WO2022127262A1 - 一种钢桥自动化涂装设备及其涂膜方法 - Google Patents

一种钢桥自动化涂装设备及其涂膜方法 Download PDF

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Publication number
WO2022127262A1
WO2022127262A1 PCT/CN2021/120061 CN2021120061W WO2022127262A1 WO 2022127262 A1 WO2022127262 A1 WO 2022127262A1 CN 2021120061 W CN2021120061 W CN 2021120061W WO 2022127262 A1 WO2022127262 A1 WO 2022127262A1
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WIPO (PCT)
Prior art keywords
spraying
spray
assembly
nozzle
spray head
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PCT/CN2021/120061
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English (en)
French (fr)
Inventor
戴润达
王鑫博
刘妹
李久成
刘军成
陈敏
周自强
吴锡忠
林东
孙晓军
张利勇
王博
梁江
王瑶
梁俊
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中铁山桥集团有限公司
中铁高新工业股份有限公司
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Publication of WO2022127262A1 publication Critical patent/WO2022127262A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B16/00—Spray booths
    • B05B16/20—Arrangements for spraying in combination with other operations, e.g. drying; Arrangements enabling a combination of spraying operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/084—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
    • B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
    • B05B15/68—Arrangements for adjusting the position of spray heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D3/00—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials
    • B05D3/04—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by exposure to gases
    • B05D3/0406—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by exposure to gases the gas being air

Definitions

  • the invention relates to the technical field of steel bridge coating, in particular to an automatic steel bridge coating equipment and a coating method using the same.
  • a steel structure bridge is a bridge with a load-bearing structure made of steel, also referred to as a steel structure bridge or a steel bridge.
  • Steel members refer to steel structural composite members that are connected by steel plates, angle steel, channel steel, I-beam, welded or hot-rolled H-beam, cold-formed or welded through connectors, and can withstand and transmit loads.
  • the existing painting operation mainly adopts manual or semi-automatic operation. After adjusting the travel parameters or action route of the painting robot, the programmed painting operation is carried out.
  • the surface of the coating object is not uniform, and the coating effect will change in real time with the change of the environment. It is impossible to accurately adjust the quality control parameters (such as thickness and other indicators) of the coating, resulting in inconsistent coating life and other properties, which will lead to later maintenance. come difficult.
  • general painting operations are divided into primer and topcoat. The primer is covered below the topcoat, and the thickness of the primer plays a key role in controlling the spray quality of the topcoat.
  • the existing coating technology also has the problem of low coating efficiency.
  • the present invention provides an automatic coating equipment for steel bridges and a coating method thereof.
  • the present invention protects an automatic coating equipment for steel bridges, comprising a plane moving mechanism and a spraying assembly arranged thereon, wherein the spraying assembly includes two spray head assemblies, a quick air drying mechanism disposed between the two spray head assemblies, and A detection mechanism, and two telescopic push mechanisms that respectively drive the corresponding nozzle assemblies to perform linear reciprocating motion, the plane moving mechanism drives the spraying assembly to move in a two-dimensional plane to spray the steel components.
  • the painting operation is divided into two processes: spray painting and spray paint;
  • the plane moving mechanism drives the spraying assembly to reciprocate S-shaped lateral movement in a two-dimensional plane, and the two sets of telescopic pushing mechanisms drive the nozzle assembly within the range of travel.
  • each sprinkler assembly sprays the steel member area covered by it during the moving process; the sprinkler assembly ahead along the movement direction of the plane moving mechanism performs initial spraying, and at the same time, the rapid air-drying mechanism sprays the just-sprayed paint film. Air-dry and fix, with the continuous movement of the spraying component, the detection mechanism is facing the position after the initial spraying.
  • the paint film is uneven, and the rear nozzle assembly is pushed by its corresponding telescopic push mechanism to the area where the unevenness is detected in its stroke for re-spraying; during the topcoat spraying process, the plane moving mechanism drives the spraying component. Moving in a two-dimensional plane, one spraying is performed by the spray head assembly that is forward along the moving direction of the plane moving mechanism.
  • the spraying assembly is installed on the assembly mounting plate, and the plane moving mechanism drives the spraying assembly to move in a two-dimensional plane through the assembly mounting plate; the spray head assembly is fixed on the spray head mounting plate, so
  • the telescopic push mechanism is fixedly connected with the sprinkler mounting plate, the component mounting plate is provided with a guide rail for guiding the movement of the sprinkler mounting plate, and the drying area of the quick drying mechanism covers the measuring area of the detection mechanism.
  • the two nozzle assemblies are a first nozzle assembly and a second nozzle assembly respectively, and the first nozzle assembly and the second nozzle assembly both include nozzles and a flat mouth disposed at the bottom of the nozzle.
  • the direction of the nozzle It is parallel to the direction of lateral movement of the plane moving mechanism, and when spraying the topcoat, the direction of the nozzle is perpendicular to the direction of the lateral movement of the plane moving mechanism; the vertical turning mechanism rotates on the vertical plane to the moving direction of the plane moving mechanism to Adjusting the angle between the spray head assembly and the vertical direction is applicable when the surface to be sprayed is not a plane but a slope.
  • the spray head and the spray pipe for supplying paint can be switched between the paint bottles for primer paint and top paint.
  • the telescopic push mechanism can move at a specified speed in its entire stroke, and can be stopped suddenly and locked in a desired position.
  • first nozzle assembly and the second nozzle assembly are composed of components with identical specifications.
  • the present invention also protects a film coating method based on the above-mentioned steel bridge automatic coating equipment, comprising (1) spraying primer:
  • the plane moving mechanism drives the spraying assembly to approach the area to be sprayed from the longitudinal direction, and the flat nozzle is set horizontally;
  • the plane moving mechanism drives the spraying assembly to move laterally in the two-dimensional plane, and during the movement, the front nozzle assembly in the forward direction of the spraying assembly is driven by its telescopic push mechanism to carry out the initial spray of the primer;
  • the quick air-drying mechanism sprays airflow to the area that has just been sprayed to dry the paint surface.
  • the testing mechanism tests the flatness of the air-dried paint surface, and records the paint surface flatness within the spraying range of the front nozzle assembly.
  • the rear nozzle assembly is driven by its telescopic push mechanism to re-spray the primer on the concave area;
  • each horizontal movement mechanism After each horizontal movement mechanism makes the rear nozzle assembly reach the outside of the area to be sprayed, it moves longitudinally to the next position to be sprayed, and then moves horizontally in the opposite direction to step (2), and sprays at this time In the forward direction of the component, the previous spray head assembly is driven by its telescopic pushing mechanism to perform the initial spraying of the primer;
  • the quick air-drying mechanism sprays airflow to the area that has just been sprayed to dry the paint surface, and the testing mechanism tests the flatness of the wind and rain paint surface, and records the paint surface flatness within the spraying range of the front nozzle assembly.
  • the rear nozzle assembly is driven by its telescopic push mechanism to re-spray the primer on the concave area;
  • the plane moving mechanism drives the spraying component to move in a two-dimensional plane.
  • the front nozzle assembly is driven by the plane moving mechanism to spray the topcoat.
  • the quick-drying mechanism immediately behind it sprays air on the area just sprayed to dry the paint.
  • the two spray head assemblies are sprayed with the set spray thickness within the stroke range of the telescopic push mechanism, and the time for the spray head assembly used for initial spraying to complete the single-stroke spraying is denoted as T, The time for the nozzle assembly used for supplementary spraying to complete the single-stroke spraying is recorded as t, where t ⁇ T.
  • T n*t, where n is an integer greater than 0.
  • n is selected by rounding up the ratio of the maximum depth of the depression measured by the detection mechanism to the thickness of the initial spray paint film.
  • n 2 or 3.
  • the width of the spray paint is the width of the flat mouth of the nozzle.
  • the telescopic push mechanism is designed to be locked at any position in the stroke, so it is possible to further spray two nozzles in parallel during the topcoat operation, that is,
  • the rear spray head assembly is pushed by the telescopic push mechanism to run a stroke equal to the width of the flat mouth of the nozzle, and is locked at this position for spraying.
  • a feedback type secondary spraying method is provided. Through real-time on-line detection of the primary spraying result, secondary supplementary spraying is performed on the concave part in time, so that the surface of the primer is uniform, and then the thickness of the topcoat is made uniform. The flatness of the surface reaches the ideal range; 2.
  • spraying primer the nozzles used for primary spraying and secondary spraying can be switched back and forth, and the two nozzles can also be turned to work in parallel when spraying topcoat, which improves the spraying speed and equipment. The utilization rate is reduced, and the cost of use is reduced; 3.
  • the angle of the two dimensions of the nozzle is adjustable, which can be applied to the surface to be sprayed with different angles or slopes.
  • Figure 1 is a schematic diagram of the overall structure of the steel bridge automatic painting equipment
  • Figure 2 is a three-dimensional schematic diagram of the main components
  • Figure 3 is a schematic diagram of the plane installation of the main components
  • Figure 4 is a schematic diagram of the structure of the nozzle assembly
  • Figure 5 is a schematic diagram of the movement process of the spraying assembly.
  • the present invention protects an automatic coating equipment for steel bridges, as shown in Figures 1 and 2, comprising a plane movement composed of a first linear slide rail 1 and a second linear slide rail 2 perpendicular to the first linear slide rail mechanism, and the spraying assembly arranged on the second linear slide rail 2 .
  • an automatic coating equipment for steel bridges as shown in Figures 1 and 2
  • the first linear slide rail can be symmetrically arranged at both ends of the second linear slide rail.
  • the spraying assembly includes two spray head assemblies 3/6, a quick drying mechanism 4 and a detection mechanism 5 arranged between the two spray head assemblies, and two telescopic pushing mechanisms that drive the two spray head assemblies to perform linear motion respectively. 12.
  • the two nozzle assemblies are hereinafter referred to as the first nozzle assembly 3 and the second nozzle assembly 6, respectively.
  • the first spray head assembly 3, the detection mechanism 4, the quick drying mechanism 5 and the second spray head assembly 6 integrally move along the first spray head under the action of the second linear slide rail drive mechanism.
  • Two linear slide rails 2 slide back and forth in a straight line, and the second linear slide rail 2 slides back and forth along the first linear slide rail 1 under the action of the first linear slide rail drive mechanism, so as to realize two-dimensional Spray any area in the plane.
  • the drive assembly mounting plate 11 can be slid back and forth linearly along the second linear slide rail 2 , referring to FIG. 3 .
  • the first nozzle assembly 3 and the second nozzle assembly 6 are composed of a nozzle 7, a flat nozzle 8 arranged at the bottom of the nozzle, and a horizontal rotation mechanism 9 and a vertical flip mechanism 10 for adjusting the orientation of the flat nozzle. shown in Figure 4.
  • the horizontal rotation mechanism rotates on a horizontal plane to adjust the angle between the flat nozzle and its traveling direction
  • the vertical flip mechanism rotates on a vertical plane to the movement direction of the plane moving mechanism to adjust the flat nozzle.
  • the horizontal rotation mechanism enables the same nozzle to be changed to the required direction at different stages of priming and topcoating; the vertical flip mechanism enables the nozzle to be applied to the surface to be sprayed with slope.
  • the sloping surfaces to be sprayed are often the rib structure of steel components, with better surface flatness and generally smaller surfaces to be sprayed.
  • the detection mechanism can be turned off and only two-dimensional spraying can be performed.
  • the telescopic pushing mechanism can be a cylinder, the nozzle assembly is fixed on the nozzle mounting plate 13, the cylinder is fixedly connected with the nozzle mounting plate 13, and the component mounting plate 11 is provided with a guide for guiding the nozzle installation.
  • the two nozzle assemblies work together, and the plane moving mechanism drives the spraying components to reciprocate in an S-shape in a two-dimensional plane.
  • the telescopic pushing mechanism 12 drives the nozzle assembly within the stroke range.
  • the sprinkler assembly sprays the area of the steel member covered by it during the movement.
  • the sprinkler assembly at the front along the moving direction of the plane moving mechanism performs initial spraying, and the rapid air drying mechanism performs air drying.
  • the rear sprinkler assembly is detected. Re-spray to recessed areas.
  • One spray is carried out by the nozzle assembly that is forward in the movement direction of the plane moving mechanism.
  • the spraying assembly is driven by the second linear slide rail drive mechanism to reciprocate along the second linear slide rail from one side in an S-shape.
  • the front nozzle assembly is driven by its telescopic push mechanism to carry out primer.
  • the thickness of the initial spray of the primer for one stroke is preset.
  • the first linear slide drive mechanism brings the spraying assembly to the first row position
  • the second linear slide drive mechanism drives the spraying assembly to move sequentially from left to right, when the first nozzle assembly moves from Area 1 starts to work
  • the telescopic push mechanism drives it to move from the proximal end to the distal end within the range of travel, and performs initial spraying of the primer.
  • the rapid air drying mechanism and the detection mechanism determine the position that needs to be sprayed, and the second spray head assembly is used to make up. Spray, up to zone 7, then the spray assembly moves longitudinally (driven by the first linear guide) to zone 8, reverse lateral movement from zones 8-14; and continues to complete zones 15-21.
  • the fast air drying mechanism immediately behind the first nozzle assembly sprays airflow to the area just sprayed to dry the paint surface.
  • the paint surface sag detection mechanism measures the thickness of the air-dried paint surface. If there is a sag, the concave area will be re-sprayed by the nozzle assembly behind it. The thickness of the primer re-spray for one stroke is preset. However, the shape and depth of the concave area are not necessarily the same, the shape can be controlled by adjusting the spraying time and spraying angle of the spray head, but the depth can only be solved by multiple spraying. However, the spraying component moves as a whole, so it is necessary to ensure the time for the initial spray nozzle to complete one stroke, and the supplementary nozzle to complete multiple strokes, so as to have the ability to perform multiple supplementary sprays.
  • T time for the nozzle assembly for initial spray to complete single-stroke spraying
  • t time for the nozzle assembly for supplementary injection to complete single-stroke spraying
  • the supplementary nozzle can complete three strokes, and can be supplemented three times for any depression, and the specifications of the two nozzle assemblies are exactly the same (because they need to be replaced ), the depressions with a depth of 3 times the thickness of the initial spray paint film can be filled up.
  • the plane moving mechanism drives the spraying components to move in a two-dimensional plane, and the front nozzle assembly is driven by the plane moving mechanism.
  • the topcoat is sprayed, and the fast air-drying mechanism immediately behind it sprays airflow to the area just sprayed to air-dry the paint surface.
  • the topcoat spraying process there is no need for the telescopic push mechanism to participate. Since the primer is leveled, the topcoat only needs to be sprayed once, and there is no need for a second spray.

Abstract

一种钢桥自动化涂装设备及其涂膜方法，钢桥自动化涂装设备包括平面移动机构及设置于其上的喷涂组件，喷涂组件包括两个喷头总成（3，6）、设置于两个喷头总成（3，6）之间的快速风干机构（4）和漆面凹陷检测机构（5）、以及分别带动两个喷头总成（3，6）做直线运动的两个伸缩推动机构（12）；底漆喷涂过程中，两个喷头总成（3，6）协同作业，伸缩推动机构（12）带动喷头总成（3，6）在行程范围内移动，喷头总成（3，6）在移动过程中对其覆盖的钢构件区域进行喷涂，通过沿平面移动机构运动方向靠前的喷头总成（3，6）进行初喷，靠后的喷头总成（3，6）对检测到凹陷的区域进行补喷。该设备对一次喷涂结果进行实时检测，对凹陷部分及时进行二次补喷，使得底漆表面均一，进而使得面漆厚度与表面平整度达到理想范围。

Description

一种钢桥自动化涂装设备及其涂膜方法 技术领域
本发明涉及钢桥涂装技术领域，尤其是一种钢桥自动化涂装设备及应用其的涂膜方法。
背景技术
钢结构桥梁为承重结构采用钢材的桥梁，又简称钢构桥、钢桥。钢构件指的是用钢板、角钢、槽钢、工字钢、焊接或热轧H型钢冷弯或焊接经连接件连接而成的，能承受和传递荷载的钢结构组合构件。
现有涂装作业，主要采用人工或半自动的作业方式，调整好喷漆机器人的行进参数或动作路线后，进行程序化喷涂作业。然而，涂装对象表面并不均一，并且涂装效果会随环境变化而实时变化，无法精确调整喷漆的质量控制参数(如厚度等指标)，导致涂层寿命等性能的不一致，给后期维护带来困难。同时，一般的涂装作业，都分为涂底漆和面漆，底漆覆盖在面漆以下，底漆的厚度控制对面漆的喷涂质量起关键性的作用。现有涂装技术还存在涂装效率低的问题。
发明内容
(一)技术问题
1.解决待涂装面本身的不平或喷涂环境造成涂膜厚度不统一的问题；
2.优化装置结构，提高涂装作业的速度。
(二)技术方案
针对现有钢构件涂装作业中存在的上述技术问题，本发明提供一种钢桥自动化涂装设备及其涂膜方法。
本发明保护一种钢桥自动化涂装设备，包括平面移动机构及设置于其上的喷涂组件，所述喷涂组件包括两个喷头总成、设置于两个喷头总成之间的快速风干机构和检测机构、以及两个分别带动对应的喷头总成做直线往复运动的伸缩推动机构，所述平面移动机构带动所述喷涂组件在二维平面内移动，对钢构件进行喷涂。
涂装作业分为喷漆和喷面漆两个过程；
底漆喷涂过程中，两个喷头总成协同作业，所述平面移动机构带动所述喷涂组件在二维平面内往复S形横向运动，所述两组伸缩推动机构带动喷头总成在行程范围内移动，每个喷头总成在移动过程中对其覆盖的钢构件区域进行喷涂；沿所述平面移动机构运动方向靠前的喷头总成进行初喷，同时快速风干机构对刚喷上的漆膜进行风干固定，随着喷涂组件的继续移动，检测机构正对初喷后的位置，其检测初喷后由待喷物表面不平或涂装环境(如待涂装构件的角度或环境气流影响)造成的漆膜不平，靠后的喷头总成由其对应的伸缩推动机构推动到对其行程中检测出不平的区域进行补喷；面漆喷涂过程中，所述平面移动机构带动所述喷涂组件在二维平面内移动，通过沿所述平面移动机构运动方向靠前的喷头总成进行一次喷涂。
进一步的，所述喷涂组件安装于组件安装板上，所述平面移动机构通过所述组件安装板带动所述喷涂组件在二维平面内移动；所述喷头总成固定于喷头安装板上，所述伸缩推动机构与所述喷头安装板固定连接， 所述组件安装板上设有用于引导所述喷头安装板移动的导轨，所述快速风干机构的风干区域覆盖所述检测机构的测量区域。
进一步的，两个喷头总成分别为第一喷头总成和第二喷头总成，所述第一喷头总成和所述第二喷头总成均包括喷头、设置于所述喷头底部的扁口喷嘴、以及调整所述扁口喷嘴朝向的水平转动机构和垂直翻转机构；所述水平转动机构在水平面上转动来调节所述扁口喷嘴与其行进方向的夹角，在喷底漆时，喷嘴方向与平面移动机构横向移动的方向平行，而在喷面漆时，喷嘴方向与平面移动机构横向移动的方向垂直；所述垂直翻转机构在与所述平面移动机构运动方向的垂直面上转动，来调节所述喷头总成与竖直方向之间的夹角，在要喷涂的表面不是平面而是坡面的时候适用。
进一步的，所述喷头及供漆的喷管可在底漆和面漆的漆瓶之间切换。
进一步地，所述伸缩推动机构可以以指定的速度在其整个行程中运动，并可以急停并锁止在需要的位置。
进一步地，第一喷头总成与第二喷头总成采用规格完全相同的元件组成。
本发明还保护一种基于上述钢桥自动化涂装设备的涂膜方法，包括(一)喷底漆：
(1)平面移动机构带动喷涂组件从纵向方向接近待喷涂区域，扁口喷嘴设置为横向；
(2)平面移动机构带动喷涂组件在二维平面内横向移动，移动的过程中，在喷涂组件前进的方向上靠前的喷头总成在其伸缩推动机构的带 动下进行底漆初喷；
(3)快速风干机构向刚喷涂的区域喷射气流，对漆面进行风干，检测机构对风干的漆面进行平整度检测，并记录靠前的喷头总成喷涂的范围内的漆面平整度，靠后的喷头总成在其伸缩推动机构的带动下对凹陷区域进行底漆补喷；
(3)平面移动机构每次横向使靠后的喷头总成到达待喷涂区域外后，纵向移动到下一待喷涂的位置，然后与步骤(2)中相反的方向横向移动，在此时喷涂组件前进的方向上先前的喷头总成在其伸缩推动机械的带动下进行底漆的初喷；
(4)快速风干机构向刚喷涂的区域喷喷射气流，对漆面进行风干，检测机构对风雨的漆面进行平整度检测，并记录靠前的喷头总成喷涂范围内的漆面平整度，靠后的喷头总成在其伸缩推动机构的带动下对凹陷区域进行底漆补喷；
(5)重复上述(2)-(4)步骤，使平面移动机构在二维平面内S形往复运动，覆盖所有待喷涂位置；
(二)喷面漆
更换喷头及接入喷头的喷管，并将扁口喷嘴设置为纵向，平面移动机构带动喷涂组件在二维平面内移动，靠前的喷头总成在平面移动机构的带动下进行面漆喷涂，紧跟在其后的快速风干机构向刚喷涂的区域喷射气流，对漆面进行风干。
进一步地，底漆喷涂过程中，两个喷头总成均在伸缩推动机构的行程范围内以设定的喷涂厚度进行喷涂，用于初喷的喷头总成完成单行程 喷涂的时间记为T，用于补喷的喷头总成完成单行程喷涂的时间记为t，其中t<T。
进一步地，T＝n*t，其中n为大于0的整数。
进一步地，n根据检测机构测得的凹陷最大深度与初喷漆膜厚度的比值向上取整选定。
方便地，n取2或3。
在上面的步骤中，在喷面漆阶段，仅需要一个喷头总成即可完成，这种情况下喷漆的宽度即喷嘴扁口的宽度。这种设置下仍存在喷漆宽度较窄，另一喷嘴闲置的问题。但本方案设计了伸缩推动机构可锁止在行程中的任意位置，因此可以有进一步在面漆作业中也两只喷头并行喷涂的方式，即
进一步地，在(二)喷面漆步骤中，靠后的喷头总成由伸缩推动机构推动运行等于喷嘴扁口宽度的行程并锁止于此位置进行喷涂。
这样就实现了面漆喷涂时两个喷嘴的并行喷涂，提高了硬件的利用率，并提高了喷涂效率。
(三)有益效果
本发明的有益效果是：1、提供一种反馈式二次喷涂方法，通过对一次喷涂结果进行实时在线检测，对凹陷部分及时进行二次补喷，使得底漆表面均一，进而使得面漆厚度与表面平整度达到理想范围；2、喷底漆时用于一次喷涂和二次补喷的喷头可以来回转换，在喷面漆时两个喷头还可以转为平行工作，提高了喷涂速度和设备利用率，降低了使用成本；3、喷头两个维度的角度可调，可以适用于不同角度或坡度的待喷涂平面。
附图说明
图1是钢桥自动化涂装设备整体结构示意图；
图2是主要构件三维示意图；
图3是主要构件平面安装示意图；
图4是喷头总成结构示意图；
图5是喷涂组件移动过程示意图。
具体实施方式
下面结合附图和具体实施例对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本发明保护的范围。
实施例1
本发明保护一种钢桥自动化涂装设备，如图1、图2所示，包括由第一直线滑轨1和垂直于第一直线滑轨的第二直线滑轨2构成的平面移动机构，以及设置于第二直线滑轨2上的喷涂组件。虽然图1中仅示出一侧第一直线滑轨，为保证结构的刚度，第一直线滑轨可对称设置于第二直线滑轨两端。
所述喷涂组件包括两个喷头总成3/6、设置于两个喷头总成之间的快速风干机构4和检测机构5、以及分别带动两个喷头总成做直线运动的两个伸缩推动机构12。为了便于表述，下面将两个喷头总成分别记为第 一喷头总成3和第二喷头总成6。
所述第一喷头总成3、所述检测机构4、所述快速风干机构5和所述第二喷头总成6在所述第二直线滑轨驱动机构的作用下整体性地沿所述第二直线滑轨2直线来回滑动，所述第二直线滑轨2在所述第一直线滑轨驱动机构的作用下沿所述第一直线滑轨1直线来回滑动，从而实现对二维平面内任意区域的喷涂。
实现所述第一喷头总成3、所述检测机构4、所述快速风干机构5和所述第二喷头总成6的整体性滑动，仅需将其安装于同一块组件安装板11上，驱动组件安装板11沿第二直线滑轨2直线来回滑动即可，参照图3。
第一喷头总成3和第二喷头总成6均由喷头7、设置于所述喷头底部的扁口喷嘴8、以及调整所述扁口喷嘴朝向的水平转动机构9和垂直翻转机构10，如图4所示。所述水平转动机构在水平面上转动来调节所述扁口喷嘴与其行进方向的夹角，所述垂直翻转机构在与所述平面移动机构运动方向的垂直面上转动，来调节所述扁口喷嘴与待喷涂钢构件之间的夹角。水平转动机构使同一喷头在涂底漆和涂面漆的不同阶段可变为需要的方向；垂直翻转机构使喷头可以适用于有坡度的待喷面。
有坡度的待喷面往往是钢构件的肋结构，具体较好的表面平整度和一般较小的需要喷涂的表面，对这些面进行作业时，可以关闭检测机构而仅进行二维的喷涂。
所述伸缩推动机构可以为气缸，所述喷头总成固定于喷头安装板13上，所述气缸与所述喷头安装板13固定连接，所述组件安装板11上设 有用于引导所述喷头安装板移动的导轨14，参照图4。
底漆喷涂过程中，两个喷头总成协同作业，平面移动机构带动喷涂组件在二维平面内S形往复移动，参照图5，移动过程中，伸缩推动机构12带动喷头总成在行程范围内移动，喷头总成在移动过程中对其覆盖的钢构件区域进行喷涂，通过沿平面移动机构运动方向靠前的喷头总成进行初喷，快速风干机构进行风干，靠后的喷头总成对检测到凹陷的区域进行补喷。
通过沿平面移动机构运动方向靠前的喷头总成进行一次喷涂。
基于上述涂装设备的钢桥自动化涂膜方法：
一、喷底漆
1、待喷涂钢构件放置于涂装设备的喷涂区内，参照图1。
2、喷涂组件在第二直线滑轨驱动机构的驱动下沿第二直线滑轨从一侧S形往复移动，移动过程中，靠前的喷头总成在其伸缩推动机构的带动下进行底漆初喷，一个行程的底漆初喷厚度预先设定。
下面结合图5举例说明，第一直线滑轨驱动机构将喷涂组件带到第一行位置上，第二直线滑轨驱动机构驱动喷涂组件由左向右依次移动，当第一喷头总成从区域1开始作业，伸缩推动机构带动其在行程范围内由近端移动到远端，进行底漆初喷，同时快速风干机构和检测机构测定需要补喷的位置，并由第二喷头组件进行补喷，一直到区域7，然后喷涂组件纵向移动(由第一直线导轨驱动)到区域8，反向横向运动由区域8-14；并继续完成区域15-21。从图5可以看出，用于初喷的喷头总成和用于补喷的喷头总成，是可以互换的，总是沿运动方向靠前的喷头 总成进行初喷，靠后的进行补喷。当然能互换的前提是，所述快速风干机构5的风干区域覆盖所述漆面凹陷检测机构4的测量区域。这样的设计增加了喷涂作业的灵活性，提高了设备利用率。
3、紧跟在第一喷头总成后方的快速风干机构向刚喷涂的区域喷射气流，对漆面进行风干。
4、漆面凹陷检测机构对风干的漆面进行厚度测量，若存在凹陷，则通过其后方的喷头总成对凹陷区域进行补喷，一个行程的底漆补喷厚度预先设定。然而，凹陷区域的形状和深度都未必相同，形状可以通过调节喷头喷射时间和喷射角度来控制，但是深度只能通过多次喷涂来解决。但是喷涂组件又是整体移动的，就需要保证初喷喷头走完一个行程的时间，补喷喷头可以走完多个行程，以具备进行多次补喷的能力。即，若将用于初喷的喷头总成完成单行程喷涂的时间记为T，用于补喷的喷头总成完成单行程喷涂的时间记为t，显然t<T，即补喷喷头比初喷喷头运动速度快，有条件在需要被喷的位置停留，达到补喷厚度超过初喷厚度的可能，更进一步地，取T＝n*t，其中n为大于0的整数，例如取n＝2或3。当n＝3时，即在初喷喷头一次行程进行内，补喷喷头可以完成三次行程，对任一处凹陷可以补喷三次，在两个喷头总成的规格完全一致(因为要来回换用)的情况下，可以将深度达3倍于初喷漆膜厚度的凹陷补平。
二、喷面漆
等待底漆干燥稳定后，更换喷头及其喷漆管，并将扁口喷嘴设置为水平纵向，平面移动机构带动喷涂组件在二维平面内移动，靠前的喷头 总成在平面移动机构的带动下进行面漆喷涂，紧跟在其后的快速风干机构向刚喷涂的区域喷射气流，对漆面进行风干。面漆喷涂过程中，无需伸缩推动机构参与。由于底漆经过找平，面漆喷涂时仅需一次喷涂即可，无需二次补喷。
最后，还需要注意的是，以上列举仅是本发明一个具体实施例。显然，本发明不限于以上实施例，还可以有许多变形。本领域的普通技术人员能从本发明公开的内容直接导出或联想到的所有变形，均应认为是本发明的保护范围。

Claims (9)

  1. 一种钢桥自动化涂装设备，其特征在于，包括平面移动机构及设置于其上的喷涂组件，所述喷涂组件包括两个喷头总成、设置于两个喷头总成之间的快速风干机构和检测机构、以及两个分别带动对应的喷头总成做直线往复运动的伸缩推动机构，所述平面移动机构带动所述喷涂组件在二维平面内移动，对钢构件进行喷涂；
    底漆喷涂过程中，两个喷头总成协同作业，所述平面移动机构带动所述喷涂组件在二维平面内往复S形横向运动，所述两组伸缩推动机构带动喷头总成在行程范围内移动，每个喷头总成在移动过程中对其覆盖的钢构件区域进行喷涂；沿所述平面移动机构运动方向靠前的喷头总成进行初喷，同时快速风干机构对刚喷上的漆膜进行风干固定，随着喷涂组件的继续移动，检测机构正对初喷后的位置，其检测初喷后由待喷物表面不平或涂装环境造成的漆膜不平，靠后的喷头总成由其对应的伸缩推动机构推动到对其行程中检测出不平的区域进行补喷；面漆喷涂过程中，所述平面移动机构带动所述喷涂组件在二维平面内移动，通过沿所述平面移动机构运动方向靠前的喷头总成进行一次喷涂。
  2. 根据权利要求1所述的钢桥自动化涂装设备，其特征在于，所述喷涂组件安装于组件安装板上，所述平面移动机构通过所述组件安装板带动所述喷涂组件在二维平面内移动；所述喷头总成固定于喷头安装板上，所述伸缩推动机构与所述喷头安装板固定连接，所述组件安装板上设有用于引导所述喷头安装板移动的导轨，所述快速风干机构的风干区域覆盖所述检测机构的测量区域。
  3. 根据权利要求2所述的钢桥自动化涂装设备，其特征在于，两个喷头总成分别为第一喷头总成和第二喷头总成，所述第一喷头总成和所述第二喷头总成均包括喷头、设置于所述喷头底部的扁口喷嘴、以及调整所述扁口喷嘴朝向的水平 转动机构和垂直翻转机构；所述水平转动机构在水平面上转动来调节所述扁口喷嘴与其行进方向的夹角，所述垂直翻转机构在与所述平面移动机构运动方向的垂直面上转动，来调节所述喷头总成与竖直方向之间的夹角。
  4. 根据权利要求1-3任意一项所述的钢桥自动化涂装设备，其特征在于，所述喷头及供漆的喷管可在底漆和面漆的漆瓶之间切换。
  5. 根据权利要求4所述的钢桥自动化涂装设备，其特征在于，第一喷头总成与第二喷头总成采用规格完全相同的元件组成。
  6. 采用如权利要求1-5中任意一项所述的钢桥自动化涂装设备的钢桥自动化涂膜方法，其特征在于，包括：
    (一)喷底漆：
    (1)平面移动机构带动喷涂组件从纵向方向接近待喷涂区域，扁口喷嘴设置为横向；
    (2)平面移动机构带动喷涂组件在二维平面内横向移动，移动的过程中，在喷涂组件前进的方向上靠前的喷头总成在其伸缩推动机构的带动下进行底漆初喷；
    (3)快速风干机构向刚喷涂的区域喷射气流，对漆面进行风干，检测机构对风干的漆面进行平整度检测，并记录靠前的喷头总成喷涂的范围内的漆面平整度，靠后的喷头总成在其伸缩推动机构的带动下对凹陷区域进行底漆补喷；
    (3)平面移动机构每次横向使靠后的喷头总成到达待喷涂区域外后，纵向移动到下一待喷涂的位置，然后与步骤(2)中相反的方向横向移动，在此时喷涂组件前进的方向上先前的喷头总成在其伸缩推动机械的带动下进行底漆的初喷；
    (4)快速风干机构向刚喷涂的区域喷喷射气流，对漆面进行风干，检测机构对风雨的漆面进行平整度检测，并记录靠前的喷头总成喷涂范围内的漆面平整度，靠后的喷头总成在其伸缩推动机构的带动下对凹陷区域进行底漆补喷；
    (5)重复上述(2)-(4)步骤，使平面移动机构在二维平面内S形往复运动，覆盖所有待喷涂位置；
    (二)喷面漆
    更换喷头及接入喷头的喷管，并将扁口喷嘴设置为纵向，平面移动机构带动喷涂组件在二维平面内移动，靠前的喷头总成在平面移动机构的带动下进行面漆喷涂，紧跟在其后的快速风干机构向刚喷涂的区域喷射气流，对漆面进行风干。
  7. 根据权利要求7所述的钢桥自动化涂膜方法，其特征在于，底漆喷涂过程中，两个喷头总成均在伸缩推动机构的行程范围内以设定的喷涂厚度进行喷涂，用于初喷的喷头总成完成单行程喷涂的时间记为T，用于补喷的喷头总成完成单行程喷涂的时间记为t，其中t<T。
  8. 根据权利要求8所述的钢桥自动化涂膜方法，其特征在于，n根据检测机构测得的凹陷最大深度与初喷漆膜厚度的比值向上取整选定。
  9. 根据权利要求8所述的钢桥自动化涂膜方法，其特征在于，n取2或3。
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