Movable lifting type dull polish robot

Abstract

The utility model discloses a movable lifting type dull polish robot. The frame is provided with walking wheels, the mechanical arm is hinged to the frame, the elevator is installed on the mechanical arm, a grinding wheel used for grinding the outer bottom of a bridge truss is installed on the elevator, and after the frame moves to a working position, the elevator can be lifted to the position below the grinding position under the driving of the mechanical arm. And the grinding wheel is in contact with the outer bottom of the bridge truss through jacking of the lifter so as to carry out grinding operation. The device has the advantages that automatic operation of the outer bottom of a bridge truss can be achieved without a large number of workers, tedious operation of the workers is greatly simplified, the working process of the workers in a small activity space is simplified, the safety risk of machine operation of the workers is reduced, actual operation is facilitated, and the manual operation intensity is reduced.

Description

Technical Field

[0001] The utility model relates to a sanding robot, in particular to a mobile lifting sanding robot for processing the outer bottom condition of a bridge girders. Background Art

[0002] In the subsequent maintenance work of large bridges, automated sanding mainly provides various solutions for paint peeling and corrosion on the exposed surface of the workpiece. The outer bottom of the bridge girder is limited by the load-bearing capacity of the maintenance vehicle, the movable area of ​​the maintenance vehicle and the height from the maintenance vehicle to the bottom of the bridge. Since the workpiece to be processed is the outer bottom of the bridge girder, after the robot is sent to the maintenance vehicle, it needs to be transported to a high place with the help of machines such as scissor lifts for work. For this reason, most sanding robots cannot be transported onto the maintenance vehicle for work. Even if there are small sanding robots that can be transported onto the maintenance vehicle, there are still problems such as low overall work efficiency.

[0003] It should be noted that: since the movable area on the maintenance vehicle is very limited, it is impossible for a large number of staff to operate the sanding robot on the maintenance vehicle. Ordinary sanding robots need to start a scissor lift to be sent to a high place every time they work, and then lower the scissor lift after processing one area. If the area to be processed is large, the sanding robot cannot be moved directly, and the scissor lift must be lowered before moving to avoid safety hazards. This leads to extremely low overall bridge sanding efficiency and the inability to guarantee work quality. In addition, the staff's tasks are extremely cumbersome. It is difficult for too many staff to carry out work on the maintenance vehicle, and too few staff will consume a lot of time. Summary of the invention

[0004] The technical problem to be solved by the utility model is to provide a mobile lifting sanding robot which is easy to operate and can realize automatic operation of the outer bottom of the bridge girders without a large number of workers.

[0005] In order to solve the above technical problems, the utility model discloses a mobile lifting sanding robot, comprising a frame with walking wheels, a mechanical arm hinged on the frame and a lift installed on the mechanical arm, the lift being equipped with a grinding wheel for grinding the outer bottom of the bridge girders. After the frame moves to the working position, the lift can be driven by the mechanical arm to lift the lift below the grinding position, and then the grinding wheel is brought into contact with the outer bottom of the bridge girders through the lifting of the lift to perform the grinding operation.

[0006] The running wheels include two front wheels installed at the front of the frame and two rear wheels installed at the rear of the frame.

[0007] The mechanical arm includes an upper support frame, a lower support frame, a support seat arranged at the ends of the upper support frame and the lower support frame, and a driving device for driving the mechanical arm to swing. The front ends of the upper support frame and the lower support frame are hinged on the frame and can be driven by the driving device.

[0008] The driving device is a hydraulic device connected between the lower support frame and the vehicle frame.

[0009] The lower support frame is provided with two mounting plates and a support shaft installed between the two mounting plates. The bottom end of the hydraulic device is hinged to the frame through an articulated seat, and the top end of the hydraulic device is sleeved on the support shaft.

[0010] The lower support frame is provided with a longitudinal groove, and the hydraulic device passes through the longitudinal groove and is installed in cooperation with the support shaft.

[0011] The support seat comprises a longitudinal connecting plate, a horizontal supporting plate arranged at the front side of the top of the longitudinal connecting plate, and an oblique supporting frame connected between the longitudinal connecting plate and the horizontal supporting plate.

[0012] A push handle is arranged at the rear of the frame.

[0013] The advantages of the utility model are:

[0014] The new robot structure consists of mechanical arms, elevators, grinding wheels and other components cleverly arranged on the frame. The robot can be sent to the working range by a maintenance vehicle, and the mechanical arm can be started to reach the position at the bottom of the bridge that needs to be processed. The elevator and the grinding wheel can be sent to a high place for operation. The elevator can fix the grinding wheel and the workpiece to complete the grinding operation. When changing the working position, there is no need to lower the mechanical arm, and the mechanical arm can be moved directly. Therefore, the automatic operation of the bottom of the outer side of the bridge girder can be realized without a large number of workers, and the cumbersome operations of the workers are greatly simplified. The work flow of the workers in a small activity space is simplified, the safety risks of the workers operating the machine are reduced, and it is convenient for actual operation and reduces the intensity of manual work. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of the mobile lifting sanding robot of the utility model in use state;

[0016] Figure 2 This is a three-dimensional structural diagram of the mobile lifting sanding robot of the utility model;

[0017] Figure 3 This is a schematic diagram of the main structure of the movable lifting sanding robot of the utility model;

[0018] Figure 4 The utility model is a schematic diagram of the structure of the movable lifting sanding robot from above. DETAILED DESCRIPTION

[0019] The mobile lifting sanding robot of the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0020] As shown in the figure, the mobile lifting sanding robot of the utility model is located under the bridge and can be sent to the maintenance vehicle. After the machine is raised, the robot can work at the outer bottom of the bridge girders and can move directly. It includes a frame 2, a mechanical arm 3 hinged on the frame 2, and a lift 4 installed on the mechanical arm (the existing conventional lifting platform that can be lifted and lowered can be used as the lift). It can be seen from the figure that the frame includes a bottom frame and a support beam arranged on the bottom frame. The bottom frame of the frame 2 has a pair of front wheels 6 located on the front side thereof and a pair of rear wheels 7 located on the rear side thereof as walking wheels 1. A pusher 19 is arranged at the rear of the frame 2. In this embodiment, the rear wheels are installed at the rear of the bottom frame through the wheel frame. Three grinding wheels 5 for grinding the outer bottom of the bridge girders are installed on the lift 4. After the frame 2 moves to the working position, it can lift the lift 4 to the bottom of the grinding position under the drive of the mechanical arm, and then the grinding wheel 5 is brought into contact with the outer bottom of the bridge girders through the lifting of the lift 4 to perform the grinding operation.

[0021] Furthermore, the robotic arm 3 includes an upper support frame 8, a lower support frame 9, a support seat 10 arranged at the ends of the upper support frame and the lower support frame, and a driving device 11 for driving the robotic arm to swing. The front ends of the upper support frame 8 and the lower support frame 9 are hinged on the frame and can be driven by the driving device 11. The driving device 11 is a hydraulic device connected between the lower support frame 9 and the frame 2. As can be seen from the figure, the lower support frame 9 is provided with two mounting plates 12 and a support shaft 13 installed between the two mounting plates. The lower support frame 9 is provided with a longitudinal groove 15. The hydraulic device passes through the longitudinal groove and its top end is mounted on the support shaft to achieve a coordinated installation with the support shaft. The bottom end of the hydraulic device is hinged to the frame through a hinge seat 14.

[0022] Furthermore, the support base 10 includes a longitudinal connecting plate 16, a horizontal supporting plate 17 disposed on the front side of the top of the longitudinal connecting plate, and an oblique support frame 18 connected between the longitudinal connecting plate and the horizontal supporting plate.

[0023] When using, Figure 1 As shown, the staff controls the robotic arm to below the range that needs to be worked, and the robotic arm rises to a height that allows the grinding wheel to contact the outer bottom of the bridge girder. The grinding wheel and the workpiece are firmly fixed by the lifting of the elevator to prevent the grinding wheel from sliding. After the grinding is completed, the elevator is lowered and the robotic arm is controlled to go to another work area. If the range to be processed is large, the robotic arm can be directly controlled to move without lowering the elevator. After all the work above the maintenance vehicle is completed, the elevator and the robotic arm are lowered to wait for the maintenance vehicle to go to another place that needs to be sanded.

[0024] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A mobile lifting sanding robot, characterized in that: The invention comprises a vehicle frame (2) having running wheels (1), a mechanical arm (3) hinged on the vehicle frame (2), and a lift (4) mounted on the mechanical arm, wherein the lift (4) is mounted with a grinding wheel (5) for grinding the outer bottom of a bridge girders. After the vehicle frame (2) moves to a working position, the lift (4) can be driven by the mechanical arm to lift the lift (4) to below the grinding position, and then the lifting of the lift (4) causes the grinding wheel (5) to contact the outer bottom of the bridge girders to perform a grinding operation.

2. The mobile lifting sanding robot according to claim 1, characterized in that: The running wheels (1) comprise two front wheels (6) mounted at the front of the frame and two rear wheels (7) mounted at the rear of the frame.

3. The mobile lifting sanding robot according to claim 1 or 2, characterized in that: The mechanical arm (3) comprises an upper support frame (8), a lower support frame (9), a support seat (10) arranged at the ends of the upper support frame and the lower support frame, and a driving device (11) for driving the mechanical arm to swing; the front ends of the upper support frame (8) and the lower support frame (9) are hinged on the vehicle frame and can be driven to move by the driving device (11).

4. The mobile lifting sanding robot according to claim 3, characterized in that: The driving device (11) is a hydraulic device connected between the lower support frame (9) and the vehicle frame (2).

5. The mobile lifting sanding robot according to claim 4, characterized in that: The lower support frame (9) is provided with two mounting plates (12) and a support shaft (13) mounted between the two mounting plates; the bottom end of the hydraulic device is hinged to the vehicle frame via a hinge seat (14); the top end of the hydraulic device is sleeved on the support shaft.

6. The mobile lifting sanding robot according to claim 5, characterized in that: The lower support frame (9) is provided with a longitudinal groove (15), and the hydraulic device passes through the longitudinal groove and is installed in cooperation with the support shaft.

7. The mobile lifting sanding robot according to claim 4, 5 or 6, characterized in that: The support seat (10) comprises a longitudinal connecting plate (16), a horizontal supporting plate (17) arranged on the front side of the top of the longitudinal connecting plate, and an inclined support frame (18) connected between the longitudinal connecting plate and the horizontal supporting plate.

8. The mobile lifting sanding robot according to claim 7, characterized in that: A push handle (19) is provided at the rear of the vehicle frame (2).

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