CN115898063B - High-rise structure surface maintenance device and method - Google Patents
High-rise structure surface maintenance device and method Download PDFInfo
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- CN115898063B CN115898063B CN202310232159.5A CN202310232159A CN115898063B CN 115898063 B CN115898063 B CN 115898063B CN 202310232159 A CN202310232159 A CN 202310232159A CN 115898063 B CN115898063 B CN 115898063B
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- 238000012423 maintenance Methods 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 29
- 239000011248 coating agent Substances 0.000 claims abstract description 19
- 238000000576 coating method Methods 0.000 claims abstract description 19
- 238000004140 cleaning Methods 0.000 claims abstract description 6
- 239000003973 paint Substances 0.000 claims description 73
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 70
- 238000013519 translation Methods 0.000 claims description 67
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims description 56
- 235000011089 carbon dioxide Nutrition 0.000 claims description 56
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- 239000007921 spray Substances 0.000 claims description 39
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- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 6
- 238000005536 corrosion prevention Methods 0.000 claims description 5
- 238000005202 decontamination Methods 0.000 claims description 5
- 230000003588 decontaminative effect Effects 0.000 claims description 5
- 230000008602 contraction Effects 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims description 4
- 238000012935 Averaging Methods 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 3
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Abstract
The invention relates to the technical field of structure maintenance, and particularly discloses a high-rise structure surface maintenance device and method, wherein the method comprises the following steps: step 1: installing, checking and maintaining the device; step 2: constructing a map coordinate set of the surface of the high-rise structure; step 3: collecting coordinate set distance data; step 4: and (5) carrying out surface maintenance of the high-rise structure. The invention can protect the surface coating of the high-rise structure and improve the working efficiency of the surface maintenance of the high-rise structure while ensuring the cleaning effect of the surface maintenance of the high-rise structure.
Description
Technical Field
The invention belongs to the technical field of structure maintenance, and particularly relates to a high-rise structure surface maintenance device and method.
Background
At present, decontamination, rust removal, corrosion prevention and coating of the surface of a nuclear power high-rise structure are all finished manually, the risk of high-altitude operation is high, and the outdoor high-altitude operation is limited by outdoor climate conditions. The surface of the nuclear power high-rise structure is maintained by using an artificial hoisting climbing mode, so that higher potential safety hazards exist, and the improvement of intrinsically safe work of a nuclear power plant is not facilitated. The method for erecting the scaffold is used for maintaining the surface of the nuclear power high-rise structure, a large amount of labor cost and time cost are required to be consumed, the economy is poor, and the capacity factor of the nuclear power unit of a nuclear power operation unit is reduced.
When a person in a power plant in the north performs high-rise operation on the outer surface of a high-rise structure, a cable breakage happens to cause a falling event at the high-rise part of the person, so that casualties and great economic loss are caused. Therefore, it is needed to provide a high-rise structure surface maintenance device and method, which can be suitable for nuclear power high-rise structures and replace manual high-rise structure surface maintenance operation.
Disclosure of Invention
The invention aims to provide a high-rise structure surface maintenance device and a high-rise structure surface maintenance method, which can carry out decontamination, rust removal, corrosion prevention and coating operations on the outer surface of a high-rise structure.
The technical scheme of the invention is as follows:
the surface maintenance device for the high-rise structure comprises a lifting electric winding drum, a lifting electric winding drum encoder, a translation track motor encoder, an annular track, a suspender, a distance measuring device, an electric telescopic rod, a spray head, a hanging box and a control unit;
the lifting electric winding drum is fixed at the top of a structure to be cleaned and is connected with the annular track through a steel cable;
the lifting electric winding drum and the lifting electric winding drum encoder are respectively provided with three lifting electric winding drum encoders, and are respectively controlled and executed by the control unit; the lifting electric reel encoder 1 is used for measuring the real-time position height of the lifting electric reel 1, the lifting electric reel encoder 2 is used for measuring the rotation angle of the lifting electric reel 2, and the lifting electric reel encoder 3 is used for measuring the rotation angle of the lifting electric reel 3;
each time the lifting electric reel encoder rotates for one circle, the corresponding lifting electric reel moves by delta H mm in the vertical direction;
the translation track motor is arranged on the annular track and is controlled to start and stop by the control unit; the translational track motor can do annular horizontal movement along the annular track when rotating forwards and backwards, and the rotational angle and the direction of the translational track motor are measured through a translational track motor encoder;
the hanging rod is a rigid connecting piece of the translation track motor and the hanging box, and an electric telescopic rod and a distance measuring device are arranged on one surface of the hanging box, which points to the circle center of the annular track, in the horizontal direction; the tail end of the electric telescopic rod is provided with a spray head; the control unit is used for controlling the expansion and contraction of the electric telescopic rod, the distance measuring equipment and the start and stop of the spray head;
the inside of the hanging box is provided with a water tank, a coating box and a dry refrigerator.
The distance measuring equipment is a depth camera and a millimeter wave radar, and the sampling frequency of the millimeter wave radar is consistent with that of the depth camera.
A water tank liquid level switch and a water tank pump are arranged in the water tank, a water loop inlet valve is arranged at the outlet of the water tank pump, a downstream pipeline of the water loop inlet valve is connected with a water loop check valve, and a water loop pressure sensor is arranged between the connecting pipeline of the water loop inlet valve and the water loop check valve; the outlet of the water loop check valve is connected with the inlet of the outlet valve through a pipeline, and the outlet of the outlet valve is connected with the spray head.
A paint tank liquid level switch and a paint tank pump are arranged in the paint tank, a paint loop inlet valve is arranged at the outlet of the paint tank pump, a downstream pipeline of the paint loop inlet valve is connected with a paint loop check valve, and a paint loop pressure sensor is arranged between the connecting pipeline of the paint loop inlet valve and the paint loop check valve; the outlet of the paint loop check valve is connected with the inlet of the outlet valve through a pipeline, and the outlet of the outlet valve is connected with the spray head.
A dry refrigerator pump is arranged in the dry ice box, a dry ice loop inlet valve is arranged at the outlet of the dry ice box pump, a downstream pipeline of the dry ice loop inlet valve is connected with a dry ice loop check valve, and a dry ice loop pressure sensor is arranged between a connecting pipeline of the dry ice loop inlet valve and the dry ice loop check valve; the outlet of the dry ice loop check valve is connected with the inlet of the outlet valve through a pipeline, and the outlet of the outlet valve is connected with the spray head.
The shaft of the translation track motor is horizontally arranged and is vertical to the annular track.
A high-rise structure surface maintenance method based on the maintenance device comprises the following steps:
step 1: installation, verification and maintenance device
A maintenance device is installed on the outer vertical surface of a cylindrical structure, the bottom surface of a hanging box is taken as a reference point, after an annular track, a translation track motor encoder, a hanging rod and the hanging box are all lifted to a position 0m above the bottom surface of the structure, the lifting is continued to be synchronously lifted until the height of the hanging box reaches delta H mm, and then the real-time reading value and the real-time number of turns value of an optical code disc of a lifting electric reel encoder No. 1, a lifting electric reel encoder No. 2 and a lifting electric reel encoder No. 3 are all set to be 0;
running the translation track motor to the direction facing the forward direction, and setting the real-time reading value and the real-time turn number value of the optical code disc of the encoder of the translation track motor to 0;
step 2: construction of a surface map coordinate set of a high-rise Structure
The translation track motor is enabled to move to a 360-degree horizontal position on the annular track anticlockwise, the point is identified as a 360-degree angle full correction point, and the real-time circle number value R of an encoder of the translation track motor and the real-time reading value A of the optical code disc at the point are recorded;
calculating the real-time angle ((0.1×a+Δh×r)/(0.1×a+Δh×r))×360 of the translation track motor, wherein the units are degrees; wherein a is the real-time reading value of an optical code disc of the translational track motor encoder, and r is the real-time circle value of the translational track motor encoder;
setting the movement angle range of the translation track motor to be 0-365 degrees, setting x as the transverse movement range of the translation track motor, wherein the unit is millimeter, and the value range of x is 0 to (0.1 xA+DeltaH x R) x (365/360);
taking the top surface of the hanging box as a datum point, synchronously lifting the annular track, the translation track motor encoder, the hanging rod and the hanging box to the horizontal plane of the top of the structure, and recording the number C of turns of the lifting electric reel encoder of the point No. 1 and the real-time reading value B of the optical code disc;
setting y as the longitudinal movement range of the lifting electric winding drum No. 1, wherein the unit is millimeter, and the value range of y is 0 to (0.1 XB+DeltaH XC);
constructing a rectangular plane map coordinate set P (x, y) on the surface of the high-rise structure, wherein the range of an x axis is 0 to (0.1 xA+delta H x R) x (365/360), and the range of a y axis is 0 to (0.1 xB+delta H x C);
step 3: collecting coordinate set distance data
Scanning the annular track, the translation track motor encoder, the suspender and the suspended box line by line from high to low according to a coordinate set P (x, y), and recording a distance set on each unit coordinate of the distance measuring equipment and the surface of the high-rise structure in the scanning process;
step 4: surface maintenance of high-rise structures
Carrying out cleaning decontamination, coating or corrosion prevention rust removal on the surface of the high-rise building line by line from high to low along a rectangular plane map coordinate set P (x, y) of the surface of the high-rise building; in the process, the electric telescopic rod changes the elongation according to the coordinate set distance data.
In step 3, a distance value set L on each unit coordinate of the center point of the image obtained by the depth camera and the surface of the high-rise structure is recorded S And a distance value set L between each unit coordinate of the millimeter wave radar and the surface of the high-rise structure, which is read by the millimeter wave radar R ；
Will aggregate L S And set L R Average distance data set L is formed after averaging the distance values of (2) A (x ', y') and then for the average distance data set L A The coordinate data of (x ', y') is corrected to form a second order array L (x ", y") =l (x '-n, y' -m) =l [ (0.1×a+Δh×r) × (365 Σ360) -n,0.1×b+Δh×c) 1 -m]Wherein n is the horizontal distance from the millimeter wave radar to the spray head, and m is the vertical distance from the millimeter wave radar coordinate to the spray head.
In step 4, the electric telescopic rod subtracts the compensation distance according to the coordinate set distance data to change the elongation.
In step 4, the water circuit pressure is maintained at [50+ (b) while the water circuit spraying operation is performed 1 +8192×c 1 )/1.01×10 5 ]bar; maintaining the paint circuit pressure at [8+ (b) while performing the paint circuit spraying operation 1 +8192×c 1 )/1.01×10 5 ]bar; maintaining the dry ice loop pressure at [80+ (b) while performing the dry ice loop spraying operation 1 +8192×c 1 )/1.01×10 5 ]bar; wherein b 1 Optical code of lifting electric reel encoder 1Reading the value of the disk in real time, c 1 The real-time circle value of the electric reel encoder is lifted for No. 1.
The invention has the remarkable effects that:
(1) The invention can protect the surface coating of the high-rise structure while ensuring the maintenance and cleaning effects of the surface of the high-rise structure; the water loop, the coating loop and the dry ice loop provided by the invention can control the pressure of the spray head medium, and prevent the surface coating of the high-rise structure from being damaged by the excessive pressure.
(2) The invention can improve the working efficiency of the maintenance of the surface of the high-rise structure, can automatically scan the shape characteristics of the surface of the high-rise structure and draw the characteristic map, and can prevent repeated maintenance or maintenance omission on the surface of the high-rise structure.
(3) The spray head of the device can adjust the expansion and contraction amount of the electric telescopic rod according to the data in the characteristic map, so that the surface of the high-rise structure is ensured not to scratch the electric telescopic rod of the device, and further the high-rise structure and the device are prevented from being damaged.
(4) The device can replace manual maintenance operation at the high position on the surface of the high-rise structure, and effectively reduces the safety risk of the structure owner.
(5) The invention is suitable for the surface maintenance of nuclear power high-rise structures, and is safe and reliable and has higher economical efficiency.
Drawings
FIG. 1 is a schematic diagram of a high-rise building surface maintenance apparatus;
FIG. 2 is a schematic circuit diagram of a high-rise building surface maintenance device.
In the figure: 1. lifting the electric winding drum 1; 2. lifting the electric winding drum No. 2; 3. lifting the electric winding drum No. 3; 4. lifting an electric reel encoder 1; 5. a lifting electric reel encoder No. 2; 6. lifting the electric reel coder No. 3; 7. a translation track motor; 8. a translational track motor encoder; 9. an endless track; 10. a boom; 11. a depth camera; 12. millimeter wave radar; 13. an electric telescopic rod; 14. a spray head; 15. hanging a box; 16. an outlet valve; 17. a pipeline heat tracing cable; 18. a water circuit check valve; 19. a paint loop check valve; 20. a dry ice loop check valve; 21. a water circuit pressure sensor; 22. a paint loop pressure sensor; 23. a dry ice loop pressure sensor; 24. a water circuit inlet valve; 25. a paint loop inlet valve; 26. a dry ice loop inlet valve; 27. a water tank level switch; 28. a coating box liquid level switch; 29. a control unit; 30. a water tank pump; 31. a coating tank pump; 32. a dry refrigerator pump; 33. a water tank; 34. a coating box; 35. a dry refrigerator.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
The surface maintenance device for the high-rise structure shown in fig. 1 and 2 comprises a lifting electric winding drum, a lifting electric winding drum encoder, a translation track motor 7, a translation track motor encoder 8, an annular track 9, a boom 10, a depth camera 11, a millimeter wave radar 12, an electric telescopic rod 13, a spray head 14, a hanging box 15 and a control unit 29.
The lifting electric reels are three, namely a lifting electric reel 1 No. 1, a lifting electric reel 2 No. 2 and a lifting electric reel 3 No. 3, and the three lifting electric reels are fixed at the top of a structure to be cleaned at intervals of 120 degrees in the horizontal direction. Each lifting electric winding drum is connected with the annular rail 9 through a steel cable, and the lifting and descending movement of the annular rail 9 can be performed by controlling the forward and reverse rotation of the three lifting electric winding drums.
The diameters of the lifting electric reels 1, 2 and 3 are 260.89 mm.
The No. 1 lifting electric reel encoder 4, the No. 2 lifting electric reel encoder 5, the No. 3 lifting electric reel encoder 6 and the translation track motor encoder 8 are absolute value encoders, have a power-off maintaining function, and have 2 total rings 13 The stripe binary optical code, i.e. the number of lines per turn of the encoder, is 8192 lines. And each time the lifting electric winding drum encoder rotates for one circle, the lifting electric winding drum moves 819.2mm in the vertical direction.
The lifting electric winding drum 1 is coaxial with the lifting electric winding drum encoder 4 1, the lifting electric winding drum encoder 4 is arranged at the tail end of the lifting electric winding drum 1, and the lifting electric winding drum 1 is used forAnd measuring the real-time position height of the lifting electric winding drum 1 No. 1. The real-time height h of the lifting electric winding drum 1 No. 1 1 =0.1×b 1 +819.2×c 1 The unit is millimeter; wherein b 1 For the number 1 lifting electric reel encoder 4 optical code disk real-time reading value, c 1 The real-time circle value of the electric reel encoder 4 is lifted for the number 1.
The lifting electric winding drum 2 is coaxial with the lifting electric winding drum encoder 5 2, and the lifting electric winding drum encoder 5 2 is arranged at the tail end of the lifting electric winding drum 2 and used for measuring the rotation angle of the lifting electric winding drum 2. The real-time height h of the No. 2 lifting electric winding drum 2 2 =0.1×b 2 +819.2×c 2 The unit is millimeter; wherein b 2 The real-time reading value of the optical code disc of the No. 2 lifting electric reel encoder 5, c 2 The real-time circle value of the electric reel encoder 5 is lifted for number 2.
The lifting electric winding drum 3 and the lifting electric winding drum encoder 6 are coaxial, and the lifting electric winding drum encoder 6 is arranged at the tail end of the lifting electric winding drum 3 and used for measuring the rotation angle of the lifting electric winding drum 3. The real-time height h of the lifting electric winding drum 3 No. 3 3 =0.1×b 3 +819.2×c 3 The unit is millimeter; wherein b 3 For the number 3 promotes the real-time reading value of 6 optical code discs of the electric reel encoder, c 3 The real-time circle value of the electric reel encoder 6 is lifted for number 3.
The increment value of the working voltage of the No. 2 lifting electric winding drum 2 is an incremental PD formula, namely V 2 '=k p2 (b 1 -b 2 )+k d2 (b 1 -b 2 ) ' wherein k p2 And k d2 The actual values are obtained by a trial-and-error method for the P parameter and the D parameter of the PD formula. According to V 2 The operating voltage increment of the lifting motor spool 2 No. 2 is adjusted to correct the horizontal height of the endless track 9 on the lifting motor spool 2 side No. 2.
The increment value of the working voltage of the No. 3 lifting electric winding drum 3 is an incremental PD formula, namely V 3 '=k p3 (b 1 -b 3 )+k d3 (b 1 -b 3 ) ' wherein k p3 And k d3 The actual values are obtained by a trial-and-error method for the P parameter and the D parameter of the PD formula. According to V 3 The operating voltage increment of the lifting motor reel 3 No. 3 is' adjusted to correct the horizontal height of the endless track 9 on the lifting motor reel 3 side No. 3.
The translation track motor 7 is arranged on the annular track 9, and the shaft of the translation track motor 7 is horizontally arranged and vertical to the annular track 9. The translation track motor 7 can do annular horizontal movement along the annular track 9 when rotating forward and backward.
The translation track motor 7 and the translation track motor encoder 8 are coaxial, and the translation track motor encoder 8 is arranged at the tail end of the translation track motor 7 and used for measuring the rotation angle and the rotation direction of the translation track motor 7. When the translation track motor 7 rotates, the translation track motor 7, the translation track motor encoder 8, the suspender 10 and the hanging box 15 can be driven to translate along the tangential direction of the annular track 9.
The boom 10 is a rigid connecting piece of the translation track motor 7 and the hanging box 15, one side of the hanging box 15 pointing to the circle center horizontal direction of the annular track 9 is provided with an electric telescopic rod 13, a depth camera 11 and a millimeter wave radar 12, wherein the depth camera 11 and the millimeter wave radar 12 are arranged above the electric telescopic rod 13. The tail end of the electric telescopic rod 13 is provided with a spray head 14.
A water tank 33, a paint tank 34, and a dry ice tank 35 are provided inside the hanging box 15.
A tank level switch 27 and a tank pump 30 are provided in the tank 33, a water circuit inlet valve 24 is provided at the outlet of the tank pump 30, a water circuit check valve 18 is connected to a downstream line of the water circuit inlet valve 24, and a water circuit pressure sensor 21 is provided between the water circuit inlet valve 24 and the connection line of the water circuit check valve 18.
A paint tank level switch 28 and a paint tank pump 31 are arranged in the paint tank 34, a paint loop inlet valve 25 is arranged at the outlet of the paint tank pump 31, a downstream pipeline of the paint loop inlet valve 25 is connected with a paint loop check valve 19, and a paint loop pressure sensor 22 is arranged between the connecting pipeline of the paint loop inlet valve 25 and the paint loop check valve 19.
A dry refrigerator pump 32 is arranged in the dry ice box 35, a dry ice loop inlet valve 26 is arranged at the outlet of the dry ice pump 32, a downstream pipeline of the dry ice loop inlet valve 26 is connected with the dry ice loop check valve 20, and a dry ice loop pressure sensor 23 is arranged between the connecting pipeline of the dry ice loop inlet valve 26 and the dry ice loop check valve 20.
The outlet of the water loop check valve 18, the outlet of the coating loop check valve 19 and the outlet of the dry ice loop check valve 20 are respectively connected with the inlet of the outlet valve 16 through pipelines, the outlet of the outlet valve 16 is connected with the spray head 14, and a pipeline heat tracing cable 17 is wound on the pipeline of the outlet valve 16; heating of the line trace 17 prevents the solidification of the coating material remaining in the line of the outlet valve 16 and in the spray head 14 to cause clogging of the spray head 14.
The control unit 29 is a 32-bit MCU or a PLC system supporting Device protocol and Profibus protocol.
The execution mechanism controlled by the control unit 29 is as follows: the lifting electric winding drum 1, the lifting electric winding drum 2, the lifting electric winding drum 3, the translation track motor 7, the electric telescopic rod 13, the outlet valve 16, the pipeline heat tracing cable 17, the water loop inlet valve 24, the paint loop inlet valve 25, the dry ice loop inlet valve 26, the water tank pump 30, the paint tank pump 31 and the dry ice tank pump 32.
The lifting electric winding drums 1 and 2, the lifting electric winding drum 3 and the translation track motor 7 and the electric telescopic rod 13 are servo motors. The outlet valve 16, the water loop inlet valve 24, the paint loop inlet valve 25 and the dry ice loop inlet valve 26 are all two-position two-way normally closed electromagnetic valves. The water tank pump 30, the paint tank pump 31 and the dry ice tank pump 32 are alternating current submersible pumps.
The sensors to which the control unit 29 is connected are: the lifting electric reel encoder No. 1, the lifting electric reel encoder No. 2, the lifting electric reel encoder No. 3, the translation track motor encoder 8, the depth camera 11, the millimeter wave radar 12, the water loop pressure sensor 21, the paint loop pressure sensor 22, the dry ice loop pressure sensor 23, the water tank liquid level switch 27 and the paint tank liquid level switch 28.
The control unit 29 only reads the image center point data of the depth camera 11, and the sampling frequency is required to be higher than 1000Hz. The sampling frequency of the millimeter wave radar 12 is kept identical to that of the depth camera 11. The signals of the water loop pressure sensor 21, the paint loop pressure sensor 22 and the dry ice loop pressure sensor 23 are all in the form of direct current of 4-20 mA, and the precision is less than 0.5%. The water tank liquid level switch 27 and the paint tank liquid level switch 28 are floating ball liquid level switches, and the signal type is normally open dry contact.
The maintenance method for the surface of the high-rise structure adopts the device to carry out maintenance and comprises the following steps:
step 1: installation, verification and maintenance device
The maintenance device is installed on the outer vertical surface of the cylindrical structure, in order to prevent the maintenance device from striking the ground in the operation process, the bottom surface of the hanging box 15 is taken as a reference point, the annular track 9, the translation track motor 7, the translation track motor encoder 8, the hanging rod 10 and the hanging box 15 are all lifted to the position 0m above the bottom surface of the structure, then the synchronous lifting is continued until the height of the hanging box 15 reaches 819.2mm, then the real-time reading value and the real-time circle value of the optical code discs of the lifting electric reel encoders No. 1 and No. 24 and the lifting electric reel encoder No. 5 and the lifting electric reel encoder No. 36 are both set to be 0, and the zero point elevation h of the bottom surface of the structure is recorded 0 ；
The translation track motor 7 is operated to face the forward direction, and the real-time reading value and the real-time circle value of the optical code wheel of the encoder 8 of the translation track motor are set to be 0, so that the 0-degree angle zero calibration operation of the maintenance device is completed;
step 2: construction of a surface map coordinate set of a high-rise Structure
The translation track motor 7 is enabled to run to a 360-degree horizontal position on the annular track 9 anticlockwise, the point is identified as a 360-degree angle full correction point, and the real-time circle number value R and the optical code disc real-time reading value A of the translation track motor encoder 8 of the point are recorded;
calculating the real-time angle ((0.1 Xa+ 819.2 Xr)/(0.1 XA+ 819.2 XR)). Times.360 of the translation track motor 7 in degrees; wherein a is the real-time reading value of the optical code wheel of the translational track motor encoder 8, and r is the real-time circle value of the translational track motor encoder 8;
to maintain the movement track of the device on the surface of the high-rise structureCan fully cover the surface of a high-rise structure, the movement angle range of the translation track motor 7 is set to be 0-365 degrees, x is set as the transverse movement range of the translation track motor 7, the unit is millimeter, namely the maximum value of x is x max = (0.1×a+819.2 ×r) × (365 ≡360), with x having a minimum value of x min When the value of x is 0, the value range of x is 0 to (0.1 xA+ 819.2 xR) x (365/360);
taking the top surface of the hanging box 15 as a reference point, synchronously lifting the annular track 9, the translation track motor 7, the translation track motor encoder 8, the hanging rod 10 and the hanging box 15 to the horizontal plane of the top of the structure, and taking the horizontal plane as the full horizontal line of the height of the top of the structure; the horizontal plane is identified as a full-height correction point at the top of the structure, and the number C of turns of the lifting electric drum encoder 4 of the point No. 1 and the real-time reading value B of the optical code disc are recorded;
setting the motion range of the No. 1 lifting electric winding drum 1 as the zero point elevation h of the bottom surface of the structure 0 The maximum height H from the top of the high-rise structure is set as y to be the longitudinal movement range of the lifting electric winding drum 1 of No. 1, the unit is millimeter, namely the maximum value of y is y max =h=0.1×b+819.2 ×c, the minimum value of y is y min When the value of y is 0, the value range of y is 0 to (0.1 XB+ 819.2 XC);
constructing a rectangular plane map coordinate set P (x, y) on the surface of the high-rise structure, wherein the range of an x axis is 0 to (0.1 xA+ 819.2 xR) x (365/360), and the range of a y axis is 0 to (0.1 xB+ 819.2 xC);
step 3: collecting coordinate set distance data
Synchronously moving the annular track 9, the translation track motor 7, the translation track motor encoder 8, the suspender 10 and the suspended box 15 according to a coordinate set P (x, y), wherein the y axis is firstly decreased from large to small at intervals of 1 unit, and then the x axis is increased from small to large at intervals of 1 unit, namely scanning progressively from high to low on the surface of a high-rise structure;
in the scanning process, a distance value set L on each unit coordinate of the center point of the image acquired by the depth camera 11 and the surface of the high-rise structure is recorded S And a distance value set L between each unit coordinate of the millimeter wave radar 12 and the surface of the high-rise structure, which is read by the millimeter wave radar 12 R ；
Will aggregate L S And set L R Average distance data set L is formed after averaging the distance values of (2) A (x ', y') and then for the average distance data set L A The coordinate data of (x ', y') is corrected to form a second order array L (x ", y") =l (x '-n, y' -m) =l [ (0.1×a+819.2 ×r) × (365≡360) -n,0.1×b+819.2 ×c 1 -m]Where n is the horizontal distance from the millimeter wave radar 12 to the spray head 14, and m is the vertical distance from the coordinates of the millimeter wave radar 12 to the spray head 14;
step 4: surface maintenance of high-rise structures
Carrying out cleaning decontamination, coating or corrosion prevention rust removal on the surface of the high-rise building line by line from high to low along a rectangular plane map coordinate set P (x, y) of the surface of the high-rise building; in the process, the electric telescopic rod 13 changes the elongation according to the compensation distance of L (x ', y') minus 0.1 meter, namely the elongation is
L (x”,y”)-0.1=L[(0.1a+819.2×r)×(365÷360)-n,0.1b+819.2×c 1 -m]-0.1；
The 0.1 meter compensation distance can prevent the spray head from impacting the surface of the structure due to the too close distance between the spray head and the surface of the structure, and can improve the spray area of the spray head in unit time;
4.1 liquid spraying procedure of water loop:
the water tank liquid level switch 27 in the water tank 33 detects that the liquid level of the water tank 33 is normal and transmits a signal to the control unit 29, the control unit 29 issues a water loop inlet valve 24 opening command and a water tank pump 30 starting command, and after the water loop inlet valve 24 is opened, the water tank pump 30 is started again;
the water circuit pressure sensor 21 measures the water circuit pressure in real time and controls the rotation speed of the water tank pump 30, in order to make the pressure of the spray head 14 not affected by the atmospheric pressure at different heights, the pressure of the spray head 14 is maintained at 50bar to compensate the water circuit pressure, and the water circuit pressure compensation formula is [50+ (b) 1 +8192×c 1 )/1.01×10 5 ]bar; the control unit 29 issues an opening command of the outlet valve 16, the outlet valve 16 is opened, and liquid is sprayed through the spray head 14 to clean and decontaminate the surface of the structure;
if the water tank liquid level switch 27 detects that the liquid level of the water tank 33 is abnormal, the control unit 29 sends a water loop inlet valve 24 closing command and a water tank pump 30 stopping command to stop spraying;
4.2 coating loop spraying procedure:
the paint tank liquid level switch 28 in the paint tank 34 detects that the liquid level of the paint tank 34 is normal and transmits a signal to the control unit 29, the control unit 29 issues a paint loop inlet valve 25 opening command and a paint tank pump 31 starting command, and after the paint loop inlet valve 25 is opened, the paint tank pump 31 is started;
the paint circuit pressure sensor 22 measures the paint circuit pressure in real time and controls the rotation speed of the paint tank pump 31, and in order to keep the pressure of the spray head 14 at different heights without being affected by the atmospheric pressure, the pressure of the spray head 14 is maintained at 8bar to compensate the paint circuit pressure, and the paint circuit pressure is maintained at [8+ (b) 1 +8192×c 1 )/1.01×10 5 ]bar; then the control unit 29 issues an opening command of the outlet valve 16, the outlet valve 16 is opened, and the spray head 14 is used for spraying paint to coat the surface of the structure;
if the paint tank liquid level switch 28 detects that the liquid level of the paint tank 34 is abnormal, the control unit 29 sends a closing command of the inlet valve 25 of the paint loop and a stopping command of the pump 31 of the paint tank to stop spraying;
after the spraying process is finished, the medium in the paint tank 34 is replaced by clean water, the pipeline heat tracing cable 17 is commanded to be opened under the control unit 29, the paint loop inlet valve 25, the paint tank pump 31 and the outlet valve 16 are opened, and the paint tank 34, the paint loop inlet valve 25, the paint tank pump 31 and the spray head 14 are flushed;
4.3 dry ice loop spraying procedure:
the control unit 29 issues a dry ice loop inlet valve 26 opening command and a dry ice box pump 32 starting command, and after the dry ice loop inlet valve 26 is opened, the dry ice box pump 32 is started;
the dry ice loop pressure sensor 23 measures dry ice loop pressure in real time and controls the rotation speed of the dry refrigerator pump 32 to maintain the dry ice loop pressure at [80+ (b) 1 +8192×c 1 )/1.01×10 5 ]bar; then the control unit 29 issues an opening command of the outlet valve 16, the outlet valve 16 is opened, dry ice is sprayed through the nozzle 14, and the table of the constituents is removedSurface-refractory dust, rust, stains and aged paint peels;
if the dry ice circuit pressure sensor 23 detects a dry ice circuit pressure abnormality, the control unit 29 will send a dry ice circuit inlet valve 26 close command, a dry refrigerator pump 32 stop command, and stop spraying.
The invention solves the problem 1: the surface coating of the high-rise structure is protected while the maintenance and cleaning effects of the surface of the high-rise structure are ensured. The water loop, the coating loop and the dry ice loop can control the pressure of the spray head medium, and prevent the surface coating of the high-rise structure from being damaged by the too high pressure.
The invention solves the problem 2: the surface maintenance work efficiency of the high-rise structure is improved, the surface shape characteristics of the high-rise structure can be scanned automatically, and the characteristic map is drawn, so that the repeated maintenance or maintenance omission on the surface of the high-rise structure is prevented.
The invention solves the problem 3: the spray head of the high-rise structure surface maintenance device can be used for adjusting the expansion and contraction amount of the electric telescopic rod according to the data in the characteristic map, so that the surface of the high-rise structure is prevented from being scratched by the electric telescopic rod, and the high-rise structure surface maintenance device are prevented from being damaged.
The invention solves the problem 4: the high-rise structure surface maintenance device can replace manual high-rise structure surface maintenance operation, and effectively reduces the safety risk of a nuclear power operation unit.
While the fundamental principles, principal features, and advantages of the present invention have been shown and described, it will be apparent to those skilled in the art that the present invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (10)
1. The utility model provides a high-rise structure surface maintenance device which characterized in that: the device comprises a lifting electric winding drum, a lifting electric winding drum encoder, a translation track motor (7), a translation track motor encoder (8), an annular track (9), a suspender (10), distance measuring equipment, an electric telescopic rod (13), a spray head (14), a hanging box (15) and a control unit (29);
the lifting electric winding drum is fixed at the top of a structure to be cleaned and is connected with the annular track (9) through a steel cable;
three lifting electric reels and three lifting electric reel encoders are respectively controlled and executed by a control unit (29); the lifting electric reel encoder (4) is used for measuring the real-time height of the lifting electric reel (1) No. 1, the lifting electric reel encoder (5) is used for measuring the rotation angle of the lifting electric reel (2) No. 2, and the lifting electric reel encoder (6) No. 3 is used for measuring the rotation angle of the lifting electric reel (3) No. 3;
each time the lifting electric reel encoder rotates for one circle, the corresponding lifting electric reel moves by delta H mm in the vertical direction;
the translation track motor (7) is arranged on the annular track (9) and is controlled to start and stop by the control unit (29); the translation track motor (7) can do annular horizontal movement along the annular track (9) when rotating positively and negatively, and the rotation angle and the rotation direction of the translation track motor (7) are measured through the translation track motor encoder (8);
the suspension rod (10) is a rigid connecting piece of the translation track motor (7) and the suspension box (15), and an electric telescopic rod (13) and a distance measuring device are arranged on one surface of the suspension box (15) pointing to the circle center horizontal direction of the annular track (9); the tail end of the electric telescopic rod (13) is provided with a spray head (14); the control unit (29) is used for controlling the expansion and contraction of the electric expansion rod (13), the distance measuring equipment and the start and stop of the spray head (14);
the inside of the hanging box (15) is provided with a water tank (33), a paint tank (34) and a dry ice tank (35).
2. A high-rise building surface maintenance device according to claim 1, wherein: the distance measuring equipment comprises a depth camera (11) and a millimeter wave radar (12), and the sampling frequency of the millimeter wave radar (12) is consistent with that of the depth camera (11).
3. A high-rise building surface maintenance device according to claim 1, wherein: a water tank liquid level switch (27) and a water tank pump (30) are arranged in the water tank (33), a water loop inlet valve (24) is arranged at the outlet of the water tank pump (30), a downstream pipeline of the water loop inlet valve (24) is connected with a water loop check valve (18), and a water loop pressure sensor (21) is arranged between the water loop inlet valve (24) and the connecting pipeline of the water loop check valve (18); the outlet of the water loop check valve (18) is connected with the inlet of the outlet valve (16) through a pipeline, and the outlet of the outlet valve (16) is connected with the spray head (14).
4. A high-rise building surface maintenance device according to claim 1, wherein: a paint tank liquid level switch (28) and a paint tank pump (31) are arranged in the paint tank (34), a paint loop inlet valve (25) is arranged at the outlet of the paint tank pump (31), a downstream pipeline of the paint loop inlet valve (25) is connected with a paint loop check valve (19), and a paint loop pressure sensor (22) is arranged between the connecting pipeline of the paint loop inlet valve (25) and the paint loop check valve (19); the outlet of the paint loop check valve (19) is connected with the inlet of the outlet valve (16) through a pipeline, and the outlet of the outlet valve (16) is connected with the spray head (14).
5. A high-rise building surface maintenance device according to claim 1, wherein: a dry refrigerator pump (32) is arranged in the dry ice box (35), a dry ice loop inlet valve (26) is arranged at the outlet of the dry ice box pump (32), a downstream pipeline of the dry ice loop inlet valve (26) is connected with a dry ice loop check valve (20), and a dry ice loop pressure sensor (23) is arranged between the connecting pipeline of the dry ice loop inlet valve (26) and the dry ice loop check valve (20); the outlet of the dry ice loop check valve (20) is connected with the inlet of the outlet valve (16) through a pipeline, and the outlet of the outlet valve (16) is connected with the spray head (14).
6. A high-rise building surface maintenance device according to claim 1, wherein: the shaft of the translation track motor (7) is horizontally arranged and is vertical to the annular track (9).
7. A high-rise structure surface maintenance method based on the high-rise structure surface maintenance device of claim 2, characterized in that: the method comprises the following steps:
step 1: installation, verification and maintenance device
A maintenance device is installed on the outer vertical surface of a cylindrical structure, the bottom surface of a hanging box (15) is taken as a datum point, an annular track (9), a translation track motor (7), a translation track motor encoder (8), a hanging rod (10) and the hanging box (15) are all lifted to a position 0m above the bottom surface of the structure, then synchronous lifting is continued until the height of the hanging box (15) reaches delta H mm, and then the real-time reading value and the real-time turn number value of an optical code disc of a lifting electric reel encoder (4) of No. 1, a lifting electric reel encoder (5) of No. 2 and a lifting electric reel encoder (6) of No. 3 are all set to be 0;
running a translation track motor (7) to be oriented to the forward direction, and setting the real-time reading value and the real-time turn number value of an optical code disc of an encoder (8) of the translation track motor to be 0;
step 2: construction of a surface map coordinate set of a high-rise Structure
The translation track motor (7) is enabled to run to a 360-degree horizontal position on the annular track (9) anticlockwise, the point is identified as a 360-degree angle full correction point, and the real-time turn number value R and the optical code disc real-time reading value A of the translation track motor encoder (8) of the point are recorded;
calculating the real-time angle ((0.1 Xa+DeltaH×r)/(0.1 XA+DeltaH×R)). Times.360 of the translation track motor (7), wherein the units are degrees; wherein a is the real-time reading value of an optical code disc of the translational track motor encoder (8), and r is the real-time circle value of the translational track motor encoder (8);
setting the movement angle range of the translation track motor (7) to be 0-365 degrees, setting x as the transverse movement range of the translation track motor (7), wherein the unit is millimeter, and the value range of x is 0 to (0.1 xA+delta H x R) x (365/360);
taking the top surface of a hanging box (15) as a reference point, synchronously lifting an annular track (9), a translation track motor (7), a translation track motor encoder (8), a hanging rod (10) and the hanging box (15) to the horizontal plane of the top of a structure, and recording the number C of turns of a lifting electric reel encoder (4) at the point 1 and the real-time reading value B of an optical code disc;
setting y as the longitudinal movement range of the lifting electric winding drum (1) with the number 1, wherein the unit is millimeter, and the value range of y is 0 to (0.1 XB+delta H multiplied by C);
constructing a rectangular plane map coordinate set P (x, y) of the surface of the high-rise structure, wherein the range of an x axis is 0 to (0.1 xA+delta H x R) x (365/360), and the range of a y axis is 0 to (0.1 xB+delta H x C);
step 3: collecting coordinate set distance data
The method comprises the steps of scanning an annular track (9), a translation track motor (7), a translation track motor encoder (8), a suspender (10) and a suspended box (15) on the surface of a high-rise structure from high to low according to a coordinate set P (x, y), and recording a distance set on each unit coordinate of distance measuring equipment and the surface of the high-rise structure in the scanning process;
step 4: surface maintenance of high-rise structures
Carrying out cleaning decontamination, coating or corrosion prevention rust removal on the surface of the high-rise building line by line from high to low along a rectangular plane map coordinate set P (x, y) of the surface of the high-rise building; in the process, the electric telescopic rod (13) changes the elongation according to the coordinate set distance data.
8. A method of surface maintenance of a high-rise building as claimed in claim 7, wherein: in step 3, a distance value set L on each unit coordinate of the center point of the image and the surface of the high-rise structure, which is obtained by the depth camera (11), is recorded S And a distance value set L between each unit coordinate of the millimeter wave radar (12) and the surface of the high-rise structure, which is read by the millimeter wave radar (12) R ；
Will aggregate L S And set L R Average distance data set L is formed after averaging the distance values of (2) A (x ', y') and then for the average distance data set L A The coordinate data of (x ', y') is corrected to form a second order array L (x ", y") =l (x '-n, y' -m) =l [ (0.1×a+Δh×r) × (365 Σ360) -n,0.1×b+Δh×c) 1 -m]Wherein n is the horizontal distance from the millimeter wave radar (12) to the spray head (14), and m is the vertical distance from the coordinate of the millimeter wave radar (12) to the spray head (14).
9. A method of surface maintenance of a high-rise building as claimed in claim 7, wherein: in step 4, the electric telescopic rod (13) subtracts the compensation distance according to the coordinate set distance data to change the elongation.
10. A method of surface maintenance of a high-rise building as claimed in claim 7, wherein: in step 4, the water circuit pressure is maintained at the time of the water circuit liquid spraying operation
[50+(b 1 +8192×c 1 )/1.01×10 5 ]bar; maintaining the paint circuit pressure at [8+ (b) while performing the paint circuit spraying operation 1 +8192×c 1 )/1.01×10 5 ]bar; maintaining the dry ice loop pressure at [80+ (b) while performing the dry ice loop spraying operation 1 +8192×c 1 )/1.01×10 5 ]bar; wherein b 1 For the number 1 promotes the real-time reading value of the optical code wheel of the electronic reel encoder (4), c 1 The real-time circle value of the electric reel encoder (4) is lifted for No. 1.
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| SE0301164D0 (en) * | 2003-04-22 | 2003-04-22 | Trimble Ab | Improved high accuracy absolute optical encoder |
| WO2010069262A1 (en) * | 2008-12-18 | 2010-06-24 | 延津县新兴建材研发推广中心 | Method for manufacturing and installing heat insulation outer wall and board-spreading machine thereof |
| CN105050935B (en) * | 2013-03-15 | 2019-03-12 | 霍华德.M.钦 | Weather maintenance system for offshore wind turbine maintenance program |
| CN110847573A (en) * | 2019-12-26 | 2020-02-28 | 陶民 | Robot for spraying and cleaning wall surface |
| CN113802755B (en) * | 2021-07-29 | 2022-05-06 | 中冶建筑研究总院有限公司 | Construction method of high and large space aluminum veneer colored drawing integrated ceiling system |
| CN115728321B (en) * | 2022-09-07 | 2024-03-26 | 西南交通大学 | Intelligent detection and risk elimination equipment for defects in the exterior walls of high-rise buildings |
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