Bidirectional robot synchronous face cleaning agent spraying and anchor sealing equipment

Abstract

The invention relates to bidirectional robot synchronous face cleaning agent spraying and anchor sealing equipment, and relates to the technical field of track machining, the bidirectional robot synchronous face cleaning agent spraying and anchor sealing equipment comprises a placing platform used for placing a track plate, sliding tracks are arranged on the two sides of the placing platform in the width direction, a machining robot is installed on the sliding tracks, and a mounting plate is fixedly arranged on the machining robot; a nozzle and an anchor sealing device are mounted on the mounting plate, the anchor sealing device comprises a conveying pipeline, a conveying rotating shaft, conveying blades, a conveying motor and a conveying hopper, the conveying pipeline is mounted on the mounting plate, a discharging port is formed in one end of the conveying pipeline, the conveying rotating shaft is rotationally arranged in the conveying pipeline, the conveying blades are spiral blades, and the conveying motor is arranged in the conveying pipeline. The conveying blades are spirally distributed in the length direction of the conveying rotating shaft, the conveying motor is installed at the end, away from the discharging port, of the conveying pipeline and connected with the conveying rotating shaft, and the conveying hopper is installed on the conveying pipeline and communicated with the interior of the conveying pipeline. The anchor sealing efficiency of the track plate is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of track processing, in particular to a bidirectional robot synchronous face cleaning agent spraying and anchor sealing equipment. BACKGROUND

[0002] The track plate refers to a plate body structure type used to support and fix the steel rail, and distribute the load transmitted by the steel rail to the base under the plate.

[0003] When sealing the anchor, the anchor hole needs to be sprayed with a cleaning agent first, and then the anchor hole is sealed by filling anchor mortar in the anchor hole. After the anchor mortar is initially cured, the anchor mortar is polished and flattened. The anchor holes are mirror images on both sides of the width direction of the track plate. The existing anchor sealing equipment needs to seal the anchor holes one by one, and the processing efficiency is low. SUMMARY

[0004] In order to improve the anchor sealing efficiency of the track plate, the present application provides a bidirectional robot synchronous face cleaning agent spraying and anchor sealing equipment.

[0005] The bidirectional robot synchronous face cleaning agent spraying and anchor sealing equipment provided by the present application adopts the following technical scheme: A bidirectional robot synchronous face cleaning agent spraying and anchor sealing equipment, comprising a placing platform for placing a track plate, the placing platform is provided with a sliding track on both sides in the width direction, a processing robot is installed on the sliding track, an installation plate is fixedly arranged on the processing robot, a nozzle and an anchor sealing device are installed on the installation plate, the anchor sealing device comprises a conveying pipeline, a conveying shaft, a conveying blade, a conveying motor and a conveying hopper, the conveying pipeline is installed on the installation plate, a discharge port is formed at one end of the conveying pipeline, the conveying shaft is rotatably arranged in the conveying pipeline, the conveying blade is a spiral blade, the conveying blade is spirally distributed along the length of the conveying shaft, the conveying motor is installed at the end of the conveying pipeline away from the discharge port, the conveying motor is connected to the conveying shaft, and the conveying hopper is installed on the conveying pipeline and communicates with the inside of the conveying pipeline.

[0006] By adopting the above technical scheme, the two robots on the placing platform spray the cleaning agent and seal the anchor on the track plate synchronously, thereby improving the anchor sealing efficiency of the track plate.

[0007] Optionally, a camera is installed on the installation plate.

[0008] Optionally, a polishing mechanism is installed on the installation plate, the polishing mechanism comprises a driving member, a polishing motor and a grinding head, the driving member is installed on the installation plate, the polishing motor is installed on the driving member, the driving member drives the polishing motor to slide, and the grinding head is installed on the output shaft of the driving motor.

[0009] Optionally, connecting devices are connected to the mounting plates of the processing robots on both sides of the placement platform, and both ends of the connecting device in the length direction are respectively installed on the mounting plates of the two processing robots.

[0010] Optionally, a guide rail is provided above the placement platform, a slider is slidably provided on the guide rail, the middle part of the connecting device is installed on the slider, and the slider drives the connecting device to slide along the length direction of the guide rail.

[0011] Optionally, a lifting member is installed on the slider, and the lifting member drives the connecting device to slide along the height direction of the placement platform.

[0012] Optionally, the connecting device includes a fixed part and a sliding part, there are two sliding parts, the two sliding parts are respectively slidably arranged at both ends of the fixed part, and the two sliding parts are respectively installed on the mounting plates of the two processing robots on the side away from the fixed part.

[0013] Optionally, a driving mechanism is provided in the fixing portion, and the driving mechanism drives the two sliding portions to slide on the fixing portion in a mirror-like manner.

[0014] Optionally, the driving mechanism includes a driving sleeve, a driving screw, a driving turbine, a driving vortex and a driving motor. The driving pipe body is rotatably arranged in the fixed part, and the inner walls at both ends of the driving sleeve are provided with internal threads with opposite spiral directions. There are two driving screws, one end of the two driving screws is respectively fixed on the two sliding parts, and the other end is threadedly connected to the driving sleeve. The driving turbine sleeve is fixed to the outside of the driving sleeve, and the driving vortex is rotatably arranged in the fixed part. The driving vortex and the driving turbine are engaged with each other. The driving motor is installed on the fixed part, the driving motor is connected to the driving vortex, and the driving motor drives the driving vortex to rotate.

[0015] Optionally, a disassembly assembly is provided between the sliding part and the mounting plate, and the sliding part can be detachably mounted on the mounting plate through the disassembly assembly. The disassembly assembly includes a card block and a card slot. The card block is fixed on the mounting plate, and the card slot is opened on the sliding part. The card block can be detachably engaged in the card slot.

[0016] In summary, this application includes at least one of the following beneficial technical effects: 1. Two robots placed in both directions on the platform synchronously spray the cleaning agent and seal the track slab, thereby improving the sealing efficiency of the track slab; 2. The camera is used to observe whether the nozzle or anchor is aligned with the anchor hole before use. It can also monitor the spraying of the cleanser or the anchor in real time. 3. The grinding mechanism can be used to grind and smooth the initial setting anchor mortar. The driving motor drives the grinding head to rotate and grind and smooth the surface of the initial setting anchor mortar, thereby improving the appearance of the anchor and reducing the probability of burrs on the surface of the anchor. 4. The connecting device can control the distance between the two processing robots and also improve the synchronization of the two processing robots, so that the sealing and anchoring structures at both ends of the track plate in the width direction are more synchronized, making the two tracks more synchronized after subsequent track installation, thereby improving the accuracy and quality of the track; 5. The overall length of the connection can be adjusted by sliding the sliding portion on the fixed portion, thereby adjusting the length of the connection according to the spacing between the anchor holes on both sides of the track plate. The meshing of the drive turbine and the drive worm has a self-locking function, which can reduce the probability of the connection length changing due to external forces. At the same time, the mirror adjustment on both sides of the drive mechanism can cooperate with the processing robots on both sides to perform mirror processing, improving the synchronization of mirror processing. 6. The disassembly and assembly of the sliding part on the mounting plate is realized by disassembling and assembling the clamping block in the clamping slot. The disassembly of the sliding part enables the two processing robots to perform processing separately when synchronous processing is not required. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application.

[0018] Figure 2 It is a structural diagram of the mounting plate of an embodiment of the present application.

[0019] Figure 3 It is a structural diagram of the processing robot and the connecting mechanism of the embodiment of the present application.

[0020] Figure 4 yes Figure 3 Magnified view of part A in the middle.

[0021] Figure 5 yes Figure 3 Magnified view of part B in the middle.

[0022] In the figure, 0, track plate 1, placement platform; 2, sliding track; 3, processing robot; 4, mounting plate; 5, nozzle; 6, sealing anchor device; 61, conveying pipe; 62, conveying shaft; 63, conveying blade; 64, conveying motor; 65, conveying hopper; 7, adjusting rod; 8, discharge port; 9, tank chain; 10, fixing plate; 11, camera; 12, grinding mechanism; 121, driving part; 122, grinding motor; 123, grinding head; 13, connecting device; 131, fixing part ;132. Sliding part;14. Guide rail;15. Slider;16. Mounting frame;17. Lifting member;18. Driving mechanism;181. Driving sleeve;182. Driving screw;183. Driving turbine;184. Driving vortex;185. Driving motor;19. Disassembly and assembly components;191. Block;192. Slot;20. Reinforcement block;21. Reinforcement slot;22. Driving spring;23. Chamfer;24. Oblique hole slot;25. Disengagement rod;26. Button;27. Reset spring. DETAILED DESCRIPTION

[0023] The following is combined with Figure 1-5 The present application is further described with reference to the following specific examples: First of all, it should be noted that in the description of this application, if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and other directional words appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of description, and does not indicate or imply 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 of this application; in addition, if the terms "first", "second", "third" and other numerical quantifiers appear, they are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", and "connected" appear, they should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, an interference fit, a transition fit and other limited connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium; therefore, for ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0024] The present application embodiment discloses a bidirectional robot synchronous spraying cleanser and anchor sealing device, referring to Figure 1 and Figure 2, including a placement platform 1 for placing a track plate 0, sliding rails 2 are provided on both sides of the placement platform 1 in the width direction, and a processing robot 3 is installed on the sliding rails 2. In this embodiment, the processing robot 3 is an existing industrial processing robot 3, and a mounting plate 4 is fixed on the processing robot 3. The robot drives the mounting plate 4 to slide and adjust. A nozzle 5 and a sealing anchor device 6 are installed on the mounting plate 4, and an adjusting rod 7 is installed on the mounting plate 4. The nozzle 5 is slidingly arranged on the adjusting rod 7 along the length direction of the adjusting rod 7. The position of the nozzle 5 can be adjusted by sliding the nozzle 5. The nozzle 5 is connected to the cleanser source through a hose to spray the cleanser on the anchor hole on the track plate 0. The sealing anchor device 6 includes a conveying pipe 61, a conveying shaft 62, a conveying blade 63, a conveying motor 64 and a conveying hopper 65. The conveying pipe 61 is installed on the mounting plate 4, and a discharge port 8 is provided at one end of the conveying pipe 61. The conveying shaft 62 is rotatably arranged on the conveying pipe The conveying blades 63 are spiral blades in the channel 61, and the conveying blades 63 are spirally distributed along the length of the conveying shaft 62. The conveying motor 64 is installed at the end of the conveying pipe 61 away from the discharge port 8. The conveying motor 64 is connected to the conveying shaft 62. The conveying hopper 65 is installed on the conveying pipe 61 and is connected to the inside of the conveying pipe 61. The anchor mortar is replenished by the conveying hopper 65. The anchor mortar in the conveying hopper 65 can be replenished by a soft pipe. The output hopper opening is sealed by a cover plate with a soft pipe inserted to reduce the leakage of the anchor mortar. At the same time, the anchor mortar can also be replenished in real time. After that, the conveying shaft 62 is driven by the conveying motor 64, and the conveying shaft 62 drives the conveying blades 63 to spirally convey, so that the anchor mortar is discharged from the discharge port 8 to seal the anchor hole; the two robots in both directions of the platform 1 are placed to synchronously spray the cleanser and seal the anchor on the track plate 0, thereby improving the anchor sealing efficiency of the track plate 0.

[0025] Reference Figure 1 The sliding track 2 is a screw slide, and the processing robot 3 is installed on the slide of the screw slide. The motor drives the screw of the screw slide to rotate and drive the processing robot 3 to slide along the length direction of the placement platform 1. In order to improve the stability of the screw slide, a tank chain 9 is installed on the screw slide to assist the sliding of the screw slide.

[0026] Reference Figure 1 and Figure 2 A fixing plate 10 is installed on the mounting plate 4, and a camera 11 is installed on the fixing plate 10. The camera 11 is used to observe whether the nozzle 5 or the sealing anchor is aligned with the anchor hole before use. At the same time, it can also observe the cleanser spraying or anchor sealing situation in real time. The fixing plate 10 can install the camera 11 at a position away from the fixing plate 10, thereby improving the shooting range of the camera 11.

[0027] Reference Figure 2 and Figure 3A grinding mechanism 12 is installed on the mounting plate 4, and the grinding mechanism 12 includes a driving member 121, a grinding motor 122 and a grinding head 123. The driving member 121 is installed on the mounting plate 4. In this embodiment, the driving member 121 uses a rodless electric cylinder, and the grinding motor 122 is installed on the driving member 121. The driving member 121 drives the grinding motor 122 to slide, and the grinding head 123 is installed on the output shaft of the driving motor 185. The driving motor 185 drives the grinding head 123 to rotate to grind and smooth the surface of the initial setting anchor mortar, thereby improving the aesthetics after anchor sealing and reducing the probability of burrs on the surface of the anchor mortar after anchor sealing. The burrs on the surface of the anchor mortar can easily scratch the construction workers who install the track later, and can also easily scratch the installed track.

[0028] Reference Figure 1 and Figure 3 , a connecting device 13 is connected to the mounting plates 4 of the processing robots 3 on both sides of the placement platform 1, and the two ends of the connecting device 13 in the length direction are respectively installed on the mounting plates 4 of the two processing robots 3. The connecting device 13 can control the distance between the two processing robots 3, and can also improve the synchronization of the two processing robots 3, so that the sealing anchor structures at both ends of the track plate 0 in the width direction are more synchronized, so that the two tracks are more synchronized after the subsequent track installation, and the accuracy and quality of the track are improved. After the connecting device 13 is installed, one of the processing robots 3 can cooperate with the connecting device 13 to drive the other robot for adjustment. When a single processing robot 3 is driven, the self-locking mechanism at the joint of the processing robot 3 that does not provide power needs to be loosened; a guide rail 14 is provided above the placement platform 1, and a slider 15 is provided on the guide rail 14 for sliding. The connecting device The middle part of 13 is installed on the slider 15, and the guide rail 14 is fixed by installing it on the ceiling of the building or by setting up a mounting frame 16. In this embodiment, the guide rail 14 is fixed by setting up a mounting frame 16, and the slider 15 drives the connecting device 13 to slide along the length direction of the guide rail 14. The sliding setting of the connecting device 13 is that the connecting device 13 can slide along the sliding of the processing robot 3, so that the connecting device 13 can be used normally along with the sliding of the processing robot 3; a lifting member 17 is installed on the slider 15, and the lifting member 17 drives the connecting device 13 to slide along the height direction of the placement platform 1. In this embodiment, the lifting member 17 uses an electric cylinder. The setting of the lifting member 17 can adjust the height of the connecting device 13 when the processing robot 3 adjusts the height, so that the connecting device 13 can be more adapted to the synchronous work of the processing robot 3.

[0029] Reference Figure 1 、 Figure 3 and Figure 4The connecting device 13 includes a fixed portion 131 and a sliding portion 132. There are two sliding portions 132. The two sliding portions 132 are respectively slidably arranged at both ends of the fixed portion 131. The two sliding portions 132 are respectively installed on the mounting plates 4 of the two processing robots 3 on the sides away from the fixed portion 131. The sliding of the sliding portion 132 on the fixed portion 131 can adjust the overall length of the connecting device 13, thereby adjusting the length of the connecting device 13 according to the spacing between the anchor holes on both sides of the track plate 0; a driving mechanism 18 is provided in the fixed portion 131, and the driving mechanism 18 drives the two sliding portions 132 to slide in a mirror image on the fixed portion 131; the driving mechanism 18 includes a driving sleeve 181, a driving screw 182, and a driving turbine 183. , driving worm 184 and driving motor 185, the driving tube body is rotatably arranged in the fixed part 131, the inner walls of the two ends of the driving tube sleeve 181 are provided with internal threads with opposite spiral directions, there are two driving screws 182, one end of the two driving screws 182 is respectively fixed on the two sliding parts 132, and the other end is threadedly connected to the driving tube sleeve 181, the driving turbine 183 is sleeved and fixed on the outside of the driving tube sleeve 181, the driving worm 184 is rotatably arranged in the fixed part 131, the driving worm 184 and the driving turbine 183 are engaged with each other, the driving motor 185 is installed on the fixed part 131, the driving motor 185 is connected to the driving worm 184, the driving motor 185 drives the driving worm 184 to rotate, and the driving motor 18 The driving worm 184 is driven to rotate forward, and the driving worm 184 drives the driving turbine 183 to rotate forward, and the driving turbine 183 drives the driving sleeve 181, and the two driving screws 182 are driven to slide away from the driving sleeve 181 through the opposite threads at both ends of the driving sleeve 181, thereby driving the sliding portion 132 to slide away from the fixed portion 131, thereby adjusting and extending the overall length of the connecting device 13; the driving motor 185 drives the driving worm 184 to rotate in the opposite direction, and the driving worm 184 drives the driving turbine 183 to rotate in the opposite direction, and the driving turbine 183 drives the driving sleeve 181, and the two driving screws 182 are driven toward the driving sleeve 181 through the opposite threads at both ends of the driving sleeve 181. The driving mechanism 18 slides in the direction of the mirror image, thereby driving the sliding portion 132 to slide in the direction close to the fixed portion 131, adjusting and shortening the overall length of the connecting device 13, and the engagement of the driving turbine 183 and the driving worm rod 184 has a self-locking function, which can reduce the probability of the length change of the connecting device 13 caused by external force. At the same time, the mirror adjustment on both sides of the driving mechanism 18 can cooperate with the processing robots 3 on both sides to perform mirror processing, thereby improving the synchronization of the mirror processing; at the same time, the driving component cooperates with the lifting part 17 and the driving part 121 of the grinding mechanism 12 to perform mirror grinding and leveling along the three-axis directions of height, width and length of the placement platform 1. During the mirror grinding and leveling, it is necessary to disconnect the self-locking at the joint connection of the processing robot 3 to drive the sliding of the mounting plate 4.

[0030] Reference Figure 3 and Figure 5A disassembly assembly 19 is provided between the sliding portion 132 and the mounting plate 4. The sliding portion 132 can be detachably mounted on the mounting plate 4 through the disassembly assembly 19. The disassembly assembly 19 includes a clamping block 191 and a clamping slot 192. The clamping block 191 is fixed on the mounting plate 4. The clamping slot 192 is provided on the sliding portion 132. The clamping block 191 is detachably clamped in the clamping slot 192. The disassembly of the clamping block 191 in the clamping slot 192 realizes the disassembly of the sliding portion 132 on the mounting plate 4. The disassembly of the sliding portion 132 enables the two processing robots 3 to perform processing separately when synchronous processing is not required. A reinforcement block 20 is provided in the sliding portion 132 to slide circumferentially in the clamping slot 192. The card block 191 is provided with a reinforcement groove 21 in the circumferential direction corresponding to the reinforcement block 20. When the card block 191 is inserted into the groove, the reinforcement block 20 is inserted into or out of the reinforcement groove 21 by sliding. A driving spring 22 is provided between the reinforcement block 20 and the sliding portion 132. The elastic force of the driving spring 22 drives the reinforcement block 20 to slide into the reinforcement groove 21. The reinforcement block 20 is provided with a chamfer 23 on the side facing the opening of the card slot 192. The opening of the chamfer 23 can make the card block 191 abut against the chamfer 23 when the card block 191 is inserted into the card slot 192, and the driving spring 22 is compressed to make the reinforcement block 20 slide and be accommodated in the inner wall of the card slot 192, thereby facilitating the insertion of the card block 191 into the card slot 192. After the insertion into the slot is completed, the reinforcement block 20 slides under the elastic force of the driving spring 22 and is inserted into the reinforcement slot 21, reinforcing the card block 191 and reducing the probability of the sliding portion 132 and the mounting plate 4 being separated from each other; the reinforcement block 20 is provided with an oblique hole groove 24 on the side away from the slot opening, and a disengagement rod 25 is slidably provided on the sliding portion 132, and the disengagement rod 25 abuts against the oblique hole groove 24, and the sliding portion 132 is provided with a button 26 on the side away from the card slot 192. The button 26 is fixedly connected to all the disengagement rods 25. When the button 26 is pressed, the disengagement rod 25 drives the reinforcement block 20 to disengage from the reinforcement slot 21 through the oblique hole groove 24 and slide into the side wall of the card slot 192. By pressing the button 26, the disengagement rod 25 drives the reinforcement block 20 to disengage from the reinforcement slot 21 and slide into the side wall of the card slot 192. All the disengagement rods 25 are moved, and the disengagement rods 25 drive all the reinforcement blocks 20 to disengage from the reinforcement groove 21, thereby facilitating the disengagement of the card block 191 from the card groove 192; a return spring 27 is provided between the button 26 and the sliding part 132, and the elastic force of the return spring 27 drives the button 26 to slide in the direction away from the card groove 192, and drives the button 26 to be flush with one end of the sliding part 132 away from the card groove 192. The setting of the return spring 27 can facilitate the resetting of the button 26 on the one hand, and on the other hand increase the force required to drive the button 26, thereby reducing the probability of the reinforcement block 20 disengaging from the reinforcement groove 21 due to accidental touch, thereby reducing the probability of the sliding part 132 and the mounting plate 4 disengaging from each other during normal use.

[0031] The implementation principle of the embodiment of the present application is as follows: the length of the connecting device 13 is adjusted according to the spacing between the anchor holes on both sides of the track plate 0, and then the connecting device 13 is installed on the mounting plates 4 of the two processing robots 3. Then, one of the robots drives the nozzle to move to the anchor hole, and the other processing robot 3 moves synchronously under the action of the connecting device 13. The camera 11 is used to detect whether the nozzle is aligned with the anchor hole. After aligning with the anchor hole, the nozzle is used to spray the cleanser on the anchor hole. After the cleanser is sprayed, one of the processing robots 3 drives the discharge port 8 of the anchor sealing device 6 to align with the anchor hole, and the other processing robot 3 drives the discharge port 8 of the anchor sealing device 6 to align with the anchor hole. The working robot 3 moves synchronously under the action of the connecting device 13. When the camera 11 detects that the discharge port 8 is aligned with the anchor hole, the anchor sealing mortar is filled into the anchor hole through the anchor sealing device 6 to seal the anchor. After the anchor sealing mortar is filled and the anchor sealing mortar is initially solidified, the anchor sealing mortar is polished and leveled by the polishing mechanism 12 to complete the sealing of the anchor hole; then the subsequent anchor holes are sealed by the sliding processing robot 3 until all the anchor holes on the track plate 0 are sealed; when mirror polishing and leveling are required, three-axis mirror polishing and leveling are achieved through the lifting part 17 and the driving mechanism 18 in cooperation with the driving part 121 in the polishing mechanism 12.

[0032] It should be noted that the above embodiments are only used to illustrate the present application and are not intended to limit the technical solutions described in the present application. Although this specification has described the present application in detail with reference to the above embodiments, ordinary technicians in this field should understand that technicians in the relevant technical field can still modify or replace the present application with equivalents, and all technical solutions and improvements that do not depart from the spirit and scope of the present application should be included in the scope of the claims of the present application.

Claims

1. A bidirectional robot synchronous spraying cleanser and anchor sealing device, characterized by: The invention comprises a placement platform (1) for placing a track plate (0), wherein both sides of the placement platform (1) in the width direction are provided with sliding tracks (2), a processing robot (3) is installed on the sliding tracks (2), a mounting plate (4) is fixed on the processing robot (3), a nozzle (5) and a sealing and anchoring device (6) are installed on the mounting plate (4), and the sealing and anchoring device (6) comprises a conveying pipe (61), a conveying rotating shaft (62), a conveying blade (63), a conveying motor (64) and a conveying hopper (65), and the conveying pipe (61) is provided with a plurality of conveying blades (63) and a plurality of conveying blades (63) and a plurality of conveying blades (64) and a plurality of conveying blades (65). ) is installed on the mounting plate (4), a discharge port (8) is opened at one end of the conveying pipe (61), the conveying shaft (62) is rotatably arranged in the conveying pipe (61), the conveying blades (63) are spiral blades, and the conveying blades (63) are spirally distributed along the length of the conveying shaft (62), the conveying motor (64) is installed at one end of the conveying pipe (61) away from the discharge port (8), the conveying motor (64) is connected to the conveying shaft (62), and the conveying hopper (65) is installed on the conveying pipe (61) and is connected to the inside of the conveying pipe (61).

2. A bidirectional robot synchronous spraying cleanser and anchor sealing device according to claim 1, characterized in that: A camera (11) is mounted on the mounting plate (4).

3. The bidirectional robot synchronous facial cleanser spraying and anchor sealing device according to claim 2, characterized in that: A grinding mechanism (12) is mounted on the mounting plate (4), and the grinding mechanism (12) comprises a driving member (121), a grinding motor (122), and a grinding head (123). The driving member (121) is mounted on the mounting plate (4), the grinding motor (122) is mounted on the driving member (121), the driving member (121) drives the grinding motor (122) to slide, and the grinding head (123) is mounted on the output shaft of the driving motor (185).

4. The bidirectional robot synchronous facial cleanser spraying and anchor sealing device according to claim 3, characterized in that: Connecting devices (13) are connected to the mounting plates (4) of the processing robots (3) on both sides of the placement platform (1), and both ends of the connecting device (13) in the length direction are respectively mounted on the mounting plates (4) of the two processing robots (3).

5. The bidirectional robot synchronous facial cleanser spraying and anchor sealing device according to claim 4, characterized in that: A guide rail (14) is provided above the placement platform (1), a slider (15) is slidably provided on the guide rail (14), the middle portion of the connecting device (13) is mounted on the slider (15), and the slider (15) drives the connecting device (13) to slide along the length direction of the guide rail (14).

6. The bidirectional robot synchronous spraying cleanser and anchor sealing device according to claim 5, characterized in that: A lifting member (17) is installed on the slider (15), and the lifting member (17) drives the connecting device (13) to slide along the height direction of the placement platform (1).

7. The bidirectional robot synchronous facial cleanser spraying and anchor sealing device according to claim 6, characterized in that: The connecting device (13) comprises a fixed portion (131) and a sliding portion (132). There are two sliding portions (132). The two sliding portions (132) are respectively slidably arranged at two ends of the fixed portion (131). The two sliding portions (132) are respectively installed on the mounting plates (4) of the two processing robots (3) on the sides facing away from the fixed portion (131).

8. The bidirectional robot synchronous facial cleanser spraying and anchor sealing device according to claim 7, characterized in that: A driving mechanism (18) is provided in the fixed portion (131), and the driving mechanism (18) drives the two sliding portions (132) to slide in a mirror-image manner on the fixed portion (131).

9. The bidirectional robot synchronous facial cleanser spraying and anchor sealing device according to claim 8, characterized in that: The driving mechanism (18) comprises a driving sleeve (181), a driving screw (182), a driving turbine (183), a driving worm (184) and a driving motor (185). The driving sleeve is rotatably arranged in the fixed portion (131). The inner walls of both ends of the driving sleeve (181) are provided with internal threads with opposite spiral directions. There are two driving screws (182). One end of the two driving screws (182) is fixed on the two sliding portions (132) respectively, and the other end is screwed. The thread is connected to the driving sleeve (181), the driving turbine (183) is fixedly mounted on the outside of the driving sleeve (181), the driving vortex (184) is rotatably arranged in the fixed portion (131), the driving vortex (184) and the driving turbine (183) are meshed with each other, the driving motor (185) is installed on the fixed portion (131), the driving motor (185) is connected to the driving vortex (184), and the driving motor (185) drives the driving vortex (184) to rotate.

10. The bidirectional robot synchronous facial cleanser spraying and anchor sealing device according to claim 9, characterized in that: A disassembly assembly (19) is provided between the sliding portion (132) and the mounting plate (4), and the sliding portion (132) is detachably mounted on the mounting plate (4) via the disassembly assembly (19). The disassembly assembly (19) comprises a clamping block (191) and a clamping slot (192). The clamping block (191) is fixedly mounted on the mounting plate (4), and the clamping slot (192) is provided on the sliding portion (132). The clamping block (191) is detachably clamped in the clamping slot (192).

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