CN115625642A - Automatic sand blasting system for steel box girder - Google Patents
Automatic sand blasting system for steel box girder Download PDFInfo
- Publication number
- CN115625642A CN115625642A CN202211184919.1A CN202211184919A CN115625642A CN 115625642 A CN115625642 A CN 115625642A CN 202211184919 A CN202211184919 A CN 202211184919A CN 115625642 A CN115625642 A CN 115625642A
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- China
- Prior art keywords
- steel box
- box girder
- sand blasting
- gantry
- sand
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
- B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
- B24C3/065—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable with suction means for the abrasive and the waste material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
- B24C9/003—Removing abrasive powder out of the blasting machine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
- B24C9/006—Treatment of used abrasive material
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic sand blasting system for a steel box girder, which comprises a gantry travelling mechanism, wherein the gantry travelling mechanism is arranged in a sand blasting chamber body, two turnover devices for placing the steel box girder are arranged in the gantry travelling mechanism, the turnover devices can turn over the steel box girder by 90 degrees, one side of at least one turnover device is provided with a telescopic rod device, and a sand return system for collecting falling sand materials during sand blasting is arranged right below the gantry travelling mechanism. The outer surface of the steel box girder is subjected to sand blasting through the gantry travelling mechanism, the sand blasting assembly can longitudinally travel and transversely travel on the gantry frame and can vertically lift, and sand blasting work on most directions of the outer surface of the steel box girder is realized. The sandblast robot is installed on the telescopic link device, through the regulation of carrying out the accurate position and cooperating the accurate action of sandblast robot, has realized the sandblast operation that becomes more meticulous, has protected to wait to spout the surface, has improved the sandblast quality greatly.
Description
Technical Field
The invention relates to an automatic sand blasting system for a steel box girder, and belongs to the technical field of sand blasting.
Background
At present, a steel box girder is also called a steel plate box girder, is a common structural form of a large-span bridge, is generally used on a bridge with a larger span, and is called the steel box girder because the steel box girder is like a box. The steel box girder is generally formed by connecting a top plate, a bottom plate, a web plate, a transverse clapboard, a longitudinal clapboard, a stiffening rib and the like in a full-welding mode. When such a large workpiece such as a steel box girder is subjected to sand blasting, a conventional operation mode is to perform surface treatment operation in a sand blasting room by manually holding a spray gun. This conventional method is not only inefficient, but also the treatment effect becomes uneven according to the change of the angle, distance and moving speed of holding the spray gun, and the generated dust has a great influence on the health of the personnel.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: when carrying out sand blasting treatment to large-scale work piece surface, how to improve the treatment effeciency, the degree of consistency of treatment effect avoids manual operation and leads to the dust to healthy the influence of personnel.
In order to solve the technical problems, the technical scheme of the invention is to provide an automatic sand blasting system for a steel box girder, which is characterized by comprising a gantry travelling mechanism, wherein the gantry travelling mechanism is arranged in a sand blasting chamber body, two turnover devices for placing the steel box girder are arranged in the gantry travelling mechanism, the turnover devices can turn over the steel box girder by 90 degrees, one side of at least one turnover device is provided with a telescopic rod device, and a sand return system for collecting falling sand materials during sand blasting is arranged under the gantry travelling mechanism; the gantry travelling mechanism comprises a gantry, sand blasting components which can reciprocate and perform sand blasting on two sides of the outer wall of the steel box girder are symmetrically arranged on two sides in the gantry, and each sand blasting component can move up and down relative to the gantry through a moving structure and can move in a direction vertical to the gantry at two ends of the gantry; the telescopic link device includes heavy flexible arm manipulator, and heavy flexible arm manipulator includes manipulator and telescopic link, and the manipulator is fixed subaerial, is equipped with the telescopic link that can carry out the level in the steel box girder on the manipulator, and the telescopic link end is equipped with six robots, is equipped with the sandblast rifle head that carries out the sandblast to steel box girder inner wall both sides on the six robots, and the sandblast rifle head passes through the pipe connection sand blasting machine.
Preferably, the sand return system comprises a plurality of collecting hoppers, a longitudinal screw conveyor is arranged under a discharge port of each collecting hopper, the longitudinal screw conveyor is communicated with a horizontal screw conveyor, and one end of the horizontal screw conveyor is connected with a sand storage box through a bucket elevator.
Preferably, the floor right below the gantry travelling mechanism is a honeycomb floor, and a sand return system is arranged below the honeycomb floor.
Preferably, the two moving structures are respectively arranged at two sides of the steel box girder, each moving structure comprises a moving rod and a sliding block, one end of the moving rod is connected with the top in the portal frame in a sliding manner, the moving rod can move in the portal frame along the gantry direction perpendicular to two ends of the portal frame, and the length directions of the moving rods are perpendicular to the bottom surface; a sliding block is arranged on each moving rod in a sliding mode, the sliding block moves along the length direction of the moving rods, and a sand blasting assembly is fixed to one end, close to the steel box girder, of each sliding block.
Preferably, the tail end of the six-axis robot is also provided with a visual camera component.
Preferably, the turnover device comprises a base, a rotary part capable of being turned over is arranged on the base, the rotary part is of an annular structure with an opening, the outer side of the rotary part is of a circular arc structure, the inner side of the rotary part is of a square structure, an opening facilitating the steel box girder to be placed into the square structure is arranged at one corner above the square structure, and the circular arc structure of the rotary part is arranged on the base in a rolling manner; the rotating part is provided with a fastening structure for fastening the steel box girder in the square structure.
Preferably, the fastening structure comprises a first tightening mechanism and a second tightening mechanism, and the first tightening mechanism and the second tightening mechanism are respectively arranged on the two sides of the rotating part adjacent to the opening.
Preferably, a groove for placing the arc-shaped structure is formed in the upper surface of the base, rolling shafts are arranged on two sides of the groove, the arc-shaped structure of the rotating piece is placed on the two rolling shafts, the rotating piece is driven by the rolling shafts to turn over along an outer arc, and at least one rolling shaft is connected with a driving motor.
Preferably, the device also comprises a hydraulic flat car used for sending the steel box girder to be processed to the turnover device in the sandblasting room body.
Preferably, the dust removal system comprises a dust removal fan and a dust remover, the dust removal fan for removing dust in the sandblasting room body is arranged on one side of the sandblasting room body, and the dust removal fan is connected with a cyclone dust remover arranged on the frame.
Compared with the prior art, the invention has the following beneficial effects:
the outer surface of the steel box girder is subjected to sand blasting through the gantry travelling mechanism, the sand blasting assembly can longitudinally travel, transversely travel and ascend and descend on the gantry, actions with multiple degrees of freedom are realized, large-scale movement can be performed on the surface of the steel box girder, and flexible work is realized, so that the sand blasting work on most directions of the outer surface of the steel box girder is realized. The middle part does not need any manual intervention of people, and the harm to the health caused by the traditional manual sand blasting operation is avoided. The sandblast robot (six robots promptly) is installed on telescopic link device, and telescopic link device symmetry sets up at the portal frame both ends or directly sets up in portal frame one end, and the operation in-process can be through carrying out the regulation of accurate position and cooperating the accurate action of sandblast robot, has realized the sandblast operation that becomes more meticulous, has protected to wait to spout the surface, has improved the sandblast quality greatly.
Drawings
FIG. 1 is a schematic diagram of the main layout of an automatic sand blasting system for steel box girders;
FIG. 2 is a top view of the layout of an automatic sand blasting system for steel box girders;
FIG. 3 is a right side view of the indoor layout of an automatic sand blasting system for steel box girders;
FIG. 4 is a schematic view of the flipping mechanism;
fig. 5 is a schematic view of a six-axis robot.
Detailed Description
In order to make the invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
The invention provides an automatic sand blasting system for a steel box girder, which is used for automatically blasting the steel box girder and comprises a sand blasting chamber body, the steel box girder, a gantry travelling mechanism 1, a turnover device 8, a telescopic rod device 2, a hydraulic flat car 5, a sand return system and a dust removal system 7, wherein the gantry travelling mechanism 1 is arranged on the steel box girder, and the dust removal system is arranged on the steel box girder. The gantry travelling mechanism 1 is arranged in the sand blasting chamber body, the two turnover devices 8 are arranged in the gantry travelling mechanism 1, two ends of the steel box girder are respectively placed on the two turnover devices 8, and the steel box girder can be turned over for 90 degrees through the turnover devices 8. The two ends of the steel box girder are opposite to the gantry direction at the two ends of the gantry walking mechanism 1, and the outer side of each turnover device 8 is respectively provided with one telescopic rod device 2, namely the two turnover devices 8 are arranged between the two telescopic rod devices 2. The gantry travelling mechanism 1 is matched with the turnover device 8 to automatically sand blast the outer surface of the steel box girder.
The sand return system comprises a plurality of collecting hoppers 31, a longitudinal screw conveyor 3 is arranged under a discharge hole of each collecting hopper 31, the longitudinal screw conveyor 3 conveys sand materials into a horizontal screw conveyor 4, and one end of the horizontal screw conveyor 4 is connected with a sand storage box through a bucket elevator 6. The sand material collected and processed by the horizontal screw conveyor 4 is lifted to a sand storage box on the ground by a bucket elevator 6. The sand material that the mechanical spiral through horizontal screw conveyer 4 came out to collecting hopper 31 is retrieved, and efficiency is higher more environmental protection, sends out the steel case roof beam after accomplishing the sandblast operation.
The floor right below the gantry travelling mechanism 1 is a honeycomb floor, a plurality of collecting hoppers 31 are arranged below the floor, and the peripheries of the feeding ends of the collecting hoppers 31 are connected together in a seamless mode, so that sand entering from the floor completely enters the collecting hoppers 31.
The dust removal system 7 comprises a dust removal fan and a dust remover, wherein the dust removal fan is arranged on one side of the sand blasting chamber body and used for removing dust in the sand blasting chamber body and avoiding influencing the sand blasting effect of the sand blasting chamber body, and the dust removal fan is connected with a cyclone dust remover arranged on the frame.
The gantry traveling mechanism 1 comprises a gantry 11, sand blasting assemblies 13 capable of moving back and forth are symmetrically arranged on two sides in the gantry 11, and each sand blasting assembly 13 can move on the gantry 11 in multiple degrees of freedom through a moving structure 12 (namely, the sand blasting assemblies move up and down relative to the gantry 11 and move in a direction perpendicular to the gantry at two ends of the gantry 11). Two mobile structure 12 locate the both sides of steel box girder respectively, and every mobile structure 12 includes carriage release lever 121 and slider 122, and the top sliding connection in one end and the portal frame 11 of carriage release lever 121, carriage release lever 121 can move along perpendicular portal frame 11 both ends longmen direction in portal frame 11, and carriage release lever 121 length direction all is perpendicular to the bottom surface setting. Each moving rod 121 is provided with a sliding block 122 in a sliding manner, the sliding block 122 moves along the length direction of the moving rod 121, and one end of each sliding block 122, which is close to the steel box girder, is fixed with a sand blasting assembly 13. Sandblast subassembly 13 includes the sandblast head and the sandblast pipe of being connected with the sandblast head, and sandblast union coupling sandblast contains the sand material in the sandblast machine. The sand blasting can be carried out on the two side surfaces on the outer wall of the steel box girder through the sand blasting head on the gantry travelling mechanism 1.
In this embodiment, the movement of the moving rod 121 and the slider 122 is driven by an air cylinder or a motor. When the movable rod 121 and the sliding block 122 are driven by air cylinders, one air cylinder is fixed on the portal frame 11, the driving end of the air cylinder is connected with the movable rod 121, the other air cylinder is fixed on the movable rod 121, and the driving end of the air cylinder is connected with the sliding block 122; when the moving rod 121 and the sliding block 122 are driven by the motors, one motor is fixed on the gantry 11, the driving end of the motor is connected with a screw rod, the screw rod is connected with the moving rod 121 through threads, the other motor is fixed on the moving rod 121, the driving end of the motor is connected with another screw rod, and the screw rod is connected with the sliding block 122 through threads.
As shown in fig. 2 and 3, the telescopic rod devices 2 are symmetrically arranged on two sides of the gantry traveling mechanism 1 opposite to the gantry direction, each telescopic rod device 2 comprises a heavy telescopic arm manipulator 21, the sand blasting machine is connected with a sand blasting gun head 23 through a pipeline, the sand blasting gun heads 23 are arranged on six-axis robots 22, meanwhile, the tail ends of the six-axis robots 22 are provided with vision camera assemblies 24, and as shown in fig. 5, the six-axis robots 22 are arranged on flanges at the tail ends of telescopic rods 212. Heavy telescopic arm manipulators 21 located at two ends of the steel box girder box stably extend telescopic rods 212 into the steel box girder box body through the manipulators 211, and the six-axis robot 22 drives the sand blasting gun heads 23 to complete sand blasting on the left side and the right side inside the steel box girder box body.
The heavy telescopic boom manipulator 21 comprises a manipulator 211 and a telescopic rod 212, wherein the manipulator 211 is fixed on the ground, the telescopic rod 212 is horizontally arranged on the manipulator 211, and the telescopic rod 212 can move on the manipulator 211 in a telescopic mode. The manipulator 211 is provided with a support frame for supporting the telescopic rod 212. A driving motor is arranged in the manipulator 211, a screw rod which rotates together with the driving motor is arranged at the driving end of the driving motor, and the screw rod is arranged inside the telescopic rod 212 and is connected with the inside of the telescopic rod 212 through threads. The manipulator 211 is provided with a limiting structure for limiting the rotation of the telescopic rod 212, so that the telescopic rod 212 can move on the manipulator 211 in a telescopic manner but cannot rotate. Limiting structure is equipped with the arch that matches with the recess including the recess that is located telescopic link 212 both sides on the operation machine 211, and the recess is located to the arch, and restriction telescopic link 212 rotates in, nevertheless can make the recess slide along the arch, namely makes telescopic link 212 concertina movement on operation machine 211.
As shown in fig. 4, the turnover device 8 includes a base 81, a rotatable member 84 is disposed on the base 81, the rotatable member 84 is of an annular structure with an opening, the outer side of the rotatable member 84 is of a circular arc structure, the inner side of the rotatable member 84 is of a square structure, the opening of the rotatable member 84 is disposed at a corner above the square structure, so as to facilitate the steel box girder to be placed in the square structure, and the circular arc structure of the rotatable member 84 is rolled on the base 81, so as to facilitate the rolling turnover of the circular arc structure. The upper surface of the base 81 is provided with a groove for placing an arc-shaped structure, the two sides of the groove are provided with rolling shafts, the arc-shaped structure is placed on the two rolling shafts, the rolling shafts drive the rotating piece 84 to turn along the arc shape on the outer side, and at least one rolling shaft is connected with a driving motor and used for driving the rolling shafts to rotate. The two sides of the rotating part 84 adjacent to the opening are respectively provided with a first jacking mechanism 82 and a second jacking mechanism 83, after the steel box girder is arranged in the square structure, the two sides of the steel box girder are respectively jacked through the first jacking mechanism 82 and the second jacking mechanism 83, and the other two sides of the steel box girder lean against the position far away from the opening in the square structure. The turn-over angle of the turn-piece 84 is 90. The side of the circular arc structure contacting the rotating shaft is the side opposite to the first pushing mechanism 82 or the second pushing mechanism 83. After the steel box girder is turned over by the turning device 8, the sand blasting heads on the gantry travelling mechanism 1 can blast sand on the other two side surfaces on the outer wall of the steel box girder; and the sand blasting gun head 23 on the six-axis robot 22 at the tail end of the telescopic rod device 2 is used for blasting sand on the other two side surfaces in the steel box girder box body.
In this embodiment, the first tightening mechanism 82 and the second tightening mechanism 83 are both cylinders or motors.
The hydraulic flatbed 5 is used to deliver the steel box girders to be treated into the square structure of the turning device 8 inside the sandblasting booth body.
By the automatic sand blasting system, the automation of sand blasting of the steel box girder is realized, and the production efficiency is greatly improved.
Wherein, the longitudinal screw conveyor 3 and the horizontal screw conveyor 4 can be purchased and come out from U-shaped screw conveyor series products of Shanghaineze mechanical equipment Co., ltd (shdingce.com); the bucket elevator 6 can be purchased and is a TD type bucket elevator product of Shanghai Sancheng graphic mechanical equipment Limited; the dedusting fan and the deduster in the dedusting system 7 are both commercially available as cyclone products from donaldson. The vision assembly 24 is a conventional industrial vision camera mounted on a fixture at the end of the robot and not illustrated herein. The six-axis robot 22 is of the reference type AR900, and the six-axis robot 22 is fixed to the end of the heavy telescopic arm manipulator 21 and driven by a conventional electric unit control.
The basic principles and main features of the present invention and the advantages of the present invention are shown and described above, and the standard parts used in the present invention can be purchased from the market, the special-shaped parts can be customized according to the description and the attached drawings, the specific connection mode of each part adopts the conventional means of bolt, rivet, welding and the like mature in the prior art, the machinery, parts and equipment adopt the conventional type in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, and the details are not described herein.
Claims (10)
1. The automatic sand blasting system for the steel box girder is characterized by comprising a gantry travelling mechanism (1), wherein the gantry travelling mechanism (1) is arranged in a sand blasting chamber body, two turnover devices (8) used for placing the steel box girder are arranged in the gantry travelling mechanism (1), the turnover devices (8) can turn over the steel box girder by 90 degrees, one side of at least one turnover device (8) is provided with a telescopic rod device (2), and a sand return system used for collecting falling sand materials during sand blasting is arranged right below the gantry travelling mechanism (1); the gantry travelling mechanism (1) comprises a gantry frame (11), sand blasting assemblies (13) which can move back and forth and perform sand blasting on two sides of the outer wall of the steel box girder are symmetrically arranged on two sides in the gantry frame (11), and each sand blasting assembly (13) can move up and down relative to the gantry frame (11) and move in a gantry direction vertical to two ends of the gantry frame (11) through a moving structure (12); the telescopic rod device (2) comprises a heavy telescopic arm manipulator (21), the heavy telescopic arm manipulator (21) comprises a manipulator (211) and a telescopic rod (212), the manipulator (211) is fixed on the ground, the telescopic rod (212) capable of horizontally stretching in the steel box girder is arranged on the manipulator (211), the tail end of the telescopic rod (212) is provided with a six-axis robot (22), a sand blasting gun head (23) for blasting sand to the two sides of the inner wall of the steel box girder is arranged on the six-axis robot (22), and the sand blasting gun head (23) is connected with a sand blasting machine through a pipeline.
2. The automatic sand blasting system of the steel box girder as claimed in claim 1, wherein the sand return system comprises a plurality of collecting hoppers (3), a longitudinal screw conveyor (3) is arranged under the discharge holes of the collecting hoppers (3), the longitudinal screw conveyor (3) is communicated with a horizontal screw conveyor (4), and one end of the horizontal screw conveyor (4) is connected with a sand storage box through a bucket elevator (6).
3. The automatic sand blasting system for the steel box girder according to claim 1, wherein the floor right below the gantry traveling mechanism (1) is a honeycomb floor, and a sand return system is arranged below the honeycomb floor.
4. The automatic sand blasting system for the steel box girder as recited in claim 1, wherein two moving structures (12) are respectively arranged at two sides of the steel box girder, each moving structure (12) comprises a moving rod (121) and a sliding block (122), one end of the moving rod (121) is slidably connected with the top of the portal frame (11), the moving rod (121) can move in the portal frame (11) along a portal direction vertical to two ends of the portal frame (11), and the length direction of the moving rod (121) is perpendicular to the bottom surface; each moving rod (121) is provided with a sliding block (122) in a sliding mode, the sliding block (122) moves along the length direction of the moving rod (121), and one end, close to the steel box girder, of each sliding block (122) is fixedly provided with a sand blasting assembly (13).
5. The automatic steel box girder blasting system according to claim 1, wherein the six-axis robot (22) is further provided with a vision camera assembly (24) at its distal end.
6. The automatic sand blasting system for the steel box girder according to claim 1, wherein the turnover device (8) comprises a base (81), a rotary member (84) capable of being turned over is arranged on the base (81), the rotary member (84) is of an annular structure with an opening, the outer side of the rotary member (84) is of a circular arc structure, the inner side of the rotary member (84) is of a square structure, an opening for the steel box girder to be placed into the square structure is arranged at one corner above the square structure, and the circular arc structure of the rotary member (84) is arranged on the base (81) in a rolling mode; the rotating piece (84) is provided with a fastening structure for fastening the steel box girder in the square structure.
7. The automatic sand blasting system for the steel box girder according to claim 6, wherein the fastening structure comprises a first tightening mechanism (82) and a second tightening mechanism (83), and the first tightening mechanism (82) and the second tightening mechanism (83) are respectively arranged on two sides of the rotating member (84) adjacent to the opening.
8. The automatic steel box girder sand blasting system as claimed in claim 6, wherein the upper surface of the base (81) is provided with a groove for placing the circular arc-shaped structure, the two sides of the groove are provided with rollers, the circular arc-shaped structure of the rotating member (84) is placed on the two rollers, the rotating member (84) is driven by the rollers to turn along the circular arc at the outer side, and at least one roller is connected with the driving motor.
9. An automatic steel box girder blasting system according to claim 1, further comprising a hydraulic flatbed (5) for feeding the steel box girders to be treated to the in-cabinet turning device (8) of the blasting chamber.
10. The automatic steel box girder blasting system according to claim 1, wherein the dust removal system (7) comprises a dust removal fan and a dust remover, the dust removal fan is arranged on one side of the blasting chamber body and used for removing dust in the blasting chamber body, and the dust removal fan is connected with a cyclone dust remover arranged on the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211184919.1A CN115625642A (en) | 2022-09-27 | 2022-09-27 | Automatic sand blasting system for steel box girder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211184919.1A CN115625642A (en) | 2022-09-27 | 2022-09-27 | Automatic sand blasting system for steel box girder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115625642A true CN115625642A (en) | 2023-01-20 |
Family
ID=84905017
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211184919.1A Pending CN115625642A (en) | 2022-09-27 | 2022-09-27 | Automatic sand blasting system for steel box girder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115625642A (en) |
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2022
- 2022-09-27 CN CN202211184919.1A patent/CN115625642A/en active Pending
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