CN220218519U - Bridge rust removal paint spraying robot - Google Patents

Abstract

The utility model discloses a bridge rust removal paint spraying robot, which belongs to the technical field of bridge rust removal, and comprises a crawling trolley arranged on H-shaped steel of a bridge and a mechanical arm rotationally arranged on the crawling trolley and used for fixing a rust removal head or a paint spraying head, wherein the crawling trolley comprises a supporting plate, a main sliding mechanism and a sideslip mechanism which are arranged on the inner side of the supporting plate and crawl on the H-shaped steel, and an adjusting mechanism arranged between the supporting plate and the sideslip mechanism. The utility model has scientific and reasonable design and convenient use, solves the technical problems of high-altitude operation, time and labor consumption existing in the existing manual rust removal and paint spraying of bridges, realizes the mechanical rust removal and paint spraying of bridges by using robots, avoids the potential safety hazard of manual operation, and greatly improves the working efficiency.

Description

Bridge rust removal paint spraying robot

Technical Field

The utility model belongs to the technical field of bridge rust removal, and particularly relates to a bridge rust removal paint spraying robot.

Background

In the building field, steel structure bridges mainly comprising H-shaped steel increasingly show value, and are gradually accepted by people due to the advantages of low cost, good structural performance, high construction speed, good texture strength and the like. The steel structure bridge develops rapidly and replaces the past rigid reinforced concrete structure bridge to a certain extent. However, steel bridge has poor corrosion resistance and is easy to rust and oxidize. Slightly rusting, wherein pitting phenomenon occurs on the surface of the steel, and oxide skin appears on part of the steel; when the rust is moderate, the red rust spots are obvious, and part of oxide skin is broken; and the heavy rust is generated, the oxide skin of the steel structure falls off, a protruding oxide layer exists, and the surface of the steel structure is recessed due to the thick oxide layer. The rust phenomenon of the steel structure is timely and regularly maintained and treated, the corrosion and rust rate of the steel structure due to rust, rusty spots and oxide skin is reduced, and the method has great significance in prolonging the service life of the steel structure and reducing potential safety hazards. However, the existing bridge rust removal mostly uses manual rust removal and paint spraying modes, so that a large amount of overhead operation exists, and the time and the labor are consumed.

Therefore, the utility model provides a bridge rust removal paint spraying robot, which at least solves the technical problems.

Disclosure of Invention

The utility model aims to solve the technical problems that: provides a bridge rust removal paint spraying robot to at least solve the technical problems.

In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

the utility model provides a bridge rust cleaning paint spraying robot is including installing the dolly of crawling on bridge H shaped steel and rotating the arm that is used for fixed rust cleaning head or paint spraying head of locating on the dolly of crawling, the dolly of crawling includes the backup pad, locates the backup pad inboard and crawl the main slide mechanism and sideslip mechanism on the H shaped steel to and locate the backup pad and sideslip adjustment mechanism between the mechanism, the arm is installed in the backup pad outside.

Further, the main sliding mechanisms are two and distributed symmetrically left and right with respect to the supporting plate, each main sliding mechanism comprises a first motor installation seat fixed on the inner side of the supporting plate and parallel to the supporting plate, two first driving motors arranged on the first motor installation seat and distributed symmetrically up and down, and first rollers arranged on driving shafts of the first driving motors, and the first rollers are attached to the outer side of the H-shaped steel wing plate A and crawl.

Further, the adjusting mechanism comprises an L-shaped connecting plate, and a first wing plate, a second wing plate and a triangular reinforcing plate which are connected to the L-shaped connecting plate; the L-shaped connecting plate is in sliding connection with the sideslip mechanism and used for adjusting the position of the sideslip mechanism, the first wing plate is fixed on the inner side of the supporting plate through a screw rod, and the second wing plate is provided with a limiting column.

Further, the sideslip mechanisms are two and distributed symmetrically left and right with respect to the supporting plate, each sideslip mechanism comprises a second motor installation seat fixed on the inner side of the supporting plate and perpendicular to the supporting plate, two second driving motors arranged on the second motor installation seat and distributed symmetrically up and down, and second rollers arranged on driving shafts of the second driving motors, and the second rollers are attached to the inner side of the H-shaped steel wing plate A and crawl.

Further, the second motor mounting seat is connected with an adjusting plate parallel to the supporting plate, a long-strip-shaped adjusting hole is formed in the L-shaped connecting plate, an adjusting screw is inserted into the adjusting hole, one end of the adjusting screw penetrates through the adjusting hole to be connected with the L-shaped connecting plate, and the other end of the adjusting screw penetrates through the inserting hole to be fixedly connected with the adjusting plate.

Further, each sideslip mechanism further comprises two third idler wheels symmetrically arranged at the upper end and the lower end of the second motor mounting seat, and the third idler wheels are attached to the H-shaped steel web plate to creep.

Further, the third roller is a spring damping wheel.

Further, the mechanical arm comprises a rotary seat arranged on the outer side of the supporting plate, a first-stage arm connected with a rotary shaft of the rotary seat, a first joint motor arranged at the end part of the first-stage arm, a second-stage arm connected with the first joint motor, a second joint motor arranged at the end part of the second-stage arm, a third-stage arm connected with the second joint motor, a third joint motor arranged at the end part of the third-stage arm, a fourth-stage arm connected with the third joint motor, a fourth joint motor arranged at the end part of the fourth-stage arm, and a working seat arranged on the fourth joint motor and used for fixing a rust removing head or a paint spraying head;

the working seat is detachably connected with a sand blasting recovery bag matched with a sand blasting head for sand blasting and rust removal, one end of the sand blasting recovery bag is communicated with the sand blasting head, the other end of the sand blasting recovery bag is provided with a diameter-expanding recovery port attached to the rust wall of the H-shaped steel, and the sand blasting recovery bag is connected with a sand blasting recovery pipe.

Further, the robot further comprises a microprocessor which is connected with the crawling trolley and the mechanical arm and drives the crawling trolley to crawl and the mechanical arm to rotate.

The application method of the bridge rust removal paint spraying robot comprises the following steps:

step 1, mounting a crawling trolley on H-shaped steel of a bridge, adjusting a main sliding mechanism and a sideslip mechanism to enable the crawling trolley to clamp the H-shaped steel, and rotating a mechanical arm until the tail part of the mechanical arm faces any side of the bridge to be derusted and sprayed with paint;

step 2, mounting a rust removing head on the mechanical arm and starting the operation, controlling the crawling trolley to run on the H-shaped steel of the bridge, and continuously adjusting the direction of the mechanical arm until rust removal is completed at all parts of the bridge;

and 3, replacing the rust removing head on the mechanical arm with a paint spraying head, controlling the crawling trolley to run on the H-shaped steel of the bridge, and continuously adjusting the direction of the mechanical arm until the paint spraying is finished at all parts of the bridge.

Compared with the prior art, the utility model has the following beneficial effects:

the utility model has simple structure, scientific and reasonable design and convenient use, solves the technical problems of overhead operation, time and labor consumption existing in the existing manual rust removal and paint spraying of bridges, realizes the mechanical rust removal and paint spraying of bridges by using robots, avoids the potential safety hazard of manual operation, and greatly improves the working efficiency.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model.

Fig. 2 is an enlarged view of the creeper truck of the present utility model.

FIG. 3 is an enlarged view of the creeper truck of the present utility model.

Fig. 4 is an enlarged view of the mechanical arm of the present utility model.

FIG. 5 is an enlarged view of the sandblasted recovery bladder of the present utility model.

Fig. 6 is a block diagram of the connection of electrical devices of the present utility model.

Fig. 7 is an application diagram of embodiment 1 of the present utility model.

Fig. 8 is an application diagram of embodiment 2 of the present utility model.

Wherein, the names corresponding to the reference numerals are:

the device comprises a 1-crawling trolley, a 2-mechanical arm, a 3-H-shaped steel wing plate A, a 4-H-shaped steel web plate, a 11-supporting plate, a 12-first motor mounting seat, a 13-first motor mounting seat, a 14-first roller, a 15-L-shaped connecting plate, a 16-first wing plate, a 17-second wing plate, a 18-triangular reinforcing plate, a 19-limit post, a 20-second motor mounting seat, a 21-second driving motor, a 22-second roller, a 23-regulating plate, a 24-regulating plate, a 25-regulating screw, a 26-third roller, a 27-rotary seat, a 28-first-stage arm, a 29-first-stage joint motor, a 30-second-stage arm, a 31-second-stage joint motor, a 32-third-stage arm, a 33-third-stage joint motor, a 34-fourth-stage arm, a 35-fourth-joint motor, a 36-working seat, a 37-sand blasting recovery bag, a 38-expanding recovery port, a 39-sand blasting recovery pipe and a 40-microprocessor.

Detailed Description

The present utility model will be described in further detail with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It will be apparent that the described embodiments are only some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus they should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; of course, it may be mechanically or electrically connected; in addition, the connection may be direct, indirect via an intermediate medium, or communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the building field, the existing steel structure bridge mostly takes H-shaped steel as a main structure, and because all parts of the H-shaped steel are distributed at right angles, the steel structure bridge has the advantages of strong bending resistance, simple construction, cost saving, light structure weight and the like in all directions. The utility model provides a bridge rust removal paint spraying robot which is particularly suitable for bridges taking H-shaped steel as a main structure. As shown in fig. 1 to 6, the robot of the utility model comprises a crawling trolley and a mechanical arm, wherein the crawling trolley is arranged on the H-shaped steel of the bridge and can crawl and move on the H-shaped steel, and the mechanical arm is arranged on the crawling trolley and is used for fixing a rust removing head or a paint spraying head, so that rust removing and paint spraying of all parts of the bridge are realized. The utility model has simple structure, scientific and reasonable design and convenient use, solves the technical problems of overhead operation, time and labor consumption existing in the existing manual rust removal and paint spraying of bridges, realizes the mechanical rust removal and paint spraying of bridges by using robots, avoids the potential safety hazard of manual operation, and greatly improves the working efficiency.

Based on the structure of H-shaped steel, the crawling trolley comprises a supporting plate 11, and a main sliding mechanism and a sideslip mechanism which are arranged on the supporting plate 11, wherein one side wing plate of the H-shaped steel is clamped by the main sliding mechanism and the sideslip mechanism and simultaneously moves along the current wing plate, and an adjusting mechanism between the supporting plate 11 and the sideslip mechanism is used for changing the clamping gap of the main sliding mechanism and the sideslip mechanism, so that the crawling trolley is suitable for wing plate operations with different thicknesses.

The main sliding mechanisms of the utility model are two and distributed symmetrically left and right with respect to the supporting plate 11, each main sliding mechanism comprises a first motor mounting seat 12 fixed on the inner side of the supporting plate 11 and parallel to the supporting plate 11, two first driving motors 13 arranged on the first motor mounting seat 12 and distributed symmetrically up and down, and a first roller 14 arranged on the driving shaft of each first driving motor 13. The two sideslip mechanisms are symmetrically distributed on the left and right sides of the supporting plate 11, and each sideslip mechanism comprises a second motor mounting seat 19 fixed on the inner side of the supporting plate 11 and perpendicular to the supporting plate 11, two second driving motors 20 arranged on the second motor mounting seat 19 and symmetrically distributed up and down, and a second roller 21 arranged on the driving shaft of each second driving motor 20. The four first rollers 14 of the two main sliding mechanisms are attached to the inner sides of the H-shaped steel wing plates A to creep under the driving of the respective first driving motors 13. The outer side of the wing plate A crawls; and the four second rollers 21 of the two sideslip mechanisms are driven by the respective second driving motors 20 to climb against the inner sides of the H-shaped steel wing plates A. The inner side of the wing plate A crawls. The inner side of the H-shaped steel wing plate A crawls. The pair of first rollers 14 and second rollers 21 at the same position on the inner side and the outer side of the wing plate A simultaneously keep the synchronization of the displacement of the two sides and have the clamping and stabilizing effects. The positions of the pair of first rollers 14 and the second rollers 21 sliding on the H-shaped steel wing plate can have certain deviation relatively, and the absolute identical positions are not required to be ensured.

The rollers of the main sliding mechanism and the sideslip mechanism clamp, relax and are suitable for H-shaped steel wing plates with different thicknesses through the adjusting mechanism. The adjusting mechanism comprises an L-shaped connecting plate 15, a first wing plate 16, a second wing plate 17 and a triangular reinforcing plate 18 which are connected to the L-shaped connecting plate 15; the L-shaped connecting plate 15 is in sliding connection with the sideslip mechanism for adjusting the position of the sideslip mechanism. In order to facilitate the clamping and loosening of the main slide mechanism and the sideslip mechanism, the second motor mounting seat 19 of the sideslip mechanism is connected with an adjusting plate 22 parallel to the supporting plate 11, and preferably, the adjusting plate 22 is fixed on the second motor mounting seat 19 through a reinforcing plate; the L-shaped connecting plate 15 is provided with a strip-shaped adjusting hole 23, an adjusting screw 24 is inserted into the adjusting hole 23, one end of the adjusting screw 25 passes through the adjusting hole 24 to be connected with the L-shaped connecting plate 15, and the other end passes through the inserting hole to be fixedly connected with the adjusting plate 23. The whole assembly and disassembly of the sideslip mechanism are realized through the adjusting screw 24, and the L-shaped connecting plate 15 is matched for clamping the H-shaped steel wing plate by the main sliding mechanism and the idler wheels of the sideslip mechanism, specifically: when the supporting plate 11 provided with the main sliding mechanism is placed on the H-shaped steel wing plate A, the first roller 14 of the main sliding mechanism is attached to the outer side of the H-shaped steel wing plate A, and the sideslip mechanism is adjusted through the insertion of the adjusting screw 24 until the second roller 21 of the sideslip mechanism is positioned at a proper position on the inner side of the H-shaped steel wing plate A; then the connection between the L-shaped connecting plate 15 and the supporting plate 11 is adjusted by the screw rod of the L-shaped connecting plate 15 until the second roller 21 of the sideslip mechanism is attached to the inner side of the H-shaped steel wing plate A, and then the screw rod of the L-shaped connecting plate 15 is fixed by the screw cap. Preferably, there are two adjustment holes 23, and the adjustment plate 22 performs more stable position adjustment via the two adjustment holes 23. The adjustable connection of the L-shaped connecting plate 15 and the supporting plate 11 can facilitate the relative clamping and loosening of the first roller 14 and the second roller 21 on one hand, and can be suitable for wing plates with different thicknesses of H-shaped steel on the other hand. Preferably, the second wing plate 17 is provided with a limit post 18, and the limit post 18 not only avoids the loss of the adjusting screw 24 sliding to the adjusting hole 23, but also buffers the sliding of the adjusting plate 22. More preferably, the stopper post 18 is provided with a cushion washer.

In order to enhance the crawling stability of the crawling trolley, each sideslip mechanism further comprises two third rollers 25 symmetrically arranged at the upper end and the lower end of the second motor mounting seat 19, the third rollers 25 are attached to the H-shaped steel web to crawl, crawling contact surfaces are further increased through the third rollers 25, the third rollers 25 are perpendicular to the second rollers 21 of the first rollers 14, and crawling grabbing force is improved. Preferably, the third roller 25 is a spring damping roller, which has self-tightening operation, so that the transverse resistance to the second motor mounting seat 19 in the moving process of the third roller 25 is slowed down, and the third roller 25 can be more attached to the H-shaped steel web for moving.

In order to ensure that the robot can perform all-round and all-angle operation on the bridge, the utility model adopts the mechanical arm for mounting and fixing the rust removing head or the paint spraying head. The mechanical arm is arranged on the outer side of the supporting plate 11, and the mechanical arm provided with the rust removing head or the paint spraying head has a 360-degree rotation function, so that rust removing or paint spraying can be enabled to cover all surfaces of the bridge, and even inflection point dead angles. The mechanical arm comprises a rotary seat 26 arranged on the outer side of the supporting plate 11, a primary arm 27 connected with a rotary shaft of the rotary seat 26, a first joint motor 28 arranged on the end part of the primary arm 27, a secondary arm 29 connected with the first joint motor 28, a second joint motor 30 arranged on the end part of the secondary arm 29, a tertiary arm 31 connected with the second joint motor 30, a third joint motor 32 arranged on the end part of the tertiary arm 31, a quaternary arm 33 connected with the third joint motor 32, a fourth joint motor 34 arranged on the end part of the quaternary arm 33, and a working seat 35 arranged on the fourth joint motor 34 and used for fixing a rust removing head or a paint spraying head. The rotation of the rotary seat 26, the joint motors 28 and the corresponding arms enables the adjustment of the working angle to be more flexible and changeable; the multi-degree-of-freedom mechanical arm for sampling can reach the construction position of any bridge rod piece. Preferably, the rotary base 26 is a 360 degree rotary base. The mechanical arm rotates to a proper position, the rust removing head or the paint spraying head is fixed on the working seat 35 to work, the rust removing head is connected with the rust remover through a pipeline, and the paint spraying head is connected with the paint spraying machine through a pipeline. Preferably, the rust remover and the paint spraying machine adopt small-sized machines, so that corresponding mounting seats are conveniently added and fixed on the crawling trolley. The rust removing mode is preferably sand blasting or laser rust removing or the combination of the sand blasting and the laser rust removing. When the sand blasting rust removal is carried out, the working seat 35 is detachably connected with a sand blasting recovery bag 36 which is matched with a sand blasting head adopting the sand blasting rust removal, one end of the sand blasting recovery bag 36 is connected with the sand blasting head, the other end of the sand blasting recovery bag is provided with an expanding recovery port 37 which is attached to the rust wall of the H-shaped steel, the high-speed sprayed material from the sand blasting head blows the rust on the rust wall of the H-shaped steel through the sand blasting recovery bag 36 and falls back to the sand blasting recovery bag 36 in the blowing process, most of the rust also falls into the sand blasting recovery bag 36, and the rust in the sand blasting recovery bag needs to be cleaned after recovery. The sand blasting recovery bag 36 is in a bag shape with a protruding bottom, so that the recovery of the sprayed material is facilitated, the sand blasting recovery bag 36 is connected with a sand blasting recovery pipe 38, the sand blasting recovery pipe 38 is connected with a sand blasting recovery tank, when the sprayed material falls back to a certain amount, the sprayed material is recovered into the sand blasting recovery tank through the sand blasting recovery pipe 38, and the fallen sand blasting can be recovered in real time in the rust removal process. Preferably, a corresponding mounting seat can be additionally arranged to fix the sand blasting recovery tank on the crawling trolley.

To enhance the mechanized operation of the present utility model, the robot further includes a microprocessor 39 connected to the creeper truck and the robot arm for driving the creeper truck to creep and the robot arm to rotate, i.e., a microprocessor 39 connected to each driving motor of the creeper truck, and the rotary seat 26 and each joint motor of the robot arm. The microprocessor 39 is connected with a computer end or a mobile end, preferably in a wireless connection manner, and the microprocessor 39 is controlled by the computer end or the mobile end so as to control the rotation of a mechanical arm connected with the microprocessor 39 and the movement of the crawling trolley. Preferably, the microprocessor 39 employs STM32F103ZE.

The first driving motor 13, the second driving motor 20, the rotary seat 26, the first joint motor 28, the second joint motor 30, the third joint motor 32, the fourth joint motor 34, the derusting machine and the paint spraying machine used in the utility model are all existing known electrical equipment, and can be directly purchased and used in the market, and the structure, the circuit and the control principle of the electrical equipment are all existing known technologies, so the structure, the circuit and the control principle of the electrical equipment are not repeated herein.

The utility model relates to a bridge rust removal paint spraying robot, which comprises the following steps:

step 1, mounting a crawling trolley on H-shaped steel of a bridge, adjusting a main sliding mechanism and a sideslip mechanism to enable the crawling trolley to clamp the H-shaped steel, and rotating a mechanical arm until the tail part of the mechanical arm faces any side of the bridge to be derusted and sprayed with paint;

in the step 1, a main sliding mechanism and a sideslip mechanism are manually operated to fix the crawling trolley on H-shaped steel of a bridge, and then the tail part of the mechanical arm is adjusted to face any side of the current bridge to be derusted and sprayed with paint through a rotary seat of the mechanical arm and each joint motor;

step 2, mounting a rust removing head on the mechanical arm and starting the operation, controlling the crawling trolley to run on the H-shaped steel of the bridge, and continuously adjusting the direction of the mechanical arm until rust removal is completed at all parts of the bridge;

and 3, replacing the rust removing head on the mechanical arm with a paint spraying head, controlling the crawling trolley to run on the H-shaped steel of the bridge, and continuously adjusting the direction of the mechanical arm until the paint spraying is finished at all parts of the bridge.

The step 2 and the step 3 are the operations of derusting and painting the whole bridge, and then the whole bridge is painted, or the operations of derusting and painting the bridge part and then the operation of derusting and painting the part can be replaced, and the sequence of the derusting and painting operations can be set according to the actual operation.

Example 1

As shown in fig. 7, in this embodiment, the robot is fixed on a vertical rod of a steel bridge, and rust removal and paint spraying are performed on the current vertical rod.

Example 2

As shown in fig. 8, in this embodiment, the robot is fixed to any one of two diagonal rods having a bevel angle of the steel bridge, and rust removal and paint spraying are performed on the other diagonal rod. In particular, in the present embodiment, the rust removal and paint spraying process needs to be adjusted in real time by a mechanical arm to adapt to the position of the other diagonal rod.

Finally, it should be noted that: the above embodiments are merely preferred embodiments of the present utility model for illustrating the technical solution of the present utility model, but not limiting the scope of the present utility model; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions; that is, even though the main design concept and spirit of the present utility model is modified or finished in an insubstantial manner, the technical problem solved by the present utility model is still consistent with the present utility model, and all the technical problems are included in the protection scope of the present utility model; in addition, the technical scheme of the utility model is directly or indirectly applied to other related technical fields, and the technical scheme is included in the scope of the utility model.

Claims (9)

1. The utility model provides a bridge rust cleaning paint spraying robot, its characterized in that, including install on bridge H shaped steel crawl dolly (1) and rotate locate on crawl dolly (1) be used for fixed rust cleaning head or spout arm (2) of lacquer head, crawl dolly (1) including backup pad (11), locate backup pad (11) inboard and crawl the main slide mechanism and sideslip mechanism on H shaped steel to and locate backup pad (11) and sideslip adjustment mechanism between the mechanism, arm (2) are installed in the backup pad (11) outside.

2. The bridge rust removal paint spraying robot according to claim 1, wherein the two main sliding mechanisms are symmetrically distributed on the left and right sides of the supporting plate (11), each main sliding mechanism comprises a first motor mounting seat (12) fixed on the inner side of the supporting plate (11) and parallel to the supporting plate (11), two first driving motors (13) arranged on the first motor mounting seat (12) and symmetrically distributed up and down, and a first roller (14) arranged on a driving shaft of each first driving motor (13), and the first roller (14) is attached to the outer side of the H-shaped steel wing plate A (3) and crawls.

3. The bridge rust removal and paint spraying robot as claimed in claim 1, wherein the adjusting mechanism comprises an L-shaped connecting plate (15), and a first wing plate (16), a second wing plate (17) and a triangular reinforcing plate (18) which are connected to the L-shaped connecting plate (15); the L-shaped connecting plate (15) is in sliding connection with the sideslip mechanism and is used for adjusting the position of the sideslip mechanism, the first wing plate (16) is fixed on the inner side of the supporting plate (11) through a screw rod, and the second wing plate (17) is provided with a limiting column (19).

4. The bridge rust removal paint spraying robot according to claim 3, wherein the two sideslip mechanisms are symmetrically distributed on the left and right sides of the supporting plate (11), each sideslip mechanism comprises a second motor mounting seat (20) fixed on the inner side of the supporting plate (11) and perpendicular to the supporting plate (11), two second driving motors (21) arranged on the second motor mounting seat (20) and symmetrically distributed up and down, and a second roller (22) arranged on a driving shaft of each second driving motor (21), and the second roller (22) is attached to the inner side of the H-shaped steel wing plate A (3) to climb.

5. The bridge rust removal paint spraying robot according to claim 4, wherein the second motor mounting seat (20) is connected with an adjusting plate (23) parallel to the supporting plate (11), the L-shaped connecting plate (15) is provided with a long-strip-shaped adjusting hole (24), an adjusting screw (25) is inserted in the adjusting hole (24), inserting holes matched with the adjusting screw (25) are uniformly distributed in the adjusting plate (23), one end of the adjusting screw (25) penetrates through the adjusting hole (24) to be connected with the L-shaped connecting plate (15), and the other end of the adjusting screw penetrates through the inserting hole to be fixedly connected with the adjusting plate (23).

6. The bridge rust removal and paint spraying robot as claimed in claim 4, wherein each side-slip mechanism further comprises two third rollers (26) symmetrically arranged at the upper end and the lower end of the second motor mounting seat (20), and the third rollers (26) are attached to the H-shaped steel web (4) to creep.

7. The bridge rust removal paint robot of claim 6, wherein the third roller (26) is a spring damper wheel.

8. The bridge rust removal and paint spraying robot according to claim 1, wherein the mechanical arm (2) comprises a rotary seat (27) arranged on the outer side of the supporting plate (11), a primary arm (28) connected with a rotary shaft of the rotary seat (27), a first joint motor (29) arranged at the end part of the primary arm (28), a secondary arm (30) connected with the first joint motor (29), a second joint motor (31) arranged at the end part of the secondary arm (30), a tertiary arm (32) connected with the second joint motor (31), a third joint motor (33) arranged at the end part of the tertiary arm (32), a quaternary arm (34) connected with the third joint motor (33), a fourth joint motor (35) arranged at the end part of the quaternary arm (34), and a working seat (36) arranged on the fourth joint motor (35) and used for fixing a rust removal head or a paint spraying head;

the working seat (36) is detachably connected with a sand blasting recovery bag (37) which is matched with a sand blasting head adopting sand blasting to remove rust, one end of the sand blasting recovery bag (37) is communicated with the sand blasting head, the other end of the sand blasting recovery bag is provided with an expanding recovery mouth (38) which is attached to the rust wall of the H-shaped steel, and the sand blasting recovery bag (37) is connected with a sand blasting recovery pipe (39).

9. The bridge rust removal and paint spraying robot as claimed in claim 1, further comprising a microprocessor (40) connected with the crawling trolley (1) and the mechanical arm (2) for driving the crawling trolley (1) to crawl and the mechanical arm (2) to rotate.