阅读说明：本技术 一种钢构件激光除锈装置 (Steel member laser rust cleaning device ) 是由 张月玥 杨青 黄莉 陈晓红 李小强 梁一星 吴钰 齐悦 李松涛 秦鹏飞 于 2020-12-11 设计创作，主要内容包括：本申请涉及一种钢构件激光除锈装置,其特征在于：包括由相互平行的左轨道及右轨道组成推进机构,和传动连接于所述推进机构上的龙门架,所述推进机构可以驱动龙门架在左轨道及右轨道上按指定的速度运动和停驻；还包括可受驱动沿龙门架横梁上按指定的速度匀速运动的吊臂,吊臂下方固定连接有悬架,悬架上安装有工作头；所述工作头包括正方形框架,所述正方形框架由四条长度相同的框条构成,分别是后框条、前框条、左框条和右框条,所述左框条和所述右框条中点处分别安装有摄像头,所述左框条和所述右框条下方安装有照明灯组,使对应的摄像头的拍摄范围内的照度均一。(The application relates to a steel member laser rust cleaning device, its characterized in that: the gantry type gantry crane comprises a propelling mechanism consisting of a left track and a right track which are parallel to each other and a gantry frame in transmission connection with the propelling mechanism, wherein the propelling mechanism can drive the gantry frame to move and park on the left track and the right track at a designated speed; the device also comprises a suspension arm which can be driven to move at a uniform speed along a cross beam of the portal frame at a specified speed, a suspension is fixedly connected below the suspension arm, and a working head is arranged on the suspension; the working head comprises a square frame, the square frame is composed of four frame strips with the same length, namely a rear frame strip, a front frame strip, a left frame strip and a right frame strip, cameras are mounted at the middle points of the left frame strip and the right frame strip respectively, and lighting lamp groups are mounted below the left frame strip and the right frame strip, so that the illumination intensity of the corresponding cameras in the shooting range is uniform.)

1. The utility model provides a steel member laser rust cleaning device which characterized in that: the gantry type gantry crane comprises a propelling mechanism consisting of a left track and a right track which are parallel to each other and a gantry frame in transmission connection with the propelling mechanism, wherein the propelling mechanism can drive the gantry frame to move and park on the left track and the right track at a designated speed;

the device also comprises a suspension arm which can be driven to move at a uniform speed along a cross beam of the portal frame at a specified speed, a suspension is fixedly connected below the suspension arm, and a working head is arranged on the suspension;

the working head comprises a square frame, the square frame consists of four frame strips with the same length, namely a rear frame strip, a front frame strip, a left frame strip and a right frame strip, cameras are respectively arranged at the middle points of the left frame strip and the right frame strip, and lighting lamp groups are arranged below the left frame strip and the right frame strip, so that the illumination intensity in the shooting range of the corresponding cameras is uniform;

the rear frame strip and the front frame strip are also provided with movable mechanisms, and the sliding beam which is in transmission connection with the movable mechanisms can move at a constant speed under the driving of the movable mechanisms along the direction vertical to the left frame strip under the condition that the sliding beam is parallel to the left frame strip; the laser head is arranged on the sliding beam and can move back and forth along the sliding beam under the driving of the scanning mechanism;

the control system controls the portal frame to move to a position to be subjected to rust removal operation, controls the working head to move to a position close to a part to be subjected to rust removal operation on a portal frame cross beam, starts the lighting lamp group, shoots the part to be subjected to rust removal operation by the camera, processes the obtained image, judges the actual shape and the rust degree of the rust spot according to the contrast, controls the suspension arm to move to enable the square frame to be opposite to the part to be subjected to rust removal operation, then moves left and right of the sliding beam and moves the laser head back and forth to enable the laser head to traverse the position to be subjected to rust removal, adjusts the emission power of the rust laser according to the rust degree obtained by image processing, improves the emission power at the position with high rust degree, and reduces the emission power or closes the laser head at.

2. The laser rust removing device for the steel member as claimed in claim 1, characterized in that: the color temperature of the lighting lamp set can be adjusted by the control system according to the material of the workpiece to be derusted, so that the color of the rust-free workpiece at the color temperature is close to white.

3. The laser rust removing device for the steel member as claimed in claim 1, characterized in that: and a blowing system is also arranged on the square frame.

4. The laser rust removing device for the steel member as claimed in claim 1, characterized in that: the end points of the square frame are symmetrically provided with a front sweeping arm and a rear sweeping arm about the center point of the square frame, the length of the sweeping arms is the same as the side length of the square frame and can swing around a connecting point with the square frame, and each sweeping arm is uniformly provided with a laser head in an array mode.

5. A steel member laser rust removing device according to claim 4, characterized in that: the front sweeping arm and the rear sweeping arm can be completely closed and tightly attached to the square frame.

6. The laser rust removing device for the steel member as claimed in claim 1, characterized in that: the propelling mechanism is a motor screw mechanism.

7. The laser rust removing device for the steel member as claimed in claim 1, characterized in that: the movable mechanism is a screw rod sliding block mechanism.

8. The laser rust removing device for the steel member as claimed in claim 1, characterized in that: the scanning mechanism is a motor screw mechanism.

Technical Field

The application relates to the technical field of constructional engineering construction equipment, in particular to a steel member laser rust removal device.

Background

In civil engineering and construction of bridge and tunnel, various steel members are often used. After being processed in a manufacturing plant, the steel members are transported and stored, and are finally used in civil construction. Different building occasions have different requirements on the surface quality of the steel member, for example, for the requirements of corrosion resistance and ageing resistance, the rust generated on the surface of the steel member due to long storage time or unsatisfactory construction environment needs to be removed so as to meet the requirements of coating or assembly on the surface roughness of the steel member.

In the rust removing process, a clean and environment-friendly rust removing method is adopted, and a laser pulse mode is emitted to a rust surface, so that the rust part absorbs energy to melt, and a rust layer falls off. It has been found that the areas scanned by the descaling laser pulses can develop surface topography, such as water ripples, which in turn changes the surface roughness of the steel member surface. Further research has found that the surface roughness of a steel material is changed from small (rust removal) to large (surface burn) by performing laser irradiation on the surface of the steel material for a plurality of times or repeatedly, and therefore, if coating or assembly requires a certain degree of surface roughness of the steel member, the prior art cannot control the surface roughness while removing rust.

On the other hand, the rust distribution of the large steel members used for building construction is often uneven, such as rain leakage in a storage place, so that the parts through which rainwater flows rust seriously, and the parts which are not rained are basically rustless. At this time, the surface of the steel member after rust removal still needs to be ensured to be uniform in quality, otherwise, the stability of coating quality cannot be ensured during further coating.

Disclosure of Invention

Problem (A)

1. Aiming at steel members which are often stored in the field or under other bad storage conditions, a device capable of controlling the surface roughness after rust removal is provided;

2. the uniformity of the surface quality after operation can be achieved under the condition of uneven corrosion distribution.

(II) technical scheme

The utility model provides a steel member laser rust cleaning device which characterized in that: the gantry type gantry crane comprises a propelling mechanism consisting of a left track and a right track which are parallel to each other and a gantry frame in transmission connection with the propelling mechanism, wherein the propelling mechanism can drive the gantry frame to move and park on the left track and the right track at a designated speed;

the device also comprises a suspension arm which can be driven to move at a uniform speed along a cross beam of the portal frame at a specified speed, a suspension is fixedly connected below the suspension arm, and a working head is arranged on the suspension;

the working head comprises a square frame, the square frame consists of four frame strips with the same length, namely a rear frame strip, a front frame strip, a left frame strip and a right frame strip, cameras are respectively arranged at the middle points of the left frame strip and the right frame strip, and lighting lamp groups are arranged below the left frame strip and the right frame strip, so that the illumination intensity in the shooting range of the corresponding cameras is uniform;

the rear frame strip and the front frame strip are also provided with movable mechanisms, and the sliding beam which is in transmission connection with the movable mechanisms can move at a constant speed under the driving of the movable mechanisms along the direction vertical to the left frame strip under the condition that the sliding beam is parallel to the left frame strip; the laser head is arranged on the sliding beam and can move back and forth along the sliding beam under the driving of the scanning mechanism;

the control system controls the portal frame to move to a position to be subjected to rust removal operation, controls the working head to move to a position close to a part to be subjected to rust removal operation on a portal frame cross beam, starts the lighting lamp group, shoots the part to be subjected to rust removal operation by the camera, processes the obtained image, judges the actual shape and the rust degree of the rust spot according to the contrast, controls the suspension arm to move to enable the square frame to be opposite to the part to be subjected to rust removal operation, then moves left and right of the sliding beam and moves the laser head back and forth to enable the laser head to traverse the position to be subjected to rust removal, adjusts the emission power of the rust laser according to the rust degree obtained by image processing, improves the emission power at the position with high rust degree, and reduces the emission power or closes the laser head at.

Further, the color temperature of the lighting lamp set can be adjusted by the control system according to the material of the workpiece to be derusted, so that the color of the rust-free workpiece at the color temperature is close to white.

Furthermore, a blowing system is arranged on the square frame.

Furthermore, the end points of the square frame are symmetrically provided with a front scanning arm and a rear scanning arm about the center point of the square frame, the length of the scanning arm is the same as the side length of the square frame and can swing around the connecting point of the scanning arm and the square frame, and each scanning arm is uniformly provided with laser heads in an array mode.

Further, the front-sweeping arm and the rear-sweeping arm may be completely closed and closely attached to the square frame.

Further, the propelling mechanism is a motor screw mechanism.

Further, the movable mechanism is a screw rod sliding block mechanism.

Further, the scanning mechanism is a motor screw mechanism.

(III) advantageous effects

1. The scheme adopts the general idea of block processing, firstly carries out image capture and processing on each small square block, judges the distribution of rust spots, judges the degree of rust according to information such as image contrast and the like, carries out laser irradiation in a targeted manner, and avoids redundant processing on a rust-free part;

2. in order to ensure that the treated steel component has consistent surface quality, laser heads in array layout are also designed, work is carried out after rust removal, and the appearance formed after rust removal is covered by a newly formed ablation structure, so that the surface roughness of the component reaches the required level.

Drawings

FIG. 1 is a schematic view of the apparatus of the present application in its entirety;

FIG. 2 is a front view of the apparatus of the present application;

FIG. 3 is a partially enlarged view of the working head of the present application;

FIG. 4 is a partial top view of the working head of the present application;

FIG. 5 is a partial enlarged view of a scanning portion of the present application;

FIG. 6 is a partially enlarged view of the pivot portion of the sweep arm;

FIG. 7 is a schematic view of a sweeping process of the sweep arm;

figure 8 is a schematic view of the sweeper arm fully closed (note that the other sweeper arm remains open for comparison).

Reference numerals

1. Left rail

2. Right track

3. Portal frame

4. Suspension arm

5. Suspension frame

6. Square frame

7. Back frame strip

8. Front frame strip

9. Left frame strip

10. Right frame strip

11. Right camera

12. Exemplary Right Camera Range

13. Lighting lamp set

14. Front sweeping arm

15. Rear sweeping arm

16. Laser head

17. Sliding beam

18. Propelling mechanism

19. Sliding block

20. Laser head

Detailed Description

The present invention will be further described with reference to the following examples.

As shown in FIG. 1, a steel member laser rust cleaning device according to this application, its characterized in that: the gantry crane comprises a propelling mechanism consisting of a left track 1 and a right track 2 which are parallel to each other, and a gantry 3 which is in transmission connection with the propelling mechanism, wherein the propelling mechanism can drive the gantry to move and park on the left track 1 and the right track 2 at a specified speed;

the device also comprises a suspension arm 4 which can be driven to move at a uniform speed along a cross beam of the portal frame 3 according to a specified speed, a suspension is fixedly connected below the suspension arm 4, and a working head is arranged on the suspension;

the working head comprises a square frame 6, the square frame 6 is composed of four frame strips with the same length, namely a rear frame strip 8, a front frame strip 7, a left frame strip 9 and a right frame strip 10, cameras are respectively arranged at the middle points of the left frame strip 9 and the right frame strip 10, and lighting lamp groups are arranged below the left frame strip 9 and the right frame strip 10, so that the illumination intensity of the corresponding cameras in the shooting range is uniform;

the rear frame strip 8 and the front frame strip 7 are also provided with a movable mechanism, and a sliding beam 17 which is in transmission connection with the movable mechanism can move at a constant speed under the driving of the movable mechanism along the direction vertical to the left frame strip under the condition that the sliding beam is parallel to the left frame strip; the laser head 20 is arranged on the sliding beam 17, and the laser head 20 can move back and forth along the sliding beam 17 under the driving of the scanning mechanism;

the control system controls the portal frame 3 to move to a position to be subjected to rust removal operation, controls the working head to move to a position close to a part to be subjected to rust removal operation on a portal frame cross beam, starts the lighting lamp group, shoots the part to be subjected to rust removal operation by the camera, processes the obtained image, judges the actual shape and the rust degree of the rust spot according to the contrast, controls the suspension arm to move to enable the square frame to be opposite to the part to be subjected to rust removal operation, then moves left and right of the sliding beam and moves the laser head back and forth to enable the laser head to traverse the position to be subjected to rust removal, adjusts the laser emission power according to the rust degree obtained by image processing, improves the emission power at the position with high rust degree, and reduces the emission power or closes the laser head at the position with.

In the scheme, firstly, a portal frame and a hanging bracket are arranged above a workpiece to be derusted in a straddling manner, so that a working head can scan all positions of the workpiece, but when each position to be derusted arrives, an image of the position to which the working head is about to move is shot by a camera, because rusted components are oxides of iron or other metals and have dark colors, the position with rusted spots and the position without rusted spots can be conveniently compared, then, due to the shape design of a square frame, a slide beam on the slide beam and a laser head on the slide beam can move in the range of the square frame and traverse each point, and at the moment, the output power of the laser head is changed according to the result of image comparison, so that the targeted derusting can be carried out on the uneven rusted spots;

in the above process, it should be noted that before the camera takes the image of the rusty surface, the lighting lamp set is turned on, so that the image recognition is not interfered by the shadow condition.

In addition, the structure and the devices of the square frame are symmetrical, and the left frame strip is also provided with the lighting lamp group and the camera, so that the working head can conveniently scan left and right back and forth along with the suspension arm.

Further, the color temperature of the lighting lamp set can be adjusted by the control system according to the material of the workpiece to be derusted, so that the color of the rust-free workpiece at the color temperature is close to white.

The rust-free metal component is a steel component, the color of the rust-free metal component is silvery white (but other colors can be provided according to different material brands), and in order to reduce the complexity of image processing, the color temperature of the lighting lamp group can be changed to enable the main body of the component to be close to white in a viewfinder of a camera, so that the contrast with a rusty part is increased.

Furthermore, a blowing system is arranged on the square frame.

The device is used for blowing sundries and soil which may fall on the steel member and removing rust spots by laser rust removal before shooting by the camera.

The process ensures that the steel member with uneven corrosion condition can be subjected to laser rust removal operation only aiming at the position with corrosion, and the laser power is adjusted according to the corrosion degree, so that the surface condition of the steel member is generally uniform.

However, the studies of the background art also suggest that if the steel member is repeatedly subjected to laser rust removal, the surface roughness thereof will be reduced (rust removal) and then increased (burn) with the increase of the number of laser irradiation times, and the surface roughness has a relatively large influence on the subsequent coating and other processes, and generally requires that all the surface roughness of the working surface be consistent and within the range required by the national standards, and in the above process, the rust removal is performed and the position of the laser head is closed under the judgment of no rust, and the surface roughness after the treatment is completely different, and generally, it is considered that the surface roughness of the member subjected to laser irradiation is larger and more suitable for coating, so that the surface of the member subjected to rust removal also needs to be consistent, that is, the surface of the member subjected to the rust removal

Furthermore, the end points of the square frame 6 are symmetrically provided with a front scanning arm 14 and a rear scanning arm 15 about the center point of the square frame, the length of the scanning arm is the same as the side length of the square frame and can swing around the connecting point of the scanning arm and the square frame, and each scanning arm is uniformly provided with laser heads in an array mode.

According to the actual movement path of the portal frame and the suspension arm, only one arm is needed to work at the same time. For example, in fig. 1, it is assumed that the working head moves from left to right, and the gantry moves from back to front, in this case, after the scanning of the laser heads in the square frame is finished, the gantry moves forward by a stroke of one side length of the square frame, and then the fully-unfolded rear scanning arm completely scans the area irradiated by the laser heads in the square frame before the movement of the gantry in the next transverse movement process of the boom, because rust in the area is removed, each laser head on the scanning arm irradiates (ablates) again with the same power, so that the roughness of the surface of the component is uniform.

It should be noted here that the rust removing operation is not intended to smooth the surface of the component, but to finally make the surface have a certain roughness, even if the paint can not be attached, and the characteristic of the laser acting on the steel component also enables the application to design a two-step process of removing rust first and then ablating the surface, so that the component reaches the optimal pretreatment state.

Under the ideal condition, the surface conditions of the steel member are completely the same, namely uneven rusts do not exist, special and image processing modes are not needed for targeted processing, at the moment, the two sweeping arms can be closed, better mechanism rigidity and control convenience are obtained, and the laser heads on the sweeping arms are directly used for surface processing. It is possible to operate with only one sweep arm or with both sweep arms in common, in which case a laser head of equivalent power repeatedly irradiates the steel member twice in a single stroke, see figures 7-8 of the specification.

If needed, the two sweeping arms can work simultaneously even if not closed, because the square frame is skillfully designed into a square shape, and the length of the sweeping arms is equal to the side length of the square frame, so that the sweeping arms can work simultaneously when not closed, the sweeping arms can perform scanning movement along with the suspension, a working area like zebra stripes is left on the surface of the workpiece due to the staggering of the two sweeping arms, and then the scanning arms traverse back and forth, even if all the surfaces are completely acted. This mode of operation is suitable for situations where the desired surface roughness can be ablated at one time.

Further, the front-sweeping arm and the rear-sweeping arm may be completely closed and closely attached to the square frame 6.

Further, the propelling mechanism is a motor screw mechanism.

Further, the movable mechanism is a screw rod sliding block mechanism.

Further, the scanning mechanism is a motor screw mechanism.

It is easy to know that the above-mentioned driving mechanism mainly drives the motion of each stage of actuating mechanism, and is not limited to the above-mentioned selection, and the same kind of transmission mechanism, such as chain transmission, synchronous belt transmission, hydropneumatic mechanism, etc. can also be adopted.

Furthermore, the suspension arm can adjust the suspension height of the suspension, and the suspension connection point of the suspension arm and the suspension is hinged, so that the suspension angle of the suspension can be changed.

This is a steel member adapted to the working surface not being planar and which is adaptable to face the surface to be worked.

While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.