CN-121977140-A - Device for detecting spraying quality of steel structure

CN121977140ACN 121977140 ACN121977140 ACN 121977140ACN-121977140-A

Abstract

The invention discloses a device for detecting the spraying quality of a steel structure, which comprises a tail end telescopic mechanism, a plurality of upright column rope discharging mechanisms, a plurality of tail end anti-swing mechanisms, a tail end posture adjusting mechanism, a camera and a gravity compensation mechanism, wherein the tail end telescopic mechanism is used for adjusting the vertical position of a tail end actuator, the upright column rope discharging mechanisms are uniformly distributed on the outer side of the tail end telescopic mechanism, the ends of flexible ropes are connected with the top ends of the tail end telescopic mechanism and are used for adjusting the horizontal position of the tail end actuator, the tail end anti-swing mechanisms are uniformly and fixedly arranged on the top ends of the tail end telescopic mechanism, so that the flexible ropes always maintain certain pre-tightening tension in the pulling process, the tail end posture adjusting mechanism is used for adjusting the circumferential posture and pitching posture of the tail end actuator, the camera is used for picking up and detecting a position to be detected, and the gravity compensation mechanism is used for outputting elastic compensation force matched with the gravity moment generated by the tail end posture adjusting mechanism. The device can give consideration to large output torque, high motion precision and environment interference resistance, so that the end effector is lighter in load and more flexible in posture adjustment, and high-efficiency stable detection is realized.

Inventors

QIAN SEN
Zhao Zeyao
DU ZHAOQUAN
XU YUANKAI
LIU YONG
WU ZHE
ZHANG TAO
SHAO QI
Ju Minghao
SONG GUOHUA
LI CHANGQI

Assignees

合肥工业大学

Dates

Publication Date: 20260505
Application Date: 20260210

Claims (10)

1. A device for detecting the spraying quality of a steel structure is characterized by comprising The tail end telescopic mechanism is used for adjusting the vertical position of the tail end actuator; The upright column rope discharging mechanisms are uniformly distributed on the outer side of the tail end telescopic mechanism, and the end parts of the flexible ropes are connected with the top ends of the tail end telescopic mechanism and used for adjusting the horizontal position of the tail end actuator; the plurality of tail end anti-swing mechanisms are uniformly and fixedly arranged at the top ends of the tail end telescopic mechanisms and are respectively and correspondingly connected with the flexible rope end parts of the upright rope discharging mechanisms, so that the flexible rope always maintains certain pre-tightening tension in the pulling process; the tail end posture adjusting mechanism is fixedly arranged at the bottom telescopic end of the tail end telescopic mechanism and is used for adjusting circumferential postures and pitching postures of the tail end actuator; the camera is arranged at the positioning end of the tail end gesture adjusting mechanism and is used for picking up and detecting the position to be detected; the gravity compensation mechanism is arranged in the tail end posture adjustment mechanism and is used for outputting elastic compensation force matched with the gravity moment generated by the tail end posture adjustment mechanism.
2. The device for detecting the spraying quality of the steel structure according to claim 1, wherein the upright rope discharging mechanism comprises a linear sliding table, a screw rod driving motor fixedly arranged at the bottom of the linear sliding table, a driving screw rod connected to an output shaft end of the screw rod driving motor and rotationally connected to the linear sliding table, a driven screw rod rotationally connected to the linear sliding table and arranged in parallel with the driving screw rod, a pulley base sliding block vertically and slidingly embedded in the linear sliding table, and a movable pulley rotationally arranged in the pulley base sliding block, wherein the top ends of the driving screw rod and the driven screw rod are in transmission connection through a synchronous transmission device; The driving screw rod is connected with a driving screw rod sliding block through threads, the driven screw rod is connected with a driven screw rod sliding block through threads, the driving screw rod sliding block and the driven screw rod sliding block are connected through a movable pulley driving rope which winds around a movable pulley, and a pulley base sliding block is connected with a tail end anti-swing driving rope.
3. The device for detecting the spraying quality of the steel structure according to claim 2, wherein the driving screw rod and the driven screw rod are opposite in thread direction and unequal in thread pitch.
4. The device for detecting the spraying quality of the steel structure according to claim 2, wherein the upright rope discharging mechanism further comprises a universal wheel arranged at the bottom of the linear sliding table.
5. The device for detecting the spraying quality of the steel structure according to claim 2, 3 or 4, wherein the tail end anti-swing mechanism comprises an anti-swing base, a composite sleeve and a coil spring sleeve which are respectively arranged on the anti-swing base in a rotating mode, and a coil spring wound on the composite sleeve and the coil spring sleeve, and a rope end of the tail end anti-swing driving rope is fixed on an outer circle surface of an end portion of the composite sleeve.
6. The device for detecting the spraying quality of the steel structure according to claim 5, wherein a ball joint is rotationally embedded on one side of the top of the anti-swing base, a second guide wheel is rotationally arranged in the ball joint, a first guide wheel positioned below the second guide wheel is rotationally arranged on the side wall of the anti-swing base, and a rope end of the tail end anti-swing driving rope penetrates through the ball joint and is sequentially wound around the second guide wheel and the first guide wheel.
7. The device for detecting the spraying quality of the steel structure according to claim 1, 2, 3,4 or 6, wherein the tail end telescopic mechanism comprises a top plate seat, a telescopic driving motor and a fixed frame which are fixedly arranged on the bottom surface of the top plate seat, and a winding reel which is rotatably arranged at the bottom of the top plate seat and fixedly connected with the output shaft end of the telescopic driving motor, a primary telescopic frame is sleeved in the fixed frame in a sliding manner, and a secondary telescopic frame is sleeved in the primary telescopic frame in a sliding manner; One rope end of the secondary telescopic driving rope wound on the winding reel bypasses a guide wheel set arranged at the bottom end of the fixed frame and is connected with the bottom of the secondary telescopic frame, and the rope end of the primary telescopic driving rope fixedly connected to the bottom end of the fixed frame bypasses a guide wheel set arranged at the bottom end of the primary telescopic frame and is connected with the top of the secondary telescopic frame.
8. The device for detecting the spraying quality of the steel structure according to claim 1, 2, 3,4 or 6, wherein the tail end posture adjusting mechanism comprises a rotary driving motor fixedly arranged at the bottom end of the tail end telescopic mechanism, a rotary platform fixedly connected with the output shaft end of the rotary driving motor, a lower platform fixedly arranged at the bottom of the rotary platform, a load driving motor fixedly arranged at one side of the lower platform and a tail end mounting seat rotationally arranged on the lower platform and fixedly connected with the output shaft end of the load driving motor, and the camera is fixedly arranged on the tail end mounting seat.
9. The apparatus for steel structure spray quality inspection according to claim 8, wherein a counterweight is disposed at an end of the lower platform remote from the end effector.
10. The device for detecting the spraying quality of the steel structure according to claim 8, wherein the gravity compensation mechanism comprises a spring stop block fixedly arranged on the top surface of the lower platform, a spring moving block slidably arranged on the top surface of the lower platform and a clamping spring arranged between the spring stop block and the spring moving block, guide wheel sets are respectively arranged on the tail end mounting seat, the lower platform, the spring stop block and the spring moving block, and one end of a compensation driving rope fixedly connected to the lower platform is fixedly connected with the spring moving block after being sequentially wound around each guide wheel set.

Description

Device for detecting spraying quality of steel structure Technical Field The invention belongs to the technical field of spray quality detection, and particularly relates to a device for detecting the spray quality of a steel structure. Background The existing large-scale steel structure spraying quality detection technical scheme has obvious short plates, and is difficult to comprehensively adapt to the high-precision and high-efficiency management and control requirements of the engineering. The traditional manual visual detection has the defects of strong subjectivity, easiness in missing of fine pinholes, microcracks and the like, low detection efficiency and incapability of covering parts with complex structures. The contact thickness measurement needs to be detected point by point, the operation is complex, the coating is easy to damage, and the large-area rapid investigation is difficult to realize. Although the ultrasonic detection and the electromagnetic detection have certain accuracy, the ultrasonic detection and the electromagnetic detection are greatly influenced by the structural shape and the coating material, have poor detection adaptability to curved surfaces and special-shaped components, and are easy to generate data deviation. The portability of part of nondestructive testing equipment is insufficient, the field operation flexibility is low, and most of the nondestructive testing equipment is single index detection, multiple equipment cooperation is needed, the flow is complex, and the spraying quality full-parameter integrated efficient control is difficult to realize. The existing manual detection mode and technology in the large steel structure spraying quality detection has multiple pain points, and the method is specifically as follows: 1. The detection efficiency and the suitability are insufficient, the large-scale steel structure has huge volume, complex structure and frequent batch operation, the manual detection is time-consuming and labor-consuming, the efficiency is low, and the detection requirement is difficult to adapt; 2. The personnel health risk is prominent, the spraying material contains volatile organic compounds, the personnel exposure of operators is easily caused by manual close-range detection, and the potential health hazard exists; 3. The existing automation scheme lacks suitability, and is lack of special automatic detection equipment capable of replacing manpower aiming at the characteristics of large working space range of a large steel structure, complex detection path and high measurement precision requirement, the conventional driving structure is difficult to consider large output torque, high motion precision and environment interference resistance, and the end effector also has the problems of overload load and insufficient gesture adjustment flexibility and cannot realize high-efficiency stable detection. Disclosure of Invention In order to solve the defects of the manual detection and detection equipment, the invention provides a device for detecting the spraying quality of a steel structure, which has the advantages of high output torque, high motion precision and environment interference resistance, and enables the end effector to be lighter in load and more flexible in posture adjustment, thereby realizing efficient and stable detection. In order to solve the technical problems, the invention adopts a technical scheme that: A device for steel construction spraying quality detects, include The tail end telescopic mechanism is used for adjusting the vertical position of the tail end actuator; The upright column rope discharging mechanisms are uniformly distributed on the outer side of the tail end telescopic mechanism, and the end parts of the flexible ropes are connected with the top ends of the tail end telescopic mechanism and used for adjusting the horizontal position of the tail end actuator; the plurality of tail end anti-swing mechanisms are uniformly and fixedly arranged at the top ends of the tail end telescopic mechanisms and are respectively and correspondingly connected with the flexible rope end parts of the upright rope discharging mechanisms, so that the flexible rope always maintains certain pre-tightening tension in the pulling process; the tail end posture adjusting mechanism is fixedly arranged at the bottom telescopic end of the tail end telescopic mechanism and is used for adjusting circumferential postures and pitching postures of the tail end actuator; the camera is arranged at the positioning end of the tail end gesture adjusting mechanism and is used for picking up and detecting the position to be detected; the gravity compensation mechanism is arranged in the tail end posture adjustment mechanism and is used for outputting elastic compensation force matched with the gravity moment generated by the tail end posture adjustment mechanism. Further, the upright column rope discharging mechanism comprises a linear sliding table,