing; the force hammer blocking bracket is located on the reversal path of the hammer handle; the power supply is used to supply power to the motor, clutch, encoder and main control module.

2. The wireless hammer rotary vibration excitation device according to claim 1, characterized in that: It also includes a large gear bracket, a small gear bracket and a reducer bracket installed on the vehicle body; the large gear is movably connected to the large gear bracket; the small gear is movably connected to the small gear bracket; the reducer is installed on the reducer bracket; the encoder is installed on the large gear bracket; One side of the clutch is connected to the output end of the motor, and the other side is connected to the input end of the reducer; the output end of the reducer is drivingly connected to the pinion.

3. The wireless hammer rotary vibration excitation device according to claim 2, characterized in that: The output end of the reducer is provided with a gear bearing and a shaft connecting member, and the pinion is connected to the output end of the reducer via the shaft connecting member.

4. The wireless hammer rotary vibration excitation device according to claim 2, characterized in that: A large gear fixing part and the hammer handle connecting part are provided on one axial end face of the large gear; the large gear fixing part is extended along the radial direction of the large gear, and the center of the large gear fixing part coincides with the axis of the large gear; the angle sensor head of the encoder is connected to the large gear fixing part through a coupling; the raised shaft part is installed on the large gear fixing part, and the position switch is installed on the large gear bracket.

5. The wireless hammer rotary vibration excitation device according to any one of claims 1 to 4, characterized in that: It also includes a motor controller and an inverter installed on the vehicle body; the power supply is a DC power supply; the inverter is used to convert the DC power output by the power supply into AC power, and the motor controller is used to convert the AC power output by the inverter into three-phase power and transmit it to the motor.

6. The wireless hammer rotary vibration excitation device according to any one of claims 1 to 4, characterized in that: The hammer includes a hammer body, a hammer head is provided at one end of the hammer body, and a hammer control module is provided at the other end. The hammer body also has a force sensor; the hammer control module is communicatively connected to the force sensor and the main control module respectively.

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