A self-propelled steel structure fire retardant coating flaw detection device

Abstract

The present application is a self-propelled steel structure fire retardant coating flaw detection device, which belongs to the field of steel structure fire retardant coating detection, including a slide; two guide rails are arranged in parallel along the length direction of the steel structure, and each guide rail is provided with a sliding seat, and the sliding seat is connected to a first drive unit arranged on the slide; two walking mechanisms are correspondingly arranged on the two sliding seats, and the two walking mechanisms are correspondingly connected to a second drive unit arranged on the sliding seat, and the second drive unit drives the walking mechanism to rotate; two tightening mechanisms are arranged on the slide; the detection mechanism is arranged on the slide; by setting the detection device into the above-mentioned form, the automatic obstacle crossing function can be realized. In actual steel structure factories, steel structures are not always smooth, and their criss-cross arrangement makes the steel structures have multiple connection points. The existence of the connection points prevents 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.

Description

Technical Field

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

[0002] Steel structures are structures that are constructed from steel plates and hot-rolled, cold-bent, or welded profiles connected by connectors and capable of bearing and transmitting loads. Steel structures offer the advantages of light weight, quick installation, and a short construction period, making them widely used in the construction of steel structure factories. To increase the fire resistance of steel structures, reduce fire risks, and prevent the spread of fire, fire-retardant coatings are typically applied to their surfaces. However, the application of fire-retardant coatings is affected by various factors, such as coating flatness, coating principles, substrate preparation, coating uniformity, and the presence of rain protection measures. This can lead to reduced adhesion of the fire-retardant coating to the substrate in certain areas, causing it to fall off during subsequent, prolonged use, reducing the fire resistance rating of the steel structure. Existing technologies often fail to promptly detect the detachment of fire-retardant coatings, especially on the roofs of steel structure factories, where it is difficult to detect with the naked eye. Therefore, once a fire occurs, the steel heats up, reducing its strength and stiffness, causing the steel structure to lose its load-bearing capacity and potentially leading to collapse.

[0003] Prior art devices exist that can autonomously travel on steel structures, such as patent CN118031760A, which discloses an intelligent detection device for steel structure coatings. While capable of traveling on steel structures and detecting coating thickness, it cannot detect whether the fire-retardant coating has fallen off, and in particular cannot perform obstacle-crossing while traveling on steel structures. This is because steel structures, when used for construction, often have crisscrossing connections. When the detection device travels on the steel structure, these connections can hinder its continued movement. Most current detection devices idealize steel structures as smooth steel components, but this is not the case in reality, making these devices ineffective for widespread practical use (they can only be used on smooth sections of steel components). Summary of the Invention

[0004] Whether the existing fire-retardant coating on steel structures has fallen off is often difficult to detect in time, especially the steel structure on the top of the steel structure factory building 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-mentioned 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 the present application can solve the above-mentioned problem. A self-propelled steel structure fire-retardant coating flaw detection device is designed, and the specific technical solution adopted is as follows:

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

[0006] Slide seat;

[0007] Two guide rails are arranged parallel to 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 provided on the sliding seat. The first driving unit drives the sliding seat to move along the guide rails.

[0008] Two walking mechanisms, the two walking mechanisms are correspondingly rotatably arranged on the two sliding seats and are correspondingly located on both sides of the steel structure. The two walking mechanisms are correspondingly 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] Several 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, the first motor is arranged on the slide seat near the end of the guide rail, one end of the screw is connected to the motor, and the other end is threadedly connected to the slide seat.

[0013] Preferably, the second driving unit is a first telescopic cylinder, the cylinder body of the first telescopic cylinder is hinged to the sliding seat, and the 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 drive member, which is arranged on a slide seat, and the power output end of the first rotating drive 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 drive 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 tightening mechanisms are respectively arranged near the two ends of the slide, or the two tightening mechanisms are arranged at one end of the slide.

[0017] Preferably, the detection mechanism includes a second rotating drive member, which is arranged on a slide seat, and the power output end of the second rotating drive 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 drive member, and 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.

[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 this 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, wherein one detection mechanism is provided close to the center of the slide, and the other detection mechanism is provided 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 move on the steel structure by itself, and collect images or video information through the image acquisition component to transmit it to the external terminal to check whether the fire retardant coating has fallen off. The image is collected while walking, and the fire retardant coating of the entire steel structure is detected, and the shedding of the fire retardant coating is discovered in time.

[0022] ② By setting the detection device into the above-mentioned form, the automatic obstacle crossing function can be realized. In actual steel structure factories, steel structural members are not always smooth. Their criss-cross arrangement makes the steel structural members have multiple connection points. The existence of connection points hinders the detection device from moving on its components. Therefore, the detection device of this 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 This 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 overcoming obstacles);

[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 this solution, 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", etc., indicating the orientation or position relationship, are based on the orientation or position relationship 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 device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot 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 the steel structure member 1. The steel structure member 1 in this application is an I-beam. This direction is referred to as the length direction of the slide 2 in this application. In actual work, the slide fits into the outer surface of the flange plate of the I-beam component or has a small gap.

[0031] Two guide rails 3 are provided on the slide 2, and the two guide rails 3 are arranged parallel to 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 provided with two sliding seats 9 for rotation, and are 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 slide 2. The two walking mechanisms 7 are also connected to the second driving unit provided 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 (that is, the vertical and horizontal connection node of the steel member), 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 across the obstacle, and finally the second driving unit drives the walking mechanism 7 to rotate back (that is, the walking mechanism 7 and the web of the I-beam structure 1 are in contact with each other and walk on the steel structure 1), realizing the obstacle crossing function.

[0033] When one of the walking mechanisms 7 rotates, the slide 2 and the other walking 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 serve as temporary support when the walking 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 walking 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 non-moving walking mechanism 7 maintains balance, and also provides a stable moving environment for the moving walking mechanism 7.

[0034] In addition to the above-mentioned components, the present application also includes several 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 main detection surfaces of the detection mechanism 6 are 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 also rotate 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 drive 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 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. The first telescopic cylinder 8 can be an air 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 air and oil circuit settings. 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 above-mentioned 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. In this way, 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. The first rotating drive member 503 here can be a steering gear, a rotary electric cylinder, or a servo motor that can control the rotation angle. This application is explained by taking a servo motor as an example. The servo motor is arranged on the slide 2. The specific setting position is that the output shaft of the servo motor is perpendicular to the slide 2. The output shaft of the servo motor is connected to a first connecting plate 502. The first connecting plate 502 is provided with a second telescopic cylinder 501 at one end away from the servo motor. The specific second telescopic cylinder 501 is perpendicular to the steel structure. The third telescopic cylinder 504 is arranged in the longitudinal direction of the I-beam structure 1, and the telescopic rod end of the second telescopic cylinder 501 is also connected to the third telescopic cylinder 504. The third telescopic cylinder 504 is arranged perpendicular to the second telescopic cylinder 501, so that the third telescopic cylinder 504 can make its telescopic rod tighten or disengage from the web of the I-beam structure 1 by telescoping. When it is not tightened, in order to avoid interference with other objects when the detection device moves, the third telescopic cylinder 504 retracts, and at the same time the second telescopic cylinder 501 retracts, 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 structure 1.

[0041] Furthermore, the above-mentioned two tightening mechanisms 5 are arranged respectively 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 position 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. The second rotating drive member 601 here can be a steering gear, a rotary electric cylinder, or a servo motor that can control the rotation angle, etc. This application takes the servo motor as an example for explanation. The servo motor is arranged on the slide 2, and the servo motor output shaft is connected to the 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. 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. The image acquisition element 605 can be a camera or a camera. The image information collected by it can be transmitted wirelessly to an external terminal device. 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 can 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 side of the web 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 this 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 of the above-mentioned detection mechanisms 6 are set, 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 set close to one end of the slide 2, which 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 detect the shedding of fire retardant coating, and repair it in time to ensure the fire protection level and fire protection 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 replacement, improvement or transformation made to the implementation manner of the present invention falls within the protection scope of the present invention.

[0048] Any matters not described in detail in the present invention are well-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: Slide seat; Two guide rails, the two guide rails are arranged parallel to 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 provided 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 correspondingly rotatably arranged on the two sliding seats and correspondingly located on both sides of the steel structure, the two walking mechanisms are correspondingly connected to the second driving unit arranged on the sliding seat, the second driving unit drives the walking mechanism to rotate, 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, the rotating shaft of the walking wheel is connected to the motor reducer fixed to the wheel frame, the second driving unit is a first telescopic cylinder, the cylinder body of the first telescopic cylinder is hinged to the sliding seat, and the end of the telescopic rod is hinged to the wheel frame; Two tightening mechanisms, the two tightening mechanisms being arranged on the slide seat, and being located on both sides of the steel structure when the tightening mechanisms tighten 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. The self-propelled steel structure fire retardant coating flaw detection device according to claim 1, characterized in that: The first driving unit includes a first motor and a screw. The first motor is arranged on the slide seat near the end of the guide rail. One end of the screw is connected to the motor, and the other end is threadedly connected to the slide seat.

3. The self-propelled steel structure fire retardant coating flaw detection device according to claim 1, 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.

4. 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 drive member, which is arranged on the slide seat. The power output end of the first rotating drive 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 drive 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.

5. The self-propelled steel structure fire retardant coating flaw detection device according to claim 4, characterized in that: The two tightening mechanisms are correspondingly arranged close to the two ends of the slide, or the two tightening mechanisms are arranged at one end of the slide.

6. 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 drive member, which is arranged on the slide. The power output end of the second rotating drive 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 drive 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.

7. The self-propelled steel structure fire retardant coating flaw detection device according to claim 6, 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 this 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 the image acquisition element is connected to the telescopic rod end of the fifth telescopic cylinder.

8. A self-propelled steel structure fire retardant coating flaw detection device according to claim 1 or 7, 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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