CN115162635A - Automatic waterproof coiled material hot melting paving device and construction method thereof - Google Patents
Automatic waterproof coiled material hot melting paving device and construction method thereof Download PDFInfo
- Publication number
- CN115162635A CN115162635A CN202210929258.4A CN202210929258A CN115162635A CN 115162635 A CN115162635 A CN 115162635A CN 202210929258 A CN202210929258 A CN 202210929258A CN 115162635 A CN115162635 A CN 115162635A
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- frame
- coiled material
- waterproof coiled
- obstacle
- steel
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- 239000000463 material Substances 0.000 title claims abstract description 50
- 238000010276 construction Methods 0.000 title claims abstract description 15
- 238000002844 melting Methods 0.000 title claims description 17
- 230000008018 melting Effects 0.000 title claims description 12
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 43
- 239000010959 steel Substances 0.000 claims abstract description 43
- 230000006835 compression Effects 0.000 claims abstract description 21
- 238000007906 compression Methods 0.000 claims abstract description 21
- 239000012943 hotmelt Substances 0.000 claims abstract description 11
- 239000012528 membrane Substances 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims abstract description 8
- 238000004078 waterproofing Methods 0.000 claims abstract description 8
- 238000003825 pressing Methods 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 6
- 238000004804 winding Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
- 239000010410 layer Substances 0.000 abstract description 16
- 238000010030 laminating Methods 0.000 abstract description 2
- 239000002356 single layer Substances 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000037303 wrinkles Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005187 foaming Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04D—ROOF COVERINGS; SKY-LIGHTS; GUTTERS; ROOF-WORKING TOOLS
- E04D15/00—Apparatus or tools for roof working
- E04D15/06—Apparatus or tools for roof working for handling roofing or sealing material in roll form
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Road Paving Machines (AREA)
Abstract
The invention provides an automatic waterproofing membrane hot melt shop pastes device, includes: a frame; the front part of the frame is provided with a steel compression roller, the rear part of the frame is provided with wheels on two sides of the steel compression roller, and the wheels are connected with a motor; the frame is provided with an unwinding frame, the unwinding frame is provided with a waterproof coiled material, a flame gun is arranged in front of the steel compression roller and is connected with an air supply source; the device also comprises a data input module, a driver, an infrared sensor and a data processing module. The bottom layer of the hot-melt single-layer coiled material is rolled and bonded along with the steel compression roller, the laminating property is good, meanwhile, the device is an automatic device, and the device does not need to be pulled manually in the paving process of the waterproof coiled material, so that the condition of site paving operation can be judged at the first time during construction.
Description
Technical Field
The invention relates to the technical field of waterproof coiled material paving, in particular to an automatic waterproof coiled material hot-melting paving device and a construction method thereof.
Background
In the hot-melting laying construction of the waterproof coiled material for engineering construction, the waterproof coiled material layer is required to be firmly bonded without the defects of hollowing, damage, slippage, edge warping, foaming, wrinkling and the like. The general construction method in the field is that two persons cooperate to lay and paste, one person holds a flame gun to heat and melt the bottom layer of the waterproof coiled material, and one person holds an iron roller to timely expand and roll the waterproof coiled material, so that the waterproof coiled material and the base layer are difficult to be flatly and firmly bonded, and the quality is difficult to meet the requirements.
Disclosure of Invention
Aiming at the prior art, the invention provides an automatic hot-melting paving and pasting device for a waterproof coiled material and a construction method thereof.
The invention provides an automatic waterproofing membrane hot melt shop pastes device, includes:
a frame; the front part of the frame is provided with a steel compression roller, the rear part of the frame is provided with wheels on two sides of the steel compression roller, and the wheels are connected with a motor; the frame is provided with an unwinding frame, the unwinding frame is provided with a waterproof coiled material, a flame gun is arranged in front of the steel compression roller and is connected with an air supply source;
a data input module; the data input module is provided with an input interface and is used for presetting a paving path on the input interface by a user;
the driver is connected with the motor and used for receiving a preset paving path input by a user and driving the motor to enable the frame to move along the preset paving path;
the infrared sensor is arranged at the front part of the frame and used for transmitting infrared rays to detect whether a barrier exists on a travelling road or not, and if the barrier exists, the infrared rays are reflected to the sensor;
and the data processing module is used for receiving the data returned by the infrared sensor, judging whether an obstacle exists or not, calculating an obstacle avoidance path through a vector field histogram algorithm if the obstacle exists, updating a traveling path in real time and bypassing the obstacle.
Preferably, the unreeling frame comprises two vertical shaft supports which are oppositely arranged, grooves are formed in the vertical shaft supports, and two shaft heads of a winding drum of the waterproof coiled material can be respectively and rotatably clamped in the grooves.
Preferably, the flame gun comprises a transverse steel pipe, and a plurality of gun heads facing the steel pressing roller are welded on the transverse steel pipe.
Preferably, the gun head is positioned at the front lower side position of the central shaft of the steel pressing roller, and the gun head is inclined downwards by 30-45 degrees.
Preferably, the lances are arranged equidistantly
Preferably, the flame gun is connected with an air supply source through a pipeline, and a flow regulating valve is arranged on the pipeline.
The invention also provides a construction method of the automatic waterproof coiled material hot melting paving device, which comprises the following steps:
s1, presetting a paving path on a data input interface before construction, mounting a winding drum of a waterproof coiled material on a unwinding frame, pulling out the front end of the waterproof coiled material to the front side, winding the front end of the waterproof coiled material on the surface of a steel press roller, pressing the front end of the waterproof coiled material downwards under the steel press roller, and connecting the waterproof coiled material with a base layer to be bonded;
s2, starting a flame gun, adjusting the size of proper flame, aligning the joint of the waterproof coiled material and the base layer for hot melting, after the preparation is finished, driving a motor through a driver, enabling the frame to automatically advance according to a preset laying path, enabling a steel compression roller and the flame gun to synchronously work, rolling the melted and adhered waterproof coiled material through the steel compression roller, simultaneously unreeling a reel of the waterproof coiled material, and realizing hot melting, bonding, rolling and paving in the advancing process;
and S3, in the process of traveling, if an obstacle appears in front of the frame, the infrared sensor arranged in front of the frame detects the existence of the obstacle, the data processing module receives data of the infrared sensor, and when the existence of the obstacle in front is confirmed, the obstacle avoidance path is updated by using a vector field histogram algorithm.
Preferably, the vector field histogram algorithm comprises the steps of:
s1, modeling the surrounding environment of a frame in a grid form by taking the current frame position as a center;
s2: processing detection information returned by the infrared sensor, calculating an obstacle vector for each grid, wherein the vector is larger as the distance from the position of the frame is closer;
s3, constructing a probability histogram of obstacles around the vehicle frame in a polar coordinate system, wherein a horizontal coordinate axis represents an angle of the obstacles sensed by taking the vehicle frame as a center, and a vertical coordinate axis represents the probability of the obstacles existing in the direction;
and S4, calculating all channels allowing the vehicle frame to pass through according to the probability histogram, calculating the passing cost of each channel, namely the cost function of each channel, and finally selecting the channel with the lowest cost function to pass through.
Compared with the prior art, the invention has the beneficial effects that: according to the automatic waterproof coiled material hot-melting paving device and the construction method thereof, the steel compression roller can directly pave and roll the waterproof coiled material of the hot-melting bottom layer, the adhesion force is improved along with the adhesion, the adhesion degree is good, and a series of problems such as bubbles, hollowing, wrinkles, slippage, edge warping and the like can be avoided. And an operator does not need to manually push forward operation like the traditional coiled material paving device, can clearly see the advancing route and the paving condition on one side, and ensures the coiled material paving accuracy without deviation of the advancing route.
Drawings
FIG. 1 is a schematic side view of an embodiment of the present invention.
Fig. 2 is a schematic top view of an embodiment of the present invention.
In the figure, 1, a frame; 2. a steel press roll; 3. a wheel; 4. unwinding the frame; 5. waterproof coiled materials; 6. a flame gun; 61. a horizontal steel pipe; 62. a gun head; 7. a pipeline; 8. a flow regulating valve.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects provided by the invention easy to understand, the technical scheme of the invention is described in detail below, but the protection scope of the invention is not limited to the embodiment.
The invention provides an automatic waterproof coiled material hot melting paving device, which comprises a frame 1, a water-proof layer and a water-proof layer, wherein the frame 1 is provided with a water-proof layer; the front part of the frame 1 is provided with a steel compression roller 2, the steel compression roller 2 is rotatably connected with the frame 1 through a rotating shaft, the rear part of the frame 1 is provided with wheels 3 at two sides of the steel compression roller 2, the wheels 3 are connected with the output end of a motor, and the motor drives the wheels 3 to rotate; the frame 1 is provided with an unreeling frame 4, the unreeling frame 4 is provided with a waterproof coiled material 5, the waterproof coiled material 5 and the steel compression roller 2 are oppositely arranged in parallel, a flame gun 6 is arranged in front of the steel compression roller 2, and the flame gun 6 is connected with an air supply source;
the system also comprises a data input module, a driver, an infrared sensor and a data processing module, and the data input module, the driver, the infrared sensor and the data processing module and the motor form a path planning system together; the data input module is provided with an input interface and is used for presetting a paving path on the input interface by a user; the driver is connected with the motor and used for receiving a preset paving path input by a user and driving the motor to enable the frame to move along the preset paving path; the infrared sensor is arranged at the front part of the frame 1 and used for emitting infrared rays to detect whether an obstacle exists on a traveling road or not, and if the obstacle exists, the infrared rays are reflected to the sensor; the data processing module is used for receiving data returned by the infrared sensor, judging whether an obstacle exists or not, calculating an obstacle avoidance path through a vector field histogram algorithm if the obstacle exists, updating a traveling path in real time and bypassing the obstacle.
The construction method of the automatic waterproof coiled material hot melting paving device can comprise the following steps:
s1, presetting a paving path on a data input interface before construction, mounting a winding drum of a waterproof coiled material 5 on a unwinding frame 4, pulling out the front end of the waterproof coiled material 5 to the front side to wind the front end on the surface of a steel press roller 2, pressing the front end downwards below the steel press roller 2, and connecting the front end with a base layer to be bonded;
s2, starting a flame gun 6, adjusting the size of proper flame, hot melting at the joint of the waterproof coiled material 5 and the base layer, after the preparation is finished, driving a motor through a driver, enabling the frame 1 to automatically advance according to a preset paving path, enabling the steel pressure roller 2 and the flame gun 6 to synchronously work, rolling the melted and adhered waterproof coiled material 5 through the steel pressure roller 2, simultaneously unreeling a reel of the waterproof coiled material 5, and realizing hot melting, bonding, rolling and paving in the advancing process;
and S3, in the process of traveling, if an obstacle appears in front of the frame 1, the infrared sensor arranged in front of the frame 1 detects the existence of the obstacle, the data processing module receives data of the infrared sensor, and when the existence of the obstacle in front is confirmed, the obstacle avoidance path is updated by using a vector field histogram algorithm.
The vector field histogram algorithm may comprise the steps of:
s1, modeling the surrounding environment of a frame into a grid form by taking the current frame position as a center;
s2: processing detection information returned by the infrared sensor, calculating an obstacle vector for each grid, wherein the vector is larger as the distance from the position of the frame is closer;
s3, constructing a probability histogram of obstacles around the vehicle frame in a polar coordinate system, wherein a horizontal coordinate axis represents an angle of the obstacles sensed by taking the vehicle frame as a center, and a vertical coordinate axis represents the probability of the obstacles existing in the direction;
s4, calculating all channels allowing the vehicle frame to pass according to the probability histogram, calculating the passing cost of each channel, namely the cost function L of the channel,
L＝k*θ tar +u*θ whe +w*θ bej
wherein, theta tar Representing a target angle; theta.theta. whe Representing a wheel angle; theta.theta. bej The original angle is represented, k, u and w are proportionality coefficients, the path with the minimum loss is the optimal path, the obstacle avoidance effect of the frame can be changed by adjusting the coefficients, and finally the channel with the lowest cost function is selected to pass through.
In some embodiments, as shown in fig. 1, the unreeling rack 4 may include two opposite vertical shaft-supporting racks, two of the vertical shaft-supporting racks are respectively provided with a groove, two shaft heads of the roll of the waterproof roll 5 can be respectively rotatably clamped in the two grooves, so that the waterproof roll 5 can be quickly, conveniently and simply installed, and the roll can be kept away from the continuous high temperature of the flame gun 6, thereby preventing the roll from being deformed.
In some embodiments, as shown in fig. 1 and 2, the flame gun 6 may comprise a transverse steel tube 61, and a plurality of tips 62 facing the steel press roll 2 are welded on the transverse steel tube 61 at equal intervals, so that the flame gun does not need to move with the width of the waterproof roll 5 and can maintain uniform heating.
In some embodiments, the tip 62 may be located at a lower position in front of the central axis of the steel pressing roll 2, and the tip 62 is inclined downward by 30-45 °, so that the base layer is heated while the bottom layer of the waterproof roll 5 is heated, and the adhesion is better at the junction of the two layers by heat melting.
In some embodiments, as shown in fig. 1 and 2, the flame gun 6 can be connected to the air supply source via a pipe 7, the pipe 7 is partially fixed to the frame 1, and a flow control valve 8 is provided on the pipe 7 at the position fixed to the frame, and the fire power of the flow control valve 8 can be adjusted in advance according to the actual coil type at the site before the device starts to work.
The invention automatically lays and pastes according to the preset path and actively avoids the barrier, the bottom layer of the hot-melt single-layer coiled material is rolled and adhered with the steel compression roller, the laminating property is good, and a series of problems of air bubbles, hollowing, wrinkles, slippage, edge warping and the like can not occur.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures made by using the contents of the present specification and the drawings can be directly or indirectly applied to other related technical fields, and are also within the scope of the present invention.
Claims (8)
1. The utility model provides an automatic waterproofing membrane hot melt is spread and is pasted device which characterized in that includes:
a frame; the front part of the frame is provided with a steel compression roller, the rear part of the frame is provided with wheels on two sides of the steel compression roller, and the wheels are connected with a motor; the frame is provided with an unwinding frame, the unwinding frame is provided with a waterproof coiled material, a flame gun is arranged in front of the steel compression roller and is connected with an air supply source;
a data input module; the data input module is provided with an input interface and is used for presetting a paving path on the input interface by a user;
the driver is connected with the motor and used for receiving a preset paving path input by a user and driving the motor to enable the frame to move along the preset paving path;
the infrared sensor is arranged at the front part of the frame and used for emitting infrared rays to detect whether an obstacle exists on a traveling road or not, and if the obstacle exists, the infrared rays are reflected to the sensor;
and the data processing module is used for receiving the data returned by the infrared sensor, judging whether an obstacle exists or not, calculating an obstacle avoidance path through a vector field histogram algorithm if the obstacle exists, updating a traveling path in real time and bypassing the obstacle.
2. The automatic hot-melt paving device for the waterproof coiled materials as claimed in claim 1, wherein the unreeling rack comprises two vertical shaft supporting racks which are oppositely arranged, the two vertical shaft supporting racks are respectively provided with a groove, and two shaft heads of a reel of the waterproof coiled materials can be respectively rotatably clamped in the two grooves.
3. The automatic waterproofing membrane hot melt paving device of claim 1 wherein said flame gun comprises a cross steel tube, said cross steel tube having welded thereto a plurality of tips facing said steel pressure roller.
4. The automatic waterproofing membrane hot melt paving device of claim 3, wherein the lance head is located at a lower position in front of the central shaft of the steel pressing roller, and the lance head is inclined downward by 30-45 °.
5. An automatic waterproofing membrane hot melt paving apparatus as in claim 3 or 4 wherein said tips are equidistantly disposed.
6. The automatic waterproofing membrane hot melt paving device according to any one of claims 1 to 4, wherein the flame gun is connected to an air supply source through a pipe, and a flow control valve is provided on the pipe.
7. A construction method of an automatic waterproofing membrane hot melt paving device according to any of claims 1 to 6, characterized by comprising the following steps:
s1, presetting a paving path on a data input interface before construction, mounting a winding drum of a waterproof coiled material on a unwinding frame, pulling out the front end of the waterproof coiled material to the front side, winding the front end of the waterproof coiled material on the surface of a steel press roller, pressing the front end of the waterproof coiled material downwards under the steel press roller, and connecting the waterproof coiled material with a base layer to be bonded;
s2, starting a flame gun, adjusting the size of proper flame, aligning the joint of the waterproof coiled material and the base layer for hot melting, after the preparation is finished, driving a motor through a driver, enabling the frame to automatically advance according to a preset laying path, enabling a steel compression roller and the flame gun to synchronously work, rolling the melted and adhered waterproof coiled material through the steel compression roller, simultaneously unreeling a reel of the waterproof coiled material, and realizing hot melting, bonding, rolling and paving in the advancing process;
and S3, in the process of traveling, if an obstacle appears in front of the frame, the infrared sensor arranged in front of the frame detects the existence of the obstacle, the data processing module receives data of the infrared sensor, and when the existence of the obstacle in front is confirmed, the obstacle avoidance path is updated by using a vector field histogram algorithm.
8. The method of claim 7, wherein the vector field histogram algorithm comprises the steps of:
s1, modeling the surrounding environment of a frame in a grid form by taking the current frame position as a center;
s2: processing detection information returned by the infrared sensor, calculating an obstacle vector for each grid, wherein the vector is larger as the distance from the position of the frame is closer;
s3, constructing a probability histogram of obstacles around the vehicle frame in a polar coordinate system, wherein a horizontal coordinate axis represents an angle of the obstacles sensed by taking the vehicle frame as a center, and a vertical coordinate axis represents the probability of the obstacles existing in the direction;
and S4, calculating all channels allowing the vehicle frame to pass through according to the probability histogram, calculating the passing cost of each channel, namely the cost function of each channel, and finally selecting the channel with the lowest cost function to pass through.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210929258.4A CN115162635A (en) | 2022-08-03 | 2022-08-03 | Automatic waterproof coiled material hot melting paving device and construction method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210929258.4A CN115162635A (en) | 2022-08-03 | 2022-08-03 | Automatic waterproof coiled material hot melting paving device and construction method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115162635A true CN115162635A (en) | 2022-10-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210929258.4A Withdrawn CN115162635A (en) | 2022-08-03 | 2022-08-03 | Automatic waterproof coiled material hot melting paving device and construction method thereof |
Country Status (1)
| Country | Link |
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| CN (1) | CN115162635A (en) |
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|---|---|---|---|---|
| US5006988A (en) * | 1989-04-28 | 1991-04-09 | University Of Michigan | Obstacle-avoiding navigation system |
| US20060024133A1 (en) * | 2004-07-30 | 2006-02-02 | Aoi Techno. Service Kabushiki Kaisha | Waterproof sheet in-situ application machine |
| CN106760270A (en) * | 2017-02-27 | 2017-05-31 | 武汉金中海高新科技有限公司 | A kind of intelligent Water proof rolled material paver |
| CN107366395A (en) * | 2017-08-09 | 2017-11-21 | 北京东方雨虹防水工程有限公司 | Intelligence heats the waterproof roll locomotive that paves |
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| WO2019029440A1 (en) * | 2017-08-09 | 2019-02-14 | 北京东方雨虹防水技术股份有限公司 | Burner and locomotive for spreading waterproof coil in hot melt manner |
| CN211923278U (en) * | 2020-03-02 | 2020-11-13 | 天元建设集团有限公司 | Waterproofing membrane hot melt is spread and is pasted device |
| CN112282386A (en) * | 2020-10-28 | 2021-01-29 | 中国三冶集团有限公司 | Asphalt waterproof coiled material paving compaction machine |
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-
2022
- 2022-08-03 CN CN202210929258.4A patent/CN115162635A/en not_active Withdrawn
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|---|---|---|---|---|
| US5006988A (en) * | 1989-04-28 | 1991-04-09 | University Of Michigan | Obstacle-avoiding navigation system |
| US20060024133A1 (en) * | 2004-07-30 | 2006-02-02 | Aoi Techno. Service Kabushiki Kaisha | Waterproof sheet in-situ application machine |
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Application publication date: 20221011 |
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| WW01 | Invention patent application withdrawn after publication |