Automatic grinding system for outer mold of box girder model

Abstract

The invention belongs to the technical field of bridge construction, and particularly relates to a box girder model outer mold automatic polishing system which comprises a crawler, a mechanical arm, a folding mechanism and a sweeping mechanism. The crawler is composed of a crawler body, a walking crawler and a hydraulic system. The sweeping mechanisms are symmetrically installed at the front end of the crawler through the mechanical arm, each sweeping mechanism on the two sides is composed of three sweeping units, each sweeping unit comprises a rotating shaft, each rotating shaft is rotationally installed below the corresponding mechanical arm, a plane rolling brush is fixed to the middle of each rotating shaft, and a vertical face rolling brush is fixed to the end of each rotating shaft. A motor II for driving the rotating shaft to rotate is fixed on the mechanical arm; the mechanical arms are in one-to-one correspondence with the cleaning units, and the adjacent mechanical arms are connected through folding mechanisms; the crawler, the sweeping mechanism, the spraying mechanism and other structures are integrally designed, unmanned operation is achieved through program control, the working intensity of workers is reduced, the working efficiency is improved, and meanwhile the treatment effect is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of bridge construction, in particular to an automatic grinding system for an outer mold of a box beam model. Background Art

[0002] With the rapid development of high-speed railways and expressways in my country, precast concrete box girders have been widely used in bridge construction, becoming an important technical means to increase construction speed and reduce construction costs. Especially in the process of large-scale construction, the use of precast concrete box girders has greatly improved engineering efficiency and shortened construction period. In order to realize the production of large-scale precast box girders, a large number of precast beam yards have been built in China, which use advanced precast concrete component technology in the production process.

[0003] In the production process of precast concrete box girders, cleaning the outer mold and spraying the release agent is a key process. Usually, after pouring concrete for precast bridges, a certain amount of dust and small cement bonding points will remain on the inner and outer surfaces of the mold. If these residues are not cleaned up in time, it will affect the pouring quality of the next precast bridge, and even cause defects in the molded product, affecting the overall quality of the project. Therefore, thorough cleaning of the mold is an important part of ensuring pouring quality and improving production efficiency.

[0004] At present, most prefabricated beam sites in China use manual cleaning of the mold surface, usually using shovels, brushes, mops and other tools for cleaning, and then using sprayers to manually spray release agents. Although this method is simple and direct, it also has some significant disadvantages. First, manual cleaning is not only time-consuming and labor-intensive, but also labor-intensive and inefficient; second, due to the lack of precision in manual operation, it may not be possible to ensure the thoroughness and consistency of cleaning, which will affect the quality of the mold surface and even the quality of the prefabrication when it is used next time.

[0005] To this end, the present invention provides an automatic grinding system for the outer mold of a box beam model. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve the technical problem is: the automatic grinding system for the outer mold of the box beam model described in the present invention comprises a crawler vehicle, a mechanical arm, a folding mechanism and a cleaning mechanism;

[0008] The crawler vehicle is composed of a vehicle body, a walking crawler and a hydraulic system;

[0009] The cleaning mechanism is symmetrically installed at the front end of the crawler vehicle through a mechanical arm. The cleaning mechanisms on both sides are composed of three cleaning units. The cleaning unit includes a rotating shaft, which is rotatably installed under the mechanical arm. A flat roller brush is fixed in the middle of the rotating shaft, and a vertical roller brush is fixed at the end of the rotating shaft. A motor 2 for driving the rotating shaft to rotate is fixed on the mechanical arm;

[0010] The robotic arms correspond to the cleaning units one by one, and adjacent robotic arms are connected by a folding mechanism, wherein an end of one of the robotic arms is connected to the tracked vehicle by a folding mechanism; the folding mechanism includes a rotating part and a driving part, the robotic arm is fixedly connected to the rotating part, and the driving part provides power to the rotating part to drive the robotic arm to rotate.

[0011] Preferably, the rotating part includes a mounting shell and a turntable, the driving part is motor 1, the turntable is rotatably mounted in the middle of the mounting shell, the mechanical arm is fixed to the outside of the turntable, and a transmission gear set is provided inside the mounting shell, through which the power of motor 1 is transmitted to drive the turntable to rotate.

[0012] Preferably, the robot arm is provided with a dust removal mechanism for removing dust from the surface of the mold, and the dust removal mechanism includes a mounting plate, the mounting plate is fixed to the side of the robot arm, and a mop is fixed to the bottom of the mounting plate.

[0013] Preferably, a spraying mechanism is provided on the top of the mechanical arm, and the spraying mechanism includes a plurality of spray heads evenly distributed on the top of the mechanical arm, and the plurality of spray heads are connected to a liquid storage tank provided on the crawler vehicle through a connecting pipe.

[0014] Preferably, a bracket is rotatably mounted on the top of the robotic arm, the nozzle is fixed to the top of the bracket, an electric telescopic rod is provided on the side of the bracket, and both ends of the electric telescopic rod are directly connected to the top and the robotic arm for rotation.

[0015] Preferably, a knocking mechanism is provided on the mounting plate, through which vibration is generated to shake off dust attached to the mop, the knocking mechanism includes a sleeve rod, the sleeve rod is fixed to the side of the mounting plate, a movable rod is slidably installed in the inner cavity of the sleeve rod, a spring 1 is sleeved in the middle of the movable rod for resetting it, one end of the movable rod extends to the outside of the sleeve rod and a magnetic block 2 is fixed on the end, a fixed rod is fixed on the rotating shaft and located between the plane roller brush and the vertical roller brush, a magnetic block 1 is fixed to the end of the fixed rod, and the magnetic block 1 and the magnetic block 2 attract each other.

[0016] Preferably, a connecting block is fixed to one end of the movable rod away from the second magnetic block, the connecting block is adjacent to the side wall of the mounting plate, and a second spring is fixed to the end of the movable rod and located outside the connecting rod.

[0017] Preferably, a counterweight block is fixedly connected to a side of the rotating shaft opposite to the magnetic block via a fixing rod.

[0018] Preferably, a spray control box and a drive cabinet are installed on the crawler vehicle.

[0019] The beneficial effects of the present invention are as follows:

[0020] 1. The automatic grinding system for the outer mold of the box girder model described in the present invention integrates structures such as a cleaning mechanism and a spraying mechanism into a tracked vehicle to achieve integrated cleaning and spraying. The entire mechanical system grinds and cleans the bottom plate and flange plate of the mold according to a pre-set running trajectory and action steps through program control. The roller brush is always in good contact with the curved surface in the mold cavity and has a certain pressure to ensure the grinding effect. Then, the release agent is automatically sprayed, realizing unmanned operation, reducing the workload of personnel, improving work efficiency, and also improving the processing effect.

[0021] 2. The automatic grinding system for the outer mold of the box girder model described in the present invention realizes the expansion and contraction of the robot arm assembly by setting a folding mechanism. The robot arm assembly is expanded during operation and folded at other times. The overall space of the device is small, and it is convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below in conjunction with the accompanying drawings.

[0023] Figure 1 is a stereogram of the present invention;

[0024] Figure 2 It is a structural schematic diagram of the cleaning mechanism of the present invention;

[0025] Figure 3 It is a structural schematic diagram of the knocking mechanism of the present invention;

[0026] Figure 4 yes Figure 3 Enlarged view of point A in the middle;

[0027] Figure 5 It is a structural schematic diagram of the spraying mechanism of the present invention;

[0028] Figure 6 It is a structural schematic diagram of the folding mechanism of the present invention.

[0029] In the figure: 1. crawler vehicle; 2. spray control box; 3. mechanical arm; 4. folding mechanism; 41. rotating part; 42. motor one; 5. cleaning mechanism; 51. motor two; 52. rotating shaft; 53. flat roller brush; 54. vertical roller brush; 6. spraying mechanism; 61. nozzle; 62. electric telescopic rod; 63. connecting pipe; 7. dust removal mechanism; 71. mounting plate; 72. mop; 8. knocking mechanism; 81. fixing rod; 82. magnetic block one; 83. counterweight block; 84. sleeve rod; 85. movable rod; 86. magnetic block two; 87. spring one; 88. connecting block; 89. spring two; 9. drive cabinet. DETAILED DESCRIPTION

[0030] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0031] Embodiment 1: Figures 1 to 6 As shown, the automatic grinding system for the outer mold of the box beam model according to the embodiment of the present invention comprises a crawler vehicle 1, a mechanical arm 3, a folding mechanism 4 and a cleaning mechanism 5;

[0032] The crawler vehicle 1 is composed of a vehicle body, a walking crawler and a hydraulic system; the hydraulic system is an existing publicly available technology, and the hydraulic system provides power to the crawler vehicle 1 to drive the walking crawler to rotate, thereby controlling the crawler vehicle 1 to move forward, backward and turn; the walking crawler is made of rubber material to avoid damage to the mold surface;

[0033] The cleaning mechanism 5 is symmetrically mounted at the front end of the crawler vehicle 1 through the mechanical arm 3. The cleaning mechanism 5 on both sides is composed of three cleaning units. The cleaning unit includes a rotating shaft 52, which is rotatably mounted below the mechanical arm 3. A flat roller brush 53 is fixed to the middle of the rotating shaft 52, and a vertical roller brush 54 is fixed to the end of the rotating shaft 52. A motor 2 51 for driving the rotating shaft 52 to rotate is fixed on the mechanical arm 3;

[0034] The mechanical arms 3 correspond to the cleaning units one by one, and the adjacent mechanical arms 3 are connected by a folding mechanism 4, and the end of one of the mechanical arms 3 is connected to the crawler vehicle 1 by the folding mechanism 4; the folding mechanism 4 includes a rotating member 41 and a driving member, the mechanical arm 3 is fixedly connected to the rotating member 41, and the driving member provides power to the rotating member 41 to drive the mechanical arm 3 to rotate;

[0035] During operation, the driving member drives the rotating member 41 to move, thereby moving the mechanical arms 3 on both sides. Figure 1The left style unfolds, and synchronously drives the cleaning mechanism 5 to unfold, so that the cleaning unit can fit with the side wall of the outer wall of the box beam, and then the motor 2 51 drives the rotating shaft 52, the flat roller brush 53 and the vertical roller brush 54 to rotate, contact with the mold surface and maintain a certain distance. These cleaning brushes can cover the entire mold section and can clean the full-size length of the mold surface. The rotation speed is adjustable to cope with cleaning operations under different working conditions. The crawler vehicle 1 cleans while the roller brush rotates while walking, so as to automatically polish the mold surface. The rotation direction of the roller brush is opposite to the walking direction, so that the cleaning effect is better and prepares for subsequent spraying work.

[0036] The rotating member 41 includes a mounting shell and a turntable, the driving member is a motor 42, the turntable is rotatably mounted in the middle of the mounting shell, the mechanical arm 3 is fixed to the outside of the turntable, and a transmission gear set is arranged inside the mounting shell, through which the power of the motor 42 is transmitted to drive the turntable to rotate; when working, the turntable is driven to rotate by the motor 42, thereby driving the mechanical arm 3 to rotate, and the corresponding cleaning mechanism 5 is controlled by the mechanical arm 3 to expand or retract; after the preform mold is demolded, the tractor transports the crawler 1 to the mold end face to be cleaned, controls the mechanical arm 3 and the cleaning mechanism 5 to expand, and the crawler 1 starts to move forward so that the roller brush covers the mold surface to be cleaned.

[0037] The robot arm 3 is provided with a dust removal mechanism 7 for removing dust from the mold surface. The dust removal mechanism 7 includes a mounting plate 71, and the mounting plate 71 is fixed to the side of the robot arm 3. A mop 72 is fixed to the bottom of the mounting plate 71. When working, the mop 72 is arranged behind the cleaning mechanism 5. When the cleaning mechanism 5 cleans the dust on the mold surface, the mop 72 simultaneously cleans the dust to the outside of the mold, thereby improving the cleaning efficiency.

[0038] A spraying mechanism 6 is provided on the top of the robotic arm 3, and the spraying mechanism 6 includes a plurality of nozzles 61 evenly distributed on the top of the robotic arm 3, and the plurality of nozzles 61 are connected to a liquid storage tank provided on the crawler vehicle 1 through a connecting pipe 63; during operation, when the crawler vehicle 1 moves from one end to the other end face, the entire mold is cleaned, the roller brush stops rotating, the robotic arm 3 is controlled to float up so that the cleaning mechanism 5 is out of contact with the mold surface, the crawler vehicle 1 moves in the reverse direction, and the spraying mechanism 6 starts working, and when it moves to the end face, the spraying of the release agent is completed; thereafter, the robotic arm 3 assembly is retracted above the crawler vehicle 1, the crawler vehicle 1 moves onto the tractor, and the tractor is transported to the next mold to be cleaned, so as to facilitate the transfer.

[0039] A bracket is rotatably installed on the top of the mechanical arm 3, and the nozzle 61 is fixed on the top of the bracket. An electric telescopic rod 62 is provided on the side of the bracket, and both ends of the electric telescopic rod 62 are directly connected to the top and the mechanical arm 3 for rotation. When working, the electric telescopic rod 62 is controlled to extend or shorten, and then the inclination angle of the bracket is adjusted, so that the spraying direction of the nozzle 61 can be changed as needed to meet more usage requirements.

[0040] The mounting plate 71 is provided with a knocking mechanism 8, through which vibration is generated to shake off the dust attached to the mop 72, the knocking mechanism 8 includes a sleeve rod 84, the sleeve rod 84 is fixed to the side of the mounting plate 71, a movable rod 85 is slidably installed in the inner cavity of the sleeve rod 84, a spring 1 87 is sleeved in the middle of the movable rod 85 for resetting, one end of the movable rod 85 extends to the outside of the sleeve rod 84 and a second magnetic block 86 is fixed to the end thereof, a fixed rod 81 is fixed on the rotating shaft 52 and located between the plane roller brush 53 and the vertical roller brush 54, a magnetic block 1 82 is fixed to the end of the fixed rod 81, and the magnetic block 1 82 and the second magnetic block 86 attract each other;

[0041] During operation, after the cleaning work of the mold surface is completed, the cleaning mechanism 5 is moved to the outside of the mold, and the rotating shaft 52 is controlled to be slow, synchronously driving the fixed rod 81 and the magnet block 1 82 to rotate. When the magnet block 1 82 rotates to be opposite to the magnet block 2 86, the magnet block 1 82 attracts the magnet block 2 86 to move outward, thereby driving the movable rod 85 to move outward, and the spring 1 87 is compressed. When the positions of the magnet block 1 82 and the magnet block 2 86 are staggered, the spring 1 87 pushes the movable rod 85 to move in the opposite direction, and knocks on the inner wall of the sleeve rod 84, generating vibration that is transmitted to the mop 72 through the mounting plate 71, thereby shaking off the dust attached to the mop 72, so as to automatically clean the mop 72 and prepare for the next round of work in advance.

[0042] When the cleaning mechanism 5 is cleaning the mold, the rotating shaft 52 rotates at a faster speed. At this time, the alignment time of the magnetic block 1 82 and the magnetic block 2 86 is shorter, and the movement range of the attracted magnetic block 2 86 is smaller, so that the vibration generated is smaller, and no strong vibration is generated on the mounting plate 71, thereby reducing the damage to the mounting plate 71 and not affecting the dust removal effect of the mop 72.

[0043] A connecting block 88 is fixed to one end of the movable rod 85 away from the second magnetic block 86, and the connecting block 88 is adjacent to the side wall of the mounting plate 71. A second spring 89 is fixed to the end of the movable rod 85 and located outside the connecting rod. During operation, when the movable rod 85 moves toward the inside of the sleeve rod 84, the connecting block 88 first contacts the inner wall of the sleeve rod 84 to generate vibration and compress the second spring 89. When the first magnetic block 82 and the second magnetic block 86 are misaligned, the second spring 89 rebounds to push the connecting block 88 to separate from the inner wall of the sleeve rod 84 and cooperate with the first spring 87 to make the connecting block 88 repeatedly knock on the inner wall, thereby generating continuous vibration and more effectively removing dust attached to the mop 72.

[0044] The side of the rotating shaft 52 opposite to the magnetic block 82 is fixedly connected with a counterweight block 83 through a fixing rod 81; during operation, the counterweight block 83 is provided to keep the two sides of the rotating shaft 52 balanced, thereby making the rotation of the rotating shaft 52 more stable.

[0045] Embodiment 2: Figure 1 As shown, comparative example 1, wherein another embodiment of the present invention is: a spray control box 2 and a drive cabinet 9 are installed on the crawler vehicle 1; the spray control box 2 is connected to the spray mechanism 6, and the spray control box 2 controls the pump to extract the spray liquid from the tank and send it to the nozzle 61 through the connecting pipe 63 to spray out, so as to evenly cover the cleaned mold surface; the drive cabinet 9 is connected to the hydraulic system and the folding mechanism 4 so as to control the operation of the hydraulic system and the folding mechanism 4.

[0046] Working principle: After the preform mold is demolded, the haulage vehicle transports the crawler 1 to the end face of the mold to be cleaned. The folding mechanism 4 controls the mechanical arm 3 assembly to unfold, and the crawler 1 starts to move forward so that the plane roller brush 53 and the vertical roller brush 54 cover the mold surface to be cleaned, and the plane roller brush 53 and the vertical roller brush 54 start to rotate. The plane roller brush 53 and the vertical roller brush 54 rotate in the opposite direction to the walking direction, and the mop 72 sweeps the dust to the outside of the mold.

[0047] When the tracked vehicle 1 moves to the other end face, the entire mold is cleaned, and the flat roller brush 53 and the vertical roller brush 54 stop rotating. The robot arm 3 is controlled to float up and disengage, the tracked vehicle 1 moves in the opposite direction, and the spraying mechanism 6 starts working; when it moves to the end face, the spraying of the release agent is completed. The robot arm 3 assembly is retracted above the tracked vehicle 1, and the tracked vehicle 1 moves to the tractor, which transports it to the next mold to be cleaned. The entire mechanical system polishes and cleans the bottom plate and flange plate of the mold according to the pre-set running trajectory and action steps through program control. The roller brush is always in good contact with the curved surface in the mold cavity and has a certain pressure to ensure the polishing effect. Unmanned operation is realized, the workload of personnel is reduced, work efficiency is improved, and the processing effect is also improved.

[0048] The above-mentioned front, back, left, right, top and bottom are all based on the figures in the specification. Figure 1 As a benchmark, according to the person's observation perspective, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0049] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" 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 should not be understood as limiting the scope of protection of the present invention.

[0050] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. The automatic grinding system for the outer mold of the box beam model is characterized by: It comprises a crawler vehicle (1), a mechanical arm (3), a folding mechanism (4) and a cleaning mechanism (5); The crawler vehicle (1) is composed of a vehicle body, a walking crawler track and a hydraulic system; The cleaning mechanism (5) is symmetrically mounted on the front end of the crawler vehicle (1) through a mechanical arm (3), and the cleaning mechanism (5) on both sides is composed of three cleaning units, and the cleaning unit includes a rotating shaft (52), and the rotating shaft (52) is rotatably mounted below the mechanical arm (3), a flat roller brush (53) is fixed to the middle of the rotating shaft (52), and a vertical roller brush (54) is fixed to the end of the rotating shaft (52), and a motor (51) for driving the rotating shaft (52) to rotate is fixed on the mechanical arm (3); The mechanical arms (3) correspond to the cleaning units one by one, and adjacent mechanical arms (3) are connected via a folding mechanism (4), wherein an end of one of the mechanical arms (3) is connected to the crawler vehicle (1) via the folding mechanism (4); the folding mechanism (4) comprises a rotating member (41) and a driving member, the mechanical arm (3) is fixedly connected to the rotating member (41), and the driving member provides power to the rotating member (41) to drive the mechanical arm (3) to rotate.

2. The automatic grinding system for the outer mold of the box beam model according to claim 1 is characterized in that: The rotating member (41) comprises a mounting shell and a turntable, the driving member is a motor 1 (42), the turntable is rotatably mounted in the middle of the mounting shell, the mechanical arm (3) is fixed to the outside of the turntable, and a transmission gear set is arranged inside the mounting shell, through which the power of the motor 1 (42) is transmitted to drive the turntable to rotate.

3. The automatic grinding system for the outer mold of a box beam model according to claim 1 is characterized in that: The mechanical arm (3) is provided with a dust removal mechanism (7) for removing dust from the surface of the mold. The dust removal mechanism (7) comprises a mounting plate (71). The mounting plate (71) is fixed to the side of the mechanical arm (3). A mop (72) is fixed to the bottom of the mounting plate (71).

4. The automatic grinding system for the outer mold of a box beam model according to claim 1 is characterized in that: A spraying mechanism (6) is provided on the top of the mechanical arm (3), and the spraying mechanism (6) comprises a plurality of spray heads (61) evenly distributed on the top of the mechanical arm (3), and the plurality of spray heads (61) are connected to a liquid storage tank provided on the crawler vehicle (1) via a connecting pipe (63).

5. The automatic grinding system for the outer mold of the box beam model according to claim 4 is characterized in that: A bracket is rotatably mounted on the top of the mechanical arm (3), the nozzle is fixed on the top of the bracket, and an electric telescopic rod (62) is provided on the side of the bracket. The two ends of the electric telescopic rod (62) are directly connected to the top and the mechanical arm (3) for rotation.

6. The automatic grinding system for the outer mold of a box beam model according to claim 3 is characterized in that: The mounting plate (71) is provided with a knocking mechanism (8), which generates vibration to shake off dust attached to the mop (72). The knocking mechanism (8) comprises a sleeve rod (84), which is fixed to the side of the mounting plate (71). A movable rod (85) is slidably mounted in the inner cavity of the sleeve rod (84). A spring (87) is sleeved in the middle of the movable rod (85) for returning the movable rod to its original position. One end of the movable rod (85) extends to the outside of the sleeve rod (84) and a second magnetic block (86) is fixed to the end thereof. A fixed rod (81) is fixed on the rotating shaft (52) and located between the plane roller brush (53) and the vertical roller brush (54). A first magnetic block (82) is fixed to the end of the fixed rod (81), and the first magnetic block (82) and the second magnetic block (86) attract each other.

7. The automatic grinding system for the outer mold of a box beam model according to claim 6 is characterized in that: A connecting block (88) is fixed to one end of the movable rod (85) away from the second magnetic block (86), and the connecting block (88) is adjacent to the side wall of the mounting plate (71). A second spring (89) is fixed to the end of the movable rod (85) and located outside the connecting rod.

8. The automatic grinding system for the outer mold of a box beam model according to claim 6 is characterized in that: A counterweight block (83) is fixedly connected to the side of the rotating shaft (52) opposite to the magnetic block (82) via a fixing rod (81).

9. The automatic grinding system for the outer mold of a box beam model according to claim 1 is characterized in that: The crawler vehicle (1) is equipped with a spray control box (2) and a drive cabinet (9).

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