Comprehensive inspection intelligent robot for inspection of precast beam products

Abstract

The utility model relates to the technical field of inspection robots, in particular to a comprehensive inspection intelligent robot for inspection of precast beam products. Comprising a vehicle body base, a tool platform, a corrugated pipe lifting platform, a geological radar assembly, a seal assembly, a resiliometer assembly and a mechanical arm, the tool platform is arranged on the vehicle body base, the corrugated pipe lifting platform is arranged on the vehicle body base, an opening matched with the corrugated pipe lifting platform is formed in the tool platform, and the corrugated pipe lifting platform penetrates through the opening; the mechanical arm is arranged at the top of the corrugated pipe lifting platform, the three-finger clamping jaw is arranged at the end of the mechanical arm, and the geological radar assembly, the seal assembly and the rebound instrument assembly are arranged on the upper surface of the tool platform. The inspection robot can integrate various inspection functions, meets the requirements of different parts and different detection items of a beam field, and is flexible in switching of the detection items. The utility model is mainly applied to the comprehensive inspection intelligent robot for inspection of precast beam products.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, and more specifically, to a comprehensive inspection intelligent robot for prefabricated beam product inspection. Background Art

[0002] As the cornerstone of critical building structures like bridges, the quality of precast beams directly impacts the stability and safety of the overall structure. By implementing a rigorous inspection process, potential flaws in raw material selection and processing techniques can be quickly identified, such as substandard steel reinforcement strength and fine cracks on the concrete surface. This effectively prevents structural failures caused by these defects and ensures the safety of public life and property. If quality issues are only discovered after the precast beams are in use, not only will a massive investment of manpower, material resources, and time be required for repair or reconstruction, but the project will also be delayed and costly. Therefore, pre-emptive inspection is particularly important, as it can identify and resolve potential issues in advance, significantly reducing project risks and economic losses.

[0003] From an industry management perspective, rigorous inspection of precast beams is also an important means of promoting industry self-regulation and promoting the healthy development of the precast beam manufacturing industry. However, current precast beam inspections rely heavily on manual visual inspection, a method that is inadequate for detecting minor cracks or hidden defects. Even with the aid of tools like magnifying glasses, comprehensive inspections are difficult to achieve. Utility Model Content

[0004] To overcome the shortcomings of the aforementioned prior art, the present invention provides an intelligent, comprehensive inspection robot for precast beam products. This robot integrates multiple inspection functions to meet the needs of different inspection items at different beam yard locations, allowing for flexible switching between inspection items. It can automatically and efficiently complete comprehensive and detailed inspections of precast beams, effectively addressing the shortcomings of manual inspections and ensuring the timely detection and resolution of any potential quality issues. This highly efficient system reduces inspection workload and significantly shortens inspection cycles.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A comprehensive inspection intelligent robot for prefabricated beam products includes a vehicle base, a tooling platform, a bellows lifting platform, a geological radar assembly, a seal assembly, a rebound tester assembly and a robotic arm. The tooling platform is arranged on the vehicle base, the bellows lifting platform is arranged on the vehicle base, an opening matching the bellows lifting platform is provided on the tooling platform, the bellows lifting platform is arranged through the opening, the robotic arm is arranged on the top of the bellows lifting platform, a three-finger gripper is provided at the end of the robotic arm, and the geological radar assembly, seal assembly and rebound tester assembly are arranged on the upper surface of the tooling platform.

[0007] The vehicle body base and the bellows lifting platform are both provided with vehicle body cameras.

[0008] The geological radar assembly includes a first placement frame, a geological wireless radar and a first connecting tool. The first placement frame is fixedly set on the tooling platform, the geological wireless radar is set in the first placement frame, the first connecting tool is set on the upper part of the geological wireless radar, and the top of the first connecting tool is provided with a first connecting hole matching the three-finger clamp.

[0009] The seal assembly includes a second placement frame, a sixteen-grid seal and a second connecting tool. The second placement frame is fixedly set on the tooling platform, the sixteen-grid seal is placed in the second placement frame, the second connecting tool is set on the upper part of the sixteen-grid seal, and the top of the second connecting tool is provided with a second connecting hole matching the three-finger clamp.

[0010] The rebound hammer assembly includes a support frame and a rebound hammer. The support frame is fixedly arranged on the tooling platform. The rebound hammer is embedded in the support frame. A third connecting hole matching the three-finger clamp is provided at the tail end of the rebound hammer. A rebound hammer camera is provided on the rebound hammer.

[0011] A folding frame and a verticality detection mechanism are provided at the end of the robotic arm, the folding frame is fixedly provided on the robotic arm, and the verticality detection mechanism is provided on the folding frame, the folding frame includes an electric push cylinder, a first cross plate and a second cross plate, the second cross plate is fixedly provided on the robotic arm, the first cross plate is arranged parallel to the second cross plate, the first cross plate and the second cross plate are hinged at both ends by a rotating rod, the first cross plate, the second cross plate and the rotating rod form a parallelogram structure, the electric push cylinder is provided at the tail end of the robotic arm through a connecting seat, the push rod of the electric push cylinder is hinged to the rotating rod close to the side of the electric push cylinder, and the verticality detection mechanism is provided on the first cross plate.

[0012] The verticality detection mechanism includes a connecting shell and a laser distance sensor. The connecting shell is fixedly arranged on the first transverse plate, and the laser distance sensor is arranged on the front end of the connecting shell.

[0013] A circular groove is provided at the front end of the robotic arm, a driving base is provided at the bottom of the three-finger gripper, and the driving base is slidably arranged in the circular groove. A spring is provided between the driving base of the three-finger gripper and the bottom of the circular groove. A pressure sensor is provided at the bottom of the circular groove and is in contact with the driving base of the three-finger gripper. A pressure ring is provided at the opening of the circular groove, and the pressure ring is used to limit the driving base of the three-finger gripper.

[0014] The three-finger clamp includes three groups of circumferentially arranged clamp blocks, the outer surface of the clamp block is provided with an airbag clamping piece, the airbag clamping piece is filled with air, a plurality of grooves are opened on the outer surface of the airbag clamping piece, rivets are provided in the grooves, and the rivets pass through the airbag clamping piece and are embedded and fixed on the outer surface of the clamp block.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] Through the setting of the vehicle body base, various testing equipment, bellows lifting platform and robotic arm can be automatically moved according to the preset route; through the bellows lifting platform, robotic arm and three-finger gripper, the robotic arm can realize the automatic clamping, switching and operation of geological wireless radar, sixteen-grid seal and rebound hammer and other testing equipment, so as to realize the fully automated completion of relevant testing work of prefabricated beams. The rebound hammer can quickly and easily detect the concrete strength of prefabricated beams. The geological wireless radar can perform geological radar detection on the side of the prefabricated beam on site and feedback the signal of the concrete density of the beam piece, so as to find out whether there are cracks or defects inside the prefabricated beam, as well as related detection signals such as the position of relevant steel bars. The automated comprehensive inspection does not require worker control and is safe and reliable, which can ensure the true traceability of data. The airbag clamping piece made of rubber is placed between the connected hole wall and the outer side of the clamping jaw block, and the high damping characteristics and elastic deformation of rubber are utilized to reduce the impact and friction between the three clamping jaws in the three-finger clamp and the connected hole wall when the vehicle chassis is running to a certain extent. It can also increase the stability between the three clamping jaws in the three-finger clamp and the hole wall of the clamped connection. When the airbag clamping piece is clamped between the clamping jaw block and the connected hole wall, the air in the middle of the airbag clamping piece is squeezed and expelled to both sides of the airbag clamping piece. This allows the clamping jaws to clamp the connected hole wall through the air expanded on both sides of the airbag clamping piece, making the connection more stable. Thirdly, it can prevent the three clamping jaws in the three-finger clamp from slipping and detaching from the connected hole wall. When the above-mentioned airbag clamping piece is clamped between the clamping jaws and the connected hole wall, the air in the middle of the airbag clamping piece is also squeezed and filled into the two ends of the airbag clamping piece, so that the two ends of the airbag clamping piece expand and fit and squeeze against the two ends of the connected hole wall, which can effectively prevent slipping between the clamping jaws and the connected hole wall. By extending the push rod in the electric push cylinder, the verticality detection mechanism on the parallelogram folding frame is driven to extend toward the end of the robotic arm, away from other equipment that could obstruct the verticality detection mechanism's distance measurement. The four laser distance sensors arranged in a cross shape in the verticality detection mechanism detect that the distances to the side of the precast beam are the same, and the robot arm's end is determined to be perpendicular to the side of the precast beam. When the four laser distance sensors detect the same distance, the robot arm's end and the side of the precast beam are perpendicular. This inspection robot integrates multiple inspection functions to meet the needs of different locations and inspection items in the beam yard, allowing for flexible switching between inspection items. It can automatically and efficiently complete comprehensive and detailed inspections of precast beams, effectively compensating for the shortcomings of manual inspections and ensuring the timely detection and resolution of any potential quality issues. Its high operational efficiency reduces inspection workload and significantly shortens inspection cycles. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the verticality detection mechanism in the utility model;

[0019] Figure 3 This is a schematic diagram of the verticality detection mechanism in the utility model;

[0020] Figure 4 This is a schematic diagram of the explosion of the end of the robotic arm of the utility model;

[0021] Figure 5 This is a partial schematic diagram of the clamping jaw block of the utility model;

[0022] Figure 6 This is a schematic diagram of the airbag type clamping piece in the utility model;

[0023] In the figure: 1 is the vehicle base, 2 is the tooling platform, 3 is the bellows lifting platform, 4 is the vehicle camera, 5 is the first placement frame, 6 is the geological wireless radar, 7 is the first connecting tooling, 8 is the first connecting hole, 9 is the second placement frame, 10 is the sixteen-grid seal, 11 is the second connecting tooling, 12 is the second connecting hole, 13 is the support frame, 14 is the rebound tester, 15 is the third connecting hole, 16 is the robotic arm, 17 is the three-finger clamp, 18 is the connecting shell, 19 is the electric push cylinder, 20 is the rotating rod, 21 is the first horizontal plate, 22 is the second horizontal plate, 23 is the laser ranging sensor, 24 is the circular groove, 25 is the pressure sensor, 26 is the spring, 27 is the pressure ring, 28 is the clamping claw block, 29 is the airbag clamping piece, 30 is the connecting seat, 31 is the groove, and 32 is the rebound tester camera. DETAILED DESCRIPTION

[0024] In order to more clearly understand the above-mentioned purposes, features and advantages of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0025] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0026] like Figures 1 to 6As shown, a comprehensive inspection and patrol intelligent robot for precast beam products includes a vehicle base 1, a tooling platform 2, a bellows lifting platform 3, a geological radar assembly, a seal assembly, a rebound tester assembly, and a robotic arm 16. The tooling platform 2 is mounted on the vehicle base 1, and the bellows lifting platform 3 is mounted on the vehicle base 1. The lower end of the bellows lifting platform 3 is fixedly connected to the upper surface of the vehicle base 1. The tooling platform 2 has an opening that matches the bellows lifting platform 3, and the bellows lifting platform 3 is disposed through the opening. The robotic arm 16 is mounted on the top of the bellows lifting platform 3, and a three-finger gripper 17 is provided at the end of the robotic arm 16. The geological radar assembly, seal assembly, and rebound tester assembly are mounted on the upper surface of the tooling platform 2. The robotic arm 16, in conjunction with the three-finger gripper 17, can automatically switch and operate various inspection devices, such as the geological wireless radar 6, the sixteen-grid seal 10, and the rebound tester 14, thereby achieving fully automated completion of relevant inspection work for precast beams.

[0027] Preferably, a vehicle body camera 4 is provided on both the vehicle body base 1 and the bellows lifting platform 3. Vehicle body cameras 4 are installed around the top of the bellows lifting platform 3 and on the front and rear end surfaces of the vehicle body base 1. A total of six vehicle body cameras 4 are installed. One is used to provide a field of view for the prefabricated beam product comprehensive inspection intelligent robot, and the other is used to visually detect whether there are cracks on the side of the prefabricated beam.

[0028] Preferably, the geological radar assembly includes a first placement frame 5, a geological wireless radar 6 and a first connecting tool 7. The first placement frame 5 is fixedly set on the tooling platform 2, the geological wireless radar 6 is set in the first placement frame 5, and the first connecting tool 7 is set on the upper part of the geological wireless radar 6. The top of the first connecting tool 7 is provided with a first connecting hole 8 that matches the three-finger clamp 17.

[0029] Preferably, the seal assembly includes a second placement frame 9, a sixteen-grid seal 10 and a second connecting tooling 11. The second placement frame 9 is fixedly set on the tooling platform 2, the sixteen-grid seal 10 is placed in the second placement frame 9, the second connecting tooling 11 is set on the upper part of the sixteen-grid seal 10, and a second connecting hole 12 matching the three-finger clamp 17 is set on the top of the second connecting tooling 11.

[0030] Preferably, the rebound hammer assembly includes a support frame 13 and a rebound hammer 14. The support frame 13 is fixedly mounted on the tooling platform 2. The rebound hammer 14 is embedded in the support frame 13. The tail end of the rebound hammer 14 is provided with a third connection hole 15 that matches the three-finger clamp 17. The rebound hammer 14 is provided with a rebound hammer camera 32. The rebound hammer camera 32 is mainly used to collect visual photos and videos after each rebound, and connect to the network to upload the data in a timely manner.

[0031] Preferably, a folding frame and a verticality detection mechanism are provided at the end of the robotic arm 16. The folding frame is fixedly set on the robotic arm 16, and the verticality detection mechanism is set on the folding frame. The folding frame includes an electric push cylinder 19, a first cross plate 21 and a second cross plate 22. The second cross plate 22 is fixedly set on the robotic arm 16. The first cross plate 21 is arranged parallel to the second cross plate. The first cross plate 21 and the second cross plate 22 are hinged at both ends by a rotating rod 20. The first cross plate 21, the second cross plate 22 and the rotating rod 20 form a parallelogram structure. The electric push cylinder 19 is set at the tail end of the robotic arm 16 through a connecting seat 30. The push rod of the electric push cylinder 19 is hinged to the rotating rod 20 close to the side of the electric push cylinder 19, and the verticality detection mechanism is set on the first cross plate 21. After the end of the robotic arm 16 grips the workpiece through the three-finger gripper 17, the clamped workpiece blocks the device at the end of the robotic arm 16 that originally measured whether the end of the robotic arm 16 was perpendicular to the side of the precast beam. The end of the push rod in the electric push cylinder 19 is hinged to a rotating rod 20. By retracting the push rod in the electric push cylinder 19, the parallelogram-shaped folding frame can be driven to fold, retract, or extend. This is mainly used to parallel and retract the verticality detection mechanism to one side of the end of the robotic arm 16. This avoids the problem of the workpiece blocking the detection mechanism.

[0032] The verticality detection mechanism includes a connecting shell 18 and a laser ranging sensor 23. The connecting shell 18 is fixedly mounted on the first horizontal plate 21, and the laser ranging sensor 23 is mounted at the front end of the connecting shell 18. Four groups of laser ranging sensors 23 are arranged in a cross shape. The laser ranging sensors 23 and the end of the robotic arm 16 are parallel to each other, and the end of the robotic arm 16 and the end of the laser ranging sensors 23 face the same direction. The four laser ranging sensors 23 are respectively arranged in the four directions of up, down, left, and right. By using two laser ranging sensors 23 in opposite directions, it is easy to compare and determine which side the end of the robotic arm 16 is biased to. The robotic arm 16 then adjusts the end of the robotic arm 16 to be perpendicular to the side of the precast beam.

[0033] Preferably, a circular groove 24 is provided at the front end of the robotic arm 16, and a driving base is provided at the bottom of the three-finger clamp 17, which is slidably arranged in the circular groove 24. A spring 26 is provided between the driving base of the three-finger clamp 17 and the bottom of the circular groove 24. A pressure sensor 25 is provided at the bottom of the circular groove 24, which is in contact with the driving base of the three-finger clamp 17. A pressure ring 27 is provided at the opening of the circular groove 24, and the pressure ring 27 is used to limit the driving base of the three-finger clamp 17. The driving base of the three-finger gripper 17 is compressed and installed in the circular groove 24 of the end plane of the robotic arm 16 by a spring 26. A pressure sensor 25 is coaxially installed in the circular groove 24 and is in contact with the driving base in the three-finger gripper 17. A pressure ring 27 is fixedly installed on the outer wall of the circular groove 24 by multiple screws. The driving base of the three-finger gripper 17 is slidably installed in the inner ring of the pressure ring 27. The inner ring size of the pressure ring 27 is smaller than the bottom surface size of the above-mentioned driving base, which is used to limit the driving base of the three-finger gripper 17 from passing forward through the inner ring of the pressure ring 27. The pressure sensor 25 is mainly used to monitor the extrusion force of the three-finger gripper 17 on the pressure sensor 25 in real time, and is used to determine whether a component is clamped and whether the clamped component is in contact and extrusion with the detection plane such as the side surface of the prefabricated beam.

[0034] Preferably, the three-finger clamp 17 includes three groups of circumferentially arranged clamping blocks 28, and the outer surface of the clamping block 28 is provided with an airbag clamping piece 29, the airbag clamping piece 29 is filled with air, and a plurality of grooves 31 are opened on the outer surface of the airbag clamping piece 29, and rivets are provided in the grooves 31. After the rivets pass through the airbag clamping piece 29, they are embedded and fixed on the outer surface of the clamping block 28. The three-finger gripper 17 adopts the three-claw pneumatic finger of the robot model D20-S25-L30 in the existing technology. It can be seen that the three gripper blocks 28 on the three-finger gripper 17 can shrink and expand synchronously. The inner diameters of the first connecting hole 8, the second connecting hole 12 and the third connecting hole 15 are the same. After the three gripper blocks 28 on the three-finger gripper 17 are fully retracted, the three-finger gripper 17 can be placed in the first connecting hole 8, the second connecting hole 12 and the third connecting hole 15. The inner diameter of the three gripper blocks 28 on the three-finger gripper 17 when fully expanded is larger than the inner diameter of the first connecting hole 8, the second connecting hole 12 and the third connecting hole 15. Since the curvature of the outer side of the clamping jaw block 28 and the hole wall to which it is connected is not completely consistent, there is not much contact between the outer side of the clamping jaw block 28 and the hole wall to which it is connected. In addition, the straight clamping jaw block 28 in the three-finger clamping jaw 17 mainly relies on the extrusion friction force for stable connection, and cannot completely prevent the outer side of the clamping jaw block 28 from slipping between the control and the outer side of the clamping jaw block 28. When the vehicle base 1 is driving on the ground, it is inevitable that bumps will occur, so that the outer sides of the three clamping jaw blocks 28 of the three-finger clamping jaw 17 will impact and rub against the hole wall when the vehicle base 1 is bumpy. For this reason, the outer sides of the clamping jaw block 28 An air-filled airbag clamping piece 29 is placed on the pad. The deformability of the airbag clamping piece 29 is used to drive the air in the contact area between the clamping claw block 28 and the connecting hole wall to the surrounding direction of the airbag clamping piece 29, so as to increase the clamping area between the clamping claw block 28 and the connected hole wall. The expanded part of the airbag clamping piece 29 is used to clamp the two ends of the connected hole wall to prevent slipping. The high damping characteristics of the airbag clamping piece 29 itself can attenuate the vibration and impact force generated by the bumps of the vehicle body base 1 to a certain extent, thereby reducing the impact and friction between the clamping claw block 28 and the connecting hole wall.

[0035] Specifically, the outer side of the clamping jaw block 28 in the three-finger clamping jaw 17 is fitted with an airbag clamping piece 29 through a number of rivets. The airbag clamping piece 29 is made of highly elastic and wear-resistant rubber. The airbag clamping piece 29 is filled with air. The head ends of the rivets are respectively arranged in a number of grooves 31 on the outer side of the airbag clamping piece 29. The grooves 31 are mainly formed by multiple rivets squeezing the outer end surface of the airbag clamping piece 29 to form an empty groove, and the head ends of the rivets are fixedly mounted on the outer side of the clamping jaw block 28. The rivet is mainly used to fix the inner and outer layers of the airbag clamping piece 29. The airbag clamping piece 29 is fixed together at the same point, which can effectively avoid displacement friction when the inner and outer layers of the airbag clamping piece 29 are squeezed; when the outer side of the clamping jaw block 28 expands outward and squeezes the hole wall, the airbag clamping piece 29 will be squeezed by the hole wall until it is tightly attached to the outer wall of the clamping jaw block 28. The airbag clamping piece 29 made of rubber can be cushioned between the hole wall and the outer side of the clamping jaw block 28, and utilizes the higher damping characteristics of rubber, which means that it can effectively absorb and dissipate vibration energy. When subjected to vibration or impact, the rubber converts kinetic energy into heat energy through internal molecular friction and deformation, thereby reducing vibration. The transmission of motion and the effect of buffering and shock absorption can reduce to a certain extent the impact force of the three-finger clamp 17 on the clamping hole wall when the vehicle chassis 1 is traveling. The most important thing is that when the middle part of the airbag clamping piece 29 is fitted and extruded between the clamping claw block 28 and the hole wall, the original air in the middle of the airbag clamping piece 29 is squeezed to the left and right ends of the airbag clamping piece 29, so that the two sides of the airbag clamping piece 29 expand outward and squeeze on the left and right ends of the hole wall, avoiding slippage between the clamping claw block 28 and the connecting hole wall, thereby making the three-finger clamp 17 and the first connecting tool 7 or the second The connection between the connecting tool 11 or the rebound tester 14 is more stable, and the curvature of the outer side of the clamping block 28 and the connected hole wall is not completely consistent, that is, in the traditional state, there are not many parts of the outer side of the clamping block 28 and the connected hole wall that fit together. In this article, the outer side of the clamping block 28 is indirectly clamped by the airbag clamping piece 29, and the air in the airbag clamping piece 29 can also be squeezed and discharged to the two sides of the airbag clamping piece 29, so that the clamping block 28 can clamp the connected hole wall through the expanded air on both sides of the airbag clamping piece 29, and the connection is more stable.

[0036] The robot usage process is as follows: Step 1: Drive to both sides of the precast beam via chassis 1 and prepare to start on-site inspection;

[0037] Step 2: When the comprehensive inspection intelligent robot for the prefabricated beam product arrives at the designated area, it will conduct on-site strength rebound testing;

[0038] The first step before the rebound test is to stamp the sixteen-grid stamp 10 to ensure that the rebound position is accurate and reliable. Specifically, the second connection hole 12 in the second connection tooling 11 above the sixteen-grid stamp 10 is grasped by the mechanical arm 16 and the three-finger clamp 17, that is, the reduced three-finger clamp 17 is placed into the second connection hole 12, and then the three-finger clamp 17 is expanded and supported on the inner wall of the second connection hole 12, so that the clamping connection between the mechanical arm 16 and the sixteen-grid stamp 10 can be completed. Then, the mechanical arm 16 and the bellows lifting platform 3 will clamp the sixteen-grid stamp 10 to the designated positions on both sides of the prefabricated beam for on-site stamping. After stamping is completed, the sixteen-grid stamp 10 is put back to its original position using the mechanical arm 16 and the bellows lifting platform 3.

[0039] The second step before the rebound test is: the three-finger gripper 17 is placed into the third connecting hole 15 at the rear end of the rebound tester 14 by the mechanical arm 16, and the three-finger gripper 17 is expanded outward to complete the clamping of the rebound tester 14 by the mechanical arm 16. Then, the mechanical arm 16 can cooperate with the bellows lifting platform 3 to perform a rebound test on the clamped rebound tester 14 in the sixteen-grid marked grids printed by the above-mentioned sixteen-grid seal 10. During the rebound test, it is necessary to keep the end part of the rebounding mechanical arm 16 perpendicular to the side part of the precast beam, that is, the rebound tester 14 and the side of the precast beam perpendicular to each other, to ensure that the inspection data of the rebound tester 14 is accurate and reliable, and complete the rebound test in the above-mentioned sixteen-grid marked grids one by one. The rebound tester camera 32 installed on one side of the rebound tester 14 is mainly used to collect visual photos and videos after each rebound. Then, the mechanical arm 16 cooperates with the bellows lifting platform 3 to re-insert the rebound tester 14 clamped by the three-finger gripper 17 on the support frame 13.

[0040] Step 3: Use the robotic arm 16 and the three-finger gripper 17 to fix the first connecting tooling 7 and the geological wireless radar 6, and use the robotic arm 16 and the corrugated pipe lifting platform 3 to place the geological wireless radar 6 at a specified height and fit it to the side of the prefabricated beam. Perform geological radar detection on the side of the prefabricated beam on site, and the geological wireless radar 6 will feedback the density of the beam concrete, as well as relevant detection signals such as the position of relevant steel bars, and then cooperate with the vehicle chassis 1 to drive the geological wireless radar 6 to fit the beam surface for mobile detection.

[0041] The above process is unmanned and the relevant detection work is completed fully automatically. The mechanical arm 16 performs the memory work to ensure the safety and reliability of the staff and the true traceability of the data.

[0042] The above only describes in detail the preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by ordinary technicians in this field, various changes can be made without departing from the purpose of the present invention, and various changes should be included in the scope of protection of the present invention.

Claims

1. An intelligent robot for comprehensive inspection of precast beam products, characterized by: The invention comprises a vehicle body base (1), a tooling platform (2), a bellows lifting platform (3), a geological radar component, a seal component, a rebound tester component and a mechanical arm (16), wherein the tooling platform (2) is arranged on the vehicle body base (1), the bellows lifting platform (3) is arranged on the vehicle body base (1), an opening matching the bellows lifting platform (3) is provided on the tooling platform (2), the bellows lifting platform (3) is arranged through the opening, the mechanical arm (16) is arranged on the top of the bellows lifting platform (3), a three-finger gripper (17) is provided at the end of the mechanical arm (16), and the geological radar component, the seal component and the rebound tester component are arranged on the upper surface of the tooling platform (2).

2. The comprehensive inspection intelligent robot for precast beam products according to claim 1 is characterized by: The vehicle body base (1) and the bellows lifting platform (3) are both provided with a vehicle body camera (4).

3. The comprehensive inspection intelligent robot for precast beam products according to claim 1 is characterized by: The geological radar assembly comprises a first placement frame (5), a geological wireless radar (6) and a first connecting tool (7), wherein the first placement frame (5) is fixedly arranged on the tooling platform (2), the geological wireless radar (6) is arranged in the first placement frame (5), the first connecting tool (7) is arranged on the upper part of the geological wireless radar (6), and the top of the first connecting tool (7) is provided with a first connecting hole (8) matching the three-finger clamp (17).

4. The comprehensive inspection intelligent robot for precast beam products according to claim 1 is characterized by: The seal assembly comprises a second placement frame (9), a sixteen-grid seal (10) and a second connecting tool (11), wherein the second placement frame (9) is fixedly arranged on the tool platform (2), the sixteen-grid seal (10) is placed in the second placement frame (9), the second connecting tool (11) is arranged on the upper part of the sixteen-grid seal (10), and the top of the second connecting tool (11) is provided with a second connecting hole (12) matching the three-finger clamp (17).

5. The comprehensive inspection intelligent robot for precast beam products according to claim 1 is characterized by: The rebound hammer assembly includes a support frame (13) and a rebound hammer (14), wherein the support frame (13) is fixedly arranged on the tooling platform (2), and the rebound hammer (14) is embedded in the support frame (13). A third connecting hole (15) matching the three-finger clamp (17) is provided at the tail end of the rebound hammer (14), and a rebound hammer camera (32) is provided on the rebound hammer (14).

6. The comprehensive inspection intelligent robot for precast beam products according to claim 1 is characterized by: The end of the robotic arm (16) is provided with a folding frame and a verticality detection mechanism, the folding frame is fixedly provided on the robotic arm (16), the verticality detection mechanism is provided on the folding frame, the folding frame includes an electric push cylinder (19), a first transverse plate (21) and a second transverse plate (22), the second transverse plate (22) is fixedly provided on the robotic arm (16), the first transverse plate (21) is provided in parallel with the second transverse plate, the first transverse plate (21) and the second transverse plate (22) are hinged at both ends by a rotating rod (20), the first transverse plate (21), the second transverse plate (22) and the rotating rod (20) form a parallelogram structure, the electric push cylinder (19) is provided at the tail end of the robotic arm (16) through a connecting seat (30), the push rod of the electric push cylinder (19) is hinged to the rotating rod (20) close to the side of the electric push cylinder (19), and the verticality detection mechanism is provided on the first transverse plate (21).

7. The comprehensive inspection intelligent robot for precast beam products according to claim 6 is characterized by: The verticality detection mechanism comprises a connecting shell (18) and a laser distance sensor (23); the connecting shell (18) is fixedly arranged on the first transverse plate (21); and the laser distance sensor (23) is arranged on the connecting shell (18) at the front end of the connecting shell (18).

8. The comprehensive inspection intelligent robot for precast beam products according to claim 1 is characterized by: A circular groove (24) is provided at the front end of the robotic arm (16), a driving base is provided at the bottom of the three-finger clamp (17), and the driving base is slidably provided in the circular groove (24). A spring (26) is provided between the driving base of the three-finger clamp (17) and the bottom of the circular groove (24). A pressure sensor (25) in contact with the driving base of the three-finger clamp (17) is provided at the bottom of the circular groove (24). A pressure ring (27) is provided at the opening of the circular groove (24), and the pressure ring (27) is used to limit the driving base of the three-finger clamp (17).

9. The comprehensive inspection intelligent robot for precast beam products according to claim 1 is characterized by: The three-finger clamp (17) includes three groups of circumferentially arranged clamp blocks (28), the outer surface of the clamp block (28) is provided with an airbag clamping piece (29), the airbag clamping piece (29) is filled with air, a plurality of grooves (31) are provided on the outer surface of the airbag clamping piece (29), rivets are provided in the grooves (31), and the rivets penetrate the airbag clamping piece (29) and are fixed on the outer surface of the clamp block (28).

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