Fireproof coating spraying system for steel structure

Abstract

The invention discloses a fireproof coating spraying system for a steel structure. The fireproof coating spraying system comprises a workbench, a mechanical arm, a spraying module, a wire cutter leveling and modifying module, a visual detection module, a spraying conveying machine, a rail system, a three-dimensional laser scanner and a control module. The workbench is used for sliding on the track; the spraying module, the wire knife leveling and modifying module and the visual inspection module are mounted on the workbench; a mechanical arm is installed on the workbench and composed of a base, a large arm, a swing servo motor, a small arm and a rotary servo motor. The device has the advantages that the precision of spraying operation is high, and the slicking efficiency is improved.

Description

Technical Field

[0001] The invention relates to a coating application device, in particular to a steel structure fire retardant coating spraying system, belonging to the coating application field. Background Art

[0002] There are more and more public buildings, factories, and even residential steel structure construction projects. Their superior spatial performance and lightweight advantages have obvious advantages over reinforced concrete structures. However, it is well known that steel structures are afraid of water and fire, so anti-corrosion and fireproof structures have become the standard for the durability of steel structures. The traditional on-site spraying process of fire-retardant fire-retardant coatings still has the following needs to be improved: (i) The appearance quality of fire-retardant coatings is rough. 1. The surface of the fire-retardant coating is covered with dust, and the color appearance is not easy to be unified. Since the fire-retardant fire-retardant coating is manually controlled and semi-mechanized spraying is used, it is easy to form color differences. After spraying, there will be mottled color differences in some parts, and the dust is not easy to clean after survival; 2. The fire-retardant coating is uneven. During spraying, due to the safety risks of the working environment conditions, the spraying distance, angle and moving speed of the manual spray gun are inconvenient to control, or because the number of spray coating layers is inconsistent; 3. Nipples and drips appear, the surface texture is rough, and the edges and corners of the yin and yang corners are blurred. This is caused by factors such as too thin fire retardant coating, too high spraying pressure, inappropriate temperature and humidity of the implementation environment, and lack of mature synchronous repair and modification technology. (II) Coating quality defects. 1. Cracks and peeling of the coating. This is caused by insufficient adhesion between the fire retardant coating and the base layer, too little adhesiveness of the base layer putty, or excessive changes in the temperature and humidity of the construction environment; 2. Hollowing. There are bubbles or gaps between the coating and the base layer, and the base layer is improperly treated; 3. Coating shedding. The bonding strength of the fire retardant coating is insufficient, the base layer is improperly treated, or the coating is too thick. (III) Construction operation defects. 1. Overspray or dry spray. This is caused by too long a spraying distance, tilted spray gun, or too high a construction temperature; 2. Missing coating. This is caused by the spray not covering the surface in place; 3. Pinholes or leaks. This is caused by too fast evaporation of the solvent, rough construction, and too high humidity in the environment; 4. Whitening. This is caused by too high humidity in the construction environment, or water or low-boiling-point thinners in the fire retardant coating. Summary of the invention

[0003] The purpose of the present invention is to design a steel structure fire retardant paint spraying system, which has high spraying operation precision and improves scraping efficiency.

[0004] The technical solution of the present invention is: A steel structure fire retardant coating spraying system, comprising a workbench, a mechanical arm, a spraying module, a wire knife leveling and modifying module, a visual inspection module, a spraying feeder, a track system, a three-dimensional laser scanner and a control module; The workbench is used to slide on the track; the spraying module, the wire knife leveling and modifying module and the visual inspection module are installed on the workbench; Furthermore, the bottom of the workbench is a "concave structure", and a driving gear set is provided on the upper part of the concave structure. The driving gear set consists of two parallel gears, which are connected to the driving motor and driven forward by the driving motor; the driving gear set is arranged in the track gear groove and moves in the track gear groove; the number of the driving gear sets is several; the number of the driving motors is consistent with the number of the driving gear sets; the left and right sides of the concave structure are respectively provided with gears, and the gears move in the gear grooves on the left and right sides of the track; Furthermore, a temperature sensor and a humidity sensor are installed on the workbench; the temperature sensor and the humidity sensor are communicatively connected to the input end of the control module; the temperature sensor is used to monitor the temperature of the construction site; the humidity sensor is used to monitor the humidity of the construction site; the purpose is to prevent the temperature or humidity at the construction site from being too high, resulting in coating quality defects, whitening, peeling or cracking, etc.; when the temperature and humidity at the construction site exceed the required values ​​for the spraying operation, the information will be transmitted to the control module through the wireless network, and the control module will control the spray feeder to stop working.

[0005] Furthermore, a camera is installed on the workbench for video monitoring and observation; The workbench is equipped with a built-in storage battery, and the storage battery is used to supply power to the driving motor, the temperature sensor, the humidity sensor, the camera, and the robotic arm.

[0006] A mechanical arm is also installed on the workbench, and the mechanical arm consists of a base, a large arm, a swing servo motor, a small arm and a rotating servo motor; the base is built with a base rotating servo motor for controlling the base to rotate left and right; the bottom of the large arm is installed on the base; the upper part of the large arm is built with a swing servo motor for controlling the small arm to swing up and down; the upper part of the small arm is installed with a rotating servo motor; the number of the mechanical arms is 3, which are arranged in sequence on the workbench; The spraying module is composed of a first mechanical arm and a spray gun bracket; the spray gun bracket is installed on the rotating motor of the first mechanical arm; the rotating motor of the first mechanical arm controls the spray gun bracket to rotate up and down; the spray gun bracket is used to install a spray gun; the spray gun bracket is composed of a main frame, a left split frame and a right split frame; the two ends of the main frame are respectively hinged to the left split frame and the right split frame; the left split frame and the right split frame are respectively controlled to open and close by the left servo motor and the right servo motor; the left split frame and the right split frame of the spray gun bracket are controlled to fold inwardly by the left servo motor and the right servo motor, and the folding angle is 0-180°; the main frame, the left split frame and the right split frame of the spray gun bracket are respectively installed with spray guns; the bottom of the spray gun is externally connected to a feeding pipe, and the feeding pipe is used to convey fire retardant coating.

[0007] Furthermore, the spray gun is an electrically controlled adjustable spray gun used for spraying fire retardant paint. The adjustable spray gun controls the spraying area and spraying amount by adjusting the nozzle diameter; the external feeding pipes at the bottom of the spray gun are respectively connected to the main feeding pipe; the main feeding pipe is connected to the spraying conveyor.

[0008] Furthermore, the spray gun has a nozzle that is a multi-hole nozzle and / or a curved nozzle; Furthermore, the main frame, the left split frame and the right split frame of the spray gun bracket are respectively equipped with distance measuring sensors; The wire knife leveling and modification module consists of a second mechanical arm and a leveling and modification wire knife frame; the leveling and modification wire knife frame is installed on the rotating motor of the second mechanical arm; the leveling and modification wire knife frame is a semicircular frame; two supports are installed in the middle of the semicircular frame, and wire knives are installed at the fingertips of the two supports; lifting motors are installed on the left and right sides of the leveling and modification wire knife frame respectively, and X-shaped brackets are installed on the lifting rods of the left and right lifting motors respectively; wire knives are installed on the top, left and right sides of the X-shaped bracket respectively; the lifting rods of the left and right lifting motors control the lifting and lowering of the left and right X-shaped brackets; when the wire knife leveling and modification module performs a scraping operation on the H-shaped steel column, the wire knives on the left and right X-shaped brackets perform left, middle and right scraping operations on the inner concave surfaces on the left and right sides of the H-shaped steel column, thereby improving the scraping efficiency.

[0009] The middle, left and right sides of the leveling and trimming line tool holder are also respectively equipped with distance measuring sensors.

[0010] Furthermore, the distance measuring sensors are all photoelectric distance measuring sensors, and the distance measuring sensors are used to monitor the spraying distance; when the distances measured by the distance measuring sensors are consistent, the spraying feeder is started; Furthermore, the wire cutter is a high-strength stainless steel wire, which is used to scrape the sprayed surface to make the surface of the sprayed fire retardant coating smooth and avoid uneven spraying or excessive thickness; Furthermore, a semicircular scraper is installed on the second robot arm for scraping the surface of the arc-shaped component; a semicircular strip steel plate cutter is installed inside the semicircular scraper for scraping the cylindrical surface; The visual inspection module is an automatic optical inspection module, which automatically scans the spraying image through an industrial camera, and then synchronously transmits and compares the captured spraying image with various parameters set by the control module to determine the spraying quality; the visual inspection module is composed of a third mechanical arm and a camera bracket; the camera bracket is installed on the rotating motor of the third mechanical arm; the rotating motor of the third mechanical arm controls the camera bracket to rotate up and down; the camera bracket is a semicircular bracket, and industrial cameras are installed in the middle and both sides of the semicircular frame, which are respectively used to scan the spraying quality of the three spraying surfaces of the front, upper and lower parts of the steel structure; The spraying conveyor is connected to the spray gun through a main feeding pipe; the spraying conveyor is equipped with a compressed air booster for increasing the height and spray volume of the fire retardant coating.

[0011] Furthermore, the spraying conveyor is also equipped with a cart to facilitate the movement of the spraying conveyor; the spraying vehicle is equipped with off-road tires, which is convenient for use at the construction site.

[0012] The track system consists of an H-shaped track, a connecting structure, a "U"-shaped connecting piece and a load-bearing base; the rail head and the rail bottom of the H-shaped track are vertically connected by two parallel rail waists; the H-shaped track is provided with a plurality of gear grooves, and racks are laid in the gear grooves for meshing with gears; the gear grooves are respectively located on the surface, left side and right side of the rail head of the H-shaped track; the rail head, rail bottom and both ends of the rail waist of the H-shaped track are provided with connecting structures; the H-shaped track is divided into vertical rails, horizontal rails and curved rails according to different uses, and the vertical rails are used for the up and down movement of the workbench; the horizontal rails are used for the left and right movement of the workbench; the curved rails are bent forward and backward downward to form a certain arc, and are used to connect the vertical rails and the horizontal rails, so that the workbench moves from the vertical rails to the horizontal rails; The connecting structure is used to connect two adjacent H-type rails; the connecting structure is a hollow square frame structure with an X-shaped reinforcement rib in the middle, and screw holes are provided at both ends of the four surfaces of the connecting structure for connecting the H-type rails; the connecting structure is inserted between the two rail waists of the H-type rail and fixed; the "U"-shaped connector is used to fix the H-type rail to the steel structure to be sprayed to prevent the H-type rail from loosening; the "U"-shaped connector is a U-shaped frame, which consists of a fixing plate and a connecting arm; there are two connecting arms, which are respectively located on the left and right sides of the fixing plate, and the bottoms of the left and right connecting arms are respectively connected to the left and right ends of the fixing plate; a hook plate is provided at the front of the connecting arm, and the hook plate is used to connect the fixing plate; the fixing plate is a square plate, and the hook plate is connected on both sides; a side panel of the fixing plate is provided with a rubber layer, and the rubber layer is provided with anti-slip grooves; the fixing plate is fixed to the steel structure; the function of the fixing plate is to fix the connecting structure; the hook plate is vertically connected to the front of the connecting arm; the fixing plate connects the rail waist; The load-bearing base is used to insert the vertical rail to prevent the vertical rail from shaking; the load-bearing base is a trapezoidal platform structure, and the bottom is fixed on the ground to enhance the fixing effect; an installation fixing hole is provided in the middle position of the load-bearing base for inserting the vertical rail.

[0013] Furthermore, the vertical rails, the horizontal rails and the curved rails are assembled into an "arch bridge type" rail system, and the workbench moves on the "arch bridge type" rail system to perform spraying operations on the steel structure.

[0014] Furthermore, the vertical rails and the horizontal rails can be used separately according to the specific conditions of the steel structure.

[0015] Furthermore, the cross rail can also utilize the columns and beams of the steel structure as the supporting force structure, and the cross rail can be fixedly installed on the corbel beam.

[0016] The 3D laser scanner is used to collect information such as geometric size, shape and position of the steel structure surface; the 3D laser scanner is a handheld 3D laser scanner, which is used to collect data information on the spraying conditions of the steel structure surface before the spraying operation; the collected information will be transmitted to the control module in real time; the control module will build a BIM model and a spraying plan and scheme based on the received scanning data; The control module is installed on the PC side, and controls the workbench, spraying module, wire knife leveling and modification module, and spraying feeder through the mobile network; it is used to receive various collected information data from the visual inspection module, the three-dimensional laser scanner, and the environmental detection system; the control module generates spraying operation standards, spraying plans, workflows, etc. according to the data of the steel structure to be sprayed provided by the three-dimensional laser scanner, and then controls the spraying module and the wire knife leveling and modification module to perform spraying and scraping operations according to the generated standards and processes; the spraying and scraping effects are evaluated through the image values ​​transmitted by the visual inspection module; The control module controls the movement and stop of the workbench, controls the first robotic arm, spray gun bracket, second robotic arm, leveling and trimming line tool holder, third robotic arm and camera bracket to adjust the angle; the control module controls the opening and closing of the spray gun, controls the nozzle spraying amount and spraying range; the control module receives data transmitted by various ranging sensors, temperature sensors, humidity sensors, three-dimensional handheld laser scanners, cameras and industrial cameras.

[0017] The beneficial effects of the present invention are: high automation degree, high precision of spraying operation and improved scraping efficiency.

[0018] The present invention will be further described below in conjunction with the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural schematic diagram of a workbench, a spraying module, a wire knife leveling and modifying module, and a visual inspection module of a steel structure fire retardant coating spraying system according to an embodiment of the present invention; Figure 2 It is a structural schematic diagram of the workbench of the present invention; Figure 3 A schematic diagram of the structure of the porous nozzle of the present invention; Figure 4 A schematic diagram of the structure of the arc surface sprinkler of the present invention; Figure 5 A schematic diagram of the semicircular scraper structure of the present invention; Figure 6This is a structural diagram of the H-type track of the present invention; Figure 7 It is a schematic diagram of the connection structure of the present invention; Figure 8 This is a schematic diagram of the structure of the "U"-shaped connector of the present invention; Fig. 9 It is a schematic diagram of the overall structure of the present invention; Fig.10 This is a schematic diagram of a control module of the present invention; In the figure: 1 workbench, 11 gear set, 12 drive motor, 13 gear, 14 temperature sensor, 15 humidity sensor, 16 camera, 17 battery, 2 mechanical arm, 21 base, 211 servo motor, 22 big arm, 23 swing servo motor, 24 small arm, 24 rotation servo motor, 3 spraying module, 31 first mechanical arm, 32 spray gun bracket, 321 main frame, 322 left split frame, 323 right split frame, 33 spray gun, 34 multi-hole nozzle, 35 arc nozzle, 36 first sensor, 37 second sensor, 38 third sensor, 4 wire knife leveling and modification module, 41 second Robotic arm, 421 support, 42 leveling and trimming line knife holder, 43 line knife, 44 lifting motor, 45 X-type bracket, 46 fourth sensor, 47 fifth sensor, 48 sixth sensor, 49 semicircular scraper, 491 semicircular strip steel plate knife head, 5 visual inspection module, 51 third robotic arm, 52 camera bracket, 53 industrial camera, 6 spray feeder, 61 main feeding pipe, 62 cart, 621 off-road tire, 7 track system, 71H-type track, 711 rail head, 712 rail bottom, 713 rail waist, 714 gear groove, 715 rack, 72 connecting structure, 721 X-type reinforcement rib, 73 "U"-shaped connector, 731 fixed plate, 732 connecting arm, 733 hook plate, 734 fixed plate, 735 rubber layer, 74 load-bearing base, 75 vertical rail, 76 horizontal rail, 77 curved rail. DETAILED DESCRIPTION

[0020] The preferred embodiments of the present invention are described below. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. Example

[0021] like Figure 1-10 As shown, a steel structure fire retardant coating spraying system is composed of a workbench 1, a mechanical arm 2, a spraying module 3, a wire knife leveling and modification module 4, a visual inspection module 5, a spraying feeder 6, a track system 7, a three-dimensional laser scanner and a control module (control system); The workbench 1 is used to slide on the track; the spraying module 3, the wire knife leveling and modification module 4 and the visual inspection module 5 are installed on the workbench 1; The bottom of the workbench 1 is a "concave structure", and a driving gear set 11 is provided on the upper part of the concave structure. The gear set 11 consists of two parallel gears, which are connected to the driving motor 12 and driven forward by the driving motor 12; the gear set 11 is arranged in the track gear groove and moves in the track gear groove; the number of the gear sets 11 is several; the number of the driving motors 12 is the same as the number of the gear sets 11; the left and right sides of the concave structure are respectively provided with gears 13, and the gears 13 move in the gear grooves on the left and right sides of the track; Furthermore, a temperature sensor 14 and a humidity sensor 15 are also installed on the workbench 1. The temperature sensor 14 and the humidity sensor 15 are connected to the input end of the control module in communication; the temperature sensor 14 is used to monitor the temperature of the construction site; the humidity sensor 15 is used to monitor the humidity of the construction site; the purpose is to prevent the temperature or humidity at the construction site from being too high, resulting in coating quality defects, such as whitening, peeling or cracking; when the temperature and humidity at the construction site exceed the required values ​​of the spraying operation, the information will be transmitted to the control module through the wireless network, and the control module will control the spray feeder to stop working.

[0022] Furthermore, a camera 16 is installed on the workbench 1 for video monitoring and observation; The workbench 1 has a built-in storage battery 17 , and the storage battery 17 is used to supply power to the driving motor 12 , the temperature sensor 14 , the humidity sensor 15 , the camera 16 , and the robotic arm 2 .

[0023] A mechanical arm 2 is also installed on the workbench 1, and the mechanical arm 2 consists of a base 21, a large arm 22, a swing servo motor 23, a small arm 23 and a rotating servo motor 24; the base 21 is equipped with a base rotating servo motor 211 for controlling the base 21 to rotate left and right; the bottom of the large arm 22 is installed on the base 21; the upper part of the large arm 22 is equipped with a swing servo motor 23 for controlling the small arm 23 to swing up and down; the upper part of the small arm 23 is equipped with a rotating servo motor 24; the number of the mechanical arms 2 is 3, namely the first manipulator 31, the second manipulator 41 and the third manipulator 51; the first manipulator 31, the second manipulator 41 and the third manipulator 51 are arranged in sequence on the workbench 1; The spraying module 3 is composed of a first mechanical arm 31 and a spray gun bracket 32; the spray gun bracket 32 ​​is installed on the rotating motor of the first mechanical arm 31; the rotating motor of the first mechanical arm 31 controls the spray gun bracket 32 ​​to rotate up and down; the spray gun bracket 32 ​​is used to install a spray gun 33; the spray gun bracket 32 ​​is composed of a main frame 321, a left split frame 322 and a right split frame 323; the two ends of the main frame 321 are respectively hinged with the left split frame 322 and the right split frame 323; the left split frame 321 is hinged with the left split frame 322 and the right split frame 323; 22 and the right split frame 323 are respectively controlled to open and close by the left servo motor 324 and the right servo motor 325; the left split frame 322 and the right split frame 323 of the spray gun bracket 32 ​​are controlled by the left servo motor 324 and the right servo motor 325 to fold inwards, and the folding angle is 0-180°; the main frame 321, the left split frame 322 and the right split frame 323 of the spray gun bracket 32 ​​are respectively installed with a spray gun 33; the bottom of the spray gun 33 is connected to a feeding pipe, and the feeding pipe is used to transport fire retardant coating.

[0024] Furthermore, the spray gun 33 is an electrically controlled adjustable spray gun for spraying fire retardant paint. The adjustable spray gun controls the spraying area and spraying amount by adjusting the nozzle diameter; the external feeding pipes at the bottom of the spray gun 33 are respectively connected to the main feeding pipe; the main feeding pipe is connected to the spraying feeder 6.

[0025] Furthermore, the spray head of the spray gun 33 is a multi-hole spray head 34 and / or a curved spray head 35; Furthermore, the main frame 321, the left split frame 322 and the right split frame 323 of the spray gun bracket 32 ​​are respectively installed with a first sensor 36, a second sensor 37 and a third sensor 38; The wire knife leveling and modifying module 4 is composed of a second mechanical arm 41 and a leveling and modifying wire knife frame 42; the leveling and modifying wire knife frame 42 is installed on the rotating motor of the second mechanical arm 41; the leveling and modifying wire knife frame 42 is a semicircular frame; two supports 421 are installed in the middle of the semicircular frame, and wire knives 43 are installed at the fingertips of the two supports 421; the left and right sides of the leveling and modifying wire knife frame 42 are respectively installed with lifting motors 44, and the lifting rods of the left and right lifting motors 44 are respectively installed with X-shaped brackets 45; the top, left and right sides of the X-shaped bracket 45 are respectively installed with wire knives 43; the lifting rods of the left and right lifting motors 44 control the lifting and lowering of the left and right X-shaped brackets 45; when the wire knife leveling and modifying module 4 performs a scraping operation on the H-shaped steel column, the wire knives 43 on the left and right X-shaped brackets 45 perform a left, middle and right scraping operation on the inner concave surfaces of the left and right sides of the H-shaped steel column, thereby improving the scraping efficiency.

[0026] A fourth sensor 46 , a fifth sensor 47 and a sixth sensor 48 are respectively installed on the middle, left and right sides of the leveling and trimming line tool holder 42 .

[0027] Further, the first sensor 36, the second sensor 37, the third sensor 38, the fourth sensor 46, the fifth sensor 47 and the sixth sensor 48 are all photoelectric distance sensors, and the distance sensors are used to monitor the spraying distance; when the distances of the first sensor 36, the second sensor 37, the third sensor 38, the fourth sensor 46, the fifth sensor 47 and the sixth sensor 48 are consistent, the spraying feeder 6 is started; Furthermore, the wire cutter 43 is a high-strength stainless steel wire, which is used to scrape the sprayed surface to make the surface of the sprayed fire retardant coating smooth and avoid uneven spraying or excessive thickness; Furthermore, a semicircular scraper 49 is installed on the second mechanical arm 41 for scraping the surface of the arc-shaped component; a semicircular strip steel plate cutter head 491 is installed inside the semicircular scraper 49 for scraping the cylindrical surface; The visual inspection module 5 is an automatic optical inspection module, which automatically scans the spraying image through an industrial camera, and then synchronously transmits and compares the captured spraying image with various parameters set by the control module, so as to determine the spraying quality; the visual inspection module 5 is composed of a third mechanical arm 51 and a camera bracket 52; the camera bracket 52 is installed on the rotating motor of the third mechanical arm 51; the rotating motor of the third mechanical arm 51 controls the camera bracket 52 to rotate up and down; the camera bracket 52 is a semicircular bracket, and the middle and two sides of the semicircular frame 52 are installed with industrial cameras 53, which are respectively used to scan the spraying quality of the three spraying surfaces of the front, upper and lower parts of the steel structure; The spraying conveyor 6 is connected to the spray gun through a main feeding pipe 61; the spraying conveyor 6 is equipped with a compressed air booster for increasing the height and spray volume of the fire retardant coating; Furthermore, the spraying conveyor 6 is also equipped with a cart 62 to facilitate the movement of the spraying conveyor; the spraying cart 62 is installed with off-road tires 621, which is convenient for use at the construction site;.

[0028] The rail system 7 is composed of an H-shaped rail 71, a connecting structure 72, a "U"-shaped connecting piece 73, and a load-bearing base 74; the rail head 711 and the rail bottom 712 of the H-shaped rail 71 are vertically connected by two parallel rail waists 713; the H-shaped rail 71 is provided with a plurality of gear grooves 714, and racks 715 are laid in the gear grooves for engaging with the gears; the gear grooves are respectively located on the surface, left side and right side of the rail head of the H-shaped rail 71; the rail head 711, the rail bottom 712 and the rail waist 713 of the H-shaped rail 71 are provided with screw holes at both ends for connecting the connecting structure 72; the H-shaped rail 71 is divided into a vertical rail 75, a horizontal rail 76 and a curved rail 77 according to different uses, and the vertical rail 75 is used for the workbench 1 to move up and down; the horizontal rail 76 is used for the workbench to move left and right; the curved rail 77 is bent downward and forward to form a certain arc, and is used to connect the vertical rail 75 and the horizontal rail 76, so that the workbench 1 is moved from the vertical rail 75 to the horizontal rail 76; The connecting structure 72 is used to connect two adjacent H-shaped rails; the connecting structure 72 is a hollow square frame structure, with an X-shaped reinforcing rib 721 in the middle, and screw holes are provided at both ends of the four faces of the connecting structure 72 for connecting the H-shaped rails; the connecting structure 72 is inserted between the two rail waists of the H-shaped rail 71 and then fixed by bolts; the "U"-shaped connecting piece 73 is used to fix the H-shaped rail 71 to the steel structure to be sprayed to prevent the H-shaped rail 71 from loosening; the "U"-shaped connecting piece 73 is a U-shaped frame, which is composed of a fixing plate 731 and a connecting arm 732; the connecting arm 732 is two, which are respectively located on the left and right sides of the fixing plate 731, and the left and right sides are respectively located on the left and right sides of the fixing plate 731. The bottom of the connecting arm is welded to the left and right ends of the fixing plate 731 respectively; the front part of the connecting arm 732 is provided with a hook plate 733, and the hook plate 733 is used to connect the fixing plate 734; the fixing plate 734 is a square plate, and screw holes are provided on both sides for connecting the hook plate 733; a side panel of the fixing plate 734 is provided with a rubber layer 735, and the rubber layer 735 is provided with anti-slip grooves; the fixing plate 734 is placed on the steel structure and fixed by the bolts on the hook plate; the function of the fixing plate 734 is to fix the connecting structure 72; the hook plate 733 is vertically connected to the front part of the connecting arm 732; the fixing plate 731 is provided with screw holes for connecting the rail waist; The load-bearing base 74 is used to insert the vertical rail to prevent the vertical rail from shaking; the load-bearing base 74 is a trapezoidal platform structure, and screw holes are provided at the four corners of the bottom. The load-bearing base 74 is fixed to the ground by bolts passing through the screw holes to enhance the fixing effect; an installation fixing hole is provided in the middle position of the load-bearing base for inserting the vertical rail.

[0029] The vertical rail 75, the horizontal rail 76 and the curved rail 77 are assembled into an "arch bridge type" rail system, and the workbench 1 moves on the "arch bridge type" rail system to perform spraying operations on the steel structure; Furthermore, the vertical rail 75 and the horizontal rail 76 can be used separately according to the specific conditions of the steel structure; Furthermore, the cross rail 76 can also use the columns and beams of the steel structure as the supporting force structure, and the cross rail 76 can be fixedly installed on the corbel beam; The 3D laser scanner is used to collect information such as geometric size, shape and position of the steel structure surface; the 3D laser scanner is a handheld 3D laser scanner, which is used to collect data information on the spraying conditions of the steel structure surface before the spraying operation; the collected information will be transmitted to the control module in real time; the control module will build a BIM model and a spraying plan and scheme based on the received scanning data; The control module is installed on the PC side, and controls the workbench, spraying module, wire knife leveling and modification module, and spraying feeder through the mobile network; it is used to receive various collected information data from the visual inspection module, the three-dimensional laser scanner, and the environmental detection system; the control module generates spraying operation standards, spraying plans, workflows, etc. according to the data of the steel structure to be sprayed provided by the three-dimensional laser scanner, and then controls the spraying module and the wire knife leveling and modification module to perform spraying and scraping operations according to the generated standards and processes; the spraying and scraping effects are evaluated through the image values ​​transmitted by the visual inspection module; The control module controls the movement and stop of the workbench, controls the first mechanical arm, the spray gun bracket, the second mechanical arm, the leveling and trimming line tool holder, the third mechanical arm and the camera bracket to adjust the angle; the control module controls the opening and closing of the spray gun, and controls the spraying amount and spraying range of the nozzle; the control module receives data transmitted by the first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor, the sixth sensor, the temperature sensor, the humidity sensor, the three-dimensional handheld laser scanner, the camera and the industrial camera; The control module can adopt the thick steel structure fire retardant fire retardant paint decorative spray feeder control system software (software application number 2025R11L0581227), which aims to improve the accuracy and efficiency of the spraying operation.

Claims

1. A steel structure fire retardant coating spraying system, characterized by: It consists of a workbench, a robotic arm, a spraying module, a wire knife leveling and modification module, a visual inspection module, a spraying feeder, a track system, a 3D laser scanner and a control module; The workbench is used to slide on the track; the spraying module, the wire knife leveling and modifying module and the visual inspection module are installed on the workbench; A mechanical arm is installed on the workbench, and the mechanical arm consists of a base, a large arm, a swing servo motor, a small arm and a rotation servo motor; the base is built with a base rotation servo motor for controlling the base to rotate left and right; the bottom of the large arm is installed on the base; the upper part of the large arm is built with a swing servo motor for controlling the small arm to swing up and down; the upper part of the small arm is installed with a rotation servo motor; the number of the mechanical arms is 3, which are arranged in sequence on the workbench; The spraying module is composed of a first mechanical arm and a spray gun bracket; the spray gun bracket is installed on the rotating motor of the first mechanical arm; the rotating motor of the first mechanical arm controls the spray gun bracket to rotate up and down; the spray gun bracket is used to install a spray gun; the spray gun bracket is composed of a main frame, a left split frame and a right split frame; the two ends of the main frame are respectively hinged to the left split frame and the right split frame; the left split frame and the right split frame are respectively controlled to open and close by the left servo motor and the right servo motor; the left split frame and the right split frame of the spray gun bracket are controlled to fold inwardly by the left servo motor and the right servo motor, and the folding angle is 0-180°; the main frame, the left split frame and the right split frame of the spray gun bracket are respectively installed with spray guns; the bottom of the spray gun is externally connected to a feeding pipe, and the feeding pipe is used to convey fire retardant coating.

2. A steel structure fire retardant coating spraying system according to claim 1, characterized in that: The bottom of the workbench is a "concave structure", and a driving gear set is provided on the upper part of the concave structure. The driving gear set consists of two parallel gears, which are connected to the driving motor and driven forward by the driving motor; the driving gear set is arranged in the track gear groove and moves in the track gear groove; the number of the driving gear sets is several; the number of the driving motors is consistent with the number of the driving gear sets; the left and right sides of the concave structure are respectively provided with gears, and the gears move in the gear grooves on the left and right sides of the track; The workbench is also equipped with a temperature sensor and a humidity sensor; the temperature sensor and the humidity sensor are communicatively connected to the input end of the control module; the temperature sensor is used to monitor the temperature of the construction site; the humidity sensor is used to monitor the humidity of the construction site; the purpose is to prevent the temperature or humidity at the construction site from being too high, resulting in coating quality defects, such as whitening, peeling or cracking; when the temperature and humidity at the construction site exceed the required values ​​for the spraying operation, the information will be transmitted to the control module through the wireless network, and the control module will control the spray feeder to stop working; A camera is also installed on the workbench for video monitoring and observation.

3. A steel structure fire retardant coating spraying system according to claim 1, characterized in that: The spray gun is an electrically controlled adjustable spray gun used for spraying fire retardant paint. The adjustable spray gun controls the spraying area and spraying amount by adjusting the nozzle diameter; the external feeding pipes at the bottom of the spray gun are respectively connected to the main feeding pipe; the main feeding pipe is connected to the spraying feeder; The spray gun has a nozzle that is a multi-hole nozzle and / or a curved nozzle; The main frame, the left split frame and the right split frame of the spray gun bracket are respectively equipped with distance measuring sensors.

4. A steel structure fire retardant coating spraying system according to claim 1, characterized in that: The wire knife leveling and trimming module consists of a second mechanical arm and a leveling and trimming wire knife frame; the leveling and trimming wire knife frame is installed on the rotating motor of the second mechanical arm; the leveling and trimming wire knife frame is a semicircular frame; two supports are installed in the middle of the semicircular frame, and wire knives are installed at the fingertips of the two supports; lifting motors are installed on the left and right sides of the leveling and trimming wire knife frame respectively, and X-shaped brackets are installed on the lifting rods of the left and right lifting motors respectively; wire knives are installed on the top, left and right sides of the X-shaped bracket respectively; the lifting rods of the left and right lifting motors control the lifting and lowering of the left and right X-shaped brackets; ranging sensors are also installed in the middle, left and right sides of the leveling and trimming wire knife frame respectively.

5. A steel structure fire retardant coating spraying system according to claim 4, characterized in that: The second robot arm is also equipped with a semicircular scraper for scraping the surface of the arc-shaped component; a semicircular strip steel plate cutter head is installed on the inner side of the semicircular scraper for scraping the cylindrical surface.

6. A steel structure fire retardant coating spraying system according to claim 4, characterized in that: The visual inspection module is an automatic optical inspection module; the visual inspection module is composed of a third mechanical arm and a camera bracket; the camera bracket is installed on the rotating motor of the third mechanical arm; the rotating motor of the third mechanical arm controls the camera bracket to rotate up and down; the camera bracket is a semicircular bracket, and industrial cameras are installed in the middle and both sides of the semicircular frame, which are respectively used to scan the spraying quality of the three spraying surfaces of the front, upper and lower parts of the steel structure; The spraying conveyor is connected to the spray gun through a main feeding pipe; the spraying conveyor is equipped with a compressed air booster.

7. A steel structure fire retardant coating spraying system according to claim 1, characterized in that: The track system is composed of an H-shaped track, a connecting structure, a "U"-shaped connecting piece and a load-bearing base; the rail head and the rail bottom of the H-shaped track are vertically connected by two parallel rail waists; the H-shaped track is provided with a plurality of gear grooves, and racks are laid in the gear grooves for meshing with gears; the gear grooves are respectively located on the surface, left side and right side of the rail head of the H-shaped track; the rail head, rail bottom and both ends of the rail waist of the H-shaped track are provided with connecting structures; the H-shaped track is divided into vertical rails, horizontal rails and curved rails according to different uses, and the vertical rails are used for the up and down movement of the workbench; the horizontal rails are used for the left and right movement of the workbench; the curved rails are bent forward and backward downward to form a certain arc, and are used to connect the vertical rails and the horizontal rails, so that the workbench moves from the vertical rails to the horizontal rails; The connecting structure is used to connect two adjacent H-shaped rails; the connecting structure is a hollow square frame structure with an X-shaped reinforcement rib in the middle, and screw holes are provided at both ends of the four faces of the connecting structure for connecting the H-shaped rails; the connecting structure is inserted between the two rail waists of the H-shaped rail and fixed; the "U"-shaped connector is used to fix the H-shaped rail to the steel structure to be sprayed; the "U"-shaped connector is a U-shaped frame, composed of a fixing plate and a connecting arm; there are two connecting arms, which are respectively located on the left and right sides of the fixing plate, and the bottoms of the left and right connecting arms are respectively connected to the left and right ends of the fixing plate; a hook plate is provided at the front of the connecting arm, and the hook plate is used to connect the fixing plate; the fixing plate is a square plate, and the hook plate is connected on both sides; a side panel of the fixing plate is provided with a rubber layer, and the rubber layer is provided with anti-slip grooves; the fixing plate is fixed to the steel structure; the hook plate is vertically connected to the front of the connecting arm; the fixing plate is connected to the rail waist; The load-bearing base is used for inserting the vertical rail; the load-bearing base is a trapezoidal platform structure, and the bottom is fixed on the ground; a mounting fixing hole is provided in the middle position of the load-bearing base for inserting the vertical rail.

8. A steel structure fire retardant coating spraying system according to claim 7, characterized in that: The vertical rails, the horizontal rails and the curved rails are assembled into an "arch bridge type" rail system, and the workbench moves on the "arch bridge type" rail system to perform spraying operations on the steel structure.

9. A steel structure fire retardant coating spraying system according to claim 1, characterized in that: The three-dimensional laser scanner is used to collect information on the surface of the steel structure; the three-dimensional laser scanner is a handheld three-dimensional laser scanner, which is used to collect data information on the spraying conditions on the surface of the steel structure before the spraying operation; the collected information will be transmitted to the control module in real time.

10. A steel structure fire retardant coating spraying system according to claim 1, characterized in that: The control module is installed on the PC side, and controls the workbench, spraying module, wire knife leveling and modification module, and spraying feeder through the mobile network; and is used to receive various collected information data from the visual inspection module, the three-dimensional laser scanner, and the environmental detection system; The control module controls the movement and stop of the workbench, controls the first robotic arm, spray gun bracket, second robotic arm, leveling and trimming line tool holder, third robotic arm and camera bracket to adjust the angle; the control module controls the opening and closing of the spray gun, controls the nozzle spraying amount and spraying range; the control module receives data transmitted by various ranging sensors, temperature sensors, humidity sensors, three-dimensional handheld laser scanners, cameras and industrial cameras.

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