Self-walking flaw detection device for fireproof coating of steel structure

Abstract

The invention relates to a self-walking flaw detection device for a fireproof coating of a steel structure, and belongs to the field of detection of fireproof coatings of steel structures. The two guide rails are arranged in parallel in the length direction of the steel structural part, each guide rail is provided with a sliding seat, and the sliding seats are connected with first driving units arranged on the sliding seats; the two walking mechanisms are correspondingly and rotationally arranged on the two sliding seats, the two walking mechanisms are correspondingly connected with second driving units arranged on the sliding seats, and the second driving units drive the walking mechanisms to rotate; the two jacking mechanisms are arranged on the sliding seat; the detection mechanism is arranged on the sliding seat; the detection device is arranged to be in the form, the automatic obstacle crossing function can be achieved, in an actual steel structure factory building, the steel structural parts are not smooth all the time, the criss-cross arrangement enables the steel structural parts to have a plurality of connecting points, and the existence of the connecting points hinders the detection device from walking on the components of the steel structural parts; therefore, the detection device is more suitable for actual steel structure factory building detection and can be widely used.

Description

Technical Field

[0001] The invention relates to the field of steel structure fire retardant coating detection, and in particular to a self-propelled steel structure fire retardant coating flaw detection device. Background Art

[0002] Steel structure refers to a structural form that can bear and transfer loads and is connected by steel plates and hot-rolled, cold-bent or welded profiles through connectors. Steel structure has the advantages of light weight, quick installation and short construction period, and is widely used in the construction of steel structure workshops. In order to increase the fire resistance of steel structures, reduce fire risks and prevent the spread of fire, fire retardant coatings are generally sprayed on the surface of steel structures. However, the fire retardant coating is affected by various factors during spraying, such as coating flatness, coating principles, substrate treatment, coating uniformity, whether rain protection measures are set, etc., which will cause the adhesion of a certain part of the fire retardant coating to the substrate to decrease, and it will fall off during subsequent long-term use, reducing the fire resistance level of the steel structure. The existing technology often cannot detect whether the fire retardant coating has fallen off in time, especially the steel structure on the top of the steel structure workshop. Since it is difficult to observe with the naked eye, once a fire occurs, the temperature of the steel rises, the strength and stiffness decrease, causing the steel structure to lose its bearing capacity, causing the collapse of the steel structure workshop.

[0003] The prior art has a mechanism that can walk on a steel structure by itself, such as the patent CN118031760A, which discloses an intelligent detection device for steel structure coatings. It can walk on the steel structure and detect the thickness of the coating, but it cannot detect whether the fire-retardant coating of the steel structure has fallen off, and in particular, it cannot realize the obstacle crossing function when walking on the steel structure. Because when steel structures are used for construction, there are often crisscross connections between the steel structures. When the detection device walks on the steel structure, the connection will prevent the detection device from continuing to walk. Most of the current detection devices idealize the steel structure as a smooth steel component, but the reality is not the case, so these detection devices cannot be widely used in practice (they can only be used for the smooth section of the steel component). Summary of the invention

[0004] Whether the existing steel structure fire retardant coating has fallen off is often not discovered in time, especially the steel structure on the top of the steel structure plant is generally difficult to detect. Once a fire occurs, the temperature of the steel rises, the strength and stiffness decrease, causing the steel structure to lose its bearing capacity and collapse. The intelligent detection equipment in the above technology can only detect the thickness of the coating, and does not have the obstacle crossing function when walking on the steel structure. At least one aspect or one purpose of this application can solve the above problem. A self-propelled steel structure fire retardant coating flaw detection device is designed, and the specific technical solution adopted is:

[0005] A self-propelled steel structure fire retardant coating flaw detection device, comprising:

[0006] Sliding seat;

[0007] Two guide rails, the two guide rails are arranged in parallel along the length direction of the steel structure, each guide rail is provided with a sliding seat, the sliding seat is connected to a first driving unit arranged on the sliding seat, and the first driving unit drives the sliding seat to move along the guide rail;

[0008] Two walking mechanisms, the two walking mechanisms are rotatably arranged on the two sliding seats and are located on both sides of the steel structure, the two walking mechanisms are connected to the second driving units arranged on the sliding seats, and the second driving units drive the walking mechanisms to rotate;

[0009] Two tightening mechanisms, the two tightening mechanisms are arranged on the slide seat, and when the tightening mechanisms tighten the steel structure, the two tightening mechanisms are located on both sides of the steel structure;

[0010] A plurality of detection mechanisms are provided on the slide seat, and the detection heads of the detection mechanisms can extend to one side of the steel structure to detect whether the fire retardant coating of the steel structure is missing.

[0011] Preferably, each walking mechanism includes a wheel frame, the second drive unit is connected between the wheel frame and the sliding seat, one end of the wheel frame is hinged to the sliding seat, a walking wheel is rotatably provided on the wheel frame, and the rotating shaft of the walking wheel is connected to the motor reducer fixed to the wheel frame.

[0012] Preferably, the first driving unit includes a first motor and a screw rod, the first motor is arranged on the sliding seat near the end of the guide rail, one end of the screw rod is connected to the motor, and the other end is threadedly connected to the sliding seat.

[0013] Preferably, the second driving unit is a first telescopic cylinder, a cylinder body of the first telescopic cylinder is hinged to the sliding seat, and an end of the telescopic rod is hinged to the wheel frame.

[0014] Preferably, the wheel frame is a U-shaped frame, and the connection surface between the second drive unit and the wheel frame is opposite to the surface of the wheel frame where the motor reducer is located.

[0015] Preferably, each tightening mechanism includes a first rotating driving member, which is arranged on a sliding seat, and a power output end of the first rotating driving member is connected to a first connecting plate. The first connecting plate is provided with a second telescopic cylinder at an end away from the first rotating driving member, and the second telescopic cylinder is arranged perpendicular to the length direction of the steel structure. The telescopic rod end of the second telescopic cylinder is also connected to a third telescopic cylinder, and the third telescopic cylinder is arranged perpendicular to the second telescopic cylinder.

[0016] Preferably, the two pressing mechanisms are arranged correspondingly close to the two ends of the slide seat, or the two pressing mechanisms are arranged at one end of the slide seat.

[0017] Preferably, the detection mechanism includes a second rotating driving member, which is arranged on a sliding seat, and a second connecting plate is connected to the power output end of the second rotating driving member. The second connecting plate is provided with a fourth telescopic cylinder at an end away from the second rotating driving member, and the fourth telescopic cylinder is perpendicular to the length direction of the vertical steel structure, and an image acquisition element is connected to the telescopic rod end of the fourth telescopic cylinder.

[0018] Preferably, one end of the second connecting plate close to the second rotating drive member extends toward a side away from the fourth telescopic cylinder, and the extended end is connected to the fifth telescopic cylinder. The fifth telescopic cylinder and the fourth telescopic cylinder are symmetrically arranged relative to the slide seat, and an image acquisition element is connected to the telescopic rod end of the fifth telescopic cylinder.

[0019] Preferably, two of the above-mentioned detection mechanisms are provided, one of which is close to the center of the slide, and the other is close to one end of the slide.

[0020] The present invention has the following technical effects by providing the above technical solution:

[0021] ① Setting up a self-propelled structure enables the detection device to walk on the steel structure by itself. The image acquisition component collects images or video information and transmits it to the external terminal to check whether the fire retardant coating has fallen off. The image is collected while walking to detect the fire retardant coating of the entire steel structure and to detect the falling of the fire retardant coating in time.

[0022] ② By setting the detection device into the above-mentioned form, the automatic obstacle crossing function can be realized. In the actual steel structure factory, the steel structure parts are not always smooth. The criss-cross arrangement makes the steel structure parts have multiple connection points. The existence of the connection points hinders the detection device from walking on its components. Therefore, the detection device of the present application is more suitable for actual steel structure factory inspection and can be widely used. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1-Figure 2 It is a state diagram of the present invention walking on a vertical steel structure;

[0024] Figure 3 It is a front view of the present invention;

[0025] Figure 4 This is the state diagram when the walking mechanism is rotated 90° (i.e. when crossing an obstacle);

[0026] Figure 5-Figure 6 It is a state diagram of the present invention walking on a horizontal steel structure.

[0027] In the figure, 1. steel structure, 2. sliding seat, 3. guide rail, 4. first driving unit, 401. first motor, 402. screw, 5. tightening mechanism, 501. second telescopic cylinder, 502. first connecting plate, 503. first rotating driving member, 504. third telescopic cylinder, 6. detection mechanism, 601. second rotating driving member, 602. second connecting plate, 603. fourth telescopic cylinder, 604. fifth telescopic cylinder, 605. image acquisition element, 7. walking mechanism, 701. walking wheel, 702. wheel frame, 703. motor reducer, 8. first telescopic cylinder, 9. sliding seat. DETAILED DESCRIPTION

[0028] In order to clearly illustrate the technical features of the present invention, the present invention is described in detail below through specific implementation methods in conjunction with the accompanying drawings.

[0029] In addition, in the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0030] like Figure 1-6 As shown, a self-propelled steel structure fire retardant coating flaw detection device includes a slide 2, which is a rectangular plate structure and extends a certain length along the length direction of a steel structure member 1. The steel structure member 1 in this application is an I-beam, and this direction is referred to as the length direction of the slide 2 in this application. In actual work, the slide fits with the outer surface of the flange plate of the I-beam member or has a small gap.

[0031] Two guide rails 3 are provided on the slide 2, and the two guide rails 3 are arranged in parallel along the length direction of the steel structure 1. Each guide rail 3 is provided with a sliding seat 9, and the sliding seat 9 is slidably set on the guide rail 3. The sliding seat 9 is connected to the first driving unit 4 set on the slide 2, and the first driving unit 4 drives the sliding seat 9 to move along the guide rail 3.

[0032] The two walking mechanisms 7 are also included. The two walking mechanisms 7 are correspondingly rotatably arranged on the two sliding seats 9 and are correspondingly located on both sides of the steel structure 1. The walking mechanisms 7 have their own power and can drive the entire detection device to walk on the steel structure 1. At the same time, the above-mentioned first driving unit 4 can also drive the walking mechanism 7 to move alone on the sliding seat 2. The two walking mechanisms 7 are also correspondingly connected to the second driving unit arranged on the sliding seat 9. The second driving unit drives the walking mechanism 7 to rotate alone. When the walking mechanism 7 drives the entire detection device to walk on the steel structure 1 and encounters an obstacle (i.e., the vertical and horizontal connection nodes of the steel components), the second driving unit is required to drive the walking mechanism 7 to rotate. The second driving unit drives the walking mechanism 7 to rotate so that the walking mechanism 7 can be separated from the web of the I-beam structure 1. At the same time, the first driving unit 4 drives the walking mechanism 7 to move forward to cross the obstacle. Finally, the second driving unit drives the walking mechanism 7 to rotate back (i.e., the walking mechanism 7 is in a state of abutting against the web of the I-beam structure 1 and walking on the steel structure 1) by the second driving unit, thereby realizing the obstacle crossing function.

[0033] When one of the traveling mechanisms 7 rotates, the slide 2 and the other traveling mechanism 7 lose balance, causing the entire detection device to fall from the steel structure 1. Therefore, the present application also includes two tightening mechanisms 5. The tightening mechanisms 5 play a temporary support role when the traveling mechanism 7 rotates and moves. The two tightening mechanisms 5 are arranged on the slide 2. When the tightening mechanisms 5 tighten the steel structure 1, the two tightening mechanisms 5 are located on both sides of the steel structure 1. Specifically, when the traveling mechanism 7 on one side rotates and moves on the guide rail 3, the tightening mechanism 5 will temporarily tighten on the other side, so that the stationary traveling mechanism 7 maintains balance, and also provides a stable moving environment for the moving traveling mechanism 7.

[0034] In addition to the above-mentioned components, the present application also includes a plurality of detection mechanisms 6, which are arranged on the slide 2. When the detection mechanism 6 is detecting, the detection head thereon can extend to one side of the steel structure 1 to detect whether the fire retardant coating of the steel structure 1 is missing. At this time, the detection mechanism 6 mainly detects the two side surfaces of the I-beam web.

[0035] Of course, the above-mentioned detection mechanism 6 can also detect other surfaces of the steel structure 1 by raising and lowering the detection head thereon.

[0036] Furthermore, the specific structure of each of the above-mentioned walking mechanisms 7 includes a wheel frame 702, a second drive unit connected between the wheel frame 702 and the sliding seat 9, one end of the wheel frame 702 is hinged to the sliding seat 9 and can rotate around the hinge, and a walking wheel 701 is rotatably provided on the wheel frame 702. In order to increase the friction with the steel structure 1, the walking wheel 701 can be set to a rubber wheel. Therefore, the walking wheel 701 will rotate together when the wheel frame 702 rotates. The rotating shaft of the walking wheel 701 is connected to the motor reducer 703 fixed to the wheel frame 702. When the motor reducer 703 drives the walking wheel 701 to rotate, the first drive unit 4 does not work and is locked with the sliding seat 9. Therefore, when the motor reducer 703 drives the walking wheel 701 to rotate, the entire detection device will move along the length direction of the steel structure 1.

[0037] Furthermore, the structure of the above-mentioned first driving unit 4 specifically includes a first motor 401 and a screw 402. The first motor 401 is arranged on the slide 2 near the end of the guide rail 3. One end of the screw 402 is connected to the motor, and the other end is threadedly connected to the slide seat 9. The motor and the screw 402 have good driving stability. What is important is that they not only play a driving role, but also can play a role in fixing the slide seat 9 when not driving, ensuring that the motor reducer 703 drives the walking wheel 701 to rotate, so that the entire device can move on the steel structure.

[0038] Furthermore, the above-mentioned second driving unit is specifically a first telescopic cylinder 8, and the first telescopic cylinder 8 can be a pneumatic cylinder, an oil cylinder or an electric cylinder. Preferably, an electric cylinder is used. The electric cylinder has a simple structure and is easy to install, which can save the setting of air and oil circuits. The cylinder body of the first telescopic cylinder 8 is hinged to the sliding seat 9, and the telescopic rod end is hinged to the wheel frame 702. When the first telescopic cylinder 8 drives the wheel frame 702 and the walking wheel 701 thereon to rotate, the first telescopic cylinder 8 can also adapt to the position change on the sliding seat 9 by rotating itself.

[0039] Furthermore, the wheel frame 702 is a U-shaped frame, and the surface where the first telescopic cylinder 8 is hingedly connected to the wheel frame 702 is opposite to the surface of the wheel frame 702 where the motor reducer 703 is located, so that the motor reducer 703 will not occupy the space on the other surface of the wheel frame 702, giving the first telescopic cylinder 8 more room for movement, and will not hinder the extension and rotation of the first telescopic cylinder 8.

[0040] Furthermore, the structure of each of the above-mentioned tightening mechanisms 5 specifically includes a first rotating drive member 503, where the first rotating drive member 503 can be a steering gear, a rotary electric cylinder, or a servo motor capable of controlling the rotation angle, etc. The present application is described by taking a servo motor as an example, and the servo motor is arranged on the slide 2, and the specific arrangement position is that the output shaft of the servo motor is perpendicular to the slide 2, and the output shaft of the servo motor is connected to a first connecting plate 502, and the first connecting plate 502 is provided with a second telescopic cylinder 501 at one end away from the servo motor, and the specific second telescopic cylinder 501 is perpendicular to the steel structure The third telescopic cylinder 504 is arranged in the length direction of the I-beam structural member 1, and the telescopic rod end of the second telescopic cylinder 501 is also connected to the third telescopic cylinder 504, and the third telescopic cylinder 504 is arranged vertically with the second telescopic cylinder 501, so that the third telescopic cylinder 504 can make its telescopic rod press against or disengage from the web of the I-beam structural member 1 by extension and retraction. When it is not pressed against, in order to avoid interference with other objects when the detection device moves, the third telescopic cylinder 504 retracts, and the second telescopic cylinder 501 retracts at the same time, and then the servo motor rotates 90°, so that the entire tightening mechanism 5 is located on the outside of the flange plate of the I-beam structural member 1.

[0041] Furthermore, the two tightening mechanisms 5 are arranged correspondingly near the two ends of the slide 2, or the two tightening mechanisms 5 are arranged at one end of the slide 2. Since the servo motor can control the positions of the second telescopic cylinder 501 and the third telescopic cylinder 504 by rotation, it is sufficient as long as the two tightening mechanisms 5 are located on both sides of the steel structure 1 during tightening.

[0042] Furthermore, the structure of the above-mentioned detection mechanism 6 specifically includes a second rotating drive member 601, where the second rotating drive member 601 can be a steering gear, a rotary electric cylinder, or a servo motor with controllable rotation angle, etc. The present application takes a servo motor as an example for explanation, and the servo motor is arranged on the slide 2, and the output shaft of the servo motor is connected to a second connecting plate 602. The second connecting plate 602 is provided with a fourth telescopic cylinder 603 at the end away from the servo motor, and the fourth telescopic cylinder 603 is perpendicular to the length direction of the steel structure 1. The telescopic rod end of the fourth telescopic cylinder 603 is connected to an image acquisition element 605, and the image acquisition element 605 can be a camera or a camera, and the image information collected by it can be transmitted wirelessly to an external terminal device, and the staff can observe the image on the terminal device to check whether the fire retardant coating on the steel structure 1 has fallen off.

[0043] The second telescopic cylinder 501, the third telescopic cylinder 504, and the fourth telescopic cylinder 603 may be electric cylinders, pneumatic cylinders, or oil cylinders, preferably electric cylinders.

[0044] At the same time, it should be understood that the above-mentioned detection mechanism 6 can detect different surfaces of the steel structure 1 by lifting and lowering the fourth telescopic cylinder 603, that is, when the fourth telescopic cylinder 603 extends to the web side of the I-beam structure 1, it can detect the fire retardant coating on the inner surface of the web and the flange plate; when the fourth telescopic cylinder 603 continues to extend to the outer surface of the flange plate, this flange plate is opposite to the flange plate in contact with the slide 2, so the fire retardant coating on the outer surface of the flange plate can be detected.

[0045] Furthermore, in order to simultaneously detect the two side surfaces of the web of the I-beam steel structure 1, an end of the second connecting plate 602 close to the second rotating drive member 601 is extended toward the side away from the fourth telescopic cylinder 603, and the extended end is connected to the fifth telescopic cylinder 604. The fifth telescopic cylinder 604 and the fourth telescopic cylinder 603 are symmetrically arranged relative to the slide 2, and the above-mentioned image acquisition element 605 is connected to the telescopic rod end of the fifth telescopic cylinder 604. The image acquisition element 605 and the image acquisition element 605 of the fourth telescopic cylinder 603 can detect the two side surfaces of the web of the I-beam steel structure 1 while moving with the slide 2, thereby improving the detection efficiency.

[0046] Furthermore, in order to detect the fire retardant coating of the flange plate where the slide 2 is located, two detection mechanisms 6 are provided, one of which is close to the center of the slide 2. The detection mechanism 6 at the center is used to detect the side of the web and the inner surfaces of the two flange plates and the outer surface of the flange plate relative to the flange plate where the slide 2 is located. The other detection mechanism 6 is provided close to one end of the slide 2, and detects the outer surface of the flange plate where the slide 2 is located. The two detection mechanisms 6 can realize comprehensive detection of steel components, timely discover the shedding of fire retardant coating, and promptly repair it, thereby ensuring the fire resistance level and fire resistance effect of the steel structure 1.

[0047] The above specific implementation manner cannot be used as a limitation on the protection scope of the present invention. For those skilled in the art, any substitution, improvement or change made to the implementation manner of the present invention falls within the protection scope of the present invention.

[0048] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

Claims

1. A self-propelled steel structure fire retardant coating flaw detection device, characterized in that: include: Sliding seat; Two guide rails, the two guide rails are arranged in parallel along the length direction of the steel structure, each of the guide rails is provided with a sliding seat, the sliding seat is connected to a first driving unit arranged on the sliding seat, and the first driving unit drives the sliding seat to move along the guide rails; Two walking mechanisms, the two walking mechanisms are rotatably arranged on the two sliding seats and are located on both sides of the steel structure, the two walking mechanisms are connected to the second driving units arranged on the sliding seats, and the second driving units drive the walking mechanisms to rotate; Two tightening mechanisms, the two tightening mechanisms are arranged on the slide seat, and when the tightening mechanisms tighten the steel structure, the two tightening mechanisms are located on both sides of the steel structure; A plurality of detection mechanisms are provided on the slide seat, and the detection heads of the detection mechanisms can extend to one side of the steel structure to detect whether the fire retardant coating of the steel structure is missing.

2. A self-propelled steel structure fire retardant coating flaw detection device according to claim 1, characterized in that: Each of the walking mechanisms includes a wheel frame, the second driving unit is connected between the wheel frame and the sliding seat, one end of the wheel frame is hinged to the sliding seat, a walking wheel is rotatably provided on the wheel frame, and the rotating shaft of the walking wheel is connected to the motor reducer fixed to the wheel frame.

3. A self-propelled steel structure fire retardant coating flaw detection device according to claim 1 or 2, characterized in that: The first driving unit includes a first motor and a screw rod. The first motor is arranged on the sliding seat near the end of the guide rail. One end of the screw rod is connected to the motor, and the other end is threadedly connected to the sliding seat.

4. A self-propelled steel structure fire retardant coating flaw detection device according to claim 2, characterized in that: The second driving unit is a first telescopic cylinder, a cylinder body of the first telescopic cylinder is hinged to the sliding seat, and an end of a telescopic rod is hinged to the wheel frame.

5. A self-propelled steel structure fire retardant coating flaw detection device according to claim 4, characterized in that: The wheel frame is a U-shaped frame, and the connection surface between the second drive unit and the wheel frame is opposite to the surface of the wheel frame where the motor reducer is located.

6. The self-propelled steel structure fire retardant coating flaw detection device according to claim 1, characterized in that: Each of the tightening mechanisms includes a first rotating driving member, which is arranged on the sliding seat. The power output end of the first rotating driving member is connected to a first connecting plate. The first connecting plate is provided with a second telescopic cylinder at an end away from the first rotating driving member. The second telescopic cylinder is arranged perpendicular to the length direction of the steel structure. The telescopic rod end of the second telescopic cylinder is also connected to a third telescopic cylinder, and the third telescopic cylinder is arranged perpendicular to the second telescopic cylinder.

7. A self-propelled steel structure fire retardant coating flaw detection device according to claim 6, characterized in that: The two pressing mechanisms are arranged correspondingly close to the two ends of the slide seat, or the two pressing mechanisms are arranged at one end of the slide seat.

8. The self-propelled steel structure fire retardant coating flaw detection device according to claim 1, characterized in that: The detection mechanism includes a second rotating driving member, which is arranged on the sliding seat. The power output end of the second rotating driving member is connected to a second connecting plate. The second connecting plate is provided with a fourth telescopic cylinder at an end away from the second rotating driving member. The fourth telescopic cylinder is perpendicular to the length direction of the vertical steel structure, and the telescopic rod end of the fourth telescopic cylinder is connected to an image acquisition element.

9. A self-propelled steel structure fire retardant coating flaw detection device according to claim 8, characterized in that: One end of the second connecting plate close to the second rotating drive member extends toward a side away from the fourth telescopic cylinder, and the extended end is connected to a fifth telescopic cylinder. The fifth telescopic cylinder and the fourth telescopic cylinder are symmetrically arranged relative to the slide seat, and the image acquisition element is connected to the telescopic rod end of the fifth telescopic cylinder.

10. A self-propelled steel structure fire retardant coating flaw detection device according to claim 1 or 8, characterized in that: Two detection mechanisms are provided, one of which is close to the center of the slide, and the other is close to one end of the slide.

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