Automatic sandblasting system for steel box girders

Abstract

This invention discloses an automatic sandblasting system for steel box girders, including a gantry traveling mechanism housed within a sandblasting chamber. The gantry traveling mechanism contains two tilting devices for placing the steel box girder, each capable of tilting the girder 90 degrees. At least one tilting device has a telescopic rod device on one side. A sand return system for collecting sand dropped during sandblasting is located directly below the gantry traveling mechanism. This invention utilizes the gantry traveling mechanism to sandblast the outer surface of the steel box girder. The sandblasting assembly can travel longitudinally and laterally on the gantry, and can move up and down, achieving sandblasting of most areas of the steel box girder's outer surface. A sandblasting robot is mounted on the telescopic rod device. Through precise position adjustment and coordinated with the accurate movements of the sandblasting robot, refined sandblasting operations are achieved, protecting the surface to be sandblasted and significantly improving the sandblasting quality.

Description

Technical Field

[0001] This invention relates to an automatic sandblasting system for steel box girders, belonging to the field of sandblasting technology. Background Technology

[0002] Currently, steel box girders, also known as steel plate box girders, are a common structural form for long-span bridges, generally used on bridges with large spans. They are called steel box girders because their shape resembles a box. Steel box girders are typically constructed by welding together a top plate, bottom plate, web plate, transverse diaphragms, longitudinal diaphragms, and stiffening ribs. However, when sandblasting such large workpieces as steel box girders, the conventional method is to manually perform surface treatment using handheld spray guns in a sandblasting room. This traditional method is not only inefficient, but the treatment effect also becomes uneven depending on the angle, distance, and speed of the spray gun, and the generated dust has a significant impact on the health of personnel. Summary of the Invention

[0003] The technical problem to be solved by this invention is: how to improve the processing efficiency and uniformity of the processing effect when sandblasting the surface of large workpieces, and avoid the impact of dust on the health of personnel caused by manual operation.

[0004] To solve the above-mentioned technical problems, the technical solution of the present invention is to provide an automatic sandblasting system for steel box girders, characterized in that it includes a gantry traveling mechanism, which is located inside the sandblasting chamber. The gantry traveling mechanism has two tilting devices for placing the steel box girder, each capable of tilting the steel box girder 90 degrees. At least one tilting device has a telescopic rod device on one side. A sand return system for collecting sand falling during sandblasting is located directly below the gantry traveling mechanism. The gantry traveling mechanism includes a gantry frame, with symmetrically arranged sandblasting components on both sides of the gantry frame that can reciprocate and sandblast the outer walls of the steel box girder. Each sandblasting component can move vertically relative to the gantry frame and perpendicular to the gantry ends via a moving structure. The telescopic rod device includes a heavy-duty telescopic boom manipulator, which includes a manipulator and a telescopic rod. The manipulator is fixed to the ground and has a telescopic rod that can horizontally extend and retract inside the steel box girder. A six-axis robot is located at the end of the telescopic rod, and the six-axis robot has a sandblasting gun head for sandblasting the inner walls of the steel box girder. The sandblasting gun head is connected to the sandblasting machine via a pipe.

[0005] Preferably, the sand return system includes multiple collection hoppers, and a longitudinal screw conveyor is provided directly below the discharge port of the multiple collection hoppers. The longitudinal screw conveyor is connected to a horizontal screw conveyor, and one end of the horizontal screw conveyor is connected to a sand storage box through a bucket elevator.

[0006] Preferably, the floor directly below the gantry walking mechanism is a honeycomb floor, and a sand return system is provided below the honeycomb floor.

[0007] Preferably, the two movable structures are respectively located on both sides of the steel box girder. Each movable structure includes a movable rod and a slider. One end of the movable rod is slidably connected to the top inside the gantry. The movable rod can move inside the gantry along the gantry direction at both ends of the gantry. The length direction of the movable rod is perpendicular to the bottom surface. A slider is slidably provided on each movable rod. The slider moves along the length direction of the movable rod. A sandblasting component is fixed on one end of each slider near the steel box girder.

[0008] Preferably, the end effector of the six-axis robot is further provided with a vision camera assembly.

[0009] Preferably, the flipping device includes a base, on which a rotatable rotating component is mounted. The rotating component is an annular structure with an opening, the outer side of the rotating component is an arc-shaped structure, and the inner side of the rotating component is a square structure. An opening is provided at one corner of the square structure to facilitate the insertion of the steel box girder into the square structure. The arc-shaped structure of the rotating component is rolled on the base. The rotating component is provided with a fastening structure for securing the steel box girder within the square structure.

[0010] Preferably, the fastening structure includes a first tightening mechanism and a second tightening mechanism, which are respectively located on the two sides of the rotating member adjacent to the opening.

[0011] Preferably, the upper surface of the base is provided with a groove for the arc-shaped structure to be placed in, and rollers are provided on both sides of the groove. The arc-shaped structure of the rotating part rests on the two rollers and is driven to rotate along the outer arc by the rollers. At least one roller is connected to a drive motor.

[0012] Preferably, it also includes a hydraulic flatbed truck for delivering the steel box girder to be treated to a tilting device inside the sandblasting chamber.

[0013] Preferably, the dust removal system includes a dust removal fan and a dust collector. A dust removal fan for removing dust from the sandblasting chamber is provided on one side of the sandblasting chamber. The dust removal fan is connected to a cyclone dust collector mounted on the frame.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] This invention utilizes a gantry-type traveling mechanism to sandblast the outer surface of a steel box girder. The sandblasting assembly can move longitudinally and laterally on the gantry, and can also move up and down, achieving multiple degrees of freedom. It can move over a wide range on the surface of the steel box girder, working flexibly and thus enabling sandblasting of most areas of the outer surface. No human intervention is required, avoiding the health hazards associated with traditional manual sandblasting. The sandblasting robot (i.e., a six-axis robot) is mounted on a telescopic rod device, which is symmetrically positioned at both ends of the gantry or directly at one end. During operation, precise position adjustments, combined with the accurate movements of the sandblasting robot, enable refined sandblasting, protecting the surface to be sandblasted and significantly improving the sandblasting quality. Attached Figure Description

[0016] Figure 1 A schematic diagram of the main layout of an automatic sandblasting system for steel box girders;

[0017] Figure 2 A top view of the layout of an automatic sandblasting system for steel box girders;

[0018] Figure 3 Right view of the interior layout of an automatic sandblasting system for steel box girders;

[0019] Figure 4 This is a schematic diagram of the flipping device;

[0020] Figure 5 This is a schematic diagram of a six-axis robot. Detailed Implementation

[0021] To make the present invention more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings.

[0022] This invention provides an automatic sandblasting system for steel box girders, used for the automatic sandblasting of steel box girders, such as... Figure 1 As shown, it includes a sandblasting chamber, a steel box girder, a gantry traveling mechanism 1, a tilting device 8, a telescopic rod device 2, a hydraulic flatbed truck 5, a sand return system, and a dust removal system 7. The gantry traveling mechanism 1 is located inside the sandblasting chamber. Two tilting devices 8 are installed within the gantry traveling mechanism 1. The two ends of the steel box girder are placed on the two tilting devices 8 respectively, and the steel box girder can be tilted 90 degrees via the tilting devices 8. The two ends of the steel box girder face the gantry direction at both ends of the gantry traveling mechanism 1. A telescopic rod device 2 is installed on the outer side of each tilting device 8, meaning the two tilting devices 8 are located between the two telescopic rod devices 2. The gantry traveling mechanism 1, in conjunction with the tilting devices 8, achieves automatic sandblasting of the outer surface of the steel box girder.

[0023] The sand recovery system includes multiple collection hoppers 31. A longitudinal screw conveyor 3 is positioned directly below the outlet of each hopper 31. The longitudinal screw conveyor 3 delivers sand to a horizontal screw conveyor 4. One end of the horizontal screw conveyor 4 is connected to a sand storage box via a bucket elevator 6. The bucket elevator 6 lifts the sand collected and processed by the horizontal screw conveyor 4 to the sand storage box on the ground. The mechanical screw of the horizontal screw conveyor 4 recovers the sand exiting from the collection hoppers 31, resulting in higher efficiency and environmental friendliness. After the sandblasting operation is completed, the steel box girder is delivered.

[0024] The floor directly below the gantry traveling mechanism 1 is a honeycomb floor, and multiple collection hoppers 31 are provided under the floor. The feed ends of the multiple collection hoppers 31 are seamlessly connected together, so that all the sand entering from the floor enters into the multiple collection hoppers 31.

[0025] The dust removal system 7 includes a dust removal fan and a dust collector. A dust removal fan is installed on one side of the sandblasting chamber to remove dust from the sandblasting chamber and avoid affecting the sandblasting effect of the sandblasting chamber. The dust removal fan is connected to a cyclone dust collector installed on the frame.

[0026] The gantry traveling mechanism 1 includes a gantry frame 11. Symmetrically arranged on both sides of the gantry frame 11 are sandblasting components 13 capable of reciprocating movement. Each sandblasting component 13 can move freely on the gantry frame 11 via a moving structure 12, achieving multiple degrees of freedom (i.e., vertical movement relative to the gantry frame 11 and gantry movement perpendicular to both ends of the gantry frame 11). Two moving structures 12 are respectively located on both sides of the steel box girder. Each moving structure 12 includes a moving rod 121 and a slider 122. One end of the moving rod 121 is slidably connected to the top of the gantry frame 11. The moving rod 121 can move within the gantry frame 11 along the gantry direction perpendicular to both ends of the gantry frame 11. The length direction of the moving rod 121 is perpendicular to the bottom surface. A slider 122 slides on each moving rod 121, moving along the length direction of the moving rod 121. A sandblasting component 13 is fixed to one end of each slider 122 near the steel box girder. The sandblasting assembly 13 includes a sandblasting head and a sandblasting pipe connected to the sandblasting head. The sandblasting pipe is connected to a sandblasting machine, which contains sand. The sandblasting head on the gantry traveling mechanism 1 can be used to sandblast the two sides of the outer wall of the steel box girder.

[0027] In this embodiment, the movement of the moving rod 121 and the slider 122 is driven by either a cylinder or a motor. When the moving rod 121 and the slider 122 are driven by a cylinder, one cylinder is fixed to the gantry frame 11, and its driving end is connected to the moving rod 121; the other cylinder is fixed to the moving rod 121, and its driving end is connected to the slider 122. When the moving rod 121 and the slider 122 are driven by a motor, one motor is fixed to the gantry frame 11, and its driving end is connected to a screw, which is threaded to the moving rod 121; the other motor is fixed to the moving rod 121, and its driving end is connected to another screw, which is threaded to the slider 122.

[0028] like Figure 2 , Figure 3 As shown, the telescopic boom device 2 is symmetrically arranged on both sides of the gantry traveling mechanism 1, directly opposite the gantry direction. The telescopic boom device 2 includes a heavy-duty telescopic arm manipulator 21. A sandblasting machine is connected to a sandblasting gun head 23 via a pipe. The sandblasting gun head 23 is mounted on a six-axis robot 22. Simultaneously, a vision camera assembly 24 is provided at the end of the six-axis robot 22. Figure 5 As shown, the six-axis robot 22 is mounted on the flange at the end of the telescopic rod 212. The heavy-duty telescopic boom manipulator 21 located at both ends of the steel box girder uses the manipulator 211 to smoothly extend the telescopic rod 212 into the steel box girder body, and the six-axis robot 22, carrying the sandblasting gun head 23, completes the sandblasting of the left and right sides inside the steel box girder body.

[0029] The heavy-duty telescopic boom manipulator 21 includes a manipulator 211 and a telescopic boom 212. The manipulator 211 is fixed to the ground, and the horizontally placed telescopic boom 212 is mounted on the manipulator 211, allowing it to extend and retract on the manipulator 211. A support frame is provided on the manipulator 211 to support the telescopic boom 212. A drive motor is installed inside the manipulator 211, and a screw that rotates with the drive motor is located inside the telescopic boom 212 and is threadedly connected to it. A limiting structure is provided on the manipulator 211 to restrict the rotation of the telescopic boom 212, allowing it to extend and retract on the manipulator 211 but preventing rotation. The limiting structure includes grooves on both sides of the telescopic boom 212, and protrusions on the manipulator 211 that match the grooves. The protrusions are located within the grooves, restricting the rotation of the telescopic boom 212, but allowing the grooves to slide along the protrusions, thus enabling the telescopic boom 212 to extend and retract on the manipulator 211.

[0030] like Figure 4As shown, the flipping device 8 includes a base 81, on which a flippable rotating member 84 is mounted. The rotating member 84 is an annular structure with an opening. The outer side of the rotating member 84 is an arc-shaped structure, and the inner side is a square structure. The opening of the rotating member 84 is located at one of the upper corners of the square structure, facilitating the placement of the steel box girder into the square structure. The arc-shaped structure of the rotating member 84 rolls on the base 81, facilitating its rolling and flipping. The upper surface of the base 81 has a groove for the arc-shaped structure to be placed in. Rollers are provided on both sides of the groove. The arc-shaped structure rests on the two rollers, and the rollers drive the rotating member 84 to flip along the outer arc shape. At least one roller is connected to a drive motor to drive the roller to rotate. A first clamping mechanism 82 and a second clamping mechanism 83 are respectively provided on the two sides of the rotating member 84 adjacent to the opening. After the steel box girder is placed inside the square structure, the first clamping mechanism 82 and the second clamping mechanism 83 respectively clamp the two sides of the steel box girder, while the other two sides of the steel box girder rest against the inside of the square structure away from the opening. The rotating component 84 has a 90° tilt angle. The side of the arc-shaped structure that contacts the rotating shaft is the side directly opposite the first clamping mechanism 82 or the second clamping mechanism 83. After the steel box girder is tilted by the tilting device 8, the sandblasting head on the gantry traveling mechanism 1 can sandblast the other two sides of the outer wall of the steel box girder; the sandblasting gun head 23 on the six-axis robot 22 at the end of the telescopic rod device 2 sandblasts the other two sides of the inside of the steel box girder.

[0031] In this embodiment, both the first clamping mechanism 82 and the second clamping mechanism 83 are cylinders or motors.

[0032] The hydraulic flatbed cart 5 is used to deliver the steel box girder to be processed to the square structure of the tilting device 8 inside the sandblasting chamber.

[0033] The automatic sandblasting system of this invention automates the sandblasting of steel box girders, greatly improving production efficiency.

[0034] Among them, the longitudinal screw conveyor 3 and the horizontal screw conveyor 4 are available for purchase, such as the U-shaped screw conveyor series products of Shanghai Dingce Machinery Equipment Co., Ltd. (shdingce.com); the bucket elevator 6 is available for purchase, such as the TD-type bucket elevator products of Shanghai Shengtu Machinery Equipment Co., Ltd.; the dust removal fan and dust collector in the dust removal system 7 are both available for purchase, such as the cyclone dust collector products of Donaldson Corporation (donaldson.cn). The vision component 24 is a conventional industrial vision camera, fixed to the gripper at the end of the robot, and will not be described in detail here. The six-axis robot 22 can refer to model AR900. The six-axis robot 22 is fixed to the end of the heavy-duty telescopic boom manipulator 21 and is controlled and driven by a conventional electrical unit.

[0035] The above description shows and illustrates the basic principles, main features, and advantages of the present invention. Standard parts used in the present invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

Claims

1. An automatic sandblasting system for a steel box girder, characterized by, The invention discloses a steel box girder spraying device, which comprises a gantry walking mechanism (1), the gantry walking mechanism (1) is arranged in a sand blasting chamber, two turnover devices (8) for placing the steel box girder are arranged in the gantry walking mechanism (1), the turnover devices (8) can turn the steel box girder by 90 degrees, at least one side of the turnover device (8) is provided with an extension rod device (2), and a sand collecting system for collecting sand falling during sand blasting is arranged below the gantry walking mechanism (1); the gantry walking mechanism (1) comprises a gantry (11), symmetrical spraying assemblies (13) capable of reciprocating and spraying the two sides of the outer wall of the steel box girder are arranged on the two sides in the gantry (11), each spraying assembly (13) can move in the upward and downward directions relative to the gantry (11) and move in the vertical direction of the two ends of the gantry (11); the extension rod device (2) comprises a heavy-duty telescopic arm manipulator (21), the heavy-duty telescopic arm manipulator (21) comprises a manipulator (211) and an extension rod (212), the manipulator (211) is fixed on the ground, the extension rod (212) arranged on the manipulator (211) can horizontally extend in the steel box girder, a six-axis robot (22) is arranged at the end of the extension rod (212), a sand spraying gun head (23) for spraying the two sides of the inner wall of the steel box girder is arranged on the six-axis robot (22), and the sand spraying gun head (23) is connected with a sand blasting machine through a pipeline. The turnover device (8) comprises a base (81), a rotating part (84) capable of rotating is arranged on the base (81), the rotating part (84) is in an annular structure with an opening, the outer side of the rotating part (84) is in a circular arc structure, the inner side of the rotating part (84) is in a square structure, an opening for facilitating the steel box girder to be placed in the square structure is arranged on one corner of the square structure, and the circular arc structure of the rotating part (84) is arranged in a rolling mode on the base (81); the rotating part (84) is provided with a fastening structure for fastening the steel box girder in the square structure.

2. The automatic sand blasting system for a steel box girder according to claim 1, wherein The sand collecting system comprises a plurality of collecting hoppers (31), longitudinal screw conveyors (3) are arranged below the discharge ports of the collecting hoppers (31), the longitudinal screw conveyors (3) are connected with horizontal screw conveyors (4), and one end of the horizontal screw conveyors (4) is connected with a bucket elevator (6) and a sand storage box.

3. The automatic grit blasting system for a steel box girder as claimed in claim 1, wherein, The floor below the gantry walking mechanism (1) is a honeycomb floor, and the honeycomb floor is provided with the sand collecting system below.

4. The automatic grit blasting system for a steel box girder as claimed in claim 1, wherein, The two moving structures (12) are arranged on the two sides of the steel box girder respectively, each moving structure (12) comprises a moving rod (121) and a sliding block (122), one end of the moving rod (121) is slidably connected with the top of the gantry (11), the moving rod (121) can move in the vertical direction of the two ends of the gantry (11) in the gantry (11), and the length direction of the moving rod (121) is perpendicular to the bottom surface; one sliding block (122) is slidably arranged on each moving rod (121), the sliding block (122) moves along the length direction of the moving rod (121), and each sliding block (122) is fixed with one spraying assembly (13) at the end close to the steel box girder.

5. The automatic grit blasting system for a steel box girder as claimed in claim 1, wherein, The end of the six-axis robot (22) is further provided with a visual camera assembly (24).

6. The automatic grit blasting system for a steel box girder as claimed in claim 1, wherein, The fastening structure comprises a first tightening mechanism (82) and a second tightening mechanism (83), and the first tightening mechanism (82) and the second tightening mechanism (83) are respectively arranged on two sides of the rotating member (84) adjacent to the opening.

7. The automatic grit blasting system for a steel box girder as claimed in claim 1, wherein, The bottom (81) is provided with a groove on the upper surface for placing the arc-shaped structure, and the two sides of the groove are provided with rollers, the arc-shaped structure of the rotating member (84) is placed on the two rollers, and the rotating member (84) is driven to overturn along the outer arc through the rollers, and at least one roller is connected with a driving motor.

8. The automatic grit blasting system for a steel box girder as claimed in claim 1, wherein, The hydraulic flat car (5) for sending the steel box girder to be treated to the overturning device (8) in the sand blasting chamber is further included.

9. The automatic grit blasting system for a steel box girder as claimed in claim 1, wherein, The dust removal system (7) is further included, the dust removal system (7) comprises a dust removal fan and a dust remover, one side of the sand blasting chamber is provided with a dust removal fan for removing dust in the sand blasting chamber, and the dust removal fan is connected with a cyclone dust remover installed on a rack.

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