Ground penetrating radar wall-climbing robot device for nondestructive testing of vertical shaft concrete

Abstract

The utility model discloses a ground penetrating radar wall-climbing robot device for nondestructive testing of vertical shaft concrete, which comprises a wall-climbing robot used for climbing on the concrete wall surface of a vertical shaft; the dragging body is detachably connected with the wall-climbing robot; the ground penetrating radar is movably arranged on the towed body; the ground penetrating radar moves towards the concrete wall face and is tightly attached to the concrete wall face. The wall-climbing robot is used for towing the ground penetrating radar, the wall-climbing robot climbs on the concrete wall surface of the vertical shaft, concrete is detected through the ground penetrating radar, operation is simpler, and efficiency is higher. And missing detection and blind areas are not easy to occur.

Description

Technical Field

[0001] This utility model relates to the field of ground-penetrating technology, and in particular to a ground-penetrating radar wall-climbing robot device for non-destructive testing of concrete in vertical shafts. Background Technology

[0002] With the continuous advancement of underground engineering construction, large-volume concrete shaft structures are widely used in major projects such as subways, tunnels, and mines. Due to the complex construction environment and enormous size, these structures often develop internal defects such as voids and cracks during construction due to factors such as temperature gradients, uneven material pouring, or external forces. These defects affect the long-term stability and safety of the structure.

[0003] Ground-penetrating radar (GPR) technology, due to its non-destructive, efficient, and wide-coverage characteristics, has gradually become an important tool for detecting internal defects in concrete. GPR generates images of the internal structure quickly by emitting high-frequency electromagnetic waves and receiving their reflected signals in different media. Its main advantages include: fast detection speed, non-destructive operation, and strong imaging capabilities; GPR can efficiently generate two-dimensional or three-dimensional images of internal defects, providing intuitive evidence for subsequent repairs and structural assessments.

[0004] In existing technologies, ground-penetrating radar (GPR) requires manual pushing or pulling or handheld operation for detecting large volumes of concrete in vertical shafts. This operating mode suffers from low operational efficiency on the shaft walls.

[0005] Therefore, existing technologies still need to be improved and developed. Utility Model Content

[0006] The technical problem to be solved by this utility model is to provide a ground-penetrating radar wall-climbing robot device for non-destructive testing of vertical shaft concrete, which aims to solve the problem of low operating efficiency of ground-penetrating radar on the wall of vertical shaft in the prior art.

[0007] The technical solution adopted by this utility model to solve the technical problem is as follows:

[0008] A ground-penetrating radar wall-climbing robot device for non-destructive testing of concrete in vertical shafts, comprising:

[0009] Wall-climbing robots are used to climb the concrete walls of vertical shafts;

[0010] The towing body is detachably connected to the wall-climbing robot.

[0011] Ground-penetrating radar is movably mounted on the towed body;

[0012] The ground-penetrating radar moves toward and adheres to the concrete wall.

[0013] The aforementioned ground-penetrating radar wall-climbing robot device for non-destructive testing of vertical shaft concrete, wherein the wall-climbing robot comprises:

[0014] Vehicle body;

[0015] The power supply is located in the vehicle body;

[0016] A flexible suction cup is installed on the vehicle body, and there is a gap between it and the concrete wall surface;

[0017] An exhaust assembly is disposed at the exhaust port of the flexible suction cup and slidably connected to the vehicle body. The exhaust assembly is used to exhaust the air between the flexible suction cup and the concrete wall.

[0018] The exhaust assembly is connected to the ground-penetrating radar;

[0019] The power source supplies power to the ground-penetrating radar and the exhaust assembly.

[0020] The aforementioned ground-penetrating radar wall-climbing robot device for non-destructive testing of vertical shaft concrete, wherein the vehicle body comprises:

[0021] First rack;

[0022] The first sliding member is slidably disposed on the first frame;

[0023] The exhaust assembly includes:

[0024] The connecting flange is connected to the exhaust port of the flexible suction cup and the first sliding member, respectively;

[0025] The fan is installed at the connecting flange;

[0026] The fan is electrically connected to the power source.

[0027] The aforementioned ground-penetrating radar wall-climbing robot device for non-destructive testing of vertical shaft concrete, wherein the vehicle body further includes:

[0028] Multiple first drive components are disposed on the first frame;

[0029] Multiple first wheels are rotatably mounted on the first frame and connected to the output shaft of the corresponding first drive component;

[0030] The first driving component is electrically connected to the power supply.

[0031] The aforementioned ground-penetrating radar wall-climbing robot device for non-destructive testing of vertical shaft concrete, wherein the towing body comprises:

[0032] The second frame is detachably connected to the first frame;

[0033] The second sliding member is slidably disposed on the second frame;

[0034] The second sliding member is detachably connected to the first sliding member;

[0035] The ground-penetrating radar is mounted on the second sliding member.

[0036] The aforementioned ground-penetrating radar wall-climbing robot device for non-destructive testing of vertical shaft concrete, wherein the second frame is detachably connected to the first frame via a connecting assembly, the connecting assembly comprising:

[0037] The first connector is connected to the first frame;

[0038] The second connector is connected to the second frame;

[0039] A vibration damping pad is located between the first connector and the second connector;

[0040] Locking attachment, which connects the first connector and the second connector.

[0041] The aforementioned ground-penetrating radar wall-climbing robot device for non-destructive testing of vertical shaft concrete, wherein the towing body further includes:

[0042] Multiple second wheels are rotatably mounted on the second frame.

[0043] The aforementioned ground-penetrating radar wall-climbing robot device for non-destructive testing of vertical shaft concrete, wherein the towing body further includes:

[0044] Multiple second drive units are disposed on the second frame;

[0045] The output shaft of the second drive unit is connected to the corresponding second wheel;

[0046] The second driving component is electrically connected to the power supply.

[0047] The aforementioned ground-penetrating radar wall-climbing robot device for non-destructive testing of vertical shaft concrete further includes:

[0048] A camera is installed on the wall-climbing robot;

[0049] The camera is electrically connected to the power source.

[0050] The aforementioned ground-penetrating radar wall-climbing robot device for non-destructive testing of vertical shaft concrete further includes:

[0051] The data acquisition system is communicatively connected to the ground-penetrating radar and the camera, respectively.

[0052] Beneficial effects: This application uses a wall-climbing robot to tow a ground-penetrating radar. The robot climbs the concrete wall of the shaft and uses the ground-penetrating radar to detect the concrete, making the operation simpler and more efficient. Furthermore, it reduces the likelihood of missed detections and blind spots. Attached Figure Description

[0053] Figure 1 This is a first structural schematic diagram of the ground-penetrating radar wall-climbing robot device used for non-destructive testing of vertical shaft concrete in this embodiment of the present invention.

[0054] Figure 2 This is a second structural schematic diagram of the ground-penetrating radar wall-climbing robot device used for non-destructive testing of vertical shaft concrete in this embodiment of the present invention.

[0055] Figure 3 This is a first cross-sectional view of the ground-penetrating radar wall-climbing robot device used for non-destructive testing of vertical shaft concrete in this embodiment of the present invention.

[0056] Figure 4 yes Figure 3 Enlarged view of point A in the middle.

[0057] Figure 5 This is a second cross-sectional view of the ground-penetrating radar wall-climbing robot device used for non-destructive testing of vertical shaft concrete in this embodiment of the present invention.

[0058] Figure 6 This is a third cross-sectional view of the ground-penetrating radar wall-climbing robot device used for non-destructive testing of vertical shaft concrete in this embodiment of the present invention.

[0059] Figure 7 yes Figure 6 Enlarged view of point B in the middle.

[0060] Explanation of reference numerals in the attached figures:

[0061] 10. Wall-climbing robot; 11. Vehicle body; 111. First frame; 112. First sliding member; 113. First drive member; 114. First wheel; 12. Power supply; 13. Flexible suction cup; 14. Exhaust assembly; 141. Connecting flange; 142. Fan; 143. Elastic member; 20. Towing body; 21. Second frame; 22. Second sliding member; 23. Second wheel; 24. Second drive member; 30. Ground penetrating radar; 40. Connecting assembly; 41. First connector; 42. Second connector; 43. Vibration damping pad; 44. Locking accessory; 50. Camera; 60. Concrete wall. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this utility model clearer and more explicit, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0063] Please also refer to Figures 1-7 This utility model provides some preferred embodiments of a ground-penetrating radar wall-climbing robot device for non-destructive testing of vertical shaft concrete.

[0064] like Figure 1 and Figure 2 As shown, the ground-penetrating radar wall-climbing robot device for non-destructive testing of vertical shaft concrete includes:

[0065] A wall-climbing robot 10 is used to climb on the concrete wall 60 of a vertical shaft;

[0066] The towing body 20 is detachably connected to the wall-climbing robot 10;

[0067] Ground-penetrating radar 30 is movably mounted on the towed body 20;

[0068] The ground-penetrating radar 30 moves toward and adheres to the concrete wall 60.

[0069] Specifically, the concrete of the vertical shaft is usually made of large-volume concrete. The concrete wall 60 of the vertical shaft is usually a vertical wall, but some are curved walls with a small curvature. The wall-climbing robot 10 is used to climb on the concrete of the vertical shaft, and of course, it can also climb on curved walls. The towing body 20 is the structure towed by the wall-climbing robot 10. The ground-penetrating radar 30 is mounted on the towing body 20, and the ground-penetrating radar 30 can move toward the concrete wall 60 and stick to the concrete wall 60. The close contact between the ground-penetrating radar 30 and the concrete wall 60 can improve the detection accuracy of the ground-penetrating radar 30.

[0070] This application employs a wall-climbing robot 10 towing a ground-penetrating radar 30. The robot 10 climbs the concrete wall 60 of the shaft, and the radar 30 detects the concrete, making the operation simpler and more efficient. Furthermore, it reduces the likelihood of missed detections and blind spots.

[0071] In a preferred embodiment of this utility model, please also refer to... Figures 3-4 The wall-climbing robot 10 includes:

[0072] Car body 11;

[0073] Power supply 12 is located on the vehicle body 11;

[0074] A flexible suction cup 13 is disposed on the vehicle body 11 and has a gap between it and the concrete wall 60.

[0075] An exhaust assembly 14 is disposed at the exhaust port of the flexible suction cup 13 and is slidably connected to the vehicle body 11. The exhaust assembly 14 is used to exhaust the air between the flexible suction cup 13 and the concrete wall 60.

[0076] The exhaust assembly 14 is connected to the ground penetrating radar 30; the power supply 12 supplies power to the ground penetrating radar 30 and the exhaust assembly 14.

[0077] Specifically, the flexible suction cup 13 is flexible and can deform. The flexible suction cup 13 is located close to the concrete wall 60 with small gaps. Air is expelled from between the flexible suction cup 13 and the concrete wall 60 through the exhaust assembly 14, reducing the air pressure inside the flexible suction cup 13. Under atmospheric pressure, the flexible suction cup 13 is pressed against the concrete wall 60, allowing the wall-climbing robot 10 to adhere to the concrete wall 60 without falling. Because the gaps are small, outside air does not easily enter the flexible suction cup 13, and the exhaust port of the flexible suction cup 13 can quickly expel the air inside through the exhaust assembly 14, thus reducing the air pressure inside the flexible suction cup 13.

[0078] The exhaust assembly 14 is slidably connected to the vehicle body 11. The volume of the flexible suction cup 13 varies depending on the output power of the exhaust assembly 14. For example, the higher the output power of the exhaust assembly 14, the higher the vacuum level inside the flexible suction cup 13, the greater the pressure exerted on the flexible suction cup 13 by atmospheric pressure, and the smaller the volume of the flexible suction cup 13. This results in a greater movement of the exhaust assembly 14 towards the concrete wall 60, and consequently, a greater movement of the ground-penetrating radar 30 towards the concrete wall 60. A higher output power of the exhaust assembly 14 allows the ground-penetrating radar 30 to adhere tightly to the concrete wall 60, facilitating its operation. A lower output power allows the ground-penetrating radar 30 to separate from the concrete wall 60, facilitating the movement of the vehicle body 11 without affecting the ground-penetrating radar 30. The power supply 12 is electrically connected to both the exhaust assembly 14 and the ground-penetrating radar 30, providing them with electrical power.

[0079] In a preferred embodiment of this utility model, please also refer to... Figure 4 and Figure 6 An elastic element 143 is provided on the exhaust assembly 14, which provides an elastic force to the exhaust assembly 14 away from the concrete wall 60.

[0080] Specifically, when the exhaust assembly 14 is working, it overcomes the elastic force of the elastic element 143, causing the exhaust assembly 14 to move towards the concrete wall surface 60. When the exhaust assembly 14 stops working, the elastic element 143 helps the flexible suction cup 13 return to its original state, and the exhaust assembly 14 moves away from the concrete wall surface 60. The elastic element 143 assists the flexible suction cup 13 in restoring its deformation. If the flexible suction cup 13 has a good deformation recovery capability, the elastic element 143 may not be necessary. The two ends of the elastic element 143 can be connected to the exhaust assembly 14 and the vehicle body 11, respectively.

[0081] In a preferred embodiment of this utility model, please also refer to... Figure 4 and Figure 6 The vehicle body 11 includes:

[0082] First rack 111;

[0083] The first sliding member 112 is slidably disposed on the first frame 111.

[0084] Specifically, the first sliding member 112 slides relative to the first frame 111, and the exhaust assembly 14 is disposed on the first sliding member 112, so that the exhaust assembly 14 slides relative to the first frame 111. The first frame 111 includes: a first base plate, a first top plate, and a first column; the two ends of the first column are respectively connected to the first base plate and the first top plate; a sliding groove is formed on the first column, and the first sliding member 112 has a slider or a pulley. The slider or pulley slides in the sliding groove, so the first sliding member 112 slides along the length direction of the first column. There can be four first columns, and the four first columns are respectively located at the four corners of the first base plate.

[0085] A first through-hole is formed on the first top plate, through which the exhaust assembly 14 passes and limits the movement of the exhaust assembly 14. An elastic member 143 can be located between the first top plate and the first sliding member 112, with its two ends connected to the first top plate and the first sliding member 112, respectively. A second through-hole is formed on the first bottom plate, and a flexible suction cup 13 is connected to the edge of the second through-hole. Outside air passes through the gap between the first bottom plate and the concrete wall 60 and enters the flexible suction cup 13 through the second through-hole.

[0086] In a preferred embodiment of this utility model, please also refer to... Figures 3-4 The exhaust assembly 14 includes:

[0087] The connecting flange 141 is connected to the exhaust port of the flexible suction cup 13 and the first sliding member 112, respectively;

[0088] Fan 142 is mounted on the connecting flange 141;

[0089] The fan 142 is electrically connected to the power supply 12.

[0090] Specifically, the connecting flange 141 connects the exhaust port of the flexible suction cup 13, the first sliding member 112, and the fan 142. The fan 142 passes through the first through hole. Air inside the flexible suction cup 13 enters the inlet of the fan 142 and exits from the outlet of the fan 142. When the flexible suction cup 13 is compressed, the first sliding member 112, the fan 142, the connecting flange 141, and the ground penetrating radar 30 move together toward the concrete wall 60.

[0091] In a preferred embodiment of this utility model, please also refer to... Figure 3 and Figure 6 The vehicle body 11 also includes:

[0092] Multiple first drive units 113 are disposed on the first frame 111;

[0093] Multiple first wheels 114 are rotatably mounted on the first frame 111 and connected to the output shaft of the corresponding first drive member 113;

[0094] The first driving component 113 is electrically connected to the power supply 12.

[0095] Specifically, the first drive unit 113 is disposed on the first base plate of the first frame 111, and the first wheel 114 is disposed on the output shaft of the corresponding first drive unit 113. The first wheel 114 contacts the concrete wall 60, while the first base plate does not contact the concrete wall 60. The first drive unit 113 drives the first wheel 114 to rotate, thereby realizing the climbing robot 10 climbing.

[0096] In a preferred embodiment of this utility model, please also refer to... Figure 2 and Figure 5 The towing body 20 includes:

[0097] The second frame 21 is detachably connected to the first frame 111;

[0098] The second sliding member 22 is slidably disposed on the second frame 21;

[0099] The second sliding member 22 is detachably connected to the first sliding member 112; the ground-penetrating radar 30 is disposed on the second sliding member 22.

[0100] Specifically, the second sliding member 22 slides relative to the second frame 21, and the ground-penetrating radar 30 is mounted on the second sliding member 22. The second sliding member 22 is detachably connected to the first sliding member 112. When the first sliding member 112 slides, it will drive the second sliding member 22 to slide, which in turn will drive the ground-penetrating radar 30 to move. The second frame 21 includes a second base plate, a second top plate, and a second column. The two ends of the second column are respectively connected to the second base plate and the second top plate. A groove is formed on the second column, and the second sliding member 22 has a slider or pulley. When the slider or pulley slides in the groove, the second sliding member 22 slides along the length of the second column. There can be four second columns, which are located at the four corners of the second base plate.

[0101] The ground-penetrating radar 30 is located between the second bottom plate and the second top plate. A third through hole is formed on the second bottom plate, through which the ground-penetrating radar 30 passes. The second sliding member 22 moves the ground-penetrating radar 30 toward the concrete wall 60, allowing the ground-penetrating radar 30 to pass through the third through hole and fit snugly against the concrete wall 60.

[0102] The second sliding member 22 has two clamping plates located on both sides of the first sliding member 112. The inner side of the clamping plates is provided with damping plates, which are in contact with the first sliding member 112. The damping plates reduce the transmission of vibration from the first sliding member 112 to the second sliding member 22, thereby reducing the impact of vibration on the ground penetrating radar 30.

[0103] In a preferred embodiment of this utility model, please also refer to... Figure 6 and Figure 7 The second rack 21 is detachably connected to the first rack 111 via a connecting assembly 40, the connecting assembly 40 comprising:

[0104] The first connector 41 is connected to the first frame 111;

[0105] The second connector 42 is connected to the second frame 21;

[0106] Vibration damping pad 43 is located between the first connector 41 and the second connector 42;

[0107] Locking accessory 44, which connects the first connector 41 and the second connector 42.

[0108] Specifically, the first frame 111 and the second frame 21 are detachably connected via a connecting assembly 40. The vibration damping pads reduce vibration transmission from the wall-climbing robot 10 to the towed body 20, thus mitigating the impact of vibration on the ground-penetrating radar 30. The locking accessory 44 can be secured with bolts to connect the first connector 41 and the second connector 42. The first connector 41 can be fixedly connected to the slide groove of the first column, and its connection position within the slide groove is adjustable; the second connector 42 can be fixedly connected to the slide groove of the second column, and its connection position within the slide groove is adjustable.

[0109] In a preferred embodiment of this utility model, please also refer to... Figure 3 and Figure 5 The towing body 20 further includes:

[0110] Multiple second wheels 23 are rotatably mounted on the second frame 21.

[0111] Specifically, the towing body 20 may be equipped with a second wheel 23, which rotates relative to the second frame 21. The second wheel 23 rotates when the wall-climbing robot 10 moves.

[0112] In a preferred embodiment of this utility model, please also refer to... Figure 3 and Figure 5 The towing body 20 further includes:

[0113] Multiple second drive units 24 are disposed on the second frame 21;

[0114] The output shaft of the second drive unit 24 is connected to the corresponding second wheel 23; the second drive unit 24 is electrically connected to the power supply 12.

[0115] Specifically, a second drive member 24 can be configured for the second wheel 23, which drives the second wheel 23 to rotate. The second drive member 24 and the first drive member 113 are driven synchronously.

[0116] In a preferred embodiment of this utility model, please also refer to... Figure 1 and Figure 3 The ground-penetrating radar wall-climbing robot device also includes:

[0117] Camera 50 is installed on the wall-climbing robot 10;

[0118] The camera 50 is electrically connected to the power supply 12.

[0119] Specifically, the camera 50 is used to capture images and can image the concrete wall 60 in front of the wall-climbing robot 10.

[0120] In a preferred embodiment of this utility model, the ground-penetrating radar wall-climbing robot device further includes:

[0121] The data acquisition system is communicatively connected to the ground-penetrating radar 30 and the camera 50, respectively.

[0122] Specifically, the data acquisition system is communicatively connected to the ground-penetrating radar 30 and to the camera 50. Both wired and wireless communication connections can be used.

[0123] It should be understood that the application of this utility model is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A ground penetrating radar wall-climbing robot device for non-destructive testing of shaft concrete, characterized in that, The application relates to a wall-climbing radar device. The wall-climbing radar device comprises a wall-climbing robot, a towed body and a ground penetrating radar. The wall-climbing robot is arranged to climb on a concrete wall surface of a shaft. The ground penetrating radar is movably arranged on the towed body. The ground penetrating radar is arranged to move towards and tightly contact the concrete wall surface.

2. The ground penetrating radar wall-climbing robot apparatus for non-destructive testing of concrete shafts according to claim 1, characterized in that, The wall-climbing robot comprises a vehicle body, a power supply, a flexible suction cup and an exhaust assembly. The flexible suction cup is arranged on the vehicle body and has a gap with the concrete wall surface. The exhaust assembly is arranged on an exhaust port of the flexible suction cup and is slidably connected with the vehicle body. The exhaust assembly is arranged to exhaust air between the flexible suction cup and the concrete wall surface. The power supply is electrically connected with the ground penetrating radar and the exhaust assembly. The vehicle body comprises a first frame, a first sliding member and a plurality of first driving members. The first sliding member is slidably arranged on the first frame.

3. The ground penetrating radar wall-climbing robot apparatus for non-destructive testing of concrete shafts according to claim 2, characterized in that, The exhaust assembly comprises a connecting flange and a fan. The connecting flange is connected with the exhaust port of the flexible suction cup and the first sliding member. The fan is arranged on the connecting flange and is electrically connected with the power supply. The first driving members are arranged on the first frame. A plurality of first wheels are rotatably arranged on the first frame and are connected with output shafts of the corresponding first driving members. The first driving members are electrically connected with the power supply. The towed body comprises a second frame, a second sliding member and a plurality of second driving members.

4. The ground penetrating radar wall-climbing robot apparatus for non-destructive testing of concrete shafts of claim 3, wherein, The second frame is movably connected with the first frame. The second sliding member is movably connected with the first sliding member. The ground penetrating radar is arranged on the second sliding member. The second frame is movably connected with the first frame through a connecting assembly.

5. The ground penetrating radar wall-climbing robot apparatus for non-destructive testing of concrete in a shaft according to claim 3, wherein, The connecting assembly comprises a first connecting member, a second connecting member, a damping gasket and a locking member. The first connecting member is connected with the first frame. The second connecting member is connected with the second frame. The damping gasket is arranged between the first connecting member and the second connecting member. The locking member is arranged to lock the first connecting member and the second connecting member.

6. The ground penetrating radar wall-climbing robot apparatus for non-destructive testing of concrete shafts of claim 5, wherein, The towed body further comprises a plurality of second wheels. The second driving members are arranged on the second frame. Output shafts of the second driving members are connected with the corresponding second wheels. The second driving members are electrically connected with the power supply. The wall-climbing radar device further comprises a camera.

7. The ground penetrating radar wall-climbing robot apparatus for non-destructive testing of concrete in a shaft according to claim 5, wherein, The camera is electrically connected with the power supply. The wall-climbing radar device further comprises a data acquisition system.

8. The ground penetrating radar wall-climbing robot apparatus for non-destructive testing of concrete shafts of claim 7, wherein, The data acquisition system is communicatively connected with the ground penetrating radar and the camera. ​ ​ ​ 9. The ground penetrating radar wall-climbing robot apparatus for non-destructive testing of concrete of shafts according to any of claims 2-8, characterized in that, ​ ​ ​ 10. The ground penetrating radar wall-climbing robot apparatus for non-destructive testing of concrete shafts of claim 9, wherein, ​ ​

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