A portable all-position hardness metallographic testing and polishing robot

Abstract

This utility model provides a portable all-position hardness metallographic testing and polishing robot, comprising: a walking mechanism capable of adhering to the surface of a workpiece; a lateral telescopic mechanism mounted on a vehicle body, including a slide base capable of horizontal sliding; a lifting mechanism including a lifting base mounted on the slide base and capable of vertical movement, and a lifting drive device for driving the lifting base to rise and fall; and a polishing mechanism mounted on the lifting base, including a polishing motor vertically fixed on the lifting base, the axis of the polishing motor being parallel to the direction of movement of the lifting base, and a polishing head for polishing the surface of the workpiece provided at the lower output end of the polishing motor. This portable all-position hardness metallographic testing and polishing robot is compact in structure and small in size, easy to carry, enables rapid deployment and flexible movement, adapts to various complex environments, provides good polishing accuracy and consistency, significantly improves polishing quality and operational safety, and reduces enterprise operating costs.

Description

Technical Field

[0001] This utility model relates to the fields of metallography and hardness testing, and in particular to a portable all-position hardness metallography testing and polishing robot. Background Technology

[0002] Metal hardness testing is an economical and simple method for evaluating the mechanical properties of metals. Hardness tests can reflect the differences in the performance of metallic materials under different chemical compositions, microstructures, and heat treatment processes. Therefore, hardness testing is widely used in the inspection of metal properties, the monitoring of heat treatment process quality, and the development of new materials. Metallographic analysis is a widely used analytical method in materials science and engineering. It mainly includes microscopic composition analysis, microscopic analysis, macroscopic metallography, low-magnification microstructure, average grain size, non-metallic inclusions, microstructure, in-situ metallography, and fracture analysis. It observes the material's microstructure, grain size, morphology, distribution, phase composition, phase interfaces, defects, and other characteristics to reveal the material's internal microstructure, thereby evaluating the material's performance and quality.

[0003] Existing metallographic and hardness testing grinding methods typically involve workers holding angle grinding wheels, hand-held electric grinding heads, or even hand-held sandpaper to grind pipes, fittings, tanks, and other equipment in nuclear and thermal power plants. This method is inconvenient to operate, labor-intensive, inefficient, and poses safety hazards. Summary of the Invention

[0004] The technical problem to be solved by this utility model is to provide a portable all-position hardness metallographic testing and polishing robot with a compact structure, high working efficiency and wide application scenarios.

[0005] This utility model provides a portable all-position hardness metallographic testing and polishing robot, which includes:

[0006] The walking mechanism includes a vehicle body 1, on which wheels 11 are provided, and magnets are provided at the lower end of the vehicle body 1 and / or on the wheels 11 and can be attracted to the surface of the workpiece.

[0007] The lateral telescopic mechanism 2 is installed on the vehicle body 1 and includes a slide block that can slide horizontally, wherein the sliding direction of the slide block is perpendicular to the forward direction of the traveling mechanism.

[0008] The lifting mechanism 3 includes a lifting seat mounted on the slide and capable of vertical movement, and a lifting drive device for driving the lifting seat to rise and fall.

[0009] The grinding mechanism is installed on the lifting base and includes a grinding motor 4 that is vertically fixed on the lifting base. The axis of the grinding motor 4 is parallel to the moving direction of the lifting base. The lower output end of the grinding motor 4 is provided with a grinding head 41 for grinding the surface of the workpiece.

[0010] The magnetic adsorption walking mechanism enables it to stably adsorb and move on the weld seams of workpieces in complex spatial positions such as vertical, upward, and curved surfaces, breaking through the positional limitations of manual grinding and achieving all-position adaptability.

[0011] Furthermore, the lifting seat includes a lifting seat I 32 and a lifting seat II 33 located below the lifting seat I 32. The lifting seat I 32 and the lifting seat II 33 are connected to each other and can move relative to each other in the vertical direction. An elastic member is provided between the lifting seat I 32 and the lifting seat II 33, which makes the two tend to move away from each other. The lifting seat I 32 is connected to the lifting drive device, and the grinding mechanism is installed on the lifting seat II 33.

[0012] Furthermore, it also includes a contact switch I351 and a trigger I321 for triggering the contact switch I351. The contact switch I351 and the trigger I321 are respectively installed on the lifting seat I32 and the lifting seat II33. When the distance between the lifting seat I32 and the lifting seat II33 reaches a preset value, the trigger I321 triggers the contact switch I351 and starts the grinding motor 4.

[0013] Furthermore, the lifting mechanism 3 also includes a support base 31, on which a vertical guide rod 3 and a screw 34 are provided. The screw 34 is parallel to the vertical guide rod 35 and rotatably mounted on the support base 31. The lifting seat I 32 and the lifting seat II 33 are both slidably fitted on the vertical guide rod 34, and the lifting seat I 32 is threadedly connected to the screw. The lifting drive device is mounted on the support base 31 and its output end is connected to the screw 34 and used to drive the screw 34 to rotate.

[0014] Furthermore, the lifting drive device is connected to the screw 34 via a synchronous belt.

[0015] Furthermore, the bracket base 31 includes a vertically arranged bracket plate, the vertical guide rod is arranged on the first side of the bracket plate, and a support plate 311 is arranged on the second side of the bracket plate. The lifting drive device is installed on the support plate 311. The support plate 311 has a first hole for the output shaft of the lifting drive device to pass through, and the bracket plate has a second hole for the timing belt to pass through.

[0016] Furthermore, a limit switch is provided at the upper limit position of the lifting seat I32.

[0017] Furthermore, the vehicle body is equipped with a battery for power supply.

[0018] Furthermore, the vehicle body 1 is provided with one or more handles for carrying.

[0019] Furthermore, it also includes a reinforcing structure, which includes a guide rail II 51 parallel to the transverse telescopic mechanism, a slider II 52 slidably mounted on the guide rail II 51, and a reinforcing plate 53 connected to the lifting mechanism on the slider II 52.

[0020] Furthermore, it also includes a remote control module for remote operation.

[0021] This utility model features a portable, all-position hardness metallographic testing and polishing robot. It is compact, small in size, easy to carry, and can be quickly deployed and moved flexibly. It is adaptable to a variety of complex environments, has good polishing accuracy and consistency, significantly improves polishing quality and operational safety, and reduces enterprise operating costs. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the portable all-position hardness metallographic testing and polishing robot of this utility model;

[0023] Figure 2 This is another structural schematic diagram of the portable all-position hardness metallographic testing and polishing robot of this utility model;

[0024] Figure 3 This is a schematic diagram of the lateral telescopic mechanism of the portable all-position hardness metallographic testing and polishing robot of this utility model;

[0025] Figure 4 This is a schematic diagram of the lifting mechanism of the portable all-position hardness metallographic testing and polishing robot of this utility model;

[0026] Figure 5 This is a schematic diagram of the lifting mechanism of the portable all-position hardness metallographic testing and polishing robot of this utility model from another angle.

[0027] Figure 6 This is a cross-sectional view of the lifting mechanism of the portable all-position hardness metallographic testing and polishing robot of this utility model;

[0028] Figure 7 This is another planar sectional view of the lifting mechanism of the portable all-position hardness metallographic testing and polishing robot of this utility model. Detailed Implementation

[0029] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0030] See Figures 1-7This utility model provides a portable all-position hardness metallographic testing and grinding robot, which can grind the surface of the workpiece to remove the surface oxide layer, thereby facilitating metallographic testing and hardness testing. It includes a walking mechanism, a lateral telescopic mechanism 2, a lifting mechanism 3 and a grinding mechanism.

[0031] The walking mechanism is used to achieve walking. It includes a vehicle body 1, on which multiple wheels 11 are provided (four in this embodiment). Magnets are provided at the lower end of the vehicle body 1 or on the wheels 11, so that the vehicle body 1 can be attracted to the surface of the workpiece and walk. In this embodiment, the magnets are permanent magnets, which are set inside the vehicle body 1 and attached to the bottom surface of the vehicle body 1. At the same time, a walking motor is also provided inside the vehicle body 1 to drive the wheels 11 to rotate, thereby achieving walking.

[0032] The lateral telescopic mechanism 2 is installed on the vehicle body 1, specifically on the top surface of the vehicle body 1. It includes a slide that can slide horizontally. The sliding direction of the slide is perpendicular to the forward direction of the traveling mechanism, that is, relative to the vehicle body, it can move left and right to achieve lateral telescopic movement.

[0033] The lifting mechanism 3 is installed on the horizontal telescopic mechanism 2 and includes a lifting seat and a lifting drive device. The lifting seat is installed on the slide and can move vertically (lifting). The lifting drive device is used to drive the lifting seat to lift.

[0034] The grinding mechanism is installed on the lifting base and includes a grinding motor 4 that is vertically fixed on the lifting base. The axis of the grinding motor 4 is parallel to the moving direction of the lifting base. A grinding head 41 is provided at the lower output end of the grinding motor 4. The grinding head 41 is used to grind the surface of the workpiece.

[0035] This application employs a magnetic walking mechanism, which enables the robot to firmly adhere to the surface of workpieces (such as large pipes, storage tanks, ship hulls, steel structures, and pressure vessels), regardless of whether the surface is horizontal, vertical, or inverted (ceiling). This completely overcomes the difficulties of stable, safe, and efficient operation in non-horizontal positions caused by traditional grinding equipment or manual operation. During operation, there is no need to build complex scaffolding or flip heavy workpieces. Inspection can be carried out at the original installation position of the workpiece, greatly expanding the inspection range and scenarios, and realizing true all-position operation. It is particularly suitable for on-site inspection of large, fixed, or difficult-to-move-movable objects, significantly improving inspection efficiency.

[0036] The walking mechanism controls the robot to move along one direction (usually defined as the forward direction) on the workpiece surface. The lateral telescopic mechanism allows the grinding head to be adjusted laterally perpendicular to the walking direction, achieving free positioning and expanding the grinding width of a single positioning. The lifting mechanism precisely controls the downward pressure and depth of the grinding head in the vertical direction (relative to the workpiece surface). Together, these three-axis motion mechanisms (walking, lateral telescopic, and lifting) provide precise positioning capabilities. This structure allows the robot to accurately reach and cover the area to be ground, realizing circular point-like or strip-like grinding path planning and ensuring accurate grinding position.

[0037] It has a high degree of automation, fast operation speed, good consistency, and significantly improves the working conditions and safety of personnel.

[0038] The lifting seat in this application includes lifting seat I 32 and lifting seat II 33, wherein lifting seat II 33 is located below lifting seat I 32. Lifting seat I 32 and lifting seat II 33 are connected to each other and can move relative to each other in the vertical direction. Specifically, a tie rod is provided between lifting seat I 32 and lifting seat II 33. This tie rod allows lifting seat I 32 and lifting seat II 33 to move closer to each other. The maximum distance between them is limited by the length of the tie rod, which is used to control the lower limit position of lifting seat II 33 relative to lifting seat I 32 to prevent them from separating. An elastic component, a compression spring, is provided between lifting seats I 32 and II 33. This compression spring causes the lifting seats I 32 and II 33 to tend to move away from each other. Lifting seat I 32 is connected to the lifting drive device and serves as the lifting power end of the entire lifting seat assembly. The grinding mechanism is mounted on lifting seat II 33. When the lower end of lifting seat II is not in contact with the workpiece, under the action of the spring force, lifting seat II is at its lower limit position (equivalent to lifting seat I), meaning that at this point, lifting seat II is furthest from lifting seat I. When the lifting seat moves downward, the grinding head can contact the workpiece surface and form pressure. The spring force reduces the distance between lifting seat I and lifting seat II, causing the compression spring between them to compress and create a downward elastic force. This forms an elastic floating structure that provides a continuous, preset elastic force (pressure) between lifting seat I and lifting seat II, ensuring that lifting seat II (along with the grinding head) always has a downward (towards the workpiece surface) movement tendency. When the grinding head contacts the workpiece surface, lifting seat II can automatically adapt to the micro-unevenness of the workpiece surface, maintaining continuous and stable contact between the grinding head and the workpiece surface through slight up-and-down floating; elasticity The force is directly converted into a constant grinding pressure applied to the workpiece surface. This pressure remains relatively stable regardless of whether the workpiece surface is absolutely flat or has slight undulations (which is very common on large field workpieces). Constant pressure is a key prerequisite for obtaining a flat, scratch-free, and heat-free / deformation-free metallographic sample surface. Excessive pressure can easily lead to sample overheating, deformation, or even burns. Insufficient pressure results in low grinding efficiency, making it difficult to remove the hardened layer or obtain an ideal plane. This design significantly improves the reliability and consistency of field sample preparation, laying the foundation for subsequent accurate hardness testing and metallographic observation.

[0039] When the grinding head first contacts the workpiece, it can effectively buffer mechanical impact, avoiding damage to the grinding head, motor, lifting drive device or workpiece surface caused by rigid collision. During the grinding process, it can absorb and attenuate the vibration generated by the friction between the grinding head and the workpiece, improve equipment durability, reduce accidental damage, and reduce the risk of grinding quality degradation (such as the generation of chatter marks) and equipment positioning deviation caused by vibration.

[0040] By precisely controlling the position (height) of the lifting seat I, the setting and maintenance of the grinding pressure are mainly achieved by the pre-compression force (or air pressure) of the elastic component. There is no need for a complex force closed-loop control algorithm, which reduces the development difficulty and cost of the control system and improves the reliability and response speed of the system. The operator only needs to set the pre-pressure of the elastic component to obtain the required grinding pressure, which is highly flexible in use.

[0041] To precisely control the pressure during grinding, this application also includes a contact switch I351 and a trigger I321 for triggering the contact switch I351. The contact switch I351 and trigger I321 are respectively installed on the lifting seat I32 and the lifting seat II33, with no limitation on their installation positions. When the contact switch I351 is installed on the lifting seat I, the trigger I321 is installed on the lifting seat II; when the contact switch I351 is installed on the lifting seat II, the trigger I321 is installed on the lifting seat I. The trigger is a protruding structure or a contact rod structure. When the distance between the lifting seat I32 and the lifting seat II33 reaches a preset value, the trigger I321 contacts the contact switch I, triggering the contact switch I351, thereby starting the grinding motor 4 for grinding. When the robot moves or positions itself, if the motor is started before the grinding head contacts the workpiece, the grinding head will spin at high speed, accelerating bearing wear; operators may accidentally touch rotating parts, causing injury; and unnecessary electrical energy will be consumed, generating noise / vibration. The trigger condition is set to the distance between the lifting seat I and the lifting seat II33. When the lifting seat II reaches the preset distance (i.e., the elastic component is compressed), this state necessarily corresponds to the grinding head having firmly contacted the workpiece surface and reached the working pressure. This ensures that the grinding motor only starts after the grinding head has made substantial contact with the workpiece and is under pressure, eliminating the dangerous and damaging phenomenon of "dry grinding" and ensuring good stability. On the other hand, the distance corresponds to the allowable compression stroke of the elastic component (i.e., the safety pressure threshold). When the lifting seat distance reaches this value, the switch triggers the grinding to start, while implicitly indicating that the lifting drive device should stop pressing down. The maximum pressure is limited by the mechanical structure to prevent the system from being damaged by overload, or the sample from being scrapped, thus becoming the final safety barrier for pressure control. By adopting the above-mentioned linkage structure, the delay of manual intervention is eliminated, realizing the intelligent response of "grinding upon touch", which greatly shortens the single-point grinding cycle and improves the continuity of operation. When the lifting seat I rises (when grinding ends or the work position is moved), the distance increases, the contact switch is reset and disconnected, and the grinding motor is automatically powered off, avoiding accidental rotation caused by accidentally touching the start button during transportation, thus ensuring high safety.

[0042] In this application, the lifting mechanism 3 also includes a support base 31, on which vertical guide rods 3 and screws 34 are provided. In this embodiment, there are at least two vertical guide rods, and the screw 34 is parallel to the vertical guide rods 35 and is rotatably mounted on the support base 31. The screw 34 is located between two adjacent vertical guide rods. Lifting seats I 32 and II 33 are both slidably fitted on the vertical guide rods 34. At the same time, lifting seats I 32 are threadedly connected to the screws. The lifting drive device is mounted on the support base 31. The lifting drive device is a motor, the output end of which is connected to the screws 34 to drive the screws 34 to rotate, thereby driving the lifting seats I to move up and down. Its structure is compact and can achieve The stable movement of the lifting seat adopts a screw structure, which ensures slippage-free transmission, minimal backlash, and high displacement resolution. This allows for precise control of the pressing depth / height of the lifting seat I, meeting the stringent positioning accuracy requirements of metallographic sample preparation. In this application, the lifting drive device and the screw 34 are connected by a synchronous belt. Specifically, a first synchronous pulley is provided at the output end of the lifting drive device, and a second synchronous pulley is provided on the screw. The first and second synchronous pulleys are connected by a synchronous belt. This structure significantly reduces the vibration energy transmitted to the motor, ensuring long-term stable operation of the drive device and maintaining system positioning accuracy. Simultaneously, it enhances installation freedom and optimizes spatial layout.

[0043] A limit switch 36 is provided at the upper limit position of the lifting seat I 32. Specifically, the limit switch 36 is located on the side wall of the lifting seat 31. A trigger is provided on the lifting seat I. When the lifting seat I moves to the upper limit position, the limit switch is triggered, and the lifting drive device stops working. By physically blocking the risk of overtravel, damage to expensive core transmission components is avoided. The safety design significantly reduces equipment maintenance costs. At the same time, it can eliminate cumulative positioning errors, ensure height control accuracy, and provide a reliable reference for setting the grinding depth.

[0044] The bracket base 31 includes a vertically arranged bracket plate, a vertical guide rod arranged on the first side of the bracket plate, and a support plate 311 arranged on the second side of the bracket plate. In this embodiment, the plane on which the bracket plate is located is perpendicular to the forward direction, with its rear end being the first side and its front end being the second side. The lifting drive device is installed on the support plate 311. A first hole is opened on the support plate 311 to allow the output shaft of the lifting drive device to pass through, and a second hole is opened on the bracket plate to allow the timing belt to pass through. Its structure is compact, forming a modular structure, and is convenient and labor-saving to install and disassemble.

[0045] In this application, the lateral telescopic mechanism 2 includes a slide rail 21 and a drive motor 25. The slide block is slidably fitted on the slide rail 21. The length direction of the slide rail 21 is perpendicular to the forward direction of the vehicle body. A lead screw 23 is provided at the output end of the drive motor 25, which is threadedly connected to the slide block and used to drive the slide block to move horizontally. Specifically, the slide block includes a slider 22 and a mounting plate. The slider 22 is slidably fitted on the slide rail 21 and threadedly connected to the lead screw 23. The mounting plate is connected to the slider 22 through a connecting plate 24 to form a slide block structure. The lifting mechanism is installed at the end of the slide block, that is, on the mounting plate.

[0046] To improve structural strength, this application also includes a reinforcing structure, which includes a guide rail II 51 parallel to the transverse telescopic mechanism. There are multiple guide rails II 51, which are set at the front end of the vehicle body. A slider II 52 is slidably mounted on the guide rail II 51. The slider II 52 is provided with a reinforcing plate 53 connected to the lifting mechanism. The reinforcing plate is vertically set and can withstand vertical forces, improve bending strength, ensure grinding accuracy and consistency, have a long service life, and good operational stability.

[0047] In this application, a battery 62 for power supply is provided on the vehicle body 1, enabling it to be independently powered. Specifically, a battery box 61 with a cover is provided on the vehicle body 1, and the battery 62 is placed inside the battery box 61, which facilitates the installation, removal and maintenance of the battery. With its own battery, the robot is completely free from the constraints of external cables, allowing it to continuously walk and scan on complex structures (such as pipe bends and areas with dense support components) and large areas of welds, avoiding entanglement, jamming or travel limitations caused by dragging cables, and achieving true all-position unobstructed detection. At the same time, there is no need to find an external power interface or carry a generator / long-distance cable. It can be turned on and run as soon as it arrives at the detection position, greatly shortening the preparation time. It is especially suitable for field, high-altitude, and mobile equipment (such as ships and on-site assembled storage tanks) and other field environments where power supply is inconvenient. It eliminates the common risk of cable tripping (especially important for high-altitude operations) and accidental power outages or signal interference caused by cable wear / pulling, enhancing the stability of equipment operation and personnel safety. The built-in battery makes the whole machine self-contained, with a more compact structure, which meets the original intention of "portable" design, making it easy to carry, transport and quickly transfer between different workpieces.

[0048] To facilitate movement and handling, the vehicle body 1 is provided with one or more handles for carrying, which facilitates detachment of the vehicle body from the workpiece surface and facilitates movement and handling operations.

[0049] To facilitate remote operation, this application also includes a remote control module, namely a wireless communication module, which can connect to the main control system via wireless signals to enable remote operation and monitoring of the equipment. This completely eliminates the constraints of external cables, avoids tangling, jamming, or travel limitations caused by dragging cables, and achieves truly unobstructed operation in all positions. It also enables workers to efficiently complete inspection tasks within a safe distance, improving operational safety and efficiency.

[0050] This utility model relates to a portable, all-position hardness metallographic testing and polishing robot, which is used when...

[0051] For overhead pipelines, scaffolding may be omitted or only minimally erected before grinding operations.

[0052] In scenarios where radiation is present, no radiation protection measures are required before grinding operations can be performed, including metallographic and hardness testing.

[0053] In high-temperature and high-pressure pipelines, where there is heat radiation and high temperature, there is no need to cool down the working environment or stop the machine or furnace before grinding.

[0054] In environments containing dust, fumes, or toxic and harmful gases, no protective measures against dust, fumes, or toxic and harmful gases are required before grinding operations can be carried out.

[0055] The metallographic and hardness testing and polishing robot is small in size and can enter confined spaces, no longer restricted by space.

[0056] It has its own lithium battery, so there is no need to configure a power supply for on-site construction operations;

[0057] It has remote control capabilities, can perform grinding independently without manual operation, and can operate continuously and stably for a long time, reducing labor costs and usually not delaying the construction period or affecting the company's profits.

[0058] This utility model features a portable, all-position hardness metallographic testing and polishing robot. It is compact, small in size, easy to carry, and can be quickly deployed and moved flexibly. It is adaptable to a variety of complex environments, has good polishing accuracy and consistency, significantly improves polishing quality and operational safety, and reduces enterprise operating costs.

[0059] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A portable all-position hardness metallographic testing and polishing robot, characterized in that, include: A traveling mechanism, comprising a vehicle body, wheels on the vehicle body, and magnets on the lower end of the vehicle body and / or on the wheels that can be attracted to the surface of a workpiece; A lateral telescopic mechanism, installed on the vehicle body, includes a slide block capable of horizontal sliding, wherein the sliding direction of the slide block is perpendicular to the forward direction of the traveling mechanism; The lifting mechanism includes a lifting seat mounted on the slide and capable of vertical movement, and a lifting drive device for driving the lifting seat to rise and fall. A grinding mechanism is installed on the lifting base, including a grinding motor that is vertically fixed on the lifting base. The axis of the grinding motor is parallel to the moving direction of the lifting base, and the lower output end of the grinding motor is provided with a grinding head for grinding the surface of the workpiece.

2. The portable all-position hardness metallographic testing and polishing robot as described in claim 1, characterized in that: The lifting seat includes a lifting seat I and a lifting seat II located below the lifting seat I. The lifting seat I and the lifting seat II are connected to each other and can move relative to each other in the vertical direction. An elastic component is provided between the lifting seat I and the lifting seat II, and the two tend to move away from each other. The lifting seat I is connected to the lifting drive device, and the grinding mechanism is installed on the lifting seat II.

3. The portable all-position hardness metallographic testing and polishing robot as described in claim 2, characterized in that: It also includes a contact switch I and a triggering element I for triggering the contact switch I. The contact switch I and the triggering element I are respectively installed on the lifting seat I and the lifting seat II. When the distance between the lifting seat I and the lifting seat II reaches a preset value, the triggering element I triggers the contact switch I and starts the grinding motor.

4. The portable all-position hardness metallographic testing and polishing robot as described in claim 2, characterized in that: The lifting mechanism also includes a support base, on which a vertical guide rod and a screw are provided. The screw is parallel to the vertical guide rod and rotatably mounted on the support base. Both the lifting seat I and the lifting seat II are slidably fitted on the vertical guide rod, and the lifting seat I is threadedly connected to the screw. The lifting drive device is mounted on the support base, and its output end is connected to the screw and used to drive the screw to rotate.

5. The portable all-position hardness metallographic testing and polishing robot as described in claim 4, characterized in that: The lifting drive device is connected to the screw via a synchronous belt.

6. The portable all-position hardness metallographic testing and polishing robot as described in claim 2, characterized in that: The upper limit position of the lifting seat I is equipped with a limit switch.

7. The portable all-position hardness metallographic testing and polishing robot as described in claim 1, characterized in that: The vehicle body is equipped with a battery for power supply.

8. The portable all-position hardness metallographic testing and polishing robot as described in claim 1, characterized in that: The vehicle body is equipped with one or more handles for carrying.

9. The portable all-position hardness metallographic testing and polishing robot as described in claim 1, characterized in that: It also includes a reinforcing structure, which includes a guide rail II parallel to the transverse telescopic mechanism, a slider II slidably mounted on the guide rail II, and a reinforcing plate connected to the lifting mechanism on the slider II.

10. The portable all-position hardness metallographic testing and polishing robot as described in claim 1, characterized in that: It also includes a remote control module for remote operation.

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