Portal type prefabricated box girder full-face maintenance robot and use method

Abstract

The application discloses a portal type full-section maintenance robot for a prefabricated box girder and a use method, relates to the technical field of spray maintenance, and comprises a maintenance robot arranged outside the prefabricated box girder, wherein the maintenance robot is composed of a support mechanism, a driving mechanism and a spraying mechanism. The application has the beneficial effects that: through the driving mechanism, the support mechanism and the spraying mechanism, the first spraying assembly and the second spraying assembly in the spraying mechanism can realize spraying in two modes, the box girder body is diversifiedly maintained, the maintenance vehicle and the spray head are conveniently moved to the inside of the box girder body for spraying and receiving, compared with manual spray maintenance, the spraying efficiency is high, the coverage area is guaranteed, the degree of automation is high, which can automatically judge which piece of girder needs to be sprayed according to temperature and humidity, automatically execute the spraying task, compared with hanging pipe maintenance, the artificial workload is small, it is not necessary to reserve a water supply opening for each pedestal, and the main water supply pipeline will not cause excessive load when the spraying is started.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spraying maintenance, in particular to a gantry type precast box girder full-section maintenance robot and a use method thereof. BACKGROUND

[0002] A beam field is a place for producing precast concrete simple-supported beams of a bridge, and after the simple-supported beams are produced in the field, the beams are transported and erected onto piers by a beam transporting machine and a beam erecting machine, and the main raw material of the precast beam is composed of concrete, and the maintenance process of the concrete component is directly related to the final quality.

[0003] The existing precast beam maintenance methods are divided into two kinds, a traditional manual maintenance method and a method of adopting a semi-automatic hanging pipe spraying device, although the above two methods are widely applied in construction, but there are still many problems to be solved, in the traditional precast beam maintenance process, there are more manual operation procedures, and the influence of human factors on the quality is inevitable, and the maintenance time, maintenance interval and spraying coverage area all depend on the responsibility of workers, and the maintenance effect is difficult to guarantee. SUMMARY

[0004] The present application aims to overcome the deficiencies in the background art, and provides a gantry type precast box girder full-section maintenance robot and a use method thereof.

[0005] In a first aspect, the present application provides a gantry type precast box girder full-section maintenance robot, comprising: a maintenance robot arranged outside a precast box girder, wherein the maintenance robot is composed of a support mechanism, a driving mechanism and a spraying mechanism.

[0006] The driving mechanism is arranged on both sides of the precast box girder, the support mechanism is arranged on the driving mechanism, and the support mechanism is in a gantry structure, and the spraying mechanism is arranged on the support mechanism.

[0007] Further, the spraying mechanism comprises a first spraying assembly and a second spraying assembly, one end of the first spraying assembly and the second spraying assembly is provided with a water supply system, and the water supply system is arranged at one end of the driving mechanism.

[0008] Further, the first spraying assembly comprises:

[0009] a lifting part arranged on a cross arm of the support mechanism and in a square box structure;

[0010] a maintenance vehicle located inside the precast box girder, and the lifting part is larger than the maintenance vehicle.

[0011] Further, the second spraying assembly comprises:

[0012] a lifting pipe arranged on the cross arm of the support mechanism;

[0013] The spray head is arranged at the end of the lifting pipe.

[0014] Further, the support mechanism comprises:

[0015] Two support frames are arranged on the driving mechanism respectively as vertical arms.

[0016] The fixed frame is arranged between the two support frames as a horizontal arm.

[0017] Further, the support mechanism further comprises a climbing frame arranged at the lower end surface of the fixed frame, and the climbing frame is located at one side of the prefabricated box girder.

[0018] Further, the driving mechanism comprises:

[0019] A plurality of guide wheels are arranged at the lower end surface of the support mechanism, and two guide wheels are arranged at the two sides of the prefabricated box girder as a group, and the plurality of guide wheels are arranged at the four corners of the support mechanism.

[0020] A guide rail is arranged below the guide wheels and longitudinally along the length of the prefabricated box girder.

[0021] Further, the driving mechanism further comprises a winch, one side of the winch is provided with a power supply system and a power system, and the winch is used to drive the whole structure to move.

[0022] Further, the prefabricated box girder further comprises a base and a box girder body, the base is arranged between the support mechanisms, the box girder body is arranged on the base, and the surface of the box girder body is provided with a wireless temperature and humidity sensor.

[0023] In a second aspect, the application further provides a use method of the gantry type prefabricated box girder full-face maintenance robot, which is applied to the gantry type prefabricated box girder full-face maintenance robot of any of the above-mentioned schemes and further comprises the following steps:

[0024] The first spraying assembly of the spraying mechanism is used to spray the prefabricated box girder, the maintenance vehicle of the first spraying assembly is used to spray the prefabricated box girder, the maintenance vehicle enters the interior of the prefabricated box girder to spray, the lifting part of the first spraying assembly is used to transport and receive the maintenance vehicle, and the water supply system on the spraying mechanism can provide clean water for the maintenance vehicle or the spray head;

[0025] The second spraying assembly of the spraying mechanism is used to spray the prefabricated box girder in another way, the spray head of the second spraying assembly is used to spray and maintain the prefabricated box girder, and the lifting pipe of the second spraying assembly is used to move the spray head up and down.

[0026] The support frame and the fixing frame of the support mechanism can fix and move the spraying mechanism, the capstan of the driving mechanism automatically pays out and takes up the wire to drive the whole structure to move, the guide wheel and the guide rail of the driving mechanism support and move the whole mechanism, and the power supply system and the power system on the driving mechanism provide power and power for the capstan.

[0027] Compared with the prior art, the advantages of the present application are as follows: through the driving mechanism, the support mechanism and the spraying mechanism, the first spraying assembly and the second spraying assembly in the spraying mechanism can spray in two ways, the maintenance vehicle and the spray head are moved to the inside of the box girder body for spraying and receiving, the spraying efficiency is high, the coverage area is guaranteed, the degree of automation is high, the spraying task can be automatically executed according to the temperature and humidity, the manual workload is small compared with the pipe hanging maintenance, and a water supply opening does not need to be reserved for each pedestal, and the main water supply pipeline will not cause excessive load when the spraying is started. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a first spraying assembly overall front view schematic diagram of the present application.

[0029] Figure 2 is a second spraying assembly overall perspective schematic diagram of the present application.

[0030] Figure 3 is a second spraying assembly perspective enlarged schematic diagram of the present application.

[0031] Figure 4 is a driving assembly structure schematic diagram of the present application.

[0032] In the figure:

[0033] 1, support frame;

[0034] 2, capstan;

[0035] 3, guide wheel;

[0036] 4, guide rail;

[0037] 5, fixing frame;

[0038] 6, lifting part;

[0039] 7, maintenance vehicle;

[0040] 8, climbing frame;

[0041] 9, base;

[0042] 10, box girder body;

[0043] 11, lifting pipe;

[0044] 12. The showerhead. DETAILED DESCRIPTION

[0045] Reference will now be made in detail to the present embodiments of the application, examples of which are illustrated in the accompanying drawings. While the application will be described in conjunction with the specific embodiments, it will be understood that the application is not intended to be limited to the described embodiments. On the contrary, the application is intended to cover alternatives, modifications, and equivalents, which can be included within the spirit and scope of the application as defined by the appended claims. It should be noted that the steps of the methods described herein can be performed in any order unless otherwise specified and that the described ordering is merely for illustrative purposes.

[0046] In order to better understand the present application, the following further describes the present application in conjunction with the accompanying drawings and specific embodiments.

[0047] Note: The examples to be introduced next are only specific examples and are not intended to limit the embodiments of the present application to the specific steps, values, conditions, data, sequences, etc. Those skilled in the art can use the concept of the present application to construct more embodiments not mentioned in the present specification by reading the present specification.

[0048] The existing precast beam maintenance methods are divided into two kinds, the traditional manual maintenance method and the method using a semi-automatic hanging pipe spraying device. Although the above two methods are widely used in construction, there are still many problems to be solved. In the traditional precast beam maintenance process, there are many manual operation processes, and the influence of human factors on quality is inevitable. The maintenance time, maintenance interval, and spraying coverage area all depend on the responsibility of workers, and the maintenance effect is difficult to guarantee.

[0049] In order to solve the problems existing in the precast box girder, the gantry type precast box girder full-section maintenance robot is provided in the present application, which is described in detail below. Figures 1-4 In the present application, the maintenance robot is provided outside the precast box girder, and the maintenance robot is composed of a support mechanism, a driving mechanism, and a spraying mechanism. The driving mechanism is arranged on both sides of the precast box girder, the support mechanism is arranged on the driving mechanism, and the support mechanism is in a gantry structure, and the spraying mechanism is arranged on the support mechanism.

[0050] In the present embodiment, the maintenance robot is mainly composed of a support mechanism, a driving mechanism, and a spraying mechanism. When spraying and maintaining the precast box girder, the spraying mechanism sprays and maintains the precast box girder in two types, which is convenient for selective operation of the workers. The support mechanism can fix and install the spraying mechanism, so that the spraying mechanism can be moved to the appropriate position for spraying. The driving mechanism can drive the whole structure to move forward and backward, so that the spraying mechanism can enter the inside of the precast box girder for spraying and receiving.

[0051] On the basis of the above-mentioned embodiments, in the present embodiment, the spraying mechanism comprises a first spraying assembly and a second spraying assembly, one end of the first spraying assembly and the second spraying assembly is provided with a water supply system, and the water supply system is arranged at one end of the driving mechanism.

[0052] In the present embodiment, the water supply position of the water supply system is arranged at the end of the track 4, a proximity switch is arranged at one side of the end of the track 4, and a liquid level sensor is arranged in the water tank of the maintenance vehicle 7 or the spray head 12. When the water level is too low, the control system issues a water supply instruction, the maintenance vehicle 7 or the spray head 12 drives to the water supply position, and the control electromagnetic valve is opened after triggering the proximity switch to add water to the water tank of the maintenance vehicle 7 or the spray head 12.

[0053] On the basis of the above-mentioned embodiments, in the present embodiment, the first spraying assembly comprises a lifting part 6 arranged on the cross arm of the support mechanism and in a square box structure, and a maintenance vehicle 7 located in the interior of the prefabricated box girder and larger than the lifting part 6.

[0054] In the present embodiment, the maintenance of the interior cavity of the prefabricated box girder is independently completed by the maintenance vehicle 7, which comprises a stepping motor, a booster pump, a water tank, a lithium battery and a spraying pipeline, and uses a track as a traveling mechanism. When the support mechanism runs to the base 9 position, the lifting part 6 is lowered to the elevation of the bottom surface of the interior cavity of the prefabricated box girder, the maintenance vehicle 7 advances to start the spraying operation, and the lifting part 6 is retracted. When the support mechanism moves to the other base 9 position, the lifting part 6 is lowered again to catch the maintenance vehicle 7 and then retracted. In addition to vertical movement, the lifting part 6 can also move horizontally along the fixed frame 5 of the support mechanism, and the movement speed of the maintenance vehicle 7 needs to be lower than the walking speed of the gantry structure.

[0055] On the basis of the above-mentioned embodiments, in the present embodiment, the second spraying assembly comprises a lifting pipe 11 arranged on the cross arm of the support mechanism and a spray head 12 arranged at the end of the lifting pipe 11.

[0056] In the present embodiment, an electrically driven super-high-pressure atomizing water cannon spray head 12 is used. When driving to the end face of the prefabricated box girder, the spray head 12 is automatically lowered, the electrically driven cloud platform structure controls the spray head 12 to rotate in a small range, and the interior cavity of the box girder is completely covered.

[0057] On the basis of the above-mentioned embodiments, in the present embodiment, the support mechanism comprises two support frames 1 arranged in vertical arms on the driving mechanism and a fixed frame 5 arranged in a cross arm between the two support frames 1.

[0058] In the present embodiment, the spraying mechanism is installed, which can move up and down and left and right conveniently, so as to facilitate the spraying and maintenance of the box girder body 10.

[0059] On the basis of the above-mentioned embodiment, in the embodiment, the support mechanism further comprises a climbing frame 8, the climbing frame 8 is arranged on the lower end surface of the fixing frame 5, and the climbing frame 8 is located on one side of the prefabricated box girder.

[0060] In the embodiment, the staff can conveniently observe the spraying condition in the prefabricated box girder through the climbing frame 8.

[0061] On the basis of the above-mentioned embodiment, in the embodiment, the driving mechanism comprises a plurality of guide wheels 3 arranged on the lower end surface of the support mechanism, two guide wheels 3 as a group are arranged on the two sides of the prefabricated box girder, and the plurality of guide wheels 3 are arranged at four corners of the support mechanism; and a guide rail 4 arranged below the guide wheels 3 and arranged longitudinally along the length of the prefabricated box girder.

[0062] In the embodiment, when the whole structure moves, the guide wheels 3 can move forward and backward along the guide rail 4, so that the deviation of the whole structure is prevented, the position of the spraying mechanism is conveniently limited, and the spraying mechanism can conveniently spray at the correct position of the prefabricated box girder.

[0063] On the basis of the above-mentioned embodiment, in the embodiment, the driving mechanism further comprises a winch 2, one side of the winch 2 is provided with a power supply system and a power system, and the winch 2 is used to drive the whole structure to move.

[0064] In the embodiment, the device power cable is connected with the winch 2 and connected to a field three-level power distribution cabinet, and the winch 2 is linked with the power system to control, when the maintenance vehicle 7 advances, the winch 2 automatically pays out, when the maintenance vehicle 7 retreats, the winch 2 automatically takes up, a transverse tension control system is arranged between the cable and the winch 2, so that the power cable cannot have an excessive excess amount to cause the robot to collide and entangle in the movement process, and cannot be excessively tensioned to cause damage, so that the winch 2 can rotate according to the needs of the maintenance vehicle 7, and the whole structure moves.

[0065] On the basis of the above-mentioned embodiment, in the embodiment, the prefabricated box girder further comprises a base 9 and a box girder body 10, the base 9 is arranged between the support mechanisms, the box girder body 10 is arranged on the base 9, and the surface of the box girder body 10 is provided with a wireless temperature and humidity sensor.

[0066] In the embodiment, a low-power wireless temperature and humidity sensor is arranged on the surface of the concrete box girder, sensor data is directly sent to the spraying system control host through near-field wireless radio frequency technology, when the temperature is too high or the humidity is too low, a movement instruction is automatically sent to the power system to go to a specified pedestal for spraying maintenance.

[0067] The application further provides a use method of the portal type prefabricated box girder full-section maintenance robot.

[0068] The first spraying assembly of the spraying mechanism sprays the prefabricated box girder, the maintenance vehicle 7 of the first spraying assembly sprays the prefabricated box girder, the maintenance vehicle 7 enters the inside of the prefabricated box girder to spray, the lifting part 6 of the first spraying assembly is used for conveying and receiving the maintenance vehicle 7, and the water supply system on the spraying mechanism can provide clean water for the maintenance vehicle 7 or the spray head 12;

[0069] The second spraying assembly of the spraying mechanism sprays the prefabricated box girder in another way, the spray head 12 of the second spraying assembly sprays the prefabricated box girder, and the lifting pipe 11 of the second spraying assembly moves the spray head 12 up and down;

[0070] The support frame 1 and the fixed frame 5 of the support mechanism can fix and move the spraying mechanism, the capstan 2 of the driving mechanism automatically pays off and takes up lines to drive the whole structure to move, the guide wheel 3 and the guide rail 4 of the driving mechanism support and move the whole mechanism, and the power supply system and the power system on the driving mechanism provide power and power for the capstan 2;

[0071] Control logic: stop forcibly as the first priority control when the temperature is lower than 5 DEG C; the maximum temperature of the beam surface is the second priority control; start forcibly when the temperature is higher than 40 DEG C; stop forcibly as the third priority control when the humidity of the beam surface is greater than 95% RH; finally, clock control is used, and the maintenance time of 5 days is divided into three stages: the first day is the first stage, the second and third days are the second stage, and the fourth and fifth days and after the fifth day are the third stage; the interval time is 30 min in the daytime and 45 min at night in the first stage; the interval time is 60 min in the daytime and 90 min at night in the second stage; and the interval time is 120 min in the daytime and 180 min at night in the third stage.

[0072] In the description of the present application, it should be noted that the positions or position relationships indicated by the terms "upper", "lower" and the like are based on the positions or position relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular position, be constructed and operated in a particular position, and therefore cannot be understood as a limitation on the present application. Unless otherwise specified and limited, the terms "mounting", "connection" and "connection" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, and can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0073] It should be noted that, in the present application, the relational terms such as "first" and "second", and the like, are used solely to distinguish one from another entity or action, without necessarily requiring or implying any actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0074] The foregoing is considered as illustrative only of the principles of the application. Numerous modifications and changes will readily occur to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Accordingly, the scope of the application is indicated by the appended claims rather than by the foregoing description, and all changes that come within the meaning and range of equivalents are intended to be embraced therein.

Claims

1. A portal type full-face maintenance robot for a precast box girder, characterized by, The utility model relates to a gantry type precast box girder full section maintenance robot, and belongs to the field of precast box girder maintenance. The utility model discloses a gantry type precast box girder full section maintenance robot which comprises a support mechanism, a driving mechanism and a spraying mechanism. The driving mechanism is arranged on both sides of the precast box girder, the support mechanism is arranged on the driving mechanism, and the support mechanism has a gantry structure. The spraying mechanism comprises a first spraying assembly and a second spraying assembly. The first spraying assembly comprises a lifting part arranged on a cross arm of the support mechanism and having a square box structure. The maintenance vehicle is located in the interior of the precast box girder, and the lifting part is larger than the maintenance vehicle. The second spraying assembly comprises a lifting pipe arranged on the cross arm of the support mechanism and a spray head arranged at the end of the lifting pipe. The spray head is an electrically driven superhigh-pressure atomizing water cannon spray head, and a rotating electrically driven cloud platform structure is used to control the rotation of the spray head to completely cover the interior of the box girder. The support mechanism comprises two vertical arms arranged on the driving mechanism. The support mechanism further comprises a climbing frame arranged at the lower end face of the fixed frame and located on one side of the precast box girder. The driving mechanism comprises a plurality of guide wheels arranged at the lower end face of the support mechanism. The guide rails are arranged below the guide wheels and longitudinally along the length of the precast box girder. The driving mechanism further comprises a winch provided with a power supply system and a power system on one side for starting the winch to drive the whole structure to move. The precast box girder further comprises a base arranged between the support mechanisms and a box girder body arranged on the base.

2. The portal precast box girder full-section maintenance robot according to claim 1, characterized in that, The first spraying assembly of the spraying mechanism is used to spray the precast box girder to maintain the precast box girder. The maintenance vehicle of the first spraying assembly is used to spray the precast box girder, and the maintenance vehicle enters the interior of the precast box girder to spray. The lifting part of the first spraying assembly is used to convey and receive the maintenance vehicle.

3. The portal precast box girder full-section maintenance robot according to claim 1, characterized in that, The second spraying assembly of the spraying mechanism is used to spray the precast box girder in another way.

4. The portal precast box girder full-section maintenance robot according to claim 1, characterized in that, The spray head of the second spraying assembly is used to spray and maintain the precast box girder.

5. A method for using a portal precast box girder full-face maintenance robot, characterized in that, The lifting pipe of the second spraying assembly is used to move the spray head up and down. ​ ​ The support frame (1) and the fixed frame (5) of the support mechanism can fix and move the spraying mechanism, the capstan (2) of the driving mechanism can automatically pay off and take up the wire to drive the whole structure to move, the guide wheel (3) and the guide rail (4) of the driving mechanism can support and move the whole mechanism, and the power supply system and the power system on the driving mechanism can provide power and power for the capstan (2).

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