A portal frame box beam inner mold adaptive elastic pressing and polishing robot

Abstract

The present invention relates to the technical field of box girder inner mold grinding, and specifically proposes a gantry-type box girder inner mold adaptive elastic pressing and grinding robot, comprising: a gantry-shaped moving frame, an elastic pressing and grinding mechanism, a driving mechanism and a locking and fixing mechanism. The present invention realizes integrated overall reinforcement of multiple staggered grinding rollers through the coordination of the elastic pressing and grinding mechanism, the driving mechanism and the locking and fixing mechanism, so that the corresponding grinding rollers can move synchronously and interlock, and the locking and fixing mechanism can also integrate and stabilize the multiple grinding rollers, greatly improving the stability of the grinding rollers and the grinding quality of the grinding rollers on the box girder inner mold. At the same time, the elastic pressing group automatically compensates for the movement of the grinding roller along the length direction of the support rod in a small range under the action of the adaptive elastic force, so that the grinding roller is always pressed against the outer wall of the box girder inner mold, further improving the grinding quality of the grinding roller on the box girder inner mold.

Description

Technical Field

[0001] The invention relates to the technical field of box girder inner mold grinding, and specifically proposes a gantry type box girder inner mold self-adaptive elastic pressing and grinding robot. Background Art

[0002] The inner formwork of the portal box girder refers to the steel formwork structure used when pouring the portal box girder. The inner formwork of the portal box girder can ensure that the portal box girder maintains the required shape and size during the pouring construction process, meeting the design requirements. The inner formwork of the portal box girder has a variable diameter structure at both ends and a constant diameter structure in the middle, and the size gradually increases from the two ends to the middle (such as Figure 6 as shown).

[0003] The grinding of the inner formwork of the box girder plays a vital role in the casting of the box girder. Grinding can remove defects such as rust, sharp corners and burrs on the outer surface of the inner formwork of the box girder, and reduce the chance of pores and cracks on the concrete surface.

[0004] However, when grinding the box girder inner mold, due to the changes in the structural dimensions of the box girder inner mold itself, the grinding roller needs to adjust the distance according to the size of the box girder inner mold during the grinding process. Currently, a single hydraulic cylinder is used to drive a single grinding roller to move and adjust, and multiple grinding rollers work independently. When the grinding roller grinds the box girder inner mold, due to the large grinding friction, the grinding roller is supported less and is prone to shaking, which affects the grinding quality of the box girder inner mold by the grinding roller and reduces the grinding stability of the box girder outer mold by the overall equipment. Summary of the invention

[0005] In view of the above problems, an embodiment of the present application provides a gantry-type box girder inner mold adaptive elastic pressing and polishing robot to solve the technical problems in the related art.

[0006] In order to achieve the above-mentioned purpose, the embodiment of the present application provides the following technical solutions: a gantry-type box girder inner mold adaptive elastic compression and polishing robot, which is used to polish the box girder inner mold, the box girder inner mold is hollow, and the two side walls arranged along its width direction are inclined plane one, vertical plane, inclined plane two and inclined plane three from top to bottom, the dimensions of the two ends of the box girder inner mold arranged along its length direction are smaller than the dimensions of the middle part, and the end part and the middle part are transitioned by an inclined surface, the polishing robot comprises: a gantry-shaped moving frame, the two vertical section ends of the gantry-shaped moving frame are equipped with a fixed frame through a horizontal frame, the fixed frame is located in the gantry-shaped moving frame, the fixed frame is in the shape of two vertical sections and is the same as the inverted shape of the two side walls of the box girder inner mold arranged along its width direction, and an elastic compression and polishing mechanism for polishing the outer wall of the box girder inner mold is arranged in the fixed frame.

[0007] In a possible implementation, reinforcing ribs are installed between two corners of the door-shaped movable frame and the fixed frame.

[0008] The elastic pressing and grinding mechanism includes two grinding rollers arranged below the horizontal section of the fixed frame and a plurality of grinding rollers arranged in sequence from top to bottom and staggered on the vertical section of the fixed frame. The plurality of grinding rollers on the vertical section of the fixed frame correspond one to one with inclined plane one, the vertical plane, inclined plane two and inclined plane three respectively, and the two grinding rollers below the horizontal section of the fixed frame are staggered along the width direction of the fixed frame. Ear plates are rotatably installed at both ends of the grinding roller, an elastic pressing group is arranged between the ear plates at both ends of the same grinding roller, a support rod is arranged on the ear plate, the support rod is slidably connected to the fixed frame, and a driving source for driving the grinding roller to rotate is installed on one of the two ear plates on the same grinding roller.

[0009] The fixed frame is provided with a driving mechanism for driving the support rod to slide so as to drive the grinding roller to move; the door-shaped moving frame is provided with a locking and clamping mechanism for locking a plurality of grinding rollers at the same time.

[0010] In one possible implementation, the elastic pressure group includes a slot opened on one side of the support rod close to the ear plate, a plug plate slidably connected to the slot is installed on the ear plate, a connecting strip is installed between the support rods on both sides of the same grinding roller, a clamping push plate is connected between the ear plates on both sides of the same grinding roller, and evenly arranged push springs are installed between the connecting strip and the clamping push plate.

[0011] In a possible implementation, a plurality of guide rods that slide through the connecting strips are mounted on the pressing and pushing plate, and the guide rods slide through the fixed frame.

[0012] In one possible implementation, the driving mechanism includes a lifting plate installed together after four support rods corresponding to the horizontal section of the fixed frame penetrate the fixed frame, and both ends of the lifting plate arranged along the length direction are provided with lifting groups, and the lifting plate drives the support rods connected to the two ends of the grinding roller corresponding to the inclined plane one to move through the lifting group while moving, and the two support rods connected to the two ends of the grinding roller corresponding to the inclined plane two penetrate the fixed frame and are jointly installed with a side shift plate, and both ends of the side shift plate are installed with synchronous driving groups, and when the side shift plate moves, the synchronous driving group drives the support rods at the two ends of the grinding roller corresponding to the vertical plane and the inclined plane three to move, and the horizontal section and the two vertical sections of the gate-shaped moving frame are installed with one-way hydraulic cylinders, and the telescopic ends of the three one-way hydraulic cylinders are respectively connected to the lifting plate and the side shift plate.

[0013] In one possible implementation, the lifting group includes a C-shaped frame connected to the end of the lifting plate, the C-shaped frame is arranged parallel to the inclined surface, two support rods corresponding to the inclined surface slide through the fixed frame and a cross plate is installed, the middle part of the cross plate is rotatably connected with a rotating shaft, the opposite surfaces of the two protruding sections of the C-shaped frame are provided with guide grooves, and the two ends of the rotating shaft are respectively slidably connected in the two guide grooves.

[0014] In one possible implementation, the synchronous drive group includes two support rods on the grinding roller opposite to the vertical plane and two support rods on the grinding roller corresponding to the inclined plane three, which slide through the fixed frame and are also installed on the horizontal plate. The horizontal plate is rotatably connected to a rotating rod on one side close to the side shift plate, and a sliding groove is provided on the side shift plate that is slidably connected to the rotating rod.

[0015] In one possible implementation, the locking and fixing mechanism includes a two-way hydraulic cylinder connected to the top of the gate-shaped movable frame through an ear seat, and the two telescopic ends of the two-way hydraulic cylinder are installed with inverted C-shaped frames through supplementary plates, wherein the vertical section length of one inverted C-shaped frame is smaller than the vertical section length of the other inverted C-shaped frame, and the gate-shaped movable frame is located between the two inverted C-shaped frames, and the lower ends of the horizontal sections of the two inverted C-shaped frames are installed with symmetrically arranged vertical plates, and the lower ends of the vertical sections of the inverted C-shaped frames are installed with inclined plates, and two symmetrically arranged limit clamps are installed on the side of the inclined plate and the vertical plate close to the gate-shaped movable frame, the two limit clamps on the inclined plate are used to lock and limit the side shifting plate, and the two limit clamps on the vertical plate are used to lock and limit the lifting plate.

[0016] In a possible implementation, the opposing surfaces of two adjacent limit clamps close to the fixed frame are both inclined.

[0017] In a possible implementation, a plurality of horizontal rods evenly arranged from top to bottom are installed on the vertical section of the inverted U-shaped frame, and the horizontal rods are slidably connected to the door-shaped movable frame.

[0018] The above one or more technical solutions in the embodiments of the present invention have at least one of the following beneficial effects: 1. The present invention realizes integrated overall reinforcement of multiple staggered grinding rollers through the cooperation of an elastic pressing and grinding mechanism, a driving mechanism and a locking and fixing mechanism, so that the corresponding grinding rollers can move synchronously and interlock, and the locking and fixing mechanism can also integrate and stably reinforce multiple grinding rollers, which greatly improves the stability of the grinding rollers and the grinding quality of the box beam inner mold by the grinding rollers. At the same time, the elastic pressing group automatically compensates for the movement of the grinding roller along the length direction of the support rod in a small range under the action of adaptive elastic force, so that the grinding roller is always pressed against the outer wall of the box beam inner mold, further improving the grinding quality of the grinding roller on the box beam inner mold.

[0019] 2. The present invention uses three one-way hydraulic cylinders to respectively drive the lifting plate and the side shift plate to move, and at the same time, the lifting group and the synchronous drive group cooperate to drive multiple grinding rollers to move synchronously, avoiding the problem of increasing production costs by setting a separate driving source on each grinding roller to drive the grinding roller to move in the traditional way. It also allows the multiple grinding rollers to be locked and limited with each other under the cooperation of the lifting plate, the side shift plate, the lifting group and the synchronous drive group, further improving the stability of the grinding roller.

[0020] 3. In the present invention, a plurality of guide rods slidingly penetrating the connecting strips are installed on the pressing and pushing plate. The guide rods slidingly penetrate the fixed frame. The pressing and pushing plate is slidably connected to the connecting strips through the plurality of guide rods, so that the grinding roller obtains a plurality of evenly distributed support points, further improving the stability of the grinding roller. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0022] Figure 1 It is a schematic diagram of the working state structure of the present invention.

[0023] Figure 2 It is a first three-dimensional structural schematic diagram of the present invention.

[0024] Figure 3 It is a second three-dimensional structural schematic diagram of the present invention.

[0025] Figure 4 The present invention Figure 3 A local enlarged schematic diagram of point A.

[0026] Figure 5 It is a structural schematic diagram of the elastic pressing group and the guide rod of the present invention.

[0027] Figure 6 It is a schematic diagram of the three-dimensional structure of the box girder inner mold.

[0028] Figure 7 It is a first three-dimensional structural schematic diagram of the fixed frame, the elastic pressing and polishing mechanism and the driving mechanism of the present invention.

[0029] Figure 8 It is a second three-dimensional structural schematic diagram of the fixed frame, the elastic pressing and polishing mechanism and the driving mechanism of the present invention.

[0030] Fig. 9 It is a structural schematic diagram of the synchronous drive group of the present invention.

[0031] Fig.10 It is a schematic diagram of the three-dimensional structure of the door-shaped movable frame and the door-shaped movable frame of the present invention.

[0032] Reference numerals: 1, door-shaped moving frame; 10, reinforcing ribs; 2, horizontal frame; 3, fixed frame; 4, elastic pressing and grinding mechanism; 40, grinding roller; 41, ear plate; 42, elastic pressing group; 420, slot; 421, plug plate; 422, connecting strip; 423, pressing and pushing plate; 424, pushing spring; 430, guide rod; 43, support rod; 5, driving mechanism; 50, lifting plate; 51, lifting group; 510, U-shaped frame; 511, transverse plate; 512, rotating shaft; 513, guide groove; 52, side shift plate; 53, synchronous drive group; 530, rotating rod; 531, sliding groove; 54, one-way hydraulic cylinder; 6, locking and fixing mechanism; 60, two-way hydraulic cylinder; 61, inverted U-shaped frame; 610, horizontal rod; 62, vertical plate; 63, inclined plate; 64, limit clamping plate; 7, box beam inner mold; 70, inclined plane one; 71, vertical plane; 72, inclined plane two; 73, inclined plane three. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0035] See also Figure 1 and Figure 6 , a gantry-type box girder inner mold adaptive elastic compression and grinding robot, used for grinding the box girder inner mold 7, wherein the box girder inner mold 7 is cavity-shaped, and the two side walls arranged along its width direction are inclined plane 1 70, vertical plane 71, inclined plane 2 72 and inclined plane 3 73 from top to bottom, the size of the two ends of the box girder inner mold 7 arranged along its length direction is smaller than the size of the middle part, and the end and the middle part are transitioned by an inclined surface, the grinding robot comprises: a gantry-shaped moving frame 1, two vertical section ends of the gantry-shaped moving frame 1 are equipped with a fixed frame 3 through a horizontal frame 2, the fixed frame 3 is located in the gantry-shaped moving frame 1, the fixed frame 3 is in the shape of two vertical sections and the same inverted shape as the two side walls of the box girder inner mold 7 arranged along its width direction, and an elastic compression and grinding mechanism 4 for grinding the outer wall of the box girder inner mold 7 is arranged in the fixed frame 3.

[0036] See also Figure 2 Reinforcement ribs 10 are installed between the two corners of the door-shaped movable frame 1 and the fixed frame 3, so as to improve the stability of the fixed frame 3.

[0037] See also Figure 2, Figure 4 and Figure 7 The elastic pressing and grinding mechanism 4 includes two grinding rollers 40 arranged below the horizontal section of the fixed frame 3 and a plurality of grinding rollers 40 arranged on the vertical section of the fixed frame 3 and arranged in sequence from top to bottom and staggered. The plurality of grinding rollers 40 on the vertical section of the fixed frame 3 correspond to the inclined plane 1 70, the vertical plane 71, the inclined plane 2 72 and the inclined plane 3 73 one by one, respectively, and the two grinding rollers 40 located below the horizontal section of the fixed frame 3 are staggered along the width direction of the fixed frame 3. Ear plates 41 are rotatably installed at both ends of the grinding roller 40. An elastic pressing group 42 is arranged between the ear plates 41 at both ends of the same grinding roller 40. A support rod 43 is arranged on the ear plate 41. The support rod 43 is slidably connected to the fixed frame 3. A driving source (such as a hydraulic motor, not shown in the figure) for driving the grinding roller 40 to rotate is installed on one of the two ear plates 41 on the same grinding roller 40.

[0038] See also Figure 1 and Figure 4 The fixed frame 3 is provided with a driving mechanism 5 for driving the support rod 43 to slide so as to drive the grinding roller 40 to move; the door-shaped moving frame 1 is provided with a locking and clamping mechanism 6 for locking multiple grinding rollers 40 at the same time.

[0039] The box beam inner mold 7 is supported by the existing supporting equipment, and the external driving source drives the door-shaped moving frame 1 to move to one end of the box beam inner mold 7. First, the driving mechanism 5 drives multiple support rods 43 to drive the grinding roller 40 to move toward the box beam inner mold 7 until the multiple grinding rollers 40 are respectively pressed against the top of the box beam inner mold 7, the inclined surface 1 70, the vertical surface 71, the inclined surface 2 72 and the inclined surface 3 73, thereby avoiding the problem of setting a separate driving source on each grinding roller 40 to drive the grinding roller 40 to move and increase the production cost. The staggered arrangement of the multiple grinding rollers 40 avoids collision during the movement, and then the driving source (such as a motor) for driving the grinding roller 40 is started, and the driving source drives the grinding roller 4 0 rotates to grind the side wall of the box beam inner mold 7, and the grinding roller 40 obtains a stable supporting force under the support of the two support rods 43, and the two grinding rollers 40 are staggered to grind the top of the box beam inner mold 7, which greatly improves the stability of the grinding roller 40, avoids the problem of poor grinding effect of the grinding roller 40 on the side wall of the box beam inner mold 7 caused by unstable support of the grinding roller 40, and in the grinding process, the elastic pressing group 42 automatically compensates for the movement of the grinding roller 40 along the length direction of the support rod 43 in a small range under the action of the adaptive elastic force, so that the grinding roller 40 is always pressed against the outer wall of the box beam inner mold 7, further improving the grinding quality of the grinding roller 40 on the box beam inner mold 7.

[0040] Then, the grinding roller 40 is driven by the door-shaped movable frame 1 to move along the outer wall of the box beam inner mold 7. When the grinding roller 40 moves to the inclined transition point between the large-size section and the small-size section of the box beam inner mold 7, the driving mechanism 5 gradually drives the grinding roller 40 to move toward the fixed frame 3. Finally, when the grinding roller 40 moves to the large-size section of the box beam inner mold 7, the driving mechanism 5 stops working, and the locking and fixing mechanism 6 performs integrated locking and reinforcement on the positions of multiple grinding rollers 40, thereby further improving the movement stability of the grinding roller 40 and improving the grinding quality of the box beam inner mold 7 by the grinding roller 40.

[0041] See also Figure 4 and Figure 5 The elastic pressure group 42 includes a slot 420 opened on the side of the support rod 43 close to the ear plate 41, and a plug plate 421 slidably connected to the slot 420 is installed on the ear plate 41. A connecting strip 422 is installed between the support rods 43 on both sides of the same grinding roller 40, and a clamping and pushing plate 423 is connected between the ear plates 41 on both sides of the same grinding roller 40. Evenly arranged pushing springs 424 are installed between the connecting strip 422 and the clamping and pushing plate 423.

[0042] During the grinding process, the push spring 424 pushes the grinding roller 40 by pressing the push plate 423. Under the action of the adaptive elastic force, the grinding roller 40 is automatically compensated for a small range of movement along the length direction of the support rod 43, so that the grinding roller 40 is always pressed against the outer wall of the box beam inner mold 7, further improving the grinding quality of the box beam inner mold 7 by the grinding roller 40.

[0043] See also Figure 5 The pressing and pushing plate 423 is provided with a plurality of guide rods 430 which slide through the connecting strip 422. The guide rods 430 slide through the fixed frame 3. The pressing and pushing plate 423 is slidably connected with the connecting strip 422 through the plurality of guide rods 430, so that the grinding roller 40 obtains a plurality of evenly distributed support points, further improving the stability of the grinding roller 40.

[0044] See also Figure 3 , Figure 4 , Figure 7 and Figure 8The driving mechanism 5 includes a lifting plate 50 installed together after four support rods 43 corresponding to the horizontal section of the fixed frame 3 penetrate the fixed frame 3, and the lifting plate 50 is arranged along the length direction. Both ends of the lifting plate 50 are provided with lifting groups 51. When the lifting plate 50 moves, the lifting group 51 drives the support rods 43 connected to the two ends of the grinding roller 40 corresponding to the inclined surface 70 to move, and the two support rods 43 connected to the two ends of the grinding roller 40 corresponding to the inclined surface 2 72 penetrate the fixed frame 3 and are installed with a side shift plate 52. Both ends of the side shift plate 52 are installed with synchronous driving groups 53. When the side shift plate 52 moves, the synchronous driving group 53 drives the support rods 43 at the two ends of the grinding roller 40 corresponding to the vertical surface 71 and the inclined surface 3 73 to move. The horizontal section and the two vertical sections of the door-shaped moving frame 1 are installed with one-way hydraulic cylinders 54, and the telescopic ends of the three one-way hydraulic cylinders 54 are respectively connected to the lifting plate 50 and the side shift plate 52.

[0045] The lifting plate 50 and the side shift plate 52 are driven to move respectively by three one-way hydraulic cylinders 54, and at the same time, the lifting group 51 and the synchronous drive group 53 cooperate to drive the multiple grinding rollers 40 to move synchronously, thereby avoiding the problem of increasing production costs in the traditional way of providing a separate driving source (such as a one-way hydraulic cylinder) on each grinding roller 40 to drive the grinding roller 40 to move. In addition, the multiple grinding rollers 40 are locked and limited with each other under the cooperation of the lifting plate 50, the side shift plate 52, the lifting group 51 and the synchronous drive group 53, thereby further improving the stability of the grinding roller 40.

[0046] See also Figure 4 The lifting group 51 includes a C-shaped frame 510 connected to the end of the lifting plate 50, the C-shaped frame 510 is arranged parallel to the inclined surface 70, and the two support rods 43 corresponding to the inclined surface 70 slide through the fixed frame 3 and are installed with a horizontal plate 511, and the middle part of the horizontal plate 511 is rotatably connected with a rotating shaft 512, and the opposite surfaces of the two protruding sections of the C-shaped frame 510 are provided with guide grooves 513, and the two ends of the rotating shaft 512 are respectively slidably connected in the two guide grooves 513.

[0047] When the one-way hydraulic cylinder 54 drives the lifting plate 50 to move, the lifting plate 50 drives the grinding roller 40 corresponding to the top of the box beam inner mold 7 to move through the support rod 43 connected thereto, and at the same time, the lifting plate 50 drives the rotating shaft 512 to move through the U-shaped frame 510, and the rotating shaft 512 pulls the supporting rod 43 connected thereto to move through the cross plate 511 during the movement, and the two ends of the rotating shaft 512 slide along the guide groove 513, so that the axis of the grinding roller 40 opposite to the inclined surface 70 always remains parallel to the inclined surface 70 during the movement, and the grinding roller 40 effectively and comprehensively grinds the inclined surface 70, and the grinding roller 40 corresponding to the top of the box beam inner mold 7 and the grinding roller 40 corresponding to the inclined surface 70 are mutually limited and locked under the cooperative limiting action of the guide groove 513 and the rotating shaft 512, thereby improving the stability of the lifting and lowering movement of the grinding roller 40.

[0048] See also Fig. 9 The synchronous drive group 53 includes two support rods 43 on the grinding roller 40 opposite to the vertical surface 71 and two support rods 43 on the grinding roller 40 corresponding to the inclined surface 73, which slide through the fixed frame 3 and are also installed on the horizontal plate 511. The horizontal plate 511 is rotatably connected to a rotating rod 530 on one side close to the side shift plate 52, and a sliding groove 531 is opened on the side shift plate 52 to be slidably connected to the rotating rod 530.

[0049] When the one-way hydraulic cylinder 54 drives the side shift plate 52 to move, the side shift plate 52 drives the grinding roller 40 opposite to the second inclined plane 72 to move through the support rod 43 connected thereto, and at the same time, the side shift plate 52 drives the connected cross plate 511 and the support rod 43 to move in sequence through the rotating rod 530, thereby driving the grinding roller 40 opposite to the vertical plane 71 and the grinding roller 40 opposite to the third inclined plane 73 to move, and during the movement, the rotating rod 530 slides along the sliding groove 531, so that multiple grinding rollers 40 move synchronously, and the grinding roller 40 opposite to the vertical plane 71 and the grinding roller 40 opposite to the third inclined plane 73 are locked with each other under the sliding limit action of the rotating rod 530 and the sliding groove 531, thereby improving the stability of the movement of the grinding roller 40.

[0050] See also Figure 2 , Figure 3 and Fig.10, the locking and fixing mechanism 6 includes a two-way hydraulic cylinder 60 connected to the top of the portal moving frame 1 through an ear seat. Both telescopic ends of the two-way hydraulic cylinder 60 are equipped with inverted U-shaped frames 61 through supplementary plates. The vertical section length of one inverted U-shaped frame 61 is less than that of the other inverted U-shaped frame 61. The portal moving frame 1 is located between the two inverted U-shaped frames 61. Symmetrically arranged vertical plates 62 are installed at the lower ends of the horizontal sections of the two inverted U-shaped frames 61. Inclined plates 63 are installed at the lower ends of the vertical sections of the inverted U-shaped frames 61. On the side of the inclined plate 63 and the vertical plate 62 close to the portal moving frame 1, two symmetrically arranged limit clamping plates 64 are installed. The two limit clamping plates 64 on the inclined plate 63 are used to lock and limit the side moving plate 52, and the two limit clamping plates 64 on the vertical plate 62 are used to lock and limit the lifting plate 50.

[0051] When the grinding roller 40 moves to the large-size section of the box girder inner mold 7, the driving mechanism 5 stops working, and the two-way hydraulic cylinder 60 is started. The two-way hydraulic cylinder 60 drives the inverted U-shaped frame 61 to move through the supplementary plate. The inverted U-shaped frame 61 drives the respective connected limit clamping plates 64 to move towards the side moving plate 52 and the lifting plate 50 through the inclined plate 63 and the vertical plate 62. The lifting plate 50 is located between the two limit clamping plates 64 connected to the vertical plate 62 and thus is limited. The side moving plate 52 is located between the two limit clamping plates 64 connected to the inclined plate 63 and thus is limited. The vertical section length of one inverted U-shaped frame 61 is less than that of the other inverted U-shaped frame 61, so that the limit clamping plates 64 connected to the inclined plates 63 on the two inverted U-shaped frames 61 are arranged in a staggered manner, avoiding the limit clamping plates 64 from conflicting with the staggered support rods 43 and affecting the clamping and limiting effect on the side moving plate 52. The two inverted U-shaped frames 61 drive the limit clamping plates 64 to realize the integrated overall locking and reinforcement of multiple grinding rollers 40, further improving the moving stability of the grinding rollers 40.

[0052] Refer to Figure 2 , the opposite surfaces of two adjacent limit clamping plates 64 close to the fixed frame 3 are both inclined surfaces, so as to facilitate the insertion of two adjacent limit clamping plates 64 on the lifting plate 50 or the side moving plate 52 to limit and lock the lifting plate 50 and the side moving plate 52.

[0053] Refer to Figure 2 , a plurality of horizontal rods 610 are uniformly arranged from top to bottom on the vertical section of the inverted U-shaped frame 61. The horizontal rods 610 are slidably connected to the portal moving frame 1, thereby improving the moving stability of the inverted U-shaped frame 61.

[0054] During operation, first, the driving mechanism 5 drives multiple support rods 43 to drive the grinding rollers 40 to move toward the box beam inner mold 7 until the multiple grinding rollers 40 are respectively pressed against the top, inclined plane 1 70, vertical plane 71, inclined plane 2 72 and inclined plane 3 73 of the box beam inner mold 7. The staggered arrangement of the multiple grinding rollers 40 avoids collision during the movement. Then, the driving source (such as a hydraulic motor) for driving the grinding rollers 40 is started. The driving source drives the grinding rollers 40 to grind the side walls of the box beam inner mold 7. The grinding rollers 40 obtain stable supporting force under the support of the two support rods 43, and the two grinding rollers 40 are staggered to grind the top of the box beam inner mold 7, which greatly improves the stability of the grinding rollers 40 and avoids the problem of poor grinding effect of the grinding rollers 40 on the side walls of the box beam inner mold 7 caused by unstable support of the grinding rollers 40.

[0055] Then, the grinding roller 40 is driven to move along the outer wall of the box beam inner mold 7 by the door-shaped movable frame 1. When the grinding roller 40 moves to the inclined transition point between the large-size section and the small-size section of the box beam inner mold 7, the driving mechanism 5 gradually drives the grinding roller 40 to move toward the fixed frame 3.

[0056] Finally, when the grinding roller 40 moves to the large-size section of the box beam inner mold 7, the driving mechanism 5 stops working, and the locking and fixing mechanism 6 performs integrated locking and reinforcement on the positions of multiple grinding rollers 40 to improve the grinding quality of the box beam inner mold 7 by the grinding roller 40.

[0057] In the description of the present invention, it is necessary to understand that the terms "length", "width", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0058] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connect", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A gantry-type box girder inner mold adaptive elastic pressing and polishing robot, used for polishing a box girder inner mold (7), wherein the box girder inner mold (7) is in a cavity shape, and the two side walls arranged along the width direction thereof are inclined plane 1 (70), vertical plane (71), inclined plane 2 (72) and inclined plane 3 (73) from top to bottom, and the size of the two ends of the box girder inner mold (7) arranged along the length direction thereof is smaller than the size of the middle part, and the end parts and the middle part are transitioned by an inclined plane, characterized in that: The polishing robot includes: A door-shaped movable frame (1), two vertical section ends of the door-shaped movable frame (1) are provided with a fixed frame (3) through a horizontal frame (2), the fixed frame (3) is located inside the door-shaped movable frame (1), the fixed frame (3) is in the shape of two vertical sections, and is the same as the inverted shape of the two side walls of the box beam inner mold (7) arranged along the width direction thereof, and an elastic pressing and grinding mechanism (4) for grinding the outer wall of the box beam inner mold (7) is arranged inside the fixed frame (3); The elastic pressing and grinding mechanism (4) comprises two grinding rollers (40) arranged below the horizontal section of the fixed frame (3) and a plurality of grinding rollers (40) arranged on the vertical section of the fixed frame (3) and arranged in sequence from top to bottom and in an interlaced manner, wherein the plurality of grinding rollers (40) on the vertical section of the fixed frame (3) respectively correspond to the inclined plane 1 (70), the vertical plane (71), the inclined plane 2 (72) and the inclined plane 3 (73), and the two grinding rollers (40) located below the horizontal section of the fixed frame (3) 0) are arranged in a staggered manner along the width direction of the fixed frame (3), ear plates (41) are rotatably mounted on both ends of the grinding roller (40), an elastic pressing group (42) is arranged between the ear plates (41) at both ends of the same grinding roller (40), a support rod (43) is arranged on the ear plate (41), the support rod (43) is slidably connected to the fixed frame (3), and a driving source for driving the grinding roller (40) to rotate is installed on one of the two ear plates (41) on the same grinding roller (40); The fixed frame (3) is provided with a driving mechanism (5) for driving the support rod (43) to slide so as to drive the grinding roller (40) to move; the door-shaped moving frame (1) is provided with a locking and clamping mechanism (6) for locking a plurality of grinding rollers (40) at the same time; The driving mechanism (5) comprises a lifting plate (50) which is installed after four supporting rods (43) corresponding to the horizontal section of the fixed frame (3) penetrate the fixed frame (3), and two ends of the lifting plate (50) arranged along the length direction are provided with lifting groups (51). When the lifting plate (50) moves, the supporting rods (43) connected to the two ends of the grinding roller (40) corresponding to the first inclined surface (70) are driven by the lifting groups (51) to move, and the two supporting rods (43) connected to the two ends of the grinding roller (40) corresponding to the second inclined surface (72) are driven by the lifting groups (51). A side shift plate (52) is installed after penetrating the fixed frame (3), and synchronous drive groups (53) are installed at both ends of the side shift plate (52). When the side shift plate (52) moves, the synchronous drive group (53) drives the support rods (43) at both ends of the grinding roller (40) corresponding to the vertical surface (71) and the third inclined surface (73) to move. The horizontal section and two vertical sections of the door-shaped moving frame (1) are installed with one-way hydraulic cylinders (54), and the telescopic ends of the three one-way hydraulic cylinders (54) are respectively connected to the lifting plate (50) and the side shift plate (52).

2. According to claim 1, a gantry-type box beam inner mold adaptive elastic pressing and polishing robot is characterized in that: The locking and fastening mechanism (6) comprises a bidirectional hydraulic cylinder (60) connected to the top of the gate-shaped movable frame (1) through an ear seat, and both telescopic ends of the bidirectional hydraulic cylinder (60) are equipped with inverted shaped frames (61) through supplementary plates, and the vertical section length of one inverted shaped frame (61) is shorter than the vertical section length of the other inverted shaped frame (61), the gate-shaped movable frame (1) is located between the two inverted shaped frames (61), and the lower ends of the horizontal sections of the two inverted shaped frames (61) are equipped with The vertical sections of the symmetrically arranged vertical plates (62) and the inverted U-shaped frame (61) are both provided with inclined plates (63) at their lower ends. The inclined plates (63) and the vertical plates (62) are both provided with two symmetrically arranged limit clamping plates (64) on one side close to the door-shaped movable frame (1). The two limit clamping plates (64) on the inclined plates (63) are used to lock and limit the side shifting plates (52), and the two limit clamping plates (64) on the vertical plates (62) are used to lock and limit the lifting plates (50).

3. According to claim 1, a gantry-type box beam inner mold adaptive elastic pressing and polishing robot is characterized in that: The lifting group (51) includes a U-shaped frame (510) connected to the end of the lifting plate (50), the U-shaped frame (510) is arranged in parallel with the inclined surface (70), and two support rods (43) corresponding to the inclined surface (70) are slidably penetrated through the fixed frame (3) and then installed with a cross plate (511), the middle part of the cross plate (511) is rotatably connected with a rotating shaft (512), and the opposite surfaces of the two protruding sections of the U-shaped frame (510) are provided with guide grooves (513), and the two ends of the rotating shaft (512) are respectively slidably connected in the two guide grooves (513).

4. According to claim 3, a gantry-type box beam inner mold adaptive elastic pressing and polishing robot is characterized in that: The synchronous drive group (53) comprises two support rods (43) on the grinding roller (40) opposite to the vertical surface (71) and two support rods (43) on the grinding roller (40) corresponding to the third inclined surface (73) which slide through the fixed frame (3) and are also installed on the horizontal plate (511), and a rotating rod (530) is rotatably connected to the side of the horizontal plate (511) close to the side shift plate (52), and a sliding groove (531) slidably connected to the rotating rod (530) is provided on the side shift plate (52).

5. According to claim 1, a gantry-type box beam inner mold adaptive elastic pressing and polishing robot is characterized in that: The elastic pressure group (42) comprises a slot (420) provided on one side of the support rod (43) close to the ear plate (41); a plug plate (421) slidably connected to the slot (420) is installed on the ear plate (41); a connecting strip (422) is installed between the support rods (43) on both sides of the same grinding roller (40); a pressing and pushing plate (423) is connected between the ear plates (41) on both sides of the same grinding roller (40); and evenly arranged pushing springs (424) are installed between the connecting strip (422) and the pressing and pushing plate (423).

6. According to claim 2, a gantry-type box beam inner mold adaptive elastic pressing and polishing robot is characterized in that: The vertical section of the inverted U-shaped frame (61) is equipped with a plurality of horizontal rods (610) evenly arranged from top to bottom, and the horizontal rods (610) are slidably connected to the door-shaped movable frame (1).

7. According to claim 5, a gantry-type box beam inner mold adaptive elastic pressing and polishing robot is characterized in that: A plurality of guide rods (430) which slide through the connecting strip (422) are mounted on the pressing and pushing plate (423), and the guide rods (430) slide through the fixed frame (3).

8. According to claim 1, a gantry-type box beam inner mold adaptive elastic pressing and polishing robot is characterized by: Reinforcement ribs (10) are installed between the two corners of the door-shaped movable frame (1) and the fixed frame (3).

9. According to claim 2, a gantry-type box beam inner mold adaptive elastic pressing and polishing robot is characterized in that: The opposing surfaces of two adjacent limiting clamping plates (64) close to the fixed frame (3) are both inclined.

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