Polishing treatment device and method for bending area of special-shaped steel formwork

Abstract

The invention provides a special-shaped steel formwork bending area polishing treatment device and method, and belongs to the technical field of polishing treatment, and the device comprises an assembling unit, a bearing plate, a bending polishing unit and a main body polishing unit. The assembling unit comprises an assembling plate and a connecting base, and the connecting base is arranged on the assembling plate in a sliding mode. The bearing plate is arranged on the connecting base in a liftable mode, and a posture adjusting rotating shaft is arranged on the side, away from the connecting base, of the bearing plate. The bending and polishing unit comprises a bending bearing seat and a detection plate. The main body grinding unit comprises a main body bearing seat and a grinding driving assembly. According to the grinding treatment device and method for the bending area of the special-shaped steel formwork, the grinding efficiency and grinding quality of the bending area of the special-shaped steel formwork can be improved.

Description

Technical Field

[0001] The invention belongs to the technical field of grinding processing, and in particular relates to a grinding processing device and method for the bending area of ​​a special-shaped steel template. Background Art

[0002] During the construction of cross-sea bridges, due to the short construction window at offshore sites and the low controllability of the on-site environment, technicians often use prefabrication technology to ensure high-quality and precise processing of the piers. During pier prefabrication, workers first tie the steel cage and install it in the steel formwork, followed by concrete pouring, to obtain pier prefabricated parts with reliable quality and excellent precision.

[0003] In order to meet the mechanical and functional requirements in actual application, pier prefabricated parts usually have a variety of different shapes. Accordingly, the steel formwork used in the pier prefabrication process can be roughly divided into ordinary steel formwork and special-shaped steel formwork (special-shaped steel formwork refers to a steel formwork with bending parts on the edge or specific position of the steel formwork body, and the bending area formed between the bending parts and the steel formwork body meets the special shaping requirements of the pier prefabricated parts) so that the staff can use them according to the shape requirements of the pier prefabricated parts.

[0004] However, due to the limited operating space within the bending area of ​​the special-shaped steel formwork, and the differences in the angles between the bending portion and the main body of the steel formwork on different special-shaped steel formworks, the difficulty of grinding the bending area will be significantly increased when the special-shaped steel formwork is reused. Conventional grinding devices cannot grind the main body of the steel formwork and the bending portion in the bending area at one time, nor can they adapt well to the different angles between the main body of the steel formwork and the bending portion. Therefore, after grinding, rust, release agent or concrete residues are likely to appear inside the bending area, which not only affects the overall construction efficiency, but also causes casting defects on the subsequent pier prefabricated parts due to residual attachments. Summary of the Invention

[0005] In view of this, the present invention aims to propose a grinding processing device and method for the bending area of ​​special-shaped steel templates, so as to achieve the purpose of improving the grinding efficiency and grinding quality of the bending area of ​​special-shaped steel templates.

[0006] To achieve the above object, the technical solution created by the present invention is implemented as follows: On the one hand, the present invention provides a grinding and processing device for the bending area of ​​a special-shaped steel template, comprising: An assembly unit, comprising an assembly plate and a connecting seat, wherein the assembly plate is detachably arranged on the wall-climbing robot, and the connecting seat is slidably arranged on the assembly plate; A carrying plate, the carrying plate being movably arranged on the connecting seat and parallel to the assembly plate; a posture adjustment shaft is provided on a side of the carrying plate away from the connecting seat, the posture adjustment shaft being parallel to the carrying plate and perpendicular to the sliding direction of the connecting seat; A bending and grinding unit, comprising a bending bearing seat and a detection plate; the bending bearing seat is slidably mounted on the posture adjustment shaft, and when the posture adjustment shaft rotates, the bending bearing seat and the posture adjustment shaft rotate synchronously; two first floating connection components are provided on the bending bearing seat, each of the first floating connection components is provided with a detachable bending and grinding sheet, and the bending and grinding sheets on the two first floating connection components are parallel; the detection plate is arranged on the bending bearing seat, the detection plate is parallel to the bending and grinding sheet, and a posture detection module is provided on the detection plate; The main body grinding unit includes a main body bearing seat and a grinding drive assembly; the main body bearing seat can be rotatably mounted on the bending bearing seat, and the main body bearing seat is located between the two first floating connection assemblies; a second floating connection assembly is provided on the main body bearing seat, and a detachable main body grinding sheet is provided on the second floating connection assembly, and the main body grinding sheet is parallel to the bearing plate; the grinding drive assembly is arranged on the bearing plate, and the main body bearing seat and the bending bearing seat can be driven by the grinding drive assembly to perform linear reciprocating motion along the posture adjustment axis.

[0007] Furthermore, the bending bearing seat is provided with an assembly hole for accommodating the posture adjustment shaft, and a limit strip is provided inside the assembly hole; the side wall of the posture adjustment shaft is provided with a limit groove for accommodating the limit strip, and the length direction of the limit groove is parallel to the posture adjustment shaft.

[0008] Furthermore, the bending bearing seat includes a first limiting section, a connecting section and a second limiting section connected in sequence; the main body bearing seat is provided with a mounting hole for accommodating the connecting section, the outer diameters of the first limiting section and the second limiting section are both larger than the inner diameter of the mounting hole, and the spacing between the first limiting section and the second limiting section is equal to the axial length of the mounting hole.

[0009] Furthermore, the detection plate is provided with a detection hole group for installing the posture detection module and an avoidance cutout for avoiding the main body bearing seat; The posture detection module includes: a first distance sensor, a second distance sensor, and a third distance sensor; the detection hole group includes: a first detection hole for accommodating the first distance sensor, a second detection hole for accommodating the second distance sensor, and a third detection hole for accommodating the third distance sensor; the line connecting the first detection hole and the second detection hole is parallel to the posture adjustment rotation axis, and the line connecting the third detection hole and the first detection hole is perpendicular to the posture adjustment rotation axis.

[0010] Furthermore, the bending bearing seat is provided with two positioning assemblies, and the connecting line between the two positioning assemblies is parallel to the posture adjustment shaft; each positioning assembly includes two first positioning plates parallel to each other, and a first guide rod is provided between the two first positioning plates in the same positioning assembly, and the first guide rod is perpendicular to the posture adjustment shaft; the first floating connection assembly includes a first floating seat and a first spring, the bending grinding sheet is detachably arranged on the bottom surface of the first floating seat, and a first connecting ear is provided on the top of the first floating seat, the first connecting ear is slidably arranged between the two first positioning plates, and a first guide hole for accommodating the first guide rod is provided on the first connecting ear; the first spring is sleeved on the first guide rod, and the first spring is located on the side of the first connecting ear away from the bearing plate; The second floating connection assembly includes a second floating seat and a second spring; two second positioning plates parallel to each other are provided on the main body bearing seat, a second guide rod is provided between the two second positioning plates, and the second guide rod is perpendicular to the posture adjustment shaft; the main body grinding plate is detachably arranged on the bottom surface of the second floating seat, and a second connecting ear is provided on the top of the second floating seat, the second connecting ear is slidably arranged between the two second positioning plates, and a second guide hole for accommodating the second guide rod is provided on the second connecting ear; the second spring is sleeved on the second guide rod, and the second spring is located on the side of the second connecting ear close to the bearing plate.

[0011] Furthermore, a driving rod is provided on the posture adjustment shaft, and the driving rod is perpendicular to the posture adjustment shaft; an electric telescopic rod is also provided on the supporting plate, and the electric telescopic rod is perpendicular to the posture adjustment shaft, and one end of the electric telescopic rod is hinged to the supporting plate, and the other end is hinged to the driving rod.

[0012] Furthermore, the polishing drive assembly includes a linear motor and a connecting rod group, one end of the connecting rod group is detachably connected to the action slider of the linear motor, and the other end of the connecting rod group is detachably connected to the main body bearing seat.

[0013] Furthermore, the connecting seat includes a first connecting plate and a second connecting plate, the second connecting plate is arranged on one side of the first connecting plate, the second connecting plate is perpendicular to the first connecting plate, and the first connecting plate is parallel to the assembly plate.

[0014] Furthermore, the assembly plate is provided with a guide rail, a guide slider is provided on the guide rail, and the first connecting plate is detachably connected to the guide slider; The first connecting plate is provided with a mounting seat, a lifting electric cylinder is provided on the mounting seat, and the end of the telescopic rod of the lifting electric cylinder is connected to the bearing plate; A guide column is provided on the side wall of the supporting plate close to the second connecting plate, and a guide cutout for accommodating the guide column is provided on the second connecting plate. A detachable limit plate is also provided at the end of the guide column away from the supporting plate, and the limit plate and the supporting plate are respectively located on both sides of the second connecting plate.

[0015] On the other hand, the present invention also provides a method for grinding the bending area of ​​a special-shaped steel template, which is implemented using the above-mentioned device for grinding the bending area of ​​the special-shaped steel template, and specifically includes the following steps: Step S1: After the grinding processing device for the bending area of ​​the special-shaped steel template moves along the main body of the steel template to the bending area, the posture detection module determines the relative position of the detection plate and the bending part, and adjusts the rotation of the posture adjustment shaft so that the detection plate is parallel to the bending part; Step S2: driving the connecting seat to slide in the direction of the bending portion, and driving the carrying plate to descend, so that the bending grinding sheet contacts the bending portion, and the main body grinding sheet contacts the main body of the steel template; Step S3: starting the grinding drive assembly to drive the main body bearing seat and the bending bearing seat to perform linear reciprocating motion along the posture adjustment shaft, so that the main body grinding sheet and the bending grinding sheet grind the bending area, and a single motion stroke of the linear reciprocating motion is greater than the sum of the lengths of the main body grinding sheet and the bending grinding sheet along the posture adjustment shaft; Step S4: After the grinding process is completed, the grinding drive assembly is turned off, and the main grinding sheet and the bending grinding sheet are separated from the special-shaped steel template by sliding the connecting seat and lifting the supporting plate.

[0016] Compared with the prior art, the device and method for grinding the bending area of ​​a special-shaped steel template created by the present invention have the following advantages: The present invention creates a device and method for grinding and processing the bending area of ​​a special-shaped steel template, wherein the supporting plate of the device can be raised and lowered, and the connecting seat can be slid, so that the main grinding unit and the bending grinding unit can be easily put into the bending area. Secondly, the device can adjust the rotation of the rotating shaft by posture adjustment so that the bending grinding unit rotates according to the degree of inclination of the bending part. Therefore, when grinding the bending area of ​​the special-shaped steel template, the main grinding sheet and the bending grinding sheet are respectively in contact with the steel template body and the bending part, and can adapt to different angles between the bending part and the steel template body, so that the steel template body and the bending part can be ground at one time, thereby improving the grinding efficiency and grinding quality of the bending area of ​​the special-shaped steel template. In addition, the present device is provided with floating connection components on both the main body bearing seat and the bending bearing seat. Therefore, when the main grinding plate and the bending grinding plate are driven to contact the steel template main body and the bending part respectively, the floating connection component can enable the grinding plate and the bearing seat to have the ability to move relative to each other, thereby further improving the adaptability of the present device to different angles between the bending part and the steel template main body, and ensuring that the grinding plate can contact the intersection area between the bending part and the steel template main body during the grinding process, thereby avoiding the occurrence of operating dead angles in the bending area of ​​the special-shaped steel template during the grinding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings: Figure 1 This is a schematic diagram of the structure of the bending area grinding processing device of the special-shaped steel template according to the embodiment of the present invention installed on the wall-climbing robot; Figure 2 A schematic structural diagram of an assembly plate according to an embodiment of the present invention; Figure 3 A schematic structural diagram of the connecting seat and the supporting plate according to an embodiment of the present invention; Figure 4 This is a schematic structural diagram of the bending and grinding unit according to an embodiment of the present invention; Figure 5 This is a schematic structural diagram of the bending and polishing unit according to an embodiment of the present invention at another angle; Figure 6 This is a schematic structural diagram of the main body polishing unit according to an embodiment of the present invention; Figure 7 A schematic diagram of the device for grinding and processing the bending area of ​​a special-shaped steel template according to an embodiment of the present invention in use (with the assembly unit related structure hidden); Figure 8The present invention provides a flowchart of a method for grinding the bending area of ​​a special-shaped steel template as described in an embodiment of the present invention.

[0018] Description of reference numerals: 1-wall-climbing robot; 2-assembly plate; 21-guide rail; 22-guide slider; 23-counterweight; 31-first connecting plate; 311-mounting seat; 312-lifting electric cylinder; 32-second connecting plate; 321-guide cutout; 4-carrying plate; 41-posture adjustment shaft; 411-limiting groove; 412-driving rod; 42-guide column; 421-limiting plate; 43-electric telescopic rod; 51-first limiting section; 52-connecting section; 53-second limiting section; 54-detection plate; 541-avoidance cutout; 542-first distance sensor; 543- Second distance sensor; 544-third distance sensor; 55-assembly hole; 551-limiting bar; 56-first positioning plate; 561-first guide rod; 61-bending polishing sheet; 62-first floating seat; 621-first connecting ear; 63-first spring; 7-main body bearing seat; 71-mounting hole; 72-second positioning plate; 721-second guide rod; 81-main body polishing sheet; 82-second floating seat; 821-second connecting ear; 83-second spring; 91-linear motor; 92-connecting rod group; 101-steel template main body; 102-bending part. DETAILED DESCRIPTION

[0019] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0020] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, features defined as "first", "second" and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0021] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0022] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0023] A device for grinding and processing the bending area of ​​a special-shaped steel template is used to synchronously grind the angled steel template body and the bending part in the bending area of ​​the special-shaped steel template, thereby improving the grinding efficiency and grinding quality of the bending area of ​​the special-shaped steel template.

[0024] Specifically, the bending area grinding and processing device of the special-shaped steel formwork in this embodiment includes: an assembly unit, a supporting plate 4, a bending grinding unit and a main body grinding unit. The bending grinding unit and the main body grinding unit are used to grind the bending part of the special-shaped steel formwork and the main body of the steel formwork, respectively. The assembly unit is used to realize the assembly between the present device and the wall-climbing robot 1, and when performing the grinding processing work, drives the other components in the present device to move toward or away from the bending part. The supporting plate 4 is used to provide an installation base for the bending grinding unit and the main body grinding unit, and when performing the grinding processing work, drives the bending grinding unit and the main body grinding unit to move toward or away from the main body of the steel formwork.

[0025] like Figure 2 and Figure 3 As shown, the assembly unit includes an assembly plate 2 and a connecting seat, the connecting seat is slidably arranged on the assembly plate 2, and the supporting plate 4 is lifted and lowered on the connecting seat, and the supporting plate 4 is parallel to the assembly plate 2. Figure 1 As shown, during use, the assembly plate 2 is detachably mounted on the wall-climbing robot 1 (the detachable connection between the assembly plate 2 and the wall-climbing robot 1 can be achieved using a bolt connection method commonly used in the prior art, or a fixing device such as a claw or clamp can be pre-set on the wall-climbing robot 1 to mount the assembly plate 2 on the wall-climbing robot 1). When grinding special-shaped steel formwork, the wall-climbing robot 1 will drive the device to move on the steel formwork body of the special-shaped steel formwork. When the device moves to the vicinity of the bending area, the sliding of the connecting seat and the lifting and lowering of the supporting plate 4 enable the bending grinding unit and the main body grinding unit to enter the bending area, thereby performing subsequent grinding work on the bending area within the limited operating space.

[0026] Optionally, the connecting base may include a first connecting plate 31 and a second connecting plate 32, wherein the second connecting plate 32 is disposed on one side of the first connecting plate 31, the second connecting plate 32 being perpendicular to the first connecting plate 31, and the first connecting plate 31 being parallel to the assembly plate 2. During design and processing, personnel should adjust the actual size of the second connecting plate 32 according to the specifications of the wall-climbing robot 1, ensuring that the distance from the bottom end of the second connecting plate 32 to the bottom surface of the first connecting plate 31 is no greater than the overall height of the wall-climbing robot 1, so as to avoid interference caused by the connecting base during the movement of the wall-climbing robot 1.

[0027] In order to achieve the sliding of the connecting seat, the present embodiment may be provided with a guide rail 21 on the assembly plate 2, and a guide slider 22 on the guide rail 21. During assembly, the staff can detachably install the first connecting plate 31 on the guide slider 22 by bolting. When in use, the guide slider 22 can drive the connecting seat to move by sliding along the guide rail 21. It should be noted that since the center of gravity of the device will shift when the connecting seat slides in a direction away from the wall-climbing robot 1, in order to ensure that the wall-climbing robot 1 equipped with this device obtains good stability during grinding operations, a counterweight block 23 should also be provided on the side of the assembly plate 2 away from the connecting seat, so as to balance the center of gravity with the help of the counterweight block 23.

[0028] To achieve the lifting and lowering of the support plate 4, in this embodiment, a mounting seat 311 may be provided on the first connecting plate 31, and a lifting electric cylinder 312 may be provided on the mounting seat 311. Accordingly, a guide post 42 should be provided on the side wall of the support plate 4 near the second connecting plate 32. A guide notch 321 for accommodating the guide post 42 is provided on the second connecting plate 32. A removable limit plate 421 is also provided on the end of the guide post 42 away from the support plate 4. During assembly, the operator should first insert the guide post 42 into the guide notch 321, then install the limit plate 421 on the guide post 42 so that the limit plate 421 and the support plate 4 are located on either side of the second connecting plate 32. Next, the telescopic rod end of the lifting electric cylinder 312 is connected to the support plate 4 by bolting. At this time, the cooperation between the limit plate 421 and the supporting plate 4 can prevent the guide column 42 from detaching from the guide cut 321, and the cooperation between the guide cut 321 and the guide column 42 can guide and constrain the lifting and lowering movement of the supporting plate 4. Therefore, when the lifting electric cylinder 312 drives its telescopic rod to perform a telescopic movement, the supporting plate 4 will perform a stable and reliable lifting and lowering movement.

[0029] In actual application, since the angles formed between the bending parts and the steel template bodies on different special-shaped steel templates are different, in order to adapt to different angles and ensure that the bending grinding unit and the main body grinding unit can grind the bending parts and the steel template body with high quality, this embodiment further provides a posture adjustment shaft 41 parallel to the bearing plate 4 on the side of the bearing plate 4 away from the connecting seat, and the posture adjustment shaft 41 should be perpendicular to the sliding direction of the connecting seat. When in use, the posture adjustment shaft can not only guide the grinding action of the bending grinding unit and the main body grinding unit, but also drive the bending grinding unit to rotate according to the angle between the bending part and the steel template body, thereby meeting different work requirements.

[0030] Optionally, to drive the rotation of the posture adjustment shaft 41, a drive rod 412 perpendicular to the posture adjustment shaft 41 may be provided on the posture adjustment shaft 41, and a motorized telescopic rod 43 perpendicular to the posture adjustment shaft 41 may also be provided on the support plate 4. During assembly, one end of the motorized telescopic rod should be hinged to a pre-set hinge seat on the support plate 4, and the other end should be hinged to the drive rod 412. To adjust the posture of the bending and grinding unit by rotating the posture adjustment shaft 41, the motorized telescopic rod 43 can be driven to extend and retract, causing the posture adjustment shaft 41 to rotate in response to the extension and retraction of the motorized telescopic rod 43. For example, when the angle between the bending part and the steel formwork body is large, the electric telescopic rod 43 can be driven to extend so that the drive rod 412 is rotated away from one end of the posture adjustment shaft 41 toward the direction away from the connecting seat. When the angle between the bending part and the steel formwork body is small, the electric telescopic rod 43 can be driven to shorten so that the drive rod 412 is rotated away from one end of the posture adjustment shaft 41 toward the direction close to the connecting seat.

[0031] Figure 4 and Figure 5This is a schematic structural diagram of the bending and grinding unit in this embodiment. As shown in the figure, the bending and grinding unit includes a bending bearing seat and a detection plate 54. The bending bearing seat is slidably mounted on the posture adjustment shaft 41, and when the posture adjustment shaft 41 rotates, the bending bearing seat can rotate synchronously with the posture adjustment shaft 41. Two first floating connection components are provided on the bending bearing seat, and each first floating connection component is provided with a detachable bending and grinding sheet 61, and the bending and grinding sheets 61 on the two first floating connection components are parallel. The detection plate 54 is provided on the bending bearing seat, and the detection plate 54 is parallel to the bending and grinding sheet 61, and a posture detection module for judging the relative posture between the bending and grinding unit and the bending part of the special-shaped steel template is provided on the detection plate 54. When in use, it is first necessary to determine the relative position between the detection plate 54 and the bent portion on the special-shaped steel template through the posture detection module, and drive the posture adjustment shaft 41 to rotate according to the judgment result, so that the detection plate 54 and the bent portion 102 form a posture parallel to each other. Since the detection plate 54 is parallel to the bending grinding sheet 61, after the posture adjustment is completed, the bending grinding sheet 61 will also be parallel to the bent portion. Next, the bending grinding sheet 61 can be brought into contact with the bent portion by sliding the connecting seat and lifting the supporting plate 4, so that when the device starts the grinding action, the bending grinding sheet 61 can be used to grind the bent portion on the special-shaped steel template, thereby removing the attachments on the bent portion.

[0032] Optionally, to ensure synchronous rotation of the bending support seat and the posture adjustment shaft 41, the bending support seat may be provided with an assembly hole 55 for accommodating the posture adjustment shaft 41, and a limiting bar 551 may be provided within the assembly hole 55. Accordingly, a limiting groove 411 for accommodating the limiting bar 551 should be provided on the side wall of the posture adjustment shaft 41, and the length of the limiting groove 411 should be parallel to the posture adjustment shaft 41. When the posture adjustment shaft 41 rotates, the engagement between the limiting groove 411 and the limiting bar 551 transmits the torque on the posture adjustment shaft 41 to the bending support seat, thereby causing the bending support seat and the posture adjustment shaft 41 to rotate synchronously. In addition, since the length direction of the limit groove 411 should be parallel to the posture adjustment shaft 41, when the bending and grinding unit reciprocates along the posture adjustment shaft 41 due to the grinding action, the limit bar 551 can also slide inside the limit groove 411, thereby avoiding motion interference with the grinding action of the bending and grinding unit.

[0033] Figure 6This is a structural diagram of the main body grinding unit in this embodiment. As shown in the figure, the main body grinding unit includes a main body bearing seat 7 and a grinding drive assembly. The main body bearing seat 7 can be rotatably mounted on the bending bearing seat, and the main body bearing seat 7 is located between the two first floating connection assemblies. A second floating connection assembly is provided on the main body bearing seat 7, and a detachable main body grinding sheet 81 is provided on the second floating connection assembly, and the main body grinding sheet 81 is parallel to the bearing plate 4. The grinding drive assembly is provided on the bearing plate 4. When performing the grinding action, the grinding drive assembly can drive the main body bearing seat 7 and the bending bearing seat to perform linear reciprocating motion along the posture adjustment shaft 41, thereby causing relative friction movement between the main body grinding sheet 81 and the bending grinding sheet 61 and the steel template, thereby removing the attachments on the steel template.

[0034] For example, the grinding drive assembly in this embodiment may include a linear motor 91 and a connecting rod assembly 92. The connecting rod assembly 92 serves as a transmission connection structure between the linear motor 91 and the main body support base 7. One end of the connecting rod assembly 92 should be detachably connected to the action slider of the linear motor 91, and the other end of the connecting rod assembly 92 should be detachably connected to the main body support base 7. When the linear motor 91 is started, the action slider will perform linear reciprocating motion along the track. At this time, the connecting rod assembly 92 can transfer the kinetic energy of the action slider to the main body support base 7, thereby driving the main body support base 7 and the bending support base to perform linear reciprocating motion along the posture adjustment shaft 41.

[0035] Optionally, to achieve assembly between the main body support seat 7 and the bending support seat, and to ensure that the bending support seat can follow the main body support seat 7 in linear reciprocating motion along the posture adjustment shaft 41 under the drive of the grinding drive assembly, the bending support seat may include a first limiting section 51, a connecting section 52, and a second limiting section 53 connected in sequence, and the main body support seat 7 may be provided with a mounting hole 71 for accommodating the connecting section 52. The outer diameters of the first limiting section 51 and the second limiting section 53 should both be larger than the inner diameter of the mounting hole 71, and the spacing between the first limiting section 51 and the second limiting section 53 should be equal to the axial length of the mounting hole 71. Since the main body support seat 7 is in a transmission connection with the grinding drive assembly on the support plate 4, when the bending support seat rotates following the posture adjustment shaft 41, the transmission connection between the main body support seat 7 and the grinding drive assembly will limit the rotation of the main body support seat 7. At this time, relative rotation will occur between the connecting section 52 and the mounting hole 71, thereby preventing the main body support seat 7 from interfering with the posture adjustment of the bending support seat. When the grinding drive assembly drives the main body support seat 7 to perform linear reciprocating motion along the posture adjustment shaft 41, since the outer diameters of the first limiting section 51 and the second limiting section 53 are both larger than the inner diameter of the mounting hole 71, and the spacing between the first limiting section 51 and the second limiting section 53 is equal to the axial length of the mounting hole 71, the reciprocating motion of the main body support seat 7 will be transmitted to the bending support seat through the first limiting section 51 and the second limiting section 53, so that the bending support seat follows the movement of the main body support seat 7.

[0036] It should be noted that to facilitate assembly between the main support base 7 and the bending support base, the operator can process the main support base 7 into a split assembly structure, or provide a detachable connection structure between the first limiting section 51, the connecting section 52, and the second limiting section 53, thereby reducing the difficulty of assembling the main support base 7 and the bending support base. In addition, the operator should also provide a rotating connection structure, such as a bearing, within the mounting hole 71 to reduce the rotational friction resistance between the main support base 7 and the bending support base, thereby improving the smoothness of the bending and grinding unit during posture adjustment.

[0037] Figure 7 This is a schematic diagram of the bending area grinding and processing device for special-shaped steel formwork in use (the assembly unit structure is hidden). As shown in the figure, during actual operation, the main grinding disc 81 and the bend grinding disc 61 will contact the steel formwork body 101 and the bend portion 102 in the bending area of ​​the special-shaped steel formwork, respectively. However, if the angle between the steel formwork body 101 and the bend portion 102 changes, simply adjusting the posture of the bend grinding unit may cause misalignment between the main grinding disc 81 and the bend grinding disc 61, resulting in a blind spot at the intersection between the bend portion 102 and the steel formwork body 101.

[0038] To solve this problem, this embodiment uses a first floating connection component to enable the bending grinding plate 61 and the bending bearing seat to obtain the ability to move relative to each other, and uses a second floating connection component to enable the main grinding plate 81 and the main body bearing seat 7 to obtain the ability to move relative to each other, thereby improving the adaptability of this device to different angles between the bending part 102 and the steel template body 101.

[0039] Specifically, such as Figure 4 As shown, the first floating connection assembly includes a first floating seat 62 and a first spring 63, with a bent grinding sheet 61 removably mounted on the bottom surface of the first floating seat 62. To facilitate assembly between the first floating connection assembly and the bent support seat, two positioning assemblies are provided on the bent support seat, with the line connecting the two positioning assemblies parallel to the posture adjustment shaft 41. Each positioning assembly includes two mutually parallel first positioning plates 56. A first guide rod 561, perpendicular to the posture adjustment shaft 41, is provided between the two first positioning plates 56 in the same positioning assembly. A first connecting ear 621 is provided at the top of the first floating seat 62, with a first guide hole formed in the first connecting ear 621 for accommodating the first guide rod 561. The first spring 63 is sleeved onto the first guide rod 561.

[0040] During assembly, the first connecting lug 621 is slidably disposed between the two first positioning plates 56, and the first spring 63 is positioned on the side of the first connecting lug 621 away from the support plate 4. Because the first guide rod 561 is perpendicular to the posture adjustment shaft 41, the presence of the first floating connection assembly does not affect the normal grinding operation of the bending and grinding plate 61. When the edge of the bending and grinding plate 61 contacts the steel template body 101 during the descent of the support plate 4, the impact of the steel template body 101 on the edge of the bending and grinding plate 61 causes the first floating seat 62 to slide along the first guide rod 561, allowing the edge of the bending and grinding plate 61 to contact the interface between the bending portion 102 and the steel template body 101, thereby preventing blind spots in the interface during grinding. Simultaneously, the sliding of the first floating seat 62 compresses the first spring 63. The elastic force generated by the compression of the first spring 63 improves the contact between the edge of the bending and grinding plate 61 and the interface, ensuring good grinding quality in the interface.

[0041] Similar to the first floating connection assembly, Figure 6As shown, the second floating connection assembly includes a second floating seat 82 and a second spring 83, with the main body grinding plate 81 removably mounted on the bottom surface of the second floating seat 82. To facilitate assembly between the second floating connection assembly and the main body support seat 7, the main body support seat 7 is provided with two mutually parallel second positioning plates 72. A second guide rod 721, perpendicular to the posture adjustment shaft 41, is positioned between the two second positioning plates 72. A second connecting ear 821 is positioned at the top of the second floating seat 82, with a second guide hole formed in the second connecting ear 821 for accommodating the second guide rod 721. The second spring 83 is sleeved onto the second guide rod 721.

[0042] During assembly, the second connecting lug 821 is slidably disposed between the two second positioning plates 72, and the second spring 83 is located on the side of the second connecting lug 821 closest to the support plate 4. Since the second guide rod 721 is also perpendicular to the posture adjustment shaft 41, the presence of the second floating connection assembly does not affect the normal grinding operation of the main grinding plate 81. When the edge of the main grinding plate 81 contacts the bend 102 during the sliding process of the connecting seat toward the bend 102, the impact of the bend 102 on the edge of the main grinding plate 81 causes the second floating seat 82 to slide along the second guide rod 721, allowing the edge of the main grinding plate 81 to contact the interface between the bend 102 and the steel template body 101, thereby avoiding the occurrence of a grinding dead angle in the interface during grinding. Simultaneously, the sliding of the second floating seat 82 compresses the second spring 83. The elastic force generated by the compression of the second spring 83 improves the contact between the edge of the main grinding plate 81 and the interface, ensuring good grinding quality in the interface.

[0043] As an optional implementation of this embodiment, to prevent the bending and grinding unit from interfering with the main grinding unit as the posture adjustment shaft 41 rotates, the detection plate 54 may be provided with an avoidance cutout 541 for avoiding the main body bearing seat 7. In addition, to facilitate the installation of the posture detection module, the detection plate 54 may also be provided with a set of detection holes for installing the posture detection module.

[0044] As an example and not a limitation, the posture detection module in this embodiment may include: a first distance sensor 542, a second distance sensor 543 and a third distance sensor 544. Accordingly, the detection hole group should include: a first detection hole for accommodating the first distance sensor 542, a second detection hole for accommodating the second distance sensor 543, and a third detection hole for accommodating the third distance sensor 544. The line between the first detection hole and the second detection hole should be parallel to the posture adjustment shaft 41, and the line between the third detection hole and the first detection hole should be perpendicular to the posture adjustment shaft 41. When in use, since the line between the first detection hole and the second detection hole is parallel to the posture adjustment shaft 41, when the distance information collected by the first distance sensor 542 and the second distance sensor 543 is the same, it can be proved that the posture adjustment shaft 41 is in a parallel state with the intersection area formed by the bending part and the steel template body. At the same time, because the line connecting the third detection hole and the first detection hole is perpendicular to the posture adjustment shaft 41, when the distance information collected by the first distance sensor 542, the second distance sensor 543, and the third distance sensor 544 is the same, it can be confirmed that the plane where the posture detection module is located (i.e., the detection plate 54) and the bent portion of the special-shaped steel template are in a parallel position. In this way, the staff can use the information collected by the above distance sensors to determine whether the posture of the device relative to the bent area meets the grinding requirements and facilitate appropriate adjustments.

[0045] On the basis of the above content, this embodiment further provides a method for grinding and processing the bending area of ​​a special-shaped steel template, and the method for grinding and processing the bending area of ​​a special-shaped steel template is implemented using the above-mentioned device for grinding and processing the bending area of ​​a special-shaped steel template.

[0046] Figure 8 The flowchart of the grinding treatment method for the bending area of ​​the special-shaped steel template is shown in the figure. The grinding treatment method for the bending area of ​​the special-shaped steel template specifically includes the following steps: Step S1: After the grinding and processing device for the bending area of ​​the special-shaped steel template moves along the steel template body 101 to the bending area, the relative position of the detection plate 54 and the bending part 102 is determined by the posture detection module, and the detection plate 54 is made parallel to the bending part 102 by rotating the posture adjustment shaft 41.

[0047] It should be noted that when the posture detection module adopts the distance sensor in the above content, the position of the posture adjustment shaft 41 should be judged first by the first distance sensor 542 and the second distance sensor 543, and then the relative position of the detection plate 54 and the bending part 102 should be judged by the first distance sensor 542, the second distance sensor 543 and the third distance sensor 544, so as to avoid deviation between the posture adjustment of the detection plate 54 and the actual situation.

[0048] Step S2: drive the connecting seat to slide in the direction of the bending portion 102, and drive the supporting plate 4 to descend, so that the bending grinding sheet 61 contacts the bending portion 102, and the main body grinding sheet 81 contacts the steel template main body 101.

[0049] It should be noted that in the process of making the bending grinding sheet 61 contact with the bending part 102 and the main grinding sheet 81 contact with the steel template body 101, the contact pressure between the bending grinding sheet 61 and the main grinding sheet 81 and the special-shaped steel template can be detected with the help of common equipment such as pressure sensors to avoid the device causing improper damage to the steel template during the grinding process.

[0050] Step S3, start the grinding drive assembly to drive the main body support seat 7 and the bending support seat to perform linear reciprocating motion along the posture adjustment shaft 41, so that the main body grinding sheet 81 and the bending grinding sheet 61 grind the bending area, and the single motion stroke of the linear reciprocating motion is greater than the sum of the lengths of the main body grinding sheet 81 and the bending grinding sheet 61 along the posture adjustment shaft 41.

[0051] It should be noted that when the main body support seat 7 and the bending support seat are driven to perform linear reciprocating motion along the posture adjustment shaft 41, the single motion stroke of the linear reciprocating motion is greater than the sum of the lengths of the main body grinding sheet 81 and the bending grinding sheet 61 along the posture adjustment shaft 41, so that the areas passed by the main body grinding sheet 81 and the bending grinding sheet 61 can overlap. In this way, the grinding processing dead corners in the areas passed by the main body grinding sheet 81 and the bending grinding sheet 61 can be avoided, thereby ensuring that the bending area of ​​the special-shaped steel template obtains a good attachment removal effect.

[0052] Step S4: After the grinding process is completed, the grinding drive assembly is turned off, and the main grinding sheet 81 and the bending grinding sheet 61 are separated from the special-shaped steel template by sliding the connecting seat and lifting and lowering the supporting plate 4.

[0053] The following describes the effects of the above scheme: This embodiment provides a device and method for grinding the bending area of ​​a special-shaped steel formwork. The device allows the main grinding unit and the bending grinding unit to enter the bending area through the movement of a supporting plate and a connecting seat, facilitating grinding operations in a confined area and improving the efficiency of grinding the bending area of ​​the special-shaped steel formwork. Furthermore, the device can adjust the posture of the bending grinding component based on the actual angle between the bending portion and the main body of the steel formwork, and can achieve relative movement between the grinding plate and the supporting seat through a floating connection assembly. Therefore, it can meet different actual operational requirements and achieve good grinding quality in the bending area of ​​the special-shaped steel formwork.

[0054] It should be noted that the wall-climbing robot described in this embodiment is a mature automated mobile operating equipment in the prior art. A linear motor is an existing driving device that directly converts electrical energy into mechanical energy for linear motion. Common linear motors usually include an action slider and a track. The action slider is provided with a mover, and the track is provided with a stator. The action slider is driven to perform linear reciprocating motion on the track through electromagnetic principles. The specific working principles, component structures, and control methods of the wall-climbing robot and the linear motor are well known to the public and do not belong to the invention content of this application, so they will not be described in detail in this article. In addition, the distance sensor, lifting cylinder, and electric telescopic rod equipment mentioned in this embodiment are all prior art. Those skilled in the art are familiar with their specific structures and application methods and can correctly apply them according to the above content.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A grinding and processing device for the bending area of ​​a special-shaped steel template, characterized in that: include: An assembly unit, comprising an assembly plate (2) and a connecting seat, wherein the assembly plate (2) is detachably arranged on the wall-climbing robot (1), and the connecting seat is slidably arranged on the assembly plate (2); A bearing plate (4), the bearing plate (4) being movably arranged on the connecting seat, and the bearing plate (4) being parallel to the assembly plate (2); a posture adjustment shaft (41) being provided on a side of the bearing plate (4) away from the connecting seat, the posture adjustment shaft (41) being parallel to the bearing plate (4), and the posture adjustment shaft (41) being perpendicular to the sliding direction of the connecting seat; A bending and grinding unit, comprising a bending bearing seat and a detection plate (54); the bending bearing seat is slidably mounted on a posture adjustment shaft (41), and when the posture adjustment shaft (41) rotates, the bending bearing seat and the posture adjustment shaft (41) rotate synchronously; two first floating connection components are provided on the bending bearing seat, each of the first floating connection components is provided with a detachable bending and grinding sheet (61), and the bending and grinding sheets (61) on the two first floating connection components are parallel; the detection plate (54) is arranged on the bending bearing seat, the detection plate (54) is parallel to the bending and grinding sheet (61), and a posture detection module is provided on the detection plate (54); A main body grinding unit, the main body grinding unit comprising a main body bearing seat (7) and a grinding drive assembly; the main body bearing seat (7) is rotatably sleeved on the bending bearing seat, and the main body bearing seat (7) is located between two first floating connection assemblies; a second floating connection assembly is provided on the main body bearing seat (7), and a detachable main body grinding sheet (81) is provided on the second floating connection assembly, and the main body grinding sheet (81) is parallel to the bearing plate (4); the grinding drive assembly is provided on the bearing plate (4), and the main body bearing seat (7) and the bending bearing seat can be driven by the grinding drive assembly to perform linear reciprocating motion along the posture adjustment shaft (41).

2. The device for grinding and processing the bending area of ​​a special-shaped steel template according to claim 1, characterized in that: The bent bearing seat is provided with an assembly hole (55) for accommodating the posture adjustment shaft (41), and a limiting strip (551) is provided inside the assembly hole (55); a limiting groove (411) for accommodating the limiting strip (551) is provided on the side wall of the posture adjustment shaft (41), and the length direction of the limiting groove (411) is parallel to the posture adjustment shaft (41).

3. The device for grinding and processing the bending area of ​​a special-shaped steel template according to claim 1, characterized in that: The bending bearing seat comprises a first limiting section (51), a connecting section (52) and a second limiting section (53) connected in sequence; a mounting hole (71) for accommodating the connecting section (52) is provided on the main body bearing seat (7); the outer diameters of the first limiting section (51) and the second limiting section (53) are both larger than the inner diameter of the mounting hole (71), and the spacing between the first limiting section (51) and the second limiting section (53) is equal to the axial length of the mounting hole (71).

4. The device for grinding and processing the bending area of ​​a special-shaped steel template according to claim 1, characterized in that: The detection plate (54) is provided with a detection hole group for installing a posture detection module and an avoidance cutout (541) for avoiding the main body bearing seat (7); The posture detection module comprises: a first distance sensor (542), a second distance sensor (543) and a third distance sensor (544); the detection hole group comprises: a first detection hole for accommodating the first distance sensor (542), a second detection hole for accommodating the second distance sensor (543), and a third detection hole for accommodating the third distance sensor (544); a line connecting the first detection hole and the second detection hole is parallel to the posture adjustment shaft (41), and a line connecting the third detection hole and the first detection hole is perpendicular to the posture adjustment shaft (41).

5. The device for grinding and processing the bending area of ​​a special-shaped steel template according to claim 1, characterized in that: Two positioning assemblies are provided on the bending bearing seat, and the connecting line between the two positioning assemblies is parallel to the posture adjustment shaft (41); each positioning assembly includes two mutually parallel first positioning plates (56), a first guide rod (561) is provided between the two first positioning plates (56) in the same positioning assembly, and the first guide rod (561) is perpendicular to the posture adjustment shaft (41); the first floating connection assembly includes a first floating seat (62) and a first spring (63), the bending grinding sheet (61) is detachably arranged on the bottom surface of the first floating seat (62), a first connecting ear (621) is provided on the top of the first floating seat (62), the first connecting ear (621) is slidably arranged between the two first positioning plates (56), and a first guide hole for accommodating the first guide rod (561) is provided on the first connecting ear (621); the first spring (63) is sleeved on the first guide rod (561), and the first spring (63) is located on the side of the first connecting ear (621) away from the bearing plate (4); The second floating connection assembly includes a second floating seat (82) and a second spring (83); two second positioning plates (72) parallel to each other are provided on the main body bearing seat (7), a second guide rod (721) is provided between the two second positioning plates (72), and the second guide rod (721) is perpendicular to the posture adjustment shaft (41); the main body grinding plate (81) is detachably arranged on the bottom surface of the second floating seat (82), a second connecting ear (821) is provided on the top of the second floating seat (82), the second connecting ear (821) is slidably arranged between the two second positioning plates (72), and a second guide hole for accommodating the second guide rod (721) is provided on the second connecting ear (821); the second spring (83) is sleeved on the second guide rod (721), and the second spring (83) is located on the side of the second connecting ear (821) close to the bearing plate (4).

6. The device for grinding and processing the bending area of ​​a special-shaped steel template according to claim 1, characterized in that: A driving rod (412) is provided on the posture adjustment shaft (41), and the driving rod (412) is perpendicular to the posture adjustment shaft (41); an electric telescopic rod (43) is also provided on the supporting plate (4), and the electric telescopic rod (43) is perpendicular to the posture adjustment shaft (41), and one end of the electric telescopic rod (43) is hinged to the supporting plate (4), and the other end is hinged to the driving rod (412).

7. The device for grinding and processing the bending area of ​​a special-shaped steel template according to claim 1, characterized in that: The grinding drive assembly comprises a linear motor (91) and a connecting rod group (92), one end of the connecting rod group (92) is detachably connected to an action slider of the linear motor (91), and the other end of the connecting rod group (92) is detachably connected to a main body bearing seat (7).

8. The device for grinding and processing the bending area of ​​a special-shaped steel template according to claim 1, characterized in that: The connecting seat comprises a first connecting plate (31) and a second connecting plate (32), wherein the second connecting plate (32) is arranged on one side of the first connecting plate (31), the second connecting plate (32) is perpendicular to the first connecting plate (31), and the first connecting plate (31) is parallel to the assembly plate (2).

9. The device for grinding and processing the bending area of ​​a special-shaped steel template according to claim 8, characterized in that: A guide rail (21) is provided on the assembly plate (2), a guide slider (22) is provided on the guide rail (21), and the first connecting plate (31) is detachably connected to the guide slider (22); A mounting seat (311) is provided on the first connecting plate (31), a lifting electric cylinder (312) is provided on the mounting seat (311), and the end of the telescopic rod of the lifting electric cylinder (312) is connected to the bearing plate (4); A guide column (42) is provided on the side wall of the bearing plate (4) close to the second connecting plate (32), a guide notch (321) for accommodating the guide column (42) is provided on the second connecting plate (32), and a detachable limit plate (421) is further provided at one end of the guide column (42) away from the bearing plate (4), and the limit plate (421) and the bearing plate (4) are respectively located on both sides of the second connecting plate (32).

10. A method for grinding the bending area of ​​a special-shaped steel template, characterized by: The method is implemented by using the steel formwork residual concrete grinding processing device according to any one of claims 1 to 9, comprising the following steps: Step S1, after the grinding processing device for the bending area of ​​the special-shaped steel template moves along the main body of the steel template to the bending area, the relative position of the detection plate (54) and the bending part is determined by the posture detection module, and the detection plate (54) is made parallel to the bending part by rotating the posture adjustment shaft (41); Step S2, driving the connecting seat to slide in the direction of the bending portion, and driving the bearing plate (4) to descend, so that the bending grinding sheet (61) contacts the bending portion, and the main body grinding sheet (81) contacts the steel template body; Step S3, starting the grinding drive assembly to drive the main body bearing seat (7) and the bending bearing seat to perform linear reciprocating motion along the posture adjustment shaft (41), so that the main body grinding sheet (81) and the bending grinding sheet (61) grind the bending area, and the single motion stroke of the linear reciprocating motion is greater than the sum of the lengths of the main body grinding sheet (81) and the bending grinding sheet (61) along the posture adjustment shaft (41); Step S4: After the grinding process is completed, the grinding drive assembly is turned off, and the main grinding sheet (81) and the bending grinding sheet (61) are separated from the special-shaped steel template by sliding the connecting seat and lifting the supporting plate (4).

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