CN112974080A - Large-scale bridge combination formula is sand blasting spraying device in coordination - Google Patents
Large-scale bridge combination formula is sand blasting spraying device in coordination Download PDFInfo
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- CN112974080A CN112974080A CN202110150797.3A CN202110150797A CN112974080A CN 112974080 A CN112974080 A CN 112974080A CN 202110150797 A CN202110150797 A CN 202110150797A CN 112974080 A CN112974080 A CN 112974080A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
- B05B16/20—Arrangements for spraying in combination with other operations, e.g. drying; Arrangements enabling a combination of spraying operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention relates to the technical field of large-scale bridge production equipment, in particular to a combined type collaborative sand blasting spraying device for a large-scale bridge. Through setting up the top robot system at the bridge upside, bottom robot system and wheeled robot system, can realize that large-scale bridge top and bottom and side carry out effectual spraying, combine the longmen track that sets up simultaneously, can carry out nimble adjustment control to the position of spraying paint, through the mode that adopts the robot spraying, liberation labour that can be very big, the effect of spraying paint simultaneously and sandblast can obtain effectual guarantee, combine the interlocking system that sets up simultaneously, can effectually treat the relative safety of position between bridge and the robot of spraying, and then can effectually prevent, the robot is at the spraying in-process and the security of installation bridge in-process.
Description
Technical Field
The invention relates to the technical field of large bridge production equipment, in particular to a combined type collaborative sand blasting spraying device for a large bridge.
Background
The bridge, generally mean erect in river, lake and sea, make the structure that vehicles and pedestrians can pass smoothly, in order to adapt to the modern high-speed traffic industry that develops, the bridge also draws the application as spanning mountain stream, unfavorable geology or meet other traffic needs and erect make the building that pass more convenient, the bridge generally is made up of superstructure, substructure, support and affiliated structure, the superstructure is also called the bridge and strides the structure, it is the main structure which strides over the obstacle; the lower structure comprises a bridge abutment, a bridge pier and a foundation; the support is a force transmission device arranged at the supporting position of a bridge span structure and a pier or a bridge abutment, when a large bridge is built, the large bridge is spliced in a workshop in advance after being manufactured, the existing bridge is generally required to be subjected to sand blasting and paint spraying treatment on the outer wall in order to prevent the bridge from being oxidized by outside air, the working environment of the sand blasting and the paint spraying is severe, the working labor capacity is large, operators are susceptible to occupational diseases, the working environment of manual spraying is very dangerous and hard, the operators are required to bear noise, the invasion of sand dust, paint mist, organic waste gas and the danger of ascending operation, the bodies are easy to be over-tired after long-term working, and the large bridge is extremely huge due to a large workpiece, a large amount of manpower and material resources are consumed to build a scaffold during the sand blasting and spraying operation, the great cost is increased, and when products with large size and complicated structures are manually blasted, in the face of a severe working environment, the device is unsafe, low in production efficiency and unstable in quality, and therefore the combined type collaborative sand blasting spraying device for the large bridge is provided.
Disclosure of Invention
The invention aims to provide a combined type collaborative sand blasting and spraying device for a large bridge, which aims to solve the problems that the working environment of sand blasting and paint spraying is severe and the working labor amount is large in the process of sand blasting and paint spraying on the outer wall of the large bridge, moreover, operators are easy to be prone to occupational diseases, the working environment of manual spraying is very dangerous and hard, the operators are subjected to noise, the invasion of sand dust, paint mist and organic waste gas and the danger of climbing operation, the bodies are easy to be overstrain after long-term work, and because the large bridge has extremely large workpieces, a large amount of manpower and material resources are consumed to construct a scaffold during the sand blasting and spraying operation, so that the cost is greatly increased, the method is unsafe in case of severe working environment, and has the problems of low production efficiency and unstable quality.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a large-scale bridge combination formula is sand blasting spraying device in coordination, includes top robot system, bottom robot system and wheeled robot system, each be equipped with the interlocking system between the bridge fixing device of area processing and the system.
Preferably, the top robot system comprises a gantry track a and a multi-axis robot a, the multi-axis robot a comprises a plurality of degrees of freedom a with different directions, and the degrees of freedom a comprises an X axis, a Y axis, a Z axis, an R axis, an S axis, a T axis, a U axis and a W axis.
Preferably, the X axis is a longitudinal direction of a space where the device is located, the Y axis is a transverse direction of the space where the device is located, the Z axis is a height direction of the space where the device is located, the R axis is a rotational motion direction of the robot a around the body, the S axis is a swing direction of a major joint of the multi-axis robot a along a vertical direction, the T axis is a swing direction of a minor joint of the multi-axis robot a along the vertical direction, the U axis is a rotational motion direction of an arm of the multi-axis robot a along an arm axis, and the W axis is a rotational motion direction of a wrist of the multi-axis robot a along a wrist axis.
Preferably, the bottom robot system is composed of a gantry track B and a multi-axis robot B, the multi-axis robot B includes a plurality of degrees of freedom B with different directions, and the degrees of freedom B include an X axis, a Y axis, an R axis, an S axis, a T axis, a U axis, and a W axis.
Preferably, the X axis is the longitudinal direction of the space where the device is located, the Y axis is the transverse direction of the space where the device is located, the R axis is the rotational motion direction of the multi-axis robot B around the body, the S axis is the swing direction of the major joint of the multi-axis robot B along the vertical direction, the T axis is the swing direction of the minor joint of the multi-axis robot B along the vertical direction, the U axis is the rotational motion direction of the arm along the arm axis, and the W axis is the rotational motion direction of the wrist along the wrist axis.
Preferably, the wheeled robot system is composed of a walking vehicle body and a multi-axis robot C, and the walking vehicle body is fixedly connected with the multi-axis robot C.
Preferably, the multi-axis robot C includes a plurality of degrees of freedom C having different directions, and the degrees of freedom C include a Y axis, an S axis, a T axis, a U axis, and a W axis.
Preferably, the Y axis is the horizontal direction of the walking vehicle body, the S axis is the swing direction of the C major joint of the multi-axis robot along the vertical direction, the T axis is the swing direction of the C minor joint of the multi-axis robot along the vertical direction, the U axis is the rotation direction of the C arm of the multi-axis robot along the arm axis, and the W axis is the rotation direction of the wrist along the wrist axis.
Compared with the prior art, the invention has the beneficial effects that:
1. the top robot system arranged on the upper side of the bridge aims to complete sand blasting and spraying operation on the top and two end parts of a large bridge, and the moving track of the multi-axis robot A can be flexibly adjusted and controlled by combining the arranged gantry track A;
2. the sand blasting and spraying operation on the bottom surface of the large bridge and the stiffening beam can be completed through the arranged bottom robot system, and the moving track of the robot system can be effectively limited through the arranged gantry track B;
3. the bottom of the large bridge can be sprayed by the wheel type robot system, so that the bottom robot system is assisted to complete sand blasting and spraying operation of the bottom surface of the large bridge and the stiffening beam, the robot spraying mode is adopted, labor force can be greatly liberated, and meanwhile, the effects of paint spraying and sand blasting can be effectively guaranteed;
4. through the arranged interlocking system, when the device is used, a product is interlocked with the robot system, the product and the robot system are both in a set safe position before working, when the product is processed, a signal is sent to the robot system, the robot system is locked at the set safe position, and the product can be safely transported; similarly, when the robot system works, a signal is sent to the product positioning and locking device, the product is locked at a set safety position, the robot system can normally work, and the robot system returns to the set safety position after the work is finished, so that the safety of the device in use can be effectively improved.
Drawings
Fig. 1 is a schematic front view of the structure of the present invention.
The reference numbers in the figures illustrate: 1. a top robotic system; 2. a bottom robotic system; 3. wheeled robot system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides an embodiment:
a large-scale bridge combined type collaborative sand blasting spraying device comprises a top robot system 1, a bottom robot system 2 and a wheel type robot system 3, wherein an interlocking system is arranged between each system and a bridge fixing device with processing;
it is worth mentioning that the interlock system mentioned refers to: the product and the robot system are interlocked, before the product and the robot system are in the set safe position, when the product is processed, a signal is sent to the robot system, the robot system is locked at the set safe position, and the product can be safely transported; similarly, when the robot system works, a signal is sent to the product positioning and locking device, the product is locked at the set safety position, the robot system can normally work, and the robot system returns to the set safety position after the work is finished.
Further, the top robot system 1 is composed of a gantry rail A and a multi-axis robot A, the multi-axis robot A comprises a plurality of degrees of freedom A with different directions, the degrees of freedom A comprise an X1 axis, a Y1 axis, a Z1 axis, a R1 axis, a S1 axis, a T1 axis, a U1 axis and a W1 axis, when the device is used, the set multi-axis robot A is firstly installed at a preset position, stable installation can be provided for the set multi-axis robot A through the set gantry rail A, and when the multi-axis robot A sprays a bridge, position adjustment in the horizontal direction and the vertical direction can be realized through the set gantry rail A, and the position of the multi-axis robot A is adjusted;
as an embodiment, the mode of multi-axis robot a position adjustment can adopt the mode of meshing connection between the gear and the rack, with the one end of rack and multi-axis robot a fixed mounting, drive the gear through the motor output shaft and rotate, and then can drive multi-axis robot a that sets up and remove, and the orbit of removing can be injectd through the gantry track a that sets up, and then can realize multi-axis robot a and carry out the adjustment of position in two directions X1 and Y1.
Furthermore, the axis X1 is the longitudinal direction of the device in the space, the axis Y1 is the transverse direction of the device in the space, the axis Z1 is the height direction of the device in the space, the axis R1 is the direction of the rotational motion of the robot a around the body, the axis S1 is the direction of the swing of the major joint of the multi-axis robot a in the vertical direction, the axis T1 is the direction of the swing of the minor joint of the multi-axis robot a in the vertical direction, the axis U1 is the direction of the rotational motion of the arm of the multi-axis robot a in the arm axis, the axis W1 is the direction of the rotational motion of the wrist of the multi-axis robot a in the wrist axis, it is worth mentioning that the adjustment mode of the multi-axis robot a in, the lifting components arranged at the two ends of the gantry track A can be adopted for adjustment, in particular, the hydraulic lifter can be adopted for height adjustment, meanwhile, the angles of the multi-axis robot can be adjusted by a control mechanism in the body A of the multi-axis robot through position adjustment in other directions of the multi-axis robot.
Further, the bottom robot system 2 consists of a gantry track B and a multi-axis robot B, the multi-axis robot B comprises a plurality of degrees of freedom B with different directions, the degrees of freedom B comprise an X2 shaft, a Y2 shaft, an R2 shaft, an S2 shaft, a T2 shaft, a U2 shaft and a W2 shaft, and in the process of spraying the outer wall of the bridge, the sand blasting and spraying operation on the bottom surface of the large bridge and the stiffening beam can be completed through the arranged bottom robot system 2;
as a specific implementation manner, the position of the multi-axis robot B can be adjusted by adopting a manner between worm and worm gears, the worm gear can be rotated to drive the worm gear to rotate, the worm gear is coaxially connected with a lead screw, the lead screw is in threaded connection with a slider, the multi-axis robot B is fixedly connected with the slider, the slider is matched with a limit groove arranged on the gantry rail B in a sliding manner, and the position of the multi-axis robot B is adjusted.
Further, the X2 axis is the longitudinal direction of the device in space, the Y2 axis is the transverse direction of the device in space, the R2 axis is the rotational motion direction of the multi-axis robot B around the body, the S2 axis is the swing direction of the major joint of the multi-axis robot B in the vertical direction, the T2 axis is the swing direction of the minor joint of the multi-axis robot B in the vertical direction, the U2 axis is the rotational motion direction of the arm along the arm axis, and the W2 axis is the rotational motion direction of the wrist along the wrist axis.
Furthermore, wheeled robot system 3 comprises walking automobile body and multiaxis robot C, walking automobile body and multiaxis robot C fixed connection, and the device is in the use, through the wheeled robot system 3 that sets up, the walking automobile body that its mode of removal set up through control, and it is worth explaining that, the moving means of walking automobile body can drive the walking wheel that sets up through the output shaft of motor and rotate, and the control mechanism who sets up in the automobile body inside simultaneously coordinates, can prescribe a limit to the removal orbit of automobile body.
Further, the multi-axis robot C includes a plurality of degrees of freedom C having different directions, and the degrees of freedom C include a Y3 axis, an S3 axis, a T3 axis, a U3 axis, and a W3 axis.
Further, the Y3 axis is the horizontal direction of the traveling vehicle body, the S3 axis is the swing direction of the C major joint of the multi-axis robot in the vertical direction, the T axis is the swing direction of the C minor joint of the multi-axis robot in the vertical direction, the U axis is the rotational motion direction of the C arm of the multi-axis robot along the arm axis, the W axis is the rotational motion direction of the wrist along the wrist axis, and the traveling mode of the wheeled robot is controlled by a control mechanism provided inside the wheeled robot.
The working principle is as follows: when the device is used, firstly, the set multi-axis robot A is installed at a preset position, stable installation can be provided for the set multi-axis robot A through the set gantry track A, position adjustment in the horizontal direction and the vertical direction can be realized through the set gantry track A when the multi-axis robot A sprays a bridge, the position of the multi-axis robot A is adjusted, the multi-axis robot A can be fixedly installed at one end of the rack and the multi-axis robot A in a manner of meshing connection between the gear and the rack, the gear is driven to rotate through the motor output shaft, the set multi-axis robot A can be driven to move, the moving track can be limited through the set gantry track A, and the position adjustment of the multi-axis robot A in the X1 direction and the Y1 direction can be realized, it is worth to be noted that the adjustment mode of the multi-axis robot a in the vertical direction can be adjusted by adopting lifting components arranged at two ends of a gantry track a, specifically, the height adjustment can be performed by adopting a hydraulic lifter, meanwhile, the position adjustment of the multi-axis robot in other directions can be performed by adjusting the angle through a control mechanism in the body of the multi-axis robot a, in the process of spraying the outer wall of a bridge, the sand blasting and spraying operation of the bottom surface of a large bridge and a stiffening beam can be completed through the arranged bottom robot system 2, as a specific implementation mode, the position adjustment mode of the arranged multi-axis robot B can be realized by adopting a mode between turbine and worm, the arranged turbine can be rotated to drive the arranged worm to rotate, the worm is coaxially connected with a lead screw, and the lead screw is in threaded connection with a slide block, through carrying out fixed connection between multiaxis robot B and the slider, and the slider that sets up with set up the spacing groove on longmen track B and slide and join in marriage an individual, and then realize adjusting multiaxis robot B's position, the device is in the use, through the wheeled robot system 3 that sets up, the walking automobile body that the mode that its removed is through control setting, it is worth explaining, the removal mode of walking automobile body, the walking wheel that can drive the setting through the output shaft of motor rotates, the control mechanism who sets up at the automobile body inside simultaneously coordinates, can prescribe a limit to the removal orbit of automobile body, and then can realize the bottom to large-scale bridge, the purpose is supplementary bottom robot system 2 and accomplishes the sandblast of large-scale bridge bottom surface and stiffening beam, the spraying operation.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The utility model provides a large-scale bridge combination formula is sand blasting spraying device in coordination which characterized in that: the robot system comprises a top robot system (1), a bottom robot system (2) and a wheel type robot system (3), wherein an interlocking system is arranged between each system and a bridge fixing device with processing.
2. The combined type collaborative sand blasting and spraying device for the large bridge according to claim 1, characterized in that: the top robot system (1) is composed of a gantry track A and a multi-axis robot A, wherein the multi-axis robot A comprises a plurality of degrees of freedom A with different directions, and the degrees of freedom A comprise an X1 axis, a Y1 axis, a Z1 axis, an R1 axis, an S1 axis, a T1 axis, a U1 axis and a W1 axis.
3. The combined type collaborative sand blasting and spraying device for the large bridge according to claim 2, characterized in that: the X1 axis is the longitudinal direction of the space where the device is located, the Y1 axis is the transverse direction of the space where the device is located, the Z1 axis is the height direction of the space where the device is located, the R1 axis is the direction of the rotary motion of the robot A around the body, the S1 axis is the direction of the swing of the multi-axis robot A big joint along the vertical direction, the T1 axis is the direction of the swing of the multi-axis robot A small joint along the vertical direction, the U1 axis is the direction of the rotary motion of the multi-axis robot A arm along the arm axis, and the W1 axis is the direction of the rotary motion of the multi-axis robot A wrist along the wrist axis.
4. The combined type collaborative sand blasting and spraying device for the large bridge according to claim 1, characterized in that: the bottom robot system (2) is composed of a gantry track B and a multi-axis robot B, wherein the multi-axis robot B comprises a plurality of degrees of freedom B with different directions, and the degrees of freedom B comprise an X2 axis, a Y2 axis, an R2 axis, an S2 axis, a T2 axis, a U2 axis and a W2 axis.
5. The combined type collaborative sand blasting and spraying device for the large bridge according to claim 4, wherein: the X2 axis is the longitudinal direction of the space where the device is located, the Y2 axis is the transverse direction of the space where the device is located, the R2 axis is the rotating motion direction of the multi-axis robot B around the body, the S2 axis is the swinging direction of the big joint of the multi-axis robot B along the vertical direction, the T2 axis is the swinging direction of the small joint of the multi-axis robot B along the vertical direction, the U2 axis is the rotating motion direction of the arm along the arm axis, and the W2 axis is the rotating motion direction of the wrist along the wrist axis.
6. The combined type collaborative sand blasting and spraying device for the large bridge according to claim 1, characterized in that: the wheel type robot system (3) is composed of a walking vehicle body and a multi-axis robot C, and the walking vehicle body is fixedly connected with the multi-axis robot C.
7. The combined type collaborative sand blasting and spraying device for the large bridge according to claim 6, wherein: the multi-axis robot C comprises a plurality of degrees of freedom C with different directions, wherein the degrees of freedom C comprise a Y3 axis, an S3 axis, a T3 axis, a U3 axis and a W3 axis.
8. The combined type collaborative sand blasting and spraying device for the large bridge according to claim 7, wherein: the Y3 axle is the horizontal of walking automobile body, and the S3 axle is multiaxis robot C major joint along the direction of swing of vertical direction, and the T axle is multiaxis robot C facet joint along the direction of swing of vertical direction, and the U axle is multiaxis robot C arm along the rotary motion direction of arm axis, and the W axle is the rotary motion direction of wrist along the wrist axis.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110150797.3A CN112974080A (en) | 2021-02-03 | 2021-02-03 | Large-scale bridge combination formula is sand blasting spraying device in coordination |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110150797.3A CN112974080A (en) | 2021-02-03 | 2021-02-03 | Large-scale bridge combination formula is sand blasting spraying device in coordination |
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| CN112974080A true CN112974080A (en) | 2021-06-18 |
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| CN202110150797.3A Pending CN112974080A (en) | 2021-02-03 | 2021-02-03 | Large-scale bridge combination formula is sand blasting spraying device in coordination |
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| CN111408494A (en) * | 2019-01-08 | 2020-07-14 | 上海交通大学 | Rail type spraying robot |
| CN111515053A (en) * | 2020-04-21 | 2020-08-11 | 江苏中矿大正表面工程技术有限公司 | A automation equipment that is used for anticorrosive application of bridge tunnel large surface |
| CN111515063A (en) * | 2020-05-11 | 2020-08-11 | 镇江蓝舶科技股份有限公司 | Rail mounted application equipment based on work robot |
| CN212241029U (en) * | 2020-09-06 | 2020-12-29 | 上海建冶科技工程股份有限公司 | Ten-axis type large-stroke anti-corrosion intelligent robot |
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| GB801619A (en) * | 1955-11-21 | 1958-09-17 | Daimler Benz Ag | Improvements relating to electrostatic spray coating |
| DD241374A1 (en) * | 1985-09-30 | 1986-12-10 | Schienenfahrzeugbau Veb K | MOBILE SPRAYING SYSTEM FOR PARTICULARLY DELIVERABLE SOLUTIONS, eg BITUMEN |
| CN1141601A (en) * | 1994-12-22 | 1997-01-29 | 本田技研工业株式会社 | Method for forming protective film on a coated surface and apparatus for carrying out same |
| CN1535893A (en) * | 1999-11-23 | 2004-10-13 | ���Ͽع�����˾ | Computer controlled method and equipment for repairng and painting surface of ship body |
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| CN212241029U (en) * | 2020-09-06 | 2020-12-29 | 上海建冶科技工程股份有限公司 | Ten-axis type large-stroke anti-corrosion intelligent robot |
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Application publication date: 20210618 |
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| RJ01 | Rejection of invention patent application after publication |