A mechanical frame type precast tunnel segment inspection device

Abstract

This utility model provides a mechanical frame-type precast tube segment inspection device. The device includes a support frame, an XYZ three-axis sliding module moving system, a two-dimensional rotating gimbal, and a structured light camera. The support frame, through its enclosed design, places the precast tube segment within its internal space, creating a stable, non-contact scanning environment. The top surface of the support frame serves as the mounting reference surface for the XYZ three-axis sliding module moving system. The XYZ three-axis sliding module moving system includes an X-axis sliding module I, a Y-axis sliding module, a Z-axis sliding module I, a Z-axis sliding module II, and an X-axis sliding module II. X-axis sliding modules I and II are arranged parallel to each other on both sides of the precast tube segment, covering its length. A structured light camera is mounted under the two-dimensional rotating gimbal. The dual scanners, through three-axis coordination within the frame, can simultaneously perform cross-track scanning, suitable for full-surface acquisition of complex curved surfaces.

Description

Technical Field

[0001] This utility model relates to the field of industrial testing technology, and in particular to a mechanical frame type precast tunnel segment testing device. Background Technology

[0002] Precast tunnel segments serve as supporting and lining units for tunnels, underground engineering projects, or large structures, forming a stable overall structure through assembly. The geometric dimensions and surface quality inspection of precast tunnel segments are crucial for ensuring project safety and construction efficiency. Traditional inspection methods rely on manual measurement using tools such as measuring tapes and straightedges, which suffers from low efficiency and significant subjective errors. Due to their large size and curved surfaces, the geometric characteristics (such as curvature and flatness) of precast tunnel segments are difficult to measure accurately using conventional tools. Furthermore, the identification of surface quality defects (such as cracks, honeycombing, and pores) is highly dependent on worker experience, resulting in a high risk of missed defects.

[0003] In recent years, 3D laser scanning technology has been introduced into the field of industrial inspection due to its non-contact and high-precision characteristics. This technology can reconstruct 3D models of components from point cloud data, theoretically enabling full-surface coverage inspection. However, in practical applications, the complex curved surfaces of large precast tunnel segments mean that a single scan cannot acquire complete data, requiring multiple adjustments to the scanning stations and multi-angle scans, which is time-consuming and complex. The maximum stitching error of the point cloud from each station reaches 5mm. Meanwhile, while the introduction of high-precision equipment has improved inspection efficiency, the high procurement and maintenance costs limit its widespread adoption in small and medium-sized precast component factories.

[0004] In summary, developing a mechanical frame-type precast tunnel segment inspection device is of great significance. Utility Model Content

[0005] The purpose of this invention is to provide a mechanical frame-type precast tunnel segment inspection device to solve the problems existing in the prior art.

[0006] The technical solution adopted to achieve the purpose of this utility model is as follows: a mechanical frame type precast segment inspection device, including a support frame, an XYZ three-axis sliding module moving system, a two-dimensional rotating gimbal and a structured light camera.

[0007] The support frame, through its enclosed design, places the prefabricated tube segments within its internal space, creating a stable, non-contact scanning environment. The top surface of the support frame serves as the mounting reference surface for the XYZ three-axis sliding module movement system.

[0008] The XYZ three-axis sliding module moving system includes an X-axis sliding module I, a Y-axis sliding module, a Z-axis sliding module I, a Z-axis sliding module II, and an X-axis sliding module II.

[0009] The X-axis sliding module I, Y-axis sliding module, Z-axis sliding module I, Z-axis sliding module II, and X-axis sliding module II all adopt a reciprocating rack and pinion slide structure. The reciprocating rack and pinion slide structure includes a guide rail and a slide that is slidably connected to the guide rail and can slide along the length of the guide rail. X-axis sliding modules I and II are arranged parallel to each other on both sides of the precast segment, covering the length direction of the precast segment. The Y-axis sliding module spans between X-axis sliding modules I and II, covering the width direction of the precast segment. The two ends of the guide rail of the Y-axis sliding module are respectively connected to the upper surface of the slide of X-axis sliding module I and X-axis sliding module II. The slides of Z-axis sliding modules I and Z-axis sliding module II are mounted on the side wall of the slide of the Y-axis sliding module. The guide rails of Z-axis sliding modules I and Z-axis sliding module II are arranged vertically. Each Z-axis sliding module is equipped with a two-dimensional rotating gimbal at its end, which can change the horizontal and vertical angles. A structured light camera is mounted under the two-dimensional rotating gimbal. The structured light camera can translate along the Y-axis and move vertically along the Z-axis.

[0010] Furthermore, the precast segments are placed on a placement frame. The placement frame includes a plurality of H-beams spaced apart along the X-axis. The lower flange of the H-beams is equipped with directional wheels, and the upper flange supports the precast segments.

[0011] Furthermore, it also includes a platform. The upper surface of the platform is provided with a slide rail for the insertion of directional wheels.

[0012] Furthermore, the X-axis sliding module I, Y-axis sliding module I, Z-axis sliding module II, and X-axis sliding module II are all controlled by a closed-loop stepper motor for linear motion.

[0013] The X-axis sliding module I and X-axis sliding module II include a base I and a slide I. A pair of guide rails are provided on the upper surface of the base I. The slide I is slidably mounted on the upper surface of the base I via the guide rails. A rack located between the pair of guide rails is also provided on the upper surface of the base I. The length direction of the rack is parallel to the length direction of the guide rails. A mounting through hole is provided on the upper surface of the slide I. A motor mounting flange plate is fixedly installed in the mounting through hole. A drive motor is provided on the motor mounting flange plate. A gear is provided below the motor mounting flange plate, and the drive motor is connected to the gear. The gear meshes with the rack.

[0014] The Y-axis sliding module includes a base II and a slide II. A pair of guide rails are provided on the side wall of the base II. The slide II is slidably mounted on the side wall of the base II via the guide rails. A rack is also provided on the side wall of the base II between the pair of guide rails. The length direction of the rack is parallel to the length direction of the guide rails. A mounting through hole is provided on the side wall of the slide II. A motor mounting flange plate is fixedly installed in the mounting through hole. A drive motor is mounted on the motor mounting flange plate. A gear is provided beside the motor mounting flange plate, and the drive motor is connected to the gear. The gear meshes with the rack.

[0015] The Z-axis sliding module I and Z-axis sliding module II include a base III and a slide III. The base III is vertically arranged. The slide III is fixed on the slide II. A pair of guide rails are provided on the side wall of the base III near the slide II. The slide III is slidably mounted on the side wall of the base III via the guide rails. The side wall of the base III also has a rack located between the pair of guide rails. The length direction of the rack is parallel to the length direction of the guide rails. A mounting through hole is opened in the side wall of the slide III. A motor mounting flange plate is fixedly installed in the mounting through hole. A drive motor is provided on the motor mounting flange plate. A gear is provided on the side of the motor mounting flange plate, and the drive motor is connected to the gear. The gear meshes with the rack.

[0016] Furthermore, the support frame is constructed from horizontal and vertical aluminum alloy profiles joined together to form an open hexahedral structure. An infrared sensor array is integrated into the inner wall of the support frame.

[0017] The technical effects of this utility model are beyond doubt:

[0018] A. The dual scanners can perform cross-track scanning simultaneously through three-axis collaboration within the frame, making them suitable for full-surface acquisition of complex curved surfaces;

[0019] B. The support frame achieves high strength support through lightweight aluminum alloy material, while avoiding electromagnetic interference issues; the width and height of the frame are expandable, and the scanning coverage of precast segments is achieved through spliced ​​aluminum alloy profiles. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the device structure;

[0021] Figure 2 This is a schematic diagram illustrating the principle of structured light scanning measurement.

[0022] Figure 3 This is a schematic diagram of the device in operation.

[0023] In the diagram: 1-Aluminum alloy support frame, 2-X-axis sliding module I, 3-Y-axis sliding module, 4-Z-axis sliding module I, 5-Z-axis sliding module II, 6-Two-dimensional rotating gimbal, 7-Structured light camera, 8-X-axis sliding module II, 9-86 stepper motor I driving the Y-axis sliding module along the X-axis, 10-86 stepper motor driving the Z-axis sliding module I along the Y-axis, 11-86 stepper motor driving the Z-axis sliding module II along the Y-axis, 12-86 stepper motor II driving the Y-axis sliding module along the X-axis, 13-86 stepper motor driving the Z-axis sliding module I to move up and down, 14-86 stepper motor driving the Z-axis sliding module II to move up and down, 15-Precast tube segment, 16-H-beam, 17-Directional wheel. Detailed Implementation

[0024] The present invention will be further described below with reference to embodiments, but it should not be construed as the scope of the present invention being limited to the following embodiments. Various substitutions and modifications made based on ordinary technical knowledge and conventional methods in the art without departing from the above-described technical concept of the present invention should be included within the protection scope of the present invention.

[0025] Example 1:

[0026] See Figure 2 The scanning and measurement principle of a surface structured light camera is based on structured light technology. By projecting light of a known pattern (such as stripes or grids) onto the surface of an object, the light pattern deforms according to the shape of the object's surface. After the camera captures these deformed light patterns, it uses image processing and analysis, and calculates the three-dimensional coordinates of each point using the principle of triangulation. Specifically, the geometry of the object's surface determines the offset and deformation of the light pattern. By combining the positional relationship between the light source and the camera, and the degree of pattern deformation, the device can accurately calculate the position of each point on the surface.

[0027] See Figure 1 To address the issues of data redundancy, incomplete coverage of complex curved surfaces, and excessive manual intervention in existing technologies, this embodiment provides a mechanical frame-type precast segment inspection device, including a support frame 1, an XYZ three-axis sliding module moving system, a two-dimensional rotating gimbal 6, and a structured light camera 7.

[0028] The support frame 1, through its enclosed design, places the prefabricated tube segment 15 within its internal space, creating a stable non-contact scanning environment. The top surface of the support frame 1 serves as the mounting reference surface for the XYZ three-axis sliding module moving system.

[0029] The XYZ three-axis sliding module moving system includes an X-axis sliding module I2, a Y-axis sliding module 3, a Z-axis sliding module I4, a Z-axis sliding module II5, and an X-axis sliding module II8. The X-axis sliding modules I2 and II8 are arranged parallel to each other on both sides of the precast segment 15, covering the length direction of the precast segment 15. The Y-axis sliding module 3 spans between the X-axis sliding modules I2 and II8, covering the width direction of the precast segment 15. The two ends of the Y-axis sliding module 3 are slidably connected to the upper surfaces of the X-axis sliding modules I2 and II8, respectively. The Z-axis sliding modules I4 and II5 are vertically mounted on the sidewalls of the Y-axis sliding module 3. Each Z-axis is equipped with a two-dimensional rotating gimbal 6. A structured light camera 7 is mounted under the two-dimensional rotating gimbal 6.

[0030] Example 2:

[0031] This embodiment is similar in main content to Embodiment 1, except that it also includes a platform. The precast tube segment 15 is placed on a placement frame. The placement frame includes a plurality of H-beams 16 spaced apart along the X-axis. The lower flange of the H-beams 16 is provided with a directional wheel 17, and the upper flange supports the precast tube segment 15. The upper surface of the platform is provided with a slide rail for the directional wheel 17 to be inserted.

[0032] Example 3:

[0033] The main content of this embodiment is the same as that of embodiment 1 or 2, wherein, see [link / reference]. Figure 3 The X-axis sliding module I2, Y-axis sliding module 3, Z-axis sliding module I4, Z-axis sliding module II5 and X-axis sliding module II8 are all driven by closed-loop stepper motors.

[0034] The X-axis sliding module I2, Y-axis sliding module 3, Z-axis sliding module I4, Z-axis sliding module II5 and X-axis sliding module II8 are all controlled by a closed-loop stepper motor for linear motion.

[0035] The X-axis sliding module I2 and X-axis sliding module II8 include a base I and a slide I. A pair of guide rails are provided on the upper surface of the base I. The slide I is slidably mounted on the upper surface of the base I via the guide rails. A rack located between the pair of guide rails is also provided on the upper surface of the base I. The length direction of the rack is parallel to the length direction of the guide rails. A mounting through hole is provided on the upper surface of the slide I. A motor mounting flange plate is fixedly installed in the mounting through hole. A drive motor is provided on the motor mounting flange plate. A gear is provided below the motor mounting flange plate, and the drive motor is connected to the gear. The gear meshes with the rack.

[0036] The Y-axis sliding module 3 includes a base II and a slide II. A pair of guide rails are provided on the side wall of the base II. The slide II is slidably mounted on the side wall of the base II via the guide rails. A rack is also provided on the side wall of the base II between the pair of guide rails. The length direction of the rack is parallel to the length direction of the guide rails. A mounting through hole is provided on the side wall of the slide II. A motor mounting flange plate is fixedly installed in the mounting through hole. A drive motor is mounted on the motor mounting flange plate. A gear is provided beside the motor mounting flange plate, and the drive motor is connected to the gear. The gear meshes with the rack.

[0037] The Z-axis sliding module I4 and Z-axis sliding module II5 include a base III and a slide III. The base III is vertically arranged. The slide III is fixed on the slide II. A pair of guide rails are provided on the side wall of the base III near the slide II. The slide III is slidably mounted on the side wall of the base III via the guide rails. The side wall of the base III also has a rack located between the pair of guide rails. The length direction of the rack is parallel to the length direction of the guide rails. A mounting through hole is opened on the side wall of the slide III. A motor mounting flange plate is fixedly installed in the mounting through hole. A drive motor is provided on the motor mounting flange plate. A gear is provided next to the motor mounting flange plate, and the drive motor is connected to the gear. The gear meshes with the rack.

[0038] It is worth noting that the 86-stepper motor driving the Y-axis sliding module along the X-axis is marked as 9. The 86-stepper motor driving Z-axis sliding module I along the Y-axis is marked as 10. The 86-stepper motor driving Z-axis sliding module II along the Y-axis is marked as 11. The 86-stepper motor driving the Y-axis sliding module along the X-axis is marked as 12. The 86-stepper motor driving Z-axis sliding module I to move up and down is marked as 13. The 86-stepper motor driving Z-axis sliding module II to move up and down is marked as 14.

[0039] Example 4:

[0040] The main content of this embodiment is the same as any one of embodiments 1 to 3, wherein the support frame 1 adopts an open hexahedral structure spliced ​​from horizontal and vertical aluminum alloy profiles. The inner wall of the support frame 1 integrates an infrared sensor array, which triggers emergency braking when the moving trajectory of the structured light camera 7 approaches the surface of the precast tube segment 15 to avoid mechanical collision.

Claims

1. A mechanical frame type precast segment inspection device, characterized by: It includes a support frame (1), an XYZ three-axis sliding module moving system, a two-dimensional rotating gimbal (6), and a structured light camera (7); The support frame (1) uses an enclosed design to place the prefabricated tube segment (15) in the internal space to form a stable non-contact scanning environment; the top surface of the support frame (1) serves as the installation reference surface for the XYZ three-axis sliding module moving system. The XYZ three-axis sliding module moving system includes an X-axis sliding module I (2), a Y-axis sliding module (3), a Z-axis sliding module I (4), a Z-axis sliding module II (5), and an X-axis sliding module II (8); The X-axis sliding module I (2), Y-axis sliding module (3), Z-axis sliding module I (4), Z-axis sliding module II (5) and X-axis sliding module II (8) all adopt a reciprocating rack and pinion slide structure; the reciprocating rack and pinion slide structure includes a guide rail and a slide that is slidably connected to the guide rail and can slide along the length direction of the guide rail; the X-axis sliding module I (2) and X-axis sliding module II (8) are arranged in parallel on both sides of the precast tube segment (15) and cover the length direction of the precast tube segment (15); the Y-axis sliding module (3) spans between the X-axis sliding module I (2) and X-axis sliding module II (8) and covers the width direction of the precast tube segment (15); the two ends of the guide rail of the Y-axis sliding module (3) are respectively connected to the upper surface of the slide of the X-axis sliding module I (2) and X-axis sliding module II (8); The slides of the Z-axis sliding module I (4) and Z-axis sliding module II (5) are mounted on the side wall of the slide of the Y-axis sliding module (3); the guide rails of the Z-axis sliding module I (4) and Z-axis sliding module II (5) are arranged vertically; a two-dimensional rotating gimbal (6) is provided at the end of the guide rail, which can change the horizontal angle and the pitch angle; a structured light camera (7) is installed under the two-dimensional rotating gimbal (6); the structured light camera (7) can translate along the Y-axis and move vertically along the Z-axis.

2. The mechanical frame type precast segment inspection apparatus according to claim 1, characterized in that: The precast tube segment (15) is placed on a placement frame; the placement frame includes a number of H-beams (16) spaced apart along the X-axis; the lower flange of the H-beams (16) is provided with a directional wheel (17), and the upper flange supports the precast tube segment (15).

3. The mechanical frame precast segment inspection apparatus of claim 2, wherein: It also includes a platform; the upper surface of the platform is provided with a slide rail for the directional wheel (17) to be embedded.

4. The mechanical frame precast segment inspection apparatus of claim 1, wherein: The X-axis sliding module I (2), Y-axis sliding module (3), Z-axis sliding module I (4), Z-axis sliding module II (5) and X-axis sliding module II (8) are all controlled by a closed-loop stepper motor for linear motion. The X-axis sliding module I (2) and X-axis sliding module II (8) include a base I and a slide I; the upper end face of the base I is provided with a pair of guide rails; the slide I is slidably mounted on the upper end face of the base I through the guide rails; the upper end face of the base I is also provided with a rack located between the pair of guide rails; the length direction of the rack is parallel to the length direction of the guide rails; the upper end face of the slide I is provided with a mounting through hole; a motor mounting flange plate is fixedly installed in the mounting through hole; a drive motor is provided on the motor mounting flange plate; a gear is provided below the motor mounting flange plate, and the drive motor is connected to the gear; the gear meshes with the rack. The Y-axis sliding module (3) includes a base II and a slide II; the side wall of the base II is provided with a pair of guide rails; the slide II is slidably mounted on the side wall of the base II via the guide rails; the side wall of the base II is also provided with a rack located between the pair of guide rails; the length direction of the rack is parallel to the length direction of the guide rails; the side wall of the slide II is provided with a mounting through hole; a motor mounting flange plate is fixedly installed in the mounting through hole; a drive motor is provided on the motor mounting flange plate; a gear is provided on the side of the motor mounting flange plate, and the drive motor is connected to the gear; the gear meshes with the rack. The Z-axis sliding module I (4) and Z-axis sliding module II (5) include a base III and a slide III; the base III is arranged vertically; the slide III is fixed on the slide II; a pair of guide rails are provided on the side wall of the base III near the slide II; the slide III is slidably installed on the side wall of the base III through the guide rails; the side wall of the base III is also provided with a rack located between the pair of guide rails; the length direction of the rack is parallel to the length direction of the guide rails; the side wall of the slide III has an installation through hole; a motor mounting flange plate is fixedly installed in the installation through hole; a drive motor is provided on the motor mounting flange plate; a gear is provided on the side of the motor mounting flange plate, and the drive motor is connected to the gear; the gear meshes with the rack.

5. The mechanical frame precast segment inspection apparatus of claim 1, wherein: The support frame (1) is constructed by splicing horizontal and vertical aluminum alloy profiles into an open hexahedral structure; the inner wall of the support frame (1) integrates an infrared sensor array.

Images