A bidirectional robot synchronous face cleaning and anchor sealing device

Abstract

The application relates to a bidirectional robot synchronous face cleaning agent and anchor sealing equipment, and relates to the technical field of track processing, which comprises a placing platform for placing a track plate, sliding rails are arranged on both sides of the placing platform in the width direction, a processing robot is installed on the sliding rails, a mounting plate is fixedly arranged on the processing robot, a nozzle and an anchor sealing device are installed 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 installed on the mounting plate, a discharge port is arranged at one end of the conveying pipeline, the conveying rotating shaft is rotationally arranged in the conveying pipeline, the conveying blades are spiral blades, the conveying blades are spirally arranged along the length of the conveying rotating shaft, the conveying motor is installed at the end of the conveying pipeline away from the discharge port, the conveying motor is connected with the conveying rotating shaft, and the conveying hopper is installed on the conveying pipeline and is communicated with the inside of the conveying pipeline. The anchor sealing efficiency of the track plate is improved.

Description

Technical Field

[0001] This application relates to the field of track processing, and in particular to a bidirectional robotic synchronous spraying and anchor sealing device. Background Technology

[0002] A track slab is a new type of track-supporting component that is a plate-shaped structure used to support and fix the rails, distributing the load transmitted by the train through the rails to the base underneath the slab.

[0003] When sealing the track slab, a cleaning agent needs to be sprayed onto the anchor holes first. Then, the anchor holes are sealed by filling them with sealing mortar. After the sealing mortar has initially set, it is ground and smoothed. The track slab has anchor holes mirrored on both sides in the width direction. The existing sealing equipment requires sealing each anchor hole one by one, which is inefficient. Summary of the Invention

[0004] To improve the sealing efficiency of track slabs, this application provides a bidirectional robotic synchronous spraying of cleaning agent and sealing equipment.

[0005] The technical solution for the bidirectional robotic synchronous spraying of facial cleanser and anchor sealing equipment provided in this application is as follows:

[0006] A bidirectional robotic synchronous spraying and sealing device for facial cleanser includes a placement platform for placing a track plate. Sliding tracks are provided on both sides of the placement platform in the width direction. A processing robot is mounted on the sliding tracks. An installation plate is fixed to the processing robot. A nozzle and a sealing device are mounted on the installation plate. The sealing device includes a conveying pipe, a conveying shaft, conveying blades, a conveying motor, and a conveying hopper. The conveying pipe is installed on the installation plate, with a discharge port at one end. The conveying shaft is rotatably disposed inside the conveying pipe. The conveying blades are helical blades, spirally distributed along the length of the conveying shaft. The conveying motor is installed at the end of the conveying pipe opposite to the discharge port and is connected to the conveying shaft. The conveying hopper is installed on the conveying pipe and communicates with the interior of the conveying pipe.

[0007] By adopting the above technical solution, two robots on the bidirectional platform can simultaneously spray the cleaning agent and seal the track slab, thereby improving the sealing efficiency of the track slab.

[0008] Optionally, a camera is mounted on the mounting plate.

[0009] Optionally, a grinding mechanism is mounted on the mounting plate. The grinding mechanism includes a drive component, a grinding motor, and a grinding head. The drive component is mounted on the mounting plate, the grinding motor is mounted on the drive component, the drive component drives the grinding motor to slide, and the grinding head is mounted on the output shaft of the drive motor.

[0010] Optionally, a connecting device is connected to the mounting plates of the processing robots on both sides of the placement platform, and the two ends of the connecting device along the length direction are respectively mounted on the mounting plates of the two processing robots.

[0011] Optionally, a guide rail is provided above the placement platform, and a slider is slidably mounted on the guide rail. The connecting device is mounted on the slider in the middle, and the slider drives the connecting device to slide along the length direction of the guide rail.

[0012] Optionally, a lifting component is installed on the slider, and the lifting component drives the connecting device to slide along the height direction of the placement platform.

[0013] Optionally, the connecting device includes a fixed part and a sliding part. There are two sliding parts, which are respectively slidably disposed at both ends of the fixed part. The two sliding parts are respectively mounted on the mounting plates of the two processing robots on the side away from the fixed part.

[0014] Optionally, a driving mechanism is provided inside the fixed part, and the driving mechanism drives the two sliding parts to slide mirror-slide on the fixed part.

[0015] Optionally, the drive mechanism includes a drive sleeve, a drive screw, a drive turbine, a drive worm gear, and a drive motor. The drive sleeve is rotatably mounted inside the fixed part. The inner walls of both ends of the drive sleeve are provided with internal threads in opposite directions. There are two drive screws, one end of which is fixed on two sliding parts, and the other end is threaded into the drive sleeve. The drive turbine is sleeved and fixed outside the drive sleeve. The drive worm gear is rotatably mounted inside the fixed part, and the drive worm gear meshes with the drive turbine. The drive motor is mounted on the fixed part and connected to the drive worm gear, and the drive motor drives the drive worm gear to rotate.

[0016] Optionally, a disassembly assembly is provided between the sliding part and the mounting plate. The sliding part can be detachably mounted on the mounting plate through the disassembly assembly. The disassembly assembly includes a locking block and a locking groove. The locking block is fixed on the mounting plate, and the locking groove is opened on the sliding part. The locking block can be detachably engaged in the locking groove.

[0017] In summary, this application includes at least one of the following beneficial technical effects:

[0018] 1. By using two robots placed on a bidirectional platform to simultaneously spray the cleaning agent onto the track slab and seal it with anchors, the sealing efficiency of the track slab is improved;

[0019] 2. The camera is used to observe whether the nozzle or the anchor is aligned with the anchor hole before use, and can also observe the application of the cleanser or the anchor in real time.

[0020] 3. The grinding mechanism can grind and smooth the initial set of the anchoring mortar. The drive motor drives the grinding head to rotate and grind and smooth the surface of the initial set anchoring mortar, improving the aesthetics of the anchor and reducing the probability of burrs on the surface of the anchoring mortar.

[0021] 4. The connecting device can control the distance between the two processing robots and improve their synchronization, thereby making the sealing and anchoring structures at both ends of the track plate in the width direction more synchronized, resulting in higher synchronization of the two tracks after subsequent track installation, and improving the accuracy and quality of the tracks.

[0022] 5. The overall length of the connecting device can be adjusted by sliding the sliding part on the fixed part, thereby adjusting the length of the connecting device according to the distance between the anchor holes on both sides of the track plate; the meshing of the drive turbine and the drive worm gear has a self-locking function, which can reduce the probability of the length of the connecting device changing due to external force. 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.

[0023] 6. The sliding part on the mounting plate is disassembled and assembled by the disassembly and assembly of the locking block in the slot. The disassembly of the sliding part allows the two processing robots to perform processing independently when synchronous processing is not required. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application.

[0025] Figure 2 This is a schematic diagram of the structure of the mounting plate in an embodiment of this application.

[0026] Figure 3 This is a schematic diagram of the processing robot and the connecting mechanism in an embodiment of this application.

[0027] Figure 4 yes Figure 3 A magnified view of section A in the middle.

[0028] Figure 5 yes Figure 3 A magnified view of section B in the middle.

[0029] In the diagram, 0 is the track plate; 1 is the placement platform; 2 is the sliding track; 3 is the processing robot; 4 is the mounting plate; 5 is the nozzle; 6 is the sealing and anchoring device; 61 is the conveying pipe; 62 is the conveying shaft; 63 is the conveying blade; 64 is the conveying motor; 65 is the conveying hopper; 7 is the adjusting rod; 8 is the discharge port; 9 is the tank chain; 10 is the fixing plate; 11 is the camera; 12 is the grinding mechanism; 121 is the driving component; 122 is the grinding motor; 123 is the grinding head; 13 is the connecting device; and 131 is the fixing part. ; 132. Sliding part; 14. Guide rail; 15. Slider; 16. Mounting bracket; 17. Lifting component; 18. Drive mechanism; 181. Drive sleeve; 182. Drive screw; 183. Drive turbine; 184. Drive worm gear; 185. Drive motor; 19. Assembly / disassembly assembly; 191. Locking block; 192. Locking slot; 20. Reinforcing block; 21. Reinforcing groove; 22. Drive spring; 23. Chamfer; 24. Angled hole groove; 25. Release rod; 26. Button; 27. Return spring. Detailed Implementation

[0030] The following is in conjunction with the appendix Figure 1-5 The present application will be further described with reference to specific embodiments:

[0031] First, it should be noted that in the description of this application, the use of directional terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" indicates the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used solely for descriptive purposes and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the use of numerical quantifiers such as "first," "second," and "third" is for descriptive purposes only and should not be construed as indicating or implying relative importance. Additionally, in this application, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, interference fits, transition fits, or integral connections; they can refer to direct connections or indirect connections through an intermediate medium. Therefore, those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0032] This application discloses a bidirectional robotic synchronous spraying and anchor sealing device, referring to... Figure 1 and Figure 2The system includes a placement platform 1 for placing track slabs 0. Sliding tracks 2 are provided on both sides of the placement platform 1 in the width direction. A processing robot 3 is mounted on the sliding tracks 2. In this embodiment, the processing robot 3 is an existing industrial processing robot 3. 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 an anchoring device 6 are mounted on the mounting plate 4. An adjusting rod 7 is mounted on the mounting plate 4. The nozzle 5 slides along the length of the adjusting rod 7 and is positioned on the adjusting rod 7. The position of the nozzle 5 can be adjusted by sliding the nozzle 5. The nozzle 5 is connected to a cleansing agent source via a hose to spray cleansing agent onto the anchor holes on the track slab 0. The anchoring 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 mounted on the mounting plate 4, and an outlet 8 is opened at one end of the conveying pipe 61. The conveying shaft 62 is rotatably mounted on the conveying pipe 61. Inside the conveyor 61, the conveying blades 63 are spiral blades, spirally distributed along the length of the conveying shaft 62. The conveying motor 64 is installed at the end of the conveying pipe 61 opposite to the discharge port 8, and the conveying motor 64 is connected to the conveying shaft 62. The conveying hopper 65 is installed on the conveying pipe 61 and connected to the inside of the conveying pipe 61. The sealing mortar in the conveying hopper 65 is replenished by a soft pipe. The sealing mortar in the conveying hopper 65 can be replenished by a soft pipe. The opening of the hopper is covered by a cover plate with a soft pipe inserted to reduce the leakage of the sealing mortar. At the same time, the sealing mortar can be replenished in real time. Then, the conveying motor 64 drives the conveying shaft 62, which drives the conveying blades 63 to spirally convey the sealing mortar from the discharge port 8 to seal the anchor holes. Two robots on the platform 1 simultaneously spray the cleaning agent and seal the track slab 0, improving the sealing efficiency of the track slab 0.

[0033] Reference Figure 1 The sliding track 2 is a lead screw slide table. The processing robot 3 is installed on the slide table of the lead screw slide table. The lead screw of the lead screw slide table is driven by a motor to rotate, which drives the processing robot 3 to slide along the length of the placement platform 1. In order to improve the stability of the lead screw slide table, a tank chain 9 is installed on the lead screw slide table to assist the sliding of the lead screw slide table.

[0034] Reference Figure 1 and Figure 2 Mounting plate 4 is equipped with mounting plate 10, and mounting plate 10 is equipped with camera 11. Camera 11 is used to observe whether nozzle 5 or anchor is aligned with anchor hole before use. It can also observe the cleaning agent spraying or anchoring in real time. Mounting plate 10 can install camera 11 in a position away from mounting plate 10, thereby increasing the shooting range of camera 11.

[0035] Reference Figure 2 and Figure 3A grinding mechanism 12 is installed on the mounting plate 4. The grinding mechanism 12 includes a drive component 121, a grinding motor 122, and a grinding head 123. The drive component 121 is installed on the mounting plate 4. In this embodiment, the drive component 121 is a rodless electric cylinder. The grinding motor 122 is installed on the drive component 121. The drive component 121 drives the grinding motor 122 to slide. The grinding head 123 is installed on the output shaft of the drive motor 185. The drive motor 185 drives the grinding head 123 to rotate and grind and smooth the surface of the initial set anchor mortar, improving the aesthetics after anchoring and reducing the probability of burrs on the surface of the anchor mortar after anchoring. Burrs on the surface of the anchor mortar can easily scratch the construction personnel who install the track later, and can also easily scratch the installed track.

[0036] Reference Figure 1 and Figure 3 Connecting devices 13 are connected to the mounting plates 4 of the processing robots 3 on both sides of the platform 1. The two ends of the connecting devices 13 are respectively mounted on the mounting plates 4 of the two processing robots 3 along their length. The connecting devices 13 can control the distance between the two processing robots 3 and improve their synchronization, thus making the anchoring structures at both ends of the track plate 0 more synchronized. This results in higher synchronization of the two tracks after subsequent track installation, improving the accuracy and quality of the tracks. After the connecting devices 13 are installed, one processing robot 3 can drive the other robot for adjustment in conjunction with the connecting devices 13. When driving a single processing robot 3, the self-locking mechanism at the joint of the non-powered processing robot 3 needs to be released. A guide rail 14 is provided above the platform 1, and a slider 15 is slidably mounted on the guide rail 14. The middle part of the connecting device 13 is installed on the slider 15. The guide rail 14 is fixed by being installed on the building ceiling or by setting a mounting bracket 16. In this embodiment, the guide rail 14 is fixed by setting a mounting bracket 16. 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 such that the connecting device 13 can slide along with the sliding of the processing robot 3, so that the connecting device 13 can be used normally as the processing robot 3 slides. A lifting component 17 is installed on the slider 15. The lifting component 17 drives the connecting device 13 to slide along the height direction of the placement platform 1. In this embodiment, the lifting component 17 is an electric cylinder. The setting of the lifting component 17 can adjust the height of the connecting device 13 when the processing robot 3 is adjusted, so that the connecting device 13 can be better adapted to the synchronous work of the processing robot 3.

[0037] Reference Figure 1 , Figure 3 and Figure 4The connecting device 13 includes a fixed part 131 and two sliding parts 132. The two sliding parts 132 are respectively slidably disposed at both ends of the fixed part 131. The two sliding parts 132 are respectively mounted on the mounting plates 4 of the two processing robots 3 on the side opposite to the fixed part 131. The overall length of the connecting device 13 can be adjusted by sliding the sliding parts 132 on the fixed part 131, thereby adjusting the length of the connecting device 13 according to the distance between the anchor holes on both sides of the track plate 0. A drive mechanism 18 is provided inside the fixed part 131. The drive mechanism 18 drives the two sliding parts 132 to slide mirror-slide on the fixed part 131. The drive mechanism 18 includes a drive sleeve 181, a drive screw 182, and a drive turbine 183. The drive worm gear 184 and drive motor 185 are mounted on the fixed part 131. The drive tube 181 has internal threads with opposite helical directions on both ends of its inner wall. There are two drive screws 182, one end of which is fixed on two sliding parts 132, and the other end is threaded into the drive tube 181. The drive turbine 183 is sleeved and fixed outside the drive tube 181. The drive worm gear 184 is rotatably mounted in the fixed part 131 and meshes with the drive turbine 183. The drive motor 185 is mounted on the fixed part 131 and connected to the drive worm gear 184. The drive motor 185 drives the drive worm gear 184 to rotate. 5 drives the drive worm gear 184 to rotate forward, which in turn drives the drive turbine 183 to rotate forward. The drive turbine 183 drives the drive sleeve 181, and through the reverse threads at both ends of the drive sleeve 181, drives the two drive screws 182 to slide away from the drive sleeve 181, thereby causing the sliding part 132 to slide away from the fixed part 131, adjusting the overall length of the extension connecting device 13; the drive motor 185 drives the drive worm gear 184 to rotate in the opposite direction, which in turn drives the drive turbine 183 to rotate in the opposite direction. The drive turbine 183 drives the drive sleeve 181, and through the reverse threads at both ends of the drive sleeve 181, drives the two drive screws 182 to slide closer to the drive sleeve 181. The directional sliding causes the sliding part 132 to slide towards the fixed part 131, adjusting and shortening the overall length of the connecting device 13. The meshing of the drive turbine 183 and the drive worm gear 184 has a self-locking function, which can reduce the probability of external force causing changes in the length of the connecting device 13. At the same time, the mirror adjustment on both sides of the drive mechanism 18 can cooperate with the processing robots 3 on both sides to perform mirror processing, improving the synchronization of mirror processing. Meanwhile, through the drive component, in cooperation with the lifting part 17 and the drive part 121 of the grinding mechanism 12, mirror grinding and leveling can be performed along the three axes of height, width and length of the placement platform 1. During mirror grinding and leveling, the self-locking at the joint connection of the processing robot 3 needs to be disengaged in order to drive the sliding of the mounting plate 4.

[0038] Reference Figure 3 and Figure 5A disassembly assembly 19 is provided between the sliding part 132 and the mounting plate 4. The sliding part 132 can be detachably mounted to the mounting plate 4 via the disassembly assembly 19. The disassembly assembly 19 includes a locking block 191 and a locking groove 192. The locking block 191 is fixed to the mounting plate 4, and the locking groove 192 is formed on the sliding part 132. The locking block 191 can be detachably engaged in the locking groove 192. The disassembly and assembly of the sliding part 132 on the mounting plate 4 is achieved by disassembling and assembling the locking block 191 in the locking groove 192. The disassembly and assembly of the sliding part 132 allows the two processing robots 3 to perform processing independently when synchronous processing is not required. A reinforcing block 20 is provided circumferentially within the sliding part 132, sliding along the locking groove 192. The locking block 191 has a reinforcing groove 21 corresponding to the reinforcing block 20 in the circumferential direction. When the locking block 191 is inserted into the groove, the reinforcing block 20 slides into or out of the reinforcing groove 21. A drive spring 22 is provided between the reinforcing block 20 and the sliding part 132. The elastic force of the drive spring 22 drives the reinforcing block 20 to slide into the reinforcing groove 21. The side of the reinforcing block 20 facing the opening of the slot 192 has a chamfer 23. The chamfer 23 can compress the drive spring 22 by the locking block 191 abutting against the chamfer 23 when the locking block 191 is inserted into the slot 192, so that the reinforcing block 20 slides and is stored in the inner wall of the slot 192, thereby facilitating the insertion of the locking block 191 into the slot 192. After the insertion slot is completed, the reinforcing block 20 slides into the reinforcing groove 21 under the elastic force of the drive spring 22, reinforcing the locking block 191 and reducing the probability of the sliding part 132 detaching from the mounting plate 4. The reinforcing block 20 has an oblique hole 24 on the side away from the groove opening. A release rod 25 is slidably mounted on the sliding part 132, abutting against the oblique hole 24. A button 26 is slidably mounted on the side of the sliding part 132 away from the locking groove 192. The button 26 is fixedly connected to all the release rods 25. Pressing the button 26 drives the release rods 25 through the oblique hole 24, causing the reinforcing block 20 to detach from the reinforcing groove 21 and slide into the side wall of the locking groove 192. All release levers 25 are activated, which drive all reinforcing blocks 20 to disengage from the reinforcing groove 21, thereby facilitating the disengagement of the locking block 191 from the locking groove 192. A return spring 27 is provided between the button 26 and the sliding part 132. The elastic force of the return spring 27 drives the button 26 to slide away from the locking groove 192, and drives the button 26 to be flush with the end of the sliding part 132 away from the locking groove 192. The setting of the return spring 27 can facilitate the reset of the button 26 on the one hand, and increase the force required to drive the button 26 on the other hand, reducing the probability of the reinforcing block 20 disengaging from the reinforcing 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.

[0039] The implementation principle of this application embodiment 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 slab 0. Then, the connecting device 13 is installed on the mounting plates 4 of the two processing robots 3. One robot then drives the nozzle to move to the anchor hole, while the other processing robot 3 moves synchronously under the action of the connecting device 13. A camera 11 detects whether the nozzle is aligned with the anchor hole. After alignment, the nozzle sprays a cleanser onto the anchor hole. After the cleanser is sprayed, one processing robot 3 drives the outlet 8 of the sealing device 6 to align with the anchor hole, while the other processing robot... The 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 sealing mortar is filled into the anchor hole by the sealing device 6 to seal the anchor. After the sealing mortar is filled and initially set, the sealing mortar is ground and smoothed by the grinding mechanism 12 to complete the sealing of the anchor hole. Then, the sliding processing robot 3 performs subsequent anchor sealing until all anchor holes on the track plate 0 are sealed. When mirror grinding and smoothing are required, the lifting component 17 and the drive mechanism 18 cooperate with the drive component 121 in the grinding mechanism 12 to achieve three-axis mirror grinding and smoothing.

[0040] It should be noted that the above embodiments are only used to illustrate this application and are not intended to limit the technical solutions described in this application. Although this specification has described this application in detail with reference to the above embodiments, those skilled in the art should understand that they can still make modifications or equivalent substitutions to this application. All technical solutions and improvements that do not depart from the spirit and scope of this application should be covered within the scope of the claims of this application.

Claims

1. A bidirectional robotic synchronous spraying and anchor sealing device, characterized in that: The system includes a placement platform (1) for placing track plates (0), with sliding tracks (2) on both sides in the width direction. A processing robot (3) is mounted on the sliding tracks (2), and a mounting plate (4) is fixed on the processing robot (3). A nozzle (5) and a sealing and anchoring device (6) are mounted on the mounting plate (4). The sealing and anchoring 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). A discharge port (8) is opened at one end of the conveying pipe (61). The conveying shaft (62) is rotatably installed inside the conveying pipe (61). The conveying blades (63) are helical blades, and the conveying blades (63) are helically 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 connected to the conveying pipe. Inside the channel (61); a connecting device (13) is connected to the mounting plate (4) of the processing robots (3) on both sides of the placement platform (1). The two ends of the connecting device (13) in the length direction are respectively installed on the mounting plate (4) of the two processing robots (3). A guide rail (14) is provided above the placement platform (1). A slider (15) is slidably provided on the guide rail (14). The middle part of the connecting device (13) is installed on the slider (15). The slider (15) drives the connecting device (13) along the guide rail (14). Sliding along the length direction; a lifting component (17) is installed on the slider (15), and the lifting component (17) drives the connecting device (13) to slide along the height direction of the placement platform (1); the connecting device (13) includes a fixed part (131) and a sliding part (132). There are two sliding parts (132), and the two sliding parts (132) are respectively slidably disposed at both ends of the fixed part (131). The two sliding parts (132) are respectively installed on the mounting plates (4) of the two processing robots (3) on the side away from the fixed part (131).

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

3. The bidirectional robotic synchronous spraying of facial cleanser and anchor sealing equipment according to claim 2, characterized in that: A grinding mechanism (12) is installed on the mounting plate (4). The grinding mechanism (12) includes a drive component (121), a grinding motor (122), and a grinding head (123). The drive component (121) is installed on the mounting plate (4), the grinding motor (122) is installed on the drive component (121), the drive component (121) drives the grinding motor (122) to slide, and the grinding head (123) is installed on the output shaft of the grinding motor (122).

4. The bidirectional robotic synchronous spraying of facial cleanser and sealing of anchors according to claim 3, characterized in that: The fixed part (131) is provided with a driving mechanism (18), which drives two sliding parts (132) to slide mirror-slide on the fixed part (131).

5. The bidirectional robotic synchronous spraying of facial cleanser and sealing of anchors according to claim 4, characterized in that: The drive mechanism (18) includes a drive sleeve (181), a drive screw (182), a drive turbine (183), a drive worm gear (184), and a drive motor (185). The drive sleeve (181) is rotatably mounted inside the fixed part (131). The inner walls of both ends of the drive sleeve (181) are provided with internal threads in opposite directions. There are two drive screws (182), one end of which is fixed on one of the two sliding parts (132), and the other end is fixed on the other. The end thread is connected inside the drive sleeve (181), the drive turbine (183) is sleeved and fixed outside the drive sleeve (181), the drive worm (184) is rotatably disposed inside the fixed part (131), the drive worm (184) and the drive turbine (183) mesh with each other, the drive motor (185) is mounted on the fixed part (131), the drive motor (185) is connected to the drive worm (184), and the drive motor (185) drives the drive worm (184) to rotate.

6. The bidirectional robotic synchronous spraying of facial cleanser and sealing of anchors according to claim 5, characterized in that: A disassembly assembly (19) is provided between the sliding part (132) and the mounting plate (4). The sliding part (132) can be detachably installed on the mounting plate (4) through the disassembly assembly (19). The disassembly assembly (19) includes a locking block (191) and a locking groove (192). The locking block (191) is fixed on the mounting plate (4), and the locking groove (192) is opened on the sliding part (132). The locking block (191) can be detachably locked into the locking groove (192).

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