A box girder anchor hole roughening, cutting and waterproofing integrated processing robot and use method

Abstract

The present invention relates to the technical field of box girder anchor hole chiseling and cutting. The application discloses a box girder anchor hole chiseling, cutting and waterproofing integrated processing robot and a use method, comprising a robot body and a robot base. The robot body is fixedly mounted with the robot base on the top surface, and a multi-axis robot arm is arranged on the robot base. The present invention adopts a rotatable combined module design. When in use, the functional modules of the robot can be adjusted by rotating a turntable. The robot arm cooperates with the cutting component, grinding component and painting component on the turntable to realize the processes of cutting the connecting steel bars in the anchor hole, grinding the outer wall of the anchor hole port and spraying waterproof paint on the anchor hole after casting. This solves the problem that the existing processing robot port has a single function and cannot meet the needs of cutting, chiseling and waterproofing of the anchor hole, thereby improving the practicability of the robot.

Description

Technical Field

[0001] The invention relates to the technical field of box girder anchor hole processing equipment, and specifically is a box girder anchor hole roughening, cutting and waterproofing integrated processing robot and a use method. Background Art

[0002] A box girder is a type of beam in a bridge project. It is hollow inside and has flanges on both sides of the upper part. The box girder with reinforced concrete structure is divided into prefabricated box girder and cast-in-place box girder. The box girder prefabricated in an independent site can be erected in combination with a bridge-erecting machine after the lower project is completed, which can speed up the project progress and save construction time. When constructing the anchor hole of the prefabricated box girder, first install the reinforcement grid in the anchor hole, and then install the connecting reinforcement so that the connecting reinforcement can connect the reinforcement grid to the anchor plate relatively firmly, thereby fixing the reinforcement grid. Finally, fill the anchor hole with concrete to form a concrete layer, and then seal the anchor hole.

[0003] When roughening the anchor hole, the part of the connecting steel bar extending outside the anchor hole needs to be cut off. After cutting, the outer wall of the anchor hole port is polished, and finally concrete is poured into the polished anchor hole. After pouring, the entire end of the box girder is waterproofed by spray painting. The traditional processing robot port has a single function, and it is necessary to prepare multiple groups of processing robots with different functional ports for coordinated processing. The overall applicability of the robot is poor. Therefore, a box girder anchor hole roughening, cutting and waterproofing integrated processing robot and a use method are proposed. Summary of the invention

[0004] In order to solve the problem that the existing processing robot port has a single function and cannot meet the needs of anchor hole cutting, roughening and waterproofing, the present invention provides a box girder anchor hole roughening, cutting and waterproofing integrated processing robot and a use method to solve the above problem.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A box girder anchor hole roughening, cutting and waterproofing integrated processing robot and use method, including a robot body and a robot base, the robot body top surface is fixedly mounted with the robot base, and the robot base is provided with a multi-axis robot arm, the multi-axis robot arm is fixedly provided with a connecting end at one end away from the robot base, and a servo motor is provided on the outside of the connecting end, the servo motor output end rotates through the connecting end and is fixed with a rotating disk, and the rotating disk is equidistant from the side away from the connecting end and is provided with a cutting component, a grinding component and a painting component. Preferably, the servo motor output rod is rotatably connected to the connecting end through a bearing, and the rotating disk is set in a semicircular shape.

[0007] Preferably, the cutting assembly, the grinding assembly and the painting assembly are spaced 90° apart, and the cutting assembly, the grinding assembly and the painting assembly are located on the side of the rotating disk facing away from the connecting end. Preferably, the cutting assembly includes a first fixing seat, a first support sleeve, a cutting motor and a cutting blade, the rotating disk is detachably fixed with a first fixing seat by bolts on the side away from the connecting end, and the first support sleeve is fixed with a first support sleeve at one end away from the rotating disk, a cutting motor is arranged inside the first support sleeve, the cutting motor output rod rotates through the first support sleeve and is fixed with a cutting blade, and the cutting motor output rod is rotatably connected to the cutting motor through a bearing.

[0008] Preferably, the grinding assembly includes a second fixed seat, a grinding motor, a connecting plate and a grinding head, the rotating disk is detachably fixed with a second fixed seat by bolts on the side away from the connecting end, and a second supporting sleeve is fixed to the end of the second fixed seat away from the rotating disk, a grinding motor is arranged inside the second supporting sleeve, an output rod of the grinding motor rotates through the second supporting sleeve and is fixed with a connecting plate, and a grinding head is fixed to the end of the connecting plate away from the second supporting sleeve.

[0009] Preferably, the grinding head is arranged in a ring shape, and a protective cover is arranged on the outer fixed sleeve of the connecting rod, and the inner circle diameter of the protective cover is larger than the outer circle diameter of the grinding head.

[0010] Preferably, the grinding head includes a back plate for assembly, a connecting rod fixed to the back plate for support, a rotating grinding plate rotatably sleeved on the connecting rod, and a fixed grinding plate fixed to the back plate.

[0011] Preferably, the paint spraying assembly includes a third fixed seat, a third supporting sleeve, a paint spraying pipe mouth and a spray head. The rotating disk is detachably fixed with a third fixed seat by bolts on the side away from the connecting end, and a third supporting sleeve is fixed to one end of the third fixed seat away from the rotating disk. A paint spraying pipe mouth is arranged inside the third supporting sleeve, and a spray head is fixed to one end of the paint spraying pipe mouth that passes through the outside of the third supporting sleeve.

[0012] Preferably, the paint spray pipe opening is externally connected to an outlet pipe of a paint spraying machine through a conduit, the third fixed seat is wrapped around the outside of the paint spray pipe opening, and the spray head extends to the outside of the rotating disk.

[0013] Preferably, a method for using a box girder anchor hole chiseling, cutting and waterproofing integrated processing robot, the method for using the box girder anchor hole chiseling, cutting and waterproofing integrated processing robot comprises the following steps:

[0014] Step A, cutting the connecting steel bars extending outward from the anchor hole;

[0015] Step A1: During cutting, the robot body is in operation, and the multi-axis robot arm is driven to the anchor hole of the box beam through the robot body;

[0016] Step A2: The robot body is horizontal to the end surface of the box beam, and the servo motor drives the rotating disk to rotate, and drives the cutting assembly to rotate, so that the cutting assembly and the end of the multi-axis robot arm are located in the same straight line;

[0017] Step A3, the multi-axis robot arm moves the cutting blade to the root of the steel bar, and the multi-axis robot arm is locked;

[0018] Step A4: the cutting motor drives the cutting blade to rotate, and at the same time the robot body drives the multi-axis robot arm to move horizontally, and the multi-axis robot arm moves with the cutting blade to complete the steel bar cutting;

[0019] Step A5: After a group of steel bars are cut, the cutting motor keeps running to drive the cutting blade to rotate, and the robot body drives the multi-axis robot arm to move horizontally in sequence according to the anchor holes, and the cutting blade completes the cutting of all steel bars at the same height;

[0020] Step A6, after the steel bar at the same height position is cut, the multi-axis robot arm moves, drives the cutting blade to move to the next height position and locks it, the cutting motor keeps running to drive the cutting blade to rotate, the robot body drives the multi-axis robot arm to move horizontally, and the multi-axis robot arm moves with the cutting blade to complete the steel bar cutting;

[0021] Step A7, repeating steps A2 to A6 until the steel bar cutting at each level on the end face of the box girder is completed;

[0022] Step B, grinding the side wall of the anchor hole port;

[0023] Step B1, after the steel bar cutting is completed, the cutting motor is turned off, and then the servo motor is operated to drive the rotating disk to rotate again, so that the grinding assembly and the end of the multi-axis robot arm are in the same straight line;

[0024] Step B2, turning the robot body so that the robot body is perpendicular to the end surface of the box beam;

[0025] Step B3, the multi-axis robot arm operates to align the grinding assembly with the anchor hole, and the grinding motor operates to drive the connecting plate to rotate, and when the connecting plate rotates, the grinding head is driven to rotate;

[0026] Step B4, the robot body drives the multi-axis robot arm and the grinding assembly at the end of the multi-axis robot arm to move forward. During the forward movement, the multi-axis robot arm drives the grinding head to enter the inner wall of the anchor hole to grind the inner wall of the anchor hole;

[0027] Step B5, after a group of anchor holes are polished, the robot body drives the multi-axis robot arm and the polishing assembly at the end of the multi-axis robot arm to move backward, the multi-axis robot arm drives the polishing head to withdraw from the inner wall of the anchor hole, and the multi-axis robot arm drives the polishing head to lift or translate to the position of the next group of anchor holes. After the position is fixed, repeat step B4 to complete the polishing of the next anchor hole;

[0028] Step B6, after the grinding of the anchor holes on one side of the box beam is completed, the robot body drives the multi-axis robot arm and the grinding assembly at the end of the multi-axis robot arm to move to the other side of the box beam, and repeats steps B2 to B5 to complete the grinding of all anchor holes on the end face of the box beam;

[0029] Step C, spraying waterproof paint on the anchor hole port after pouring;

[0030] Step C1, before painting, clean the polished outer wall of the anchor hole port. When cleaning, use an external vacuum cleaner to move the air duct 10-15 cm close to the outer wall of the anchor hole port, turn on the vacuum cleaner, and clean the debris, impurities and dust generated by grinding on the outer wall of the anchor hole port;

[0031] In C2, the robot body is horizontal to the end face of the box beam, and the end of the multi-axis robot arm is perpendicular to the end face of the beam box;

[0032] In C3, the servo motor drives the rotating disk to rotate so that the nozzle faces the end face of the box beam and the nozzle is 20-30 cm away from the outer wall of the anchor hole;

[0033] The C4, external spraying device works, the paint is sprayed out through the nozzle to form a fan surface, during the spraying process, the nozzle is kept perpendicular to the surface of the anchor hole, the robot body drives the multi-axis robot arm to move horizontally according to the anchor hole in sequence to complete the spraying operation of the box girder end face.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. In the present invention, through the rotatable combined module design, when in use, the functional module of the robot can be adjusted by rotating the turntable. The robot arm cooperates with the cutting component, grinding component and painting component on the turntable to realize the process of cutting the connecting steel bars in the anchor hole, grinding the outer wall of the anchor hole port and spraying waterproof paint on the anchor hole after pouring, which solves the problem of the single function of the existing processing robot port and can simultaneously meet the problems of cutting, roughening and waterproofing of the anchor hole;

[0036] 2. In the present invention, the robot body, the robot base and the multi-axis robot arm are coordinated. The robot body is responsible for adjusting the position, and the multi-axis robot arm corresponds to the adjustment of the working position. Through this coordination method, the control amount of the multi-axis robot arm can be reduced, thereby reducing the difficulty of operation during actual operation and improving the usability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application 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 some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0038] Figure 1 is a front view schematic diagram of the structure of an integrated processing robot according to an embodiment of the present application;

[0039] Figure 2 yes Figure 1 A schematic back view of the integrated processing robot structure in the illustrated embodiment;

[0040] Figure 3 yes Figure 1 A schematic front view of the end structure of the integrated processing robot in the illustrated embodiment;

[0041] Figure 4 yes Figure 1 A schematic front view of the cutting assembly structure in the illustrated embodiment;

[0042] Figure 5 yes Figure 1 A schematic front view of the grinding assembly structure in the illustrated embodiment;

[0043] Figure 6 yes Figure 1 A schematic front view of the paint spraying assembly structure in the illustrated embodiment;

[0044] Figure 7 yes Figure 1 The schematic front view of the structure of the grinding head in the illustrated embodiment.

[0045] The meanings of the reference numerals in the figure are as follows: 1. robot body; 2. robot base; 3. multi-axis robot arm; 4. connecting end; 5. servo motor; 6. rotating disk; 7. cutting assembly; 71. first fixed seat; 72. first support sleeve; 73. cutting motor; 74. cutting blade; 8. grinding assembly; 81. second fixed seat; 82. second support sleeve; 83. grinding motor; 84. connecting plate; 85. grinding head; 851. back plate; 852. connecting support rod; 853. rotating grinding disc; 854. fixed grinding disc; 86. protective cover; 9. painting assembly; 91. third fixed seat; 92. third support sleeve; 93. paint nozzle; 94. nozzle. DETAILED DESCRIPTION

[0046] In order to make the purpose, features, and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the embodiments described below are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] Reference Figure 1 , Figure 2 and Figure 3 A box girder anchor hole chiseling, cutting and waterproofing integrated processing robot and a use method thereof, comprising a robot body 1 and a robot base 2, the robot body 1 is fixedly mounted with the robot base 2 on the top surface, and a multi-axis robot arm 3 is arranged on the robot base 2, the multi-axis robot arm 3 is fixed to the robot base 2 by bolts, and the robot base 2 is equipped with a backup power supply, and a shock absorber is arranged on the tire axle of the robot base 2, a connecting end 4 is fixedly arranged at one end of the multi-axis robot arm 3 away from the robot base 2, and a servo motor 5 is arranged outside the connecting end 4, an output rod of the servo motor 5 is rotatably connected to the connecting end 4 through a bearing, a rotating disk 6 is arranged in a semicircular shape, and an output end of the servo motor 5 rotates through the connecting end 4 and is fixed with a rotating disk The movable disk 6, a cutting component 7, a grinding component 8 and a painting component 9 are equidistantly arranged on one side of the rotating disk 6 away from the connecting end 4, and the spacing between the cutting component 7, the grinding component 8 and the painting component 9 is 90°. The cutting component 7, the grinding component 8 and the painting component 9 are located on the side of the rotating disk 6 facing away from the connecting end 4. Every 90° rotation can control and adjust a processing procedure, and the design of 90° spacing can avoid mutual influence between the cutting component 7, the grinding component 8 and the painting component 9 when in use. The integrated operation of grinding and painting after cutting can cut the anchor hole steel bars, grind the side wall of the anchor hole port after cutting, and finally paint it, which saves the travel distance of the robot body 1 and avoids bumps and failures in the path.

[0048] As an optimization solution, Figure 4As shown, the cutting assembly 7 includes a first fixed seat 71, a first support sleeve 72, a cutting motor 73 and a cutting blade 74. The first fixed seat 71 is detachably fixed to the rotating disk 6 on the side away from the connecting end 4 by bolts. The first fixed seat 71 is half-wrapped to the outside of the first support sleeve 72. The output rod of the cutting motor 73 passes through the first support sleeve 72 and extends to the outside of the rotating disk 6. The first support sleeve 72 is fixed to the end of the first support sleeve 72 away from the rotating disk 6. The cutting motor 73 is arranged inside the first support sleeve 72. The output rod of the cutting motor 73 rotates through the first support sleeve 72 and is fixed with a cutting blade 74. The cutting blade 74 is detachably fixed to the output rod of the cutting motor 73 by fasteners, and the output rod of the cutting motor 73 is rotatably connected to the cutting motor 73 through a bearing.

[0049] like Figure 5 As shown, the grinding assembly 8 includes a second fixed seat 81, a grinding motor 83, a connecting plate 84 and a grinding head 85. The second fixed seat 81 is detachably fixed to the rotating disk 6 away from the connecting end 4 by bolts, and a second support sleeve 82 is fixed to the end of the second fixed seat 81 away from the rotating disk 6. The second fixed seat 81 is half-wrapped to the outside of the second support sleeve 82. The grinding head 85 is arranged in a ring shape. A plurality of connecting rods are equidistantly fixed between the grinding head 85 and the connecting plate 84, and a protective cover 86 is arranged on the fixed sleeve outside the connecting rod. The inner diameter of the protective cover 86 is larger than the outer diameter of the grinding head 85. A grinding motor is arranged inside the second support sleeve 82. 83, the output rod of the grinding motor 83 rotates and passes through the second support sleeve 82 and is fixed with a connecting plate 84, and a grinding head 85 is fixed on the end of the connecting plate 84 away from the second support sleeve 82, and the grinding head 85 includes a back plate 851 for assembly, a connecting support rod 852 fixed on the back plate 851 for support, a rotating grinding disc 853 rotatably sleeved on the connecting support rod 852, and a fixed grinding disc 854 fixed on the back plate 851. The model of the fixed grinding disc 854 is adjusted according to the grinding needs. During grinding, the fixed grinding disc 854 rotates and opens under the action of inertia in rotation, and the degree of opening depends on the rotation speed, so as to control the grinding range.

[0050] like Figure 6As shown, the paint spraying assembly 9 includes a third fixed seat 91, a third support sleeve 92, a paint spraying nozzle 93 and a spray head 94. The third fixed seat 91 is detachably fixed to the rotating disk 6 on the side away from the connecting end 4 by bolts, and the third fixed seat 91 is fixed to the end away from the rotating disk 6 with a third support sleeve 92, and a paint spraying nozzle 93 is arranged inside the third support sleeve 92. The paint spraying nozzle 93 is connected to the outlet pipe of the paint sprayer through a conduit. The third fixed seat 91 is wrapped around the outside of the paint spraying nozzle 93, and the spray head 94 extends to the outside of the rotating disk 6, and the paint spraying nozzle 93 is fixed to the end of the outside of the third support sleeve 92. The paint spraying machine is mounted on the side of the robot base 2 and is outside the range of movement of the multi-axis robot arm 3. During operation, it moves with the robot base 2. Before painting, ensure that the surface of the anchor hole is dry and clean to avoid oil and dust affecting the adhesion, so as to ensure the adhesion of the paint after painting.

[0051] Usage: Cut the connecting steel bars extending out of the anchor hole. During cutting, the robot body is in operation, and the multi-axis robot arm is driven to the anchor hole of the box beam through the robot body. The robot body is horizontal to the end face of the box beam. The servo motor drives the rotating disk to rotate, and drives the cutting assembly to rotate, so that the cutting assembly and the end of the multi-axis robot arm are in the same straight line. The multi-axis robot arm moves the cutting blade to the root of the steel bar, and the multi-axis robot arm is locked. The cutting motor drives the cutting blade to rotate, and at the same time, the robot body drives the multi-axis robot arm to move horizontally. The multi-axis robot arm moves with the cutting blade to complete the steel bar cutting. After a group of steel bars are cut, the cutting motor keeps running to drive the cutting blade to rotate. The robot body drives the multi-axis robot arm to move horizontally in sequence according to the anchor hole, and the cutting blade completes the cutting of all steel bars at the same height.

[0052] After the steel bars at the same height position are cut, the multi-axis robot arm moves, drives the cutting blade to move to the next height position and locks it, the cutting motor keeps running to drive the cutting blade to rotate, the robot body drives the multi-axis robot arm to move horizontally, and the multi-axis robot arm moves with the cutting blade to complete the steel bar cutting, repeat the above operation until the steel bar cutting at each level on the end face of the box beam is completed;

[0053] Grind the side wall of the anchor hole port. After the steel bar cutting is completed, turn off the cutting motor, and then the servo motor drives the rotating disk to rotate again, so that the grinding assembly and the end of the multi-axis robot arm are in the same straight line. Turn the robot body so that the robot body is perpendicular to the end face of the box beam. The multi-axis robot arm runs to align the grinding assembly with the anchor hole. The grinding motor drives the connecting plate to rotate. When the connecting plate rotates, it drives the grinding head to rotate. The robot body drives the multi-axis robot arm and the grinding assembly at the end of the multi-axis robot arm to move forward. During the forward movement, the multi-axis robot arm drives the grinding head to enter the inner wall of the anchor hole to grind the inner wall of the anchor hole.

[0054] After a group of anchor holes are polished, the robot body drives the multi-axis robot arm and the polishing assembly at the end of the multi-axis robot arm to move backward, and the multi-axis robot arm drives the polishing head to withdraw from the inner wall of the anchor hole. The multi-axis robot arm drives the polishing head to lift or translate to the position of the next group of anchor holes. After the position is fixed, the steps are repeated to complete the polishing of the next anchor hole. After the polishing of the anchor holes on one side of the box beam is completed, the robot body drives the multi-axis robot arm and the polishing assembly at the end of the multi-axis robot arm to move to the other side of the box beam, and the steps are repeated to complete the polishing of all anchor holes on the end face of the box beam.

[0055] The anchor hole port after pouring is treated with waterproof spray paint. Before spray painting, the polished outer wall of the anchor hole port is cleaned. When cleaning, use external vacuum equipment to move the air duct to 10-15cm close to the outer wall of the anchor hole port, turn on the vacuum cleaner, and clean the debris, impurities and dust generated by grinding on the outer wall of the anchor hole port. The robot body is horizontal to the end face of the box beam, and the end of the multi-axis robot arm is perpendicular to the end face of the beam box;

[0056] The servo motor drives the rotating disk to rotate so that the nozzle faces the end face of the box girder. The nozzle is 20-30cm away from the outer wall of the anchor hole. The external spraying device works and the paint is sprayed out through the nozzle to form a fan surface. During the spraying process, the nozzle is kept perpendicular to the surface of the anchor hole. The robot body drives the multi-axis robot arm to move horizontally according to the anchor holes in sequence to complete the spraying operation of the end face of the box girder.

[0057] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for using a box beam anchor hole roughening, cutting and waterproofing integrated processing robot, characterized in that: It includes a robot body and a robot base, wherein the robot base is mounted on the top of the robot body, a multi-axis robot arm is arranged on the robot base, a connection terminal is fixedly arranged at one end of the multi-axis robot arm away from the robot base, a servo motor and a rotating disk are arranged on both sides of the connection terminal, an output end of the servo motor passes through the connection terminal and is connected to the rotating disk to provide rotational power for the rotating disk, and a cutting component, a grinding component and a painting component are arranged in sequence on one side of the rotating disk; The servo motor drives the rotating disk to rotate, and the cutting assembly, the grinding assembly and the painting assembly rotate with the rotating disk. Each rotation can make the cutting assembly, the grinding assembly and the painting assembly coaxial with one of the rotating disks and the end of the multi-axis robot arm to enter the working position; The rotating disk is arranged to be semicircular, and a redundant space is reserved between the side of the rotating disk and the end of the connecting end for the connecting end to rotate. The angles between the cutting assembly, the painting assembly and the grinding assembly are all 90°, and the cutting assembly, the grinding assembly and the painting assembly are located on the side of the rotating disk facing away from the connecting end. The cutting assembly comprises a first fixed seat, a first support sleeve, a cutting motor and a cutting blade. The rotating disk is detachably fixed with a first fixed seat by bolts on the side away from the connecting end, a first support sleeve is fixed to the end of the first fixed seat away from the rotating disk, a cutting motor is arranged inside the first support sleeve, an output rod of the cutting motor passes through the first support sleeve, and a cutting blade is fixed to the end of the output rod of the cutting motor. The grinding assembly comprises a second fixed seat, a grinding motor, a connecting plate and a grinding head. The rotating disk is detachably fixed with a second fixed seat by bolts on the side away from the connecting end, and a second support sleeve is fixed to the end of the second fixed seat away from the rotating disk, and a cutting blade is arranged inside the second support sleeve. A grinding motor is provided, wherein an output rod of the grinding motor rotates and passes through a second support sleeve and is fixed with a connecting plate, and a grinding head is fixed on one end of the connecting plate away from the second support sleeve, wherein the grinding head is arranged in a ring shape, and a protective cover is arranged on a fixed sleeve outside the connecting rod, and an inner circle diameter of the protective cover is larger than an outer circle diameter of the grinding head, wherein the grinding head comprises a back plate for assembly, a connecting support rod fixed on the back plate for support, a rotating grinding sheet rotatably sleeved on the connecting support rod, and a fixed grinding sheet fixed on the back plate, wherein the paint spraying assembly comprises a third fixing seat, a third supporting sleeve, a paint spraying pipe mouth and a spray head, wherein the rotating disk is detachably fixed with a third fixing seat by bolts on a side away from the connecting end, a third supporting sleeve is fixed on one end of the third fixing seat away from the rotating disk, a paint spraying pipe mouth is arranged inside the third supporting sleeve, and a spray head is fixed on one end of the paint spraying pipe mouth that passes through the outside of the third supporting sleeve, the paint spraying pipe mouth is externally connected to an outlet pipe of the paint spraying machine through a conduit, the third fixing seat is wrapped around the outside of the paint spraying pipe mouth, and the spray head extends to the outside of the rotating disk; The method for using the integrated processing robot for roughening, cutting and waterproofing of box beam anchor holes comprises the following steps: Step A, cutting the connecting steel bars extending outward from the anchor hole; Step A1: During cutting, the robot body is in operation, and the multi-axis robot arm is driven to the anchor hole of the box beam through the robot body; Step A2: The robot body is horizontal to the end surface of the box beam, and the servo motor drives the rotating disk to rotate, and drives the cutting assembly to rotate, so that the cutting assembly and the end of the multi-axis robot arm are located in the same straight line; Step A3, the multi-axis robot arm moves the cutting blade to the root of the steel bar, and the multi-axis robot arm is locked; Step A4: the cutting motor drives the cutting blade to rotate, and at the same time the robot body drives the multi-axis robot arm to move horizontally, and the multi-axis robot arm moves with the cutting blade to complete the steel bar cutting; Step A5: After a group of steel bars are cut, the cutting motor keeps running to drive the cutting blade to rotate, and the robot body drives the multi-axis robot arm to move horizontally in sequence according to the anchor holes, and the cutting blade completes the cutting of all steel bars at the same height; Step A6, after the steel bar at the same height position is cut, the multi-axis robot arm moves, drives the cutting blade to move to the next height position and locks it, the cutting motor keeps running to drive the cutting blade to rotate, the robot body drives the multi-axis robot arm to move horizontally, and the multi-axis robot arm moves with the cutting blade to complete the steel bar cutting; Step A7, repeating steps A2 to A6 until the steel bar cutting at each level on the end face of the box girder is completed; Step B, grinding the side wall of the anchor hole port; Step B1, after the steel bar cutting is completed, the cutting motor is turned off, and then the servo motor is operated to drive the rotating disk to rotate again, so that the grinding assembly and the end of the multi-axis robot arm are in the same straight line; Step B2, turning the robot body so that the robot body is perpendicular to the end surface of the box beam; Step B3, the multi-axis robot arm operates to align the grinding assembly with the anchor hole, and the grinding motor operates to drive the connecting plate to rotate, and when the connecting plate rotates, the grinding head is driven to rotate; Step B4, the robot body drives the multi-axis robot arm and the grinding assembly at the end of the multi-axis robot arm to move forward. During the forward movement, the multi-axis robot arm drives the grinding head to enter the inner wall of the anchor hole to grind the inner wall of the anchor hole; Step B5, after a group of anchor holes are polished, the robot body drives the multi-axis robot arm and the polishing assembly at the end of the multi-axis robot arm to move backward, the multi-axis robot arm drives the polishing head to withdraw from the inner wall of the anchor hole, and the multi-axis robot arm drives the polishing head to lift or translate to the position of the next group of anchor holes. After the position is fixed, repeat step B4 to complete the polishing of the next anchor hole; Step B6, after the grinding of the anchor holes on one side of the box beam is completed, the robot body drives the multi-axis robot arm and the grinding assembly at the end of the multi-axis robot arm to move to the other side of the box beam, and repeats steps B2 to B5 to complete the grinding of all anchor holes on the end face of the box beam; Step C, spraying waterproof paint on the anchor hole port after pouring; Step C1, before painting, clean the polished outer wall of the anchor hole port. When cleaning, use an external vacuum cleaner to move the air duct 10-15 cm close to the outer wall of the anchor hole port, turn on the vacuum cleaner, and clean the debris, impurities and dust generated by grinding on the outer wall of the anchor hole port; Step C2, the robot body is horizontal to the end surface of the box beam, and the end of the multi-axis robot arm is perpendicular to the end surface of the beam box; Step C3, the servo motor drives the rotating disk to rotate so that the nozzle faces the end face of the box beam and the nozzle is 20-30 cm away from the outer wall of the anchor hole; Step C4, the external spraying device works, and the paint is sprayed out through the nozzle to form a fan surface. During the spraying process, the nozzle is kept perpendicular to the surface of the anchor hole. The robot body drives the multi-axis robot arm to move horizontally according to the anchor hole in sequence to complete the spraying operation of the end face of the box beam.

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