A magnetic polishing robot for a box girder formwork and a polishing method thereof

Abstract

The application discloses a box girder template magnetic attraction polishing robot and a polishing method thereof. The robot comprises a body, a polishing mechanism, two groups of magnetic attraction walking mechanisms and a control module. The magnetic attraction walking mechanism comprises a magnetic attraction walking supporting leg and a lifting adjusting mechanism, and the polishing mechanism comprises a polishing power mechanism and a polishing roller. The method comprises the following steps: one, division of the box girder template; two, polishing of a first flange plate area; three, polishing of a first connecting area; four, polishing of a first web plate area; five, polishing of a second connecting area; six, polishing of a bottom plate area; seven, polishing of a third connecting area; eight, polishing of a second web plate area; nine, polishing of a fourth connecting area; and ten, polishing of a second flange plate area. The steps two to ten are repeated to realize next-time polishing of the box girder template. The application can quickly complete polishing of the box girder template and improves construction efficiency.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of box girder formwork polishing, and particularly relates to a box girder formwork magnetic polishing robot. BACKGROUND

[0002] At present, most of the box girders used in bridges are prefabricated box girders made by using formworks in a beam field, and after the prefabrication of the box girders, sundries such as concrete will be left on the formworks, which need to be polished and cleaned before being used again. At present, most beam fields still mainly rely on manual polishing and cleaning. Since the formworks are large in length and width and have a height difference, manual cleaning is time-consuming and labor-consuming, and personnel safety is affected. Some existing outer form polishing equipment is generally large in size and low in automation, and is difficult to adapt to various different areas.

[0003] Therefore, at present, there is a lack of a box girder formwork magnetic polishing robot, which can realize the adsorption, lifting and movement of the magnetic polishing robot, quickly complete the polishing of the box girder formwork, save manpower and material resources, and improve construction efficiency, polishing quality and personnel safety. SUMMARY

[0004] The technical problem to be solved by the application is to provide a box girder formwork magnetic polishing robot, which is reasonable in design, can realize the adsorption, lifting and movement of the magnetic polishing robot, quickly complete the polishing of the box girder formwork, save manpower and material resources, and improve construction efficiency, polishing quality and personnel safety.

[0005] To solve the above technical problems, the technical scheme adopted by the application is as follows: a box girder formwork magnetic polishing robot, characterized by comprising a machine body, a polishing mechanism arranged at the bottom of the machine body, two groups of symmetrical magnetic walking mechanisms arranged at the wide side surfaces of the machine body, and a control module arranged in the machine body.

[0006] The magnetic walking mechanism comprises two symmetrical magnetic walking legs arranged at the ends of the machine body and a lifting adjusting mechanism arranged on the machine body and adjusting the inclination angles of the two magnetic walking legs. Each magnetic walking leg comprises an inclined support leg, a magnetic wheel arranged at the end of the support leg away from the machine body, and a walking power component driving the magnetic wheel to rotate. The lifting adjusting mechanism and the other end of the support leg are hinged and drive the support leg to swing. The support legs at both ends are drivingly connected through a synchronous mechanism.

[0007] The polishing mechanism comprises a polishing power mechanism arranged in the machine body and a polishing roller arranged at the bottom of the machine body and located between the two groups of magnetic walking mechanisms and drivingly connected with the polishing power mechanism.

[0008] The control module comprises a controller arranged in the machine body, and the polishing power mechanism, the lifting adjusting mechanism and the walking power component are controlled by the controller.

[0009] The walking power component comprises walking motors and walking reducers arranged in sequence at one side of the end of the support leg, the output shaft of the walking reducer is in transmission connection with the magnetic wheel, the distance between the two walking motors is smaller than the distance between the two magnetic wheels at the two ends;

[0010] The connecting end of the support leg is provided with a receiving groove, the walking reducer extends into the receiving groove, the connecting end is provided with a mounting hole, and the output shaft of the walking reducer is in transmission connection with the magnetic wheel through the mounting hole.

[0011] The lifting adjusting mechanism comprises an intermediate motor arranged in the machine body, an intermediate reducer in transmission connection with the output shaft of the intermediate motor, a vertical adjusting screw rod in transmission connection with the intermediate reducer, a connecting rod component sleeved on the adjusting screw rod and in threaded connection, and the connecting rod component is hingedly connected with the two support legs.

[0012] The connecting rod component comprises a horizontal connecting rod sleeved on the adjusting screw rod and arranged vertically, and two vertical connecting rods respectively hingedly connected with the two ends of the horizontal connecting rod, and the vertical connecting rods are hingedly connected with the other ends of the support legs.

[0013] The horizontal connecting rod comprises an intermediate connecting rod part and two groups of connecting rod ears symmetrically arranged at the two ends of the intermediate connecting rod part, the intermediate connecting rod part is provided with a vertical threaded hole, and the adjusting screw rod passes through the vertical threaded hole and is in threaded connection.

[0014] The support leg comprises an integral hinge ear, an intermediate section and a connecting end, one end of the vertical connecting rod is hingedly connected with the end of the horizontal connecting rod through a lower hinge shaft, and the other end of the vertical connecting rod is hingedly connected with the hinge ear through an upper hinge shaft.

[0015] The synchronous mechanism comprises two groups of synchronous mechanisms, each group of the synchronous mechanism comprises a bending plate arranged in the machine body, a synchronous rotating shaft arranged outside the bending plate and two end shafts symmetrically arranged at the two ends of the synchronous rotating shaft.

[0016] The wide side of the machine body is provided with a vertical plate, the vertical plate is sleeved with an end copper sleeve, the end shaft extends out of the vertical plate through the end copper sleeve, and the end shaft is in transmission connection with the support leg.

[0017] The box girder formwork magnetic polishing robot has the characteristics that the polishing power mechanism comprises a polishing motor arranged in the bottom of the machine body, a speed reducer in transmission connection with the output shaft of the polishing motor, a driving gear arranged on the output shaft of the speed reducer, a driven gear in transmission connection with the driving gear through a chain, and a transmission shaft arranged in the driven gear, the two groups of polishing rollers are arranged with transmission sleeves at the ends close to each other, the two ends of the transmission shaft are in transmission connection with the two transmission sleeves, and the two groups of polishing rollers are rotatably arranged at the ends away from each other on the wide side of the machine body.

[0018] An installation seat is arranged outside the bottom of the machine body, the installation seat comprises two vertically arranged clamping plates and a connecting block connected between the upper parts of the two clamping plates, the transmission shaft penetrates through the two clamping plates, the driven gear is located between the two clamping plates, and the transmission shaft is located below the connecting block.

[0019] The two ends of the transmission shaft protruding out of the clamping plates are provided with external splines, the transmission sleeve is internally provided with internal splines matched with the external splines, and the transmission shaft is in transmission connection with the transmission sleeve through the external splines and the internal splines.

[0020] A protective shell is arranged on the outer side of the clamping plate, the height of the protective shell is less than that of the clamping plate, a left limiting ring is arranged on the outer circumference of the transmission sleeve, one end surface of the left limiting ring is attached to the protective shell, and the other end surface of the left limiting ring is attached to one end surface of the polishing roller.

[0021] The ends of the two groups of polishing rollers away from each other are provided with positioning sleeves, the positioning sleeves are provided with right limiting rings, the right limiting rings are attached to the other end surfaces of the polishing rollers, the positioning sleeves are provided with positioning shafts, and the positioning shafts are rotatably arranged in the clamping plates through bearings.

[0022] The box girder formwork magnetic polishing robot has the characteristics that the machine body comprises two symmetrically arranged long side plates, two symmetrically arranged wide side plates, and a top cover plate arranged at the top of the two long side plates and the two wide side plates, a display screen is arranged on the top cover plate, and the display screen is controlled by a controller.

[0023] Two handles and hooks are arranged on the long side plates, the length direction of the bent plates is consistent with the length direction of the long side plates, and a bottom plate is arranged between the bottom parts of the two bent plates.

[0024] The bending plate comprises an upper vertical plate, an upper horizontal plate, a lower vertical plate and a lower horizontal plate connected in sequence and integrally formed, the bending directions of the upper horizontal plate and the lower horizontal plate are opposite, the two long edges of the bottom plate are connected with the lower horizontal plate through bolts, and the synchronous rotating shaft is located in the space below the upper horizontal plate and outside the lower vertical plate.

[0025] Meanwhile, a method for polishing a box girder formwork by a magnetic polishing robot for the box girder formwork is provided, characterized in that the method comprises the following steps:

[0026] Step one, division of the box girder formwork:

[0027] The box girder formwork is divided into a first flange plate area, a first connecting area, a first web plate area, a second connecting area, a bottom plate, a third connecting area, a second web plate area, a fourth connecting area and a second flange plate area according to the walking direction of the robot; wherein the first flange plate area and the second flange plate area are symmetrically arranged, and the first web plate area and the second web plate area are symmetrically arranged;

[0028] Step two, polishing of the first flange plate area:

[0029] Step 201, the magnetic polishing robot for the box girder formwork is moved to the first flange plate area by the magnetic walking legs; wherein the length direction of the polishing roller is arranged along the length direction of the box girder formwork;

[0030] Step 202, the inclination angles of the two magnetic walking legs are adjusted by the lifting adjusting mechanism, so that the bottom of the polishing roller is fitted to the first flange plate area;

[0031] Step 203, the magnetic absorption wheel is driven to rotate by the walking power component, so that the magnetic polishing robot moves along the width direction of the first flange plate area; wherein the magnetic absorption wheel is adsorbed on the first flange plate area during rotation;

[0032] Step 204, in the process of rotating and moving the magnetic absorption wheel, the first flange plate area surface is polished by rotating the polishing roller controlled by the polishing power mechanism at the same time, until the magnetic absorption wheel at the front end reaches the first connecting area, and the polishing of the first flange plate area is completed;

[0033] Step three, polishing of the first connecting area:

[0034] Step 301, the inclination angles of the two magnetic walking legs are adjusted by the lifting adjusting mechanism, so that the bottom of the polishing roller is fitted to the first connecting area; wherein the magnetic absorption wheel at the front end is adsorbed on the first web plate area, and the magnetic absorption wheel at the rear end is adsorbed on the first flange plate area;

[0035] Step 302, drive the magnetic wheel to rotate by the walking power component, so as to move the magnetic polishing robot along the width direction of the first joint area;

[0036] Step 303, control the polishing roller to polish the surface of the first joint area by the polishing power mechanism during the rotation and movement of the magnetic wheel, until the polishing roller completes the polishing of the first joint area;

[0037] Step four, polishing of the first web area:

[0038] Step 401, adjust the inclination angle of the two magnetic walking legs by the lifting adjustment mechanism, so that the bottom of the polishing roller fits the first web area; wherein the magnetic wheel at the front end is adsorbed on the first web area, and the magnetic wheel at the rear end is adsorbed on the first joint area;

[0039] Step 402, drive the magnetic wheel to rotate by the walking power component, so as to move the magnetic polishing robot along the width direction of the first web area;

[0040] Step 403, control the polishing roller to polish the surface of the first web area by the polishing power mechanism during the rotation and movement of the magnetic wheel, until the magnetic wheel reaches the second joint area, and the polishing of the first web area is completed; wherein the rotating direction of the polishing roller is opposite to the rotating direction of the magnetic wheel;

[0041] Step five, polishing of the second joint area:

[0042] Step 501, adjust the inclination angle of the two magnetic walking legs by the lifting adjustment mechanism, so that the bottom of the polishing roller fits the second joint area; wherein the magnetic wheel at the front end is adsorbed on the bottom plate, and the magnetic wheel at the rear end is adsorbed on the first web area;

[0043] Step 502, drive the magnetic wheel to rotate by the walking power component, so as to move the magnetic polishing robot along the width direction of the second joint area;

[0044] Step 503, control the polishing roller to polish the surface of the second joint area by the polishing power mechanism during the rotation and movement of the magnetic wheel, until the polishing roller completes the polishing of the second joint area;

[0045] Step six, polishing of the bottom plate area:

[0046] Step 601, adjust the inclination angle of the two magnetic walking legs by the lifting adjustment mechanism, so that the bottom of the polishing roller fits the bottom plate area; wherein the magnetic wheel at the front end is adsorbed on the bottom plate, and the magnetic wheel at the rear end is adsorbed on the second joint;

[0047] Step 602, drive the magnetic wheel to rotate by the walking power component, so as to move the magnetic polishing robot along the width direction of the bottom plate area;

[0048] Step 603, control the polishing roller to rotate and polish the surface of the bottom plate area by the polishing power mechanism during the rotation and movement of the magnetic wheel, until the magnetic wheel reaches the third connecting area, and the polishing of the bottom plate area is completed;

[0049] Step seven, polishing of the third connecting area:

[0050] Step 701, adjust the inclination angle of the two magnetic walking legs by the lifting adjustment mechanism, so that the bottom of the polishing roller fits the third connecting area; wherein the magnetic wheel at the front end is adsorbed on the second web plate area, and the magnetic wheel at the rear end is adsorbed on the bottom plate area;

[0051] Step 702, drive the magnetic wheel to rotate by the walking power component, so as to move the magnetic polishing robot along the width direction of the third connecting area;

[0052] Step 703, control the polishing roller to rotate and polish the surface of the third connecting area by the polishing power mechanism during the rotation and movement of the magnetic wheel, until the polishing roller completes the polishing of the third connecting area;

[0053] Step eight, polishing of the second web plate area:

[0054] Step 801, adjust the inclination angle of the two magnetic walking legs by the lifting adjustment mechanism, so that the bottom of the polishing roller fits the second web plate area; wherein the magnetic wheel at the front end is adsorbed on the second web plate area, and the magnetic wheel at the rear end is adsorbed on the third connecting area;

[0055] Step 802, drive the magnetic wheel to rotate by the walking power component, so as to move the magnetic polishing robot along the width direction of the second web plate area;

[0056] Step 803, control the polishing roller to rotate and polish the surface of the second web plate area by the polishing power mechanism during the rotation and movement of the magnetic wheel, until the magnetic wheel reaches the fourth connecting area, and the polishing of the second web plate area is completed; wherein the rotating direction of the polishing roller is the same as the rotating direction of the magnetic wheel;

[0057] Step nine, polishing of the fourth connecting area:

[0058] Step 701, adjust the inclination angle of the two magnetic walking legs by the lifting adjustment mechanism, so that the bottom of the polishing roller fits the fourth connecting area; wherein the magnetic wheel at the front end is adsorbed on the second flange plate area, and the magnetic wheel at the rear end is adsorbed on the second web plate area;

[0059] Step 702, drive the magnetic wheel to rotate by the walking power component, so as to move the magnetic polishing robot along the fourth joint area in the width direction;

[0060] Step 703, in the process of rotating and moving the magnetic wheel, control the rotation of the polishing roller by the polishing power mechanism to polish the surface of the fourth joint area, until the polishing roller completes the polishing of the fourth joint area;

[0061] Step ten, polishing of the second flange plate area:

[0062] Step A01, adjust the inclination angle of the two magnetic walking legs by the lifting adjusting mechanism, so that the bottom of the polishing roller is attached to the surface of the second flange plate area; wherein the magnetic wheel at the displacement front end is adsorbed on the second flange plate area, and the magnetic wheel at the displacement rear end is adsorbed on the fourth joint area;

[0063] Step A02, drive the magnetic wheel to rotate by the walking power component, so as to move the magnetic polishing robot along the second flange plate area in the width direction;

[0064] Step A03, in the process of rotating and moving the magnetic wheel, control the rotation of the polishing roller by the polishing power mechanism to polish the surface of the second flange plate area, until the polishing roller completes the polishing of the first flange plate area;

[0065] Step eleven, repeat steps two to ten to realize the next polishing of the box girder formwork.

[0066] The above-mentioned box girder formwork magnetic polishing robot has the following characteristics: the inclination angle of the two magnetic walking legs is adjusted by the lifting adjusting mechanism, and the specific process is as follows:

[0067] The intermediate motor rotates, the intermediate motor rotates drives the adjusting screw rod to rotate, the horizontal connecting rod moves upward along the adjusting screw rod, in the process of the horizontal connecting rod moving upward along the adjusting screw rod, the supporting leg at one end is swung by the vertical connecting rod, and the supporting leg at the other end is swung by the synchronous mechanism, so that the bottoms of the two magnetic walking legs are close to each other, and the whole magnetic polishing robot is lifted;

[0068] The intermediate motor reversely rotates, the intermediate motor reversely rotates drives the adjusting screw rod to reversely rotate, the horizontal connecting rod moves downward along the adjusting screw rod, in the process of the horizontal connecting rod moving downward along the adjusting screw rod, so that the bottoms of the two magnetic walking legs are away from each other, and the whole magnetic polishing robot is lowered.

[0069] Compared with the prior art, the present application has the following advantages:

[0070] 1. The present application has simple structure, reasonable design, simple installation and layout, and convenient operation.

[0071] 2. The lifting and adjusting mechanism used in this invention drives the magnetic walking legs to swing, thereby adjusting the tilt angle of the two magnetic walking legs, realizing the lifting and lowering of the magnetic grinding robot, and thus the lifting and lowering of the grinding roller; a walking power component and a magnetic wheel are set up to enable the magnetic grinding robot to move while adhering to the box girder template, thereby realizing the movement of the grinding roller.

[0072] 3. The magnetic walking mechanism used in this invention is designed to drive the grinding roller to move, thereby effectively adapting to the grinding of the first flange plate area, the first connection area, the first web plate area, the second connection area, the bottom plate, the third connection area, the second web plate area, the fourth connection area, and the second flange plate area, realizing rapid grinding of the longitudinal and transverse box girder template areas and improving work efficiency.

[0073] 4. The grinding power mechanism and grinding roller used in this invention are designed to drive the grinding roller to rotate, thereby grinding the box girder formwork, avoiding manual grinding, saving manpower and resources, and meeting the needs of box girder formwork.

[0074] 5. The box girder formwork grinding method of the present invention has simple steps, is easy to implement and operate, and ensures the quality of box girder formwork grinding.

[0075] 6. The box girder formwork grinding method of the present invention is simple to operate and has good results. First, the box girder formwork is divided. Then, the first flange plate area, the first connection area, the first web plate area, the second connection area, the bottom plate area, the third connection area, the second web plate area, the fourth connection area, and the second flange plate area are ground. The above steps are repeated to achieve the next grinding of the box girder formwork until the grinding of the box girder formwork is completed.

[0076] 7. When grinding the first web area, the robot is in a descending posture. At this time, the rotation direction of the grinding roller is opposite to the rotation direction of the magnetic suction wheel, which generates friction to prevent the descending gravity from affecting the speed too much, thus improving the stability of the robot's movement. When grinding the second web area, the robot is in an ascending posture. At this time, the rotation direction of the grinding roller is the same as the rotation direction of the magnetic suction wheel, which provides assistance for the robot to overcome its own gravity and climb.

[0077] In summary, this invention is reasonably designed to enable the magnetic grinding robot to adsorb, lift, and move, quickly completing the grinding of box girder formwork, saving manpower and resources, and improving construction efficiency, grinding quality, and personnel safety.

[0078] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0079] Figure 1 Structure diagram of the box girder formwork magnetic attraction polishing robot according to the present application.

[0080] Figure 2 Structure diagram of the box girder formwork magnetic attraction polishing robot lifting adjusting mechanism according to the present application.

[0081] Figure 3 Structure diagram of the box girder formwork magnetic attraction polishing robot supporting leg according to the present application.

[0082] Figure 4 Structure diagram of the box girder formwork magnetic attraction polishing robot transverse connecting rod according to the present application.

[0083] Figure 5 Structure diagram of the box girder formwork magnetic attraction polishing robot synchronous mechanism according to the present application.

[0084] Figure 6 Structure diagram of the box girder formwork magnetic attraction polishing robot bending plate according to the present application.

[0085] Figure 7 Structure diagram of the box girder formwork magnetic attraction polishing robot polishing power mechanism according to the present application.

[0086] Figure 8 Structure diagram of the box girder formwork magnetic attraction polishing robot polishing power mechanism and body according to the present application.

[0087] Figure 9 Structure diagram of the box girder formwork magnetic attraction polishing robot positioning sleeve according to the present application.

[0088] Figure 10 Structure diagram of the box girder formwork magnetic attraction polishing robot wide edge side plate according to the present application.

[0089] Figure 11 Circuit principle block diagram of the box girder formwork magnetic attraction polishing robot according to the present application.

[0090] Figure 12 Flow chart diagram of the box girder formwork polishing method according to the present application.

[0091] Explanation of reference signs:

[0092] 1 - magnetic attraction walking supporting leg; 11 - walking motor; 11-1 - walking motor driver;

[0093] 12 - walking speed reducer; 13 - magnetic attraction wheel; 14 - supporting leg;

[0094] 141 - hinged lug; 142 - transmission mounting hole; 143 - key groove;

[0095] 144 - hinged hole; 145 - connecting end; 146 - containing groove;

[0096] 147 - mounting hole; 148 - groove; 21-1 - polishing motor driver;

[0097] 2 - polishing mechanism; 21 - polishing motor; 22 - speed reducer;

[0098] 23 - driving gear; 24 - driven gear; 25 - chain;

[0099] 26 - transmission sleeve; 261 - left limit ring; 27 - polishing roller;

[0100] 28 - transmission shaft; 29 - L-shaped seat; 210 - protective cover;

[0101] 211 - protective shell; 212 - positioning sleeve; 2121 - positioning shaft;

[0102] 2122 - right limit ring; 217 - mounting seat; 27-1 - vertical clamping plate;

[0103] 27-2 - connecting block; 31 - top cover plate; 32 - long side plate;

[0104] 33 - connecting plate; 34 - wide side plate; 341 - mounting through hole;

[0105] 342 - upper opening part; 343 - lower groove; 36 - bottom plate;

[0106] 4 - display screen; 6 - power supply cable;

[0107] 7 - lifting adjustment mechanism; 71 - intermediate motor; 71-1 - adjustment motor driver;

[0108] 72 - intermediate speed reducer; 73 - adjustment screw; 74 - transverse connecting rod;

[0109] 741 - connecting rod ear; 742 - intermediate connecting rod part; 743 - vertical threaded hole;

[0110] 75 - vertical connecting rod; 76 - lower hinged shaft; 77 - bearing with seat;

[0111] 78 - horizontal mounting plate; 79 - U-shaped seat; 710 - triangular plate;

[0112] 81 - bent plate; 811 - upper vertical plate; 812 - upper horizontal plate;

[0113] 813 - lower vertical plate; 814 - lower horizontal plate; 82 - synchronous rotating shaft;

[0114] 83 - end shaft; 84 - end copper sleeve; 85 - vertical plate;

[0115] 87 - key; 91 - handle; 92 - hook;

[0116] 100 - controller; 101 - wireless receiver; 102 - handheld remote control;

[0117] 103 - limit switch; 104 - vertical base plate; 105 - current sensor. DETAILED DESCRIPTION

[0118] As Figures 1 to 11 The box girder formwork magnetic polishing robot comprises a body, a polishing mechanism 2 arranged at the bottom of the body, two groups of symmetrically arranged magnetic walking mechanisms arranged at the wide side of the body, and a control module arranged in the body.

[0119] The magnetic walking mechanism comprises two symmetrically arranged magnetic walking legs 1 arranged at the end of the body and a lifting adjusting mechanism 7 arranged on the body and adjusting the inclination angle of the two magnetic walking legs 1. Each magnetic walking leg 1 comprises an inclined support leg 14, a magnetic wheel 13 arranged at the end of the support leg 14 away from the body, and a walking power component driving the magnetic wheel 13 to rotate. The lifting adjusting mechanism 7 and the other end of the support leg 14 are hinged and drive the support leg 14 to swing. The support legs 14 at both ends are drivingly connected through a synchronous mechanism.

[0120] The polishing mechanism 2 comprises a polishing power mechanism arranged in the body and a polishing roller 27 arranged at the bottom of the body and located between the two groups of magnetic walking mechanisms and drivingly connected with the polishing power mechanism.

[0121] The control module comprises a controller 100 arranged in the body. The polishing power mechanism, the lifting adjusting mechanism 7, and the walking power component are all controlled by the controller 100.

[0122] In this embodiment, the walking power component comprises a walking motor 11 and a walking reducer 12 drivingly connected in sequence at one side of the end of the support leg 14. The output shaft of the walking reducer 12 is drivingly connected with the magnetic wheel 13. The distance between the two walking motors 11 is less than the distance between the two magnetic wheels 13 at both ends.

[0123] The connecting end 145 of the support leg 14 is provided with a receiving groove 146, and the walking reducer 12 extends into the receiving groove 146. The connecting end 145 is provided with a mounting hole 147, and the output shaft of the walking reducer 12 is drivingly connected with the magnetic wheel 13 through the mounting hole 147.

[0124] In the embodiment, the lifting adjusting mechanism 7 comprises an intermediate motor 71 arranged in the machine body, an intermediate speed reducer 72 in transmission connection with an output shaft of the intermediate motor 71, an adjusting screw rod 73 in transmission connection with the intermediate speed reducer 72 and vertically arranged, and a connecting rod part in sleeving connection with the adjusting screw rod 73, the connecting rod part being hingedly connected with two support legs 14;

[0125] The connecting rod part comprises a transverse connecting rod 74 in sleeving connection with the adjusting screw rod 73 and vertically arranged, and two vertical connecting rods 75 respectively hingedly connected with two ends of the transverse connecting rod 74, the vertical connecting rods 75 being hingedly connected with the other ends of the support legs 14.

[0126] In the embodiment, the transverse connecting rod 74 comprises an intermediate connecting rod part 742 and two groups of connecting rod ears 741 symmetrically arranged at two ends of the intermediate connecting rod part 742, a vertical threaded hole 743 being arranged in the intermediate connecting rod part 742, the adjusting screw rod 73 penetrating through the vertical threaded hole 743 and being in threaded connection;

[0127] The support leg 14 comprises an integrally formed hinged ear 141, an intermediate section and a connecting end 145, one end of the vertical connecting rod 75 being hingedly connected with an end of the transverse connecting rod 74 through a lower hinged shaft 76, the other end of the vertical connecting rod 75 being hingedly connected with the hinged ear 141 through an upper hinged shaft.

[0128] In the embodiment, the number of the synchronization mechanisms is two, each of the two synchronization mechanisms comprising a bent plate 81 arranged in the machine body, a synchronization rotating shaft 82 arranged outside the bent plate 81 and two end shafts 83 symmetrically arranged at two ends of the synchronization rotating shaft 82.

[0129] A vertical plate 85 is arranged on a wide side of the machine body, an end copper sleeve 84 being sleeved in the vertical plate 85, the end shaft 83 penetrating through the end copper sleeve 84 and extending out of the vertical plate 85, the end shaft 83 being in transmission connection with the support leg 14.

[0130] In the embodiment, the polishing power mechanism comprises a polishing motor 21 arranged in the bottom of the machine body, a speed reducer 22 in transmission connection with an output shaft of the polishing motor 21, a driving gear 23 arranged on an output shaft of the speed reducer 22, a driven gear 24 in transmission connection with the driving gear 23 through a chain 25, and a transmission shaft 28 arranged in the driven gear 24, two groups of the polishing rollers 27 being provided with transmission sleeves 26 at ends close to each other, two ends of the transmission shaft 28 being in transmission connection with the two transmission sleeves 26, and ends of the two groups of the polishing rollers 27 far away from each other being rotationally installed on the wide side of the machine body.

[0131] The machine body bottom is externally provided with a mounting seat 217, the mounting seat 217 comprises two vertically arranged vertical clamping plates 27-1 and a connecting block 27-2 connected between the upper portions of the two vertical clamping plates 27-1, the transmission shaft 28 penetrates through the two vertical clamping plates 27-1, the driven gear 24 is located between the two vertical clamping plates 27-1, and the transmission shaft 28 is located below the connecting block 27-2.

[0132] In the embodiment, the transmission shaft 28 is externally provided with external splines at both ends of the vertical clamping plate 27-1, the transmission sleeve 26 is internally provided with internal splines matched with the external splines, and the transmission shaft 28 is in transmission connection with the transmission sleeve 26 through the external splines and the internal splines.

[0133] The vertical clamping plate 27-1 is externally sleeved with a protective shell 211, the height of the protective shell 211 is less than the height of the vertical clamping plate 27-1, the transmission sleeve 26 is externally provided with a left limiting ring 261, one end surface of the left limiting ring 261 is attached to the protective shell 211, and the other end surface of the left limiting ring 261 is attached to one end surface of the polishing roller 27.

[0134] The two groups of polishing rollers 27 are externally provided with positioning sleeves 212, the positioning sleeves 212 are externally provided with right limiting rings 2122, the right limiting rings 2122 are attached to the other end surfaces of the polishing rollers 27, the positioning sleeves 212 are externally provided with positioning shafts 2121, and the positioning shafts 2121 are rotatably installed in the vertical plate 85 through bearings.

[0135] In the embodiment, the machine body comprises two symmetrically arranged long-side side plates 32, two symmetrically arranged wide-side side plates 34, and a top cover plate 31 arranged at the top portions of the two long-side side plates 32 and the two wide-side side plates 34, the top cover plate 31 is externally provided with a display screen 4, and the display screen 4 is controlled by a controller 100.

[0136] The long-side side plate 32 is externally provided with two handles 91 and a hook ring 92, the length direction of the bending plate 81 is consistent with the length direction of the long-side side plate 32, and the bottom plate 36 is arranged between the bottom portions of the two bending plates 81.

[0137] The bending plate 81 comprises an upper vertical plate 811, an upper horizontal plate 812, a lower vertical plate 813, and a lower horizontal plate 814 which are sequentially connected and integrally formed, the bending directions of the upper horizontal plate 812 and the lower horizontal plate 814 are opposite, the two long edges of the bottom plate 36 are connected with the lower horizontal plate 814 through bolts, and the synchronous rotation shaft 82 is located in the space below the upper horizontal plate 812 and outside the lower vertical plate 813.

[0138] In this embodiment, the hinge hole 144 is arranged on the hinge ear 141, and the upper hinge shaft passes through the other end of the vertical connecting rod 75 and the hinge hole 144.

[0139] In this embodiment, one end of the vertical connecting rod 75 is hingedly connected to the end of the horizontal connecting rod 74, and the other end of the vertical connecting rod 75 is hingedly connected to the hinge ear 141.

[0140] In this embodiment, the hinge ear 141 is arranged to form a U-shaped groove to accommodate the other end of the vertical connecting rod 75 and accommodate the swing of the other end of the vertical connecting rod 75.

[0141] In this embodiment, the outer side of the middle section of the support leg 14 is provided with a groove 148 in actual use, and the groove 148 is arranged to facilitate weight reduction.

[0142] In this embodiment, the rear end of the hinge ear 141 and the connecting end 145 is greater than the thickness of the middle section in actual use.

[0143] In this embodiment, the part of the support leg 14 close to the hinge ear 141 is provided with a transmission mounting hole 142, and the end shaft 83 passes through the transmission mounting hole 142 and is connected by the key 87.

[0144] In this embodiment, the transmission mounting hole 142 and the end of the end shaft 83 extending out of the vertical plate 85 are provided with a key groove 143 for mounting the key 87.

[0145] In this embodiment, the wide side plate 34 is provided with a mounting through hole 341 for mounting the copper sleeve 84 and a lower groove 343 for clamping the two ends of the bottom plate 36, and one of the wide side plates 34 is provided with an upper opening part 342 for the intermediate speed reducer 72 to pass through, and the inner and outer sides of the upper opening part 342 are provided with a U-shaped seat 79, and the groove bottom of the upper opening part 342 and the U-shaped seat 79 is provided with a horizontal mounting plate 78 for mounting the intermediate speed reducer 72, and the horizontal mounting plate 78 is provided with a through hole for the adjusting screw rod 73 to pass through.

[0146] In this embodiment, the lower groove 343 of the wide side plate 34 is provided with a triangular plate 710 connected to the two ends of the bottom plate 36, the outer side of the triangular plate 710 is provided with a seated bearing 77, the upper end of the adjusting screw rod 73 is connected with the intermediate speed reducer 72, and the lower end of the adjusting screw rod 73 is connected with the seated bearing 77; the positioning shaft 2121 is rotatably mounted in the triangular plate 710 through the bearing.

[0147] In the embodiment, the bottom plate 36 extends into the lower groove 343 of the two wide side plates 34, the upper part of the triangular plate 710 is connected with the lower part of the U-shaped seat 79 and the two ends of the bottom plate 36 through bolts, and the U-shaped seat 79 is further connected with the wide side plate 34 through bolts.

[0148] In the embodiment, the vertical plate 85 is connected with the wide side plate 34 through bolts.

[0149] In the embodiment, the copper sleeve 84 is arranged to reduce the friction in sliding rotation and facilitate force transmission and radial limiting.

[0150] In the embodiment, in actual use, gaps are arranged between the lower parts of the two vertical clamping plates 27-1 to facilitate the formation of mounting apertures for accommodating the driven gear 24, and gaps are arranged between the top of the driven gear 24 and the bottom base part of the connecting block 27-2; the two vertical clamping plates 27-1 achieve axial limiting of the driven gear 24 and avoid the sliding of the chain 25, thereby improving the stability of transmission.

[0151] In the embodiment, mounting holes are arranged on the lower parts of the vertical clamping plates 27-1 for the transmission shaft 28, and the driven gear 24 is drivenly mounted in the middle part of the transmission shaft 28 through a bearing.

[0152] In the embodiment, the top cover plate 31 is detachably connected with the long side plate 32 and the wide side plate 34 through the connecting plate 33.

[0153] In the embodiment, the connecting parts of the long side plate 32 and the wide side plate 34 at the corners are detachably connected through L-shaped connecting plates, the upper vertical plate 811 is connected with the long side plate 32 through bolts, an L-shaped seat 29 for mounting the speed reducer 22 is arranged on the bottom plate 36, a protective cover 210 is arranged on the L-shaped seat 29, the upper end of the driving gear 23 and the chain 25 is located in the protective cover 210, the bottom of the protective cover 210 is attached to the bottom plate 36, the protective cover 210 is hollow inside, and a strip-shaped hole is arranged in the bottom plate 36 for the chain 25.

[0154] In the embodiment, in actual use, the intermediate motor 71, the polishing motor 21 and the walking motor 11 are controlled by the controller 100.

[0155] In the embodiment, in actual use, the wireless receiver 101 connected with the controller 100 and the handheld remote controller 102 in communication with the wireless receiver 101 are further included.

[0156] In the embodiment, the controller 100 can refer to a PLC module or a single-chip microcomputer or an ARM controller, the handheld remote controller 102 can adopt a handheld remote controller of Shanghai Chuanhu, and the wireless receiver 101 can adopt a corresponding receiver of Shanghai Chuanhu.

[0157] In this embodiment, the intermediate motor 71 adopts SMG130D-020C-20YAK-4LKG, and the intermediate reducer 72 and the speed reducer 22 adopt IB115L1-4-P2-S2-22-58-110-145-M8 speed reducer.

[0158] In this embodiment, the walking motor 11 adopts SMC80S-0075-30YAK-5LSU motor, and the walking reducer 12 adopts PS90L2-32-P2-S2-19-40-70-90-M6 speed reducer.

[0159] In this embodiment, the polishing motor 21 adopts 6IK200GU-CF / 6GU18RC motor.

[0160] As shown in Figure 11 In this embodiment, the output end of the controller 100 is connected with the adjusting motor driver 71-1 for controlling the intermediate motor 71, the polishing motor driver 21-1 for controlling the polishing motor 21, and the walking motor driver 11-1 for controlling the walking motor 11, which are all arranged in the machine body.

[0161] In this embodiment, the adjusting motor driver 71-1, the polishing motor driver 21-1 and the walking motor driver 11-1 are all motor drivers matched with the respective motors.

[0162] In this embodiment, the controller 100 controls the rotation of the intermediate motor 71, the polishing motor 21 and the walking motor 11 through the adjusting motor driver 71-1, the polishing motor driver 21-1 and the walking motor driver 11-1 respectively.

[0163] In this embodiment, it should be noted that the models of the components in the box girder formwork magnetic attraction polishing robot can be appropriately adjusted according to actual needs.

[0164] In this embodiment, in specific use, the control command can be sent through the handheld remote controller 102, and the controller 100 receives the control command through the wireless receiver 101. The handheld remote controller 102 and the wireless receiver 101 are arranged to realize remote control and convenient operation.

[0165] In this embodiment, in specific use, the power cable 5 is arranged on one long side side plate 32, and in actual use, the robot is provided with a cable winding machine for winding the power cable 5, which is not shown in the figure.

[0166] In this embodiment, when in use, a vertical base plate 104 is arranged on one wide side plate 34, and a lower part and an upper part of the vertical base plate 104 are provided with limit switches 103, which are connected with the controller 100, and are denoted as lower limit switches and upper limit switches, so as to limit the inclination angles of the two magnetic walking legs 1, and avoid that the machine body is lifted up or lowered down too much, and causes damage to the device.

[0167] In this embodiment, when in use, the input end of the controller 100 is connected with a current sensor 105 for detecting the current of the polishing motor 21, and the current feedback detected by the current sensor 105 adjusts the lifting up or lowering down of the machine body, so that the polishing roller always adheres to the curved surface of the mold, and ensures the quality of cleaning and polishing. The current can also be displayed through the display screen 4.

[0168] As shown in Figure 12 A method for polishing a box girder formwork by a magnetic polishing robot for box girder formwork, the method comprising the following steps:

[0169] Step one, division of the box girder formwork:

[0170] The box girder formwork is divided into a first flange plate region, a first connecting region, a first web plate region, a second connecting region, a bottom plate, a third connecting region, a second web plate region, a fourth connecting region and a second flange plate region according to the walking direction of the robot; wherein the first flange plate region and the second flange plate region are symmetrically arranged, and the first web plate region and the second web plate region are symmetrically arranged;

[0171] Step two, polishing of the first flange plate region:

[0172] Step 201, the magnetic polishing robot for box girder formwork moves to the first flange plate region through the magnetic walking legs 1; wherein the length direction of the polishing roller 27 is arranged along the length direction of the box girder formwork;

[0173] Step 202, the inclination angles of the two magnetic walking legs 1 are adjusted through the lifting adjusting mechanism 7, so that the bottom of the polishing roller 27 adheres to the first flange plate region;

[0174] Step 203, the magnetic polishing robot moves along the width direction of the first flange plate region by driving the magnetic wheel 13 to rotate through the walking power component; wherein the magnetic wheel 13 is adsorbed on the first flange plate region during the rotation process;

[0175] Step 204, in the process of rotating and moving of the magnetic wheel 13, the first flange plate region surface is polished by rotating the polishing roller 27 controlled by the polishing power mechanism at the same time, until the magnetic wheel 13 at the front end reaches the first connecting region, and the polishing of the first flange plate region is completed;

[0176] Step three, polishing of the first junction area:

[0177] Step 301, adjust the inclination angle of the two magnetic walking legs 1 through the lifting adjustment mechanism 7, so that the bottom of the polishing roller 27 fits the first junction area; wherein the magnetic wheel 13 at the front end is adsorbed on the first web area, and the magnetic wheel 13 at the rear end is adsorbed on the first flange plate area;

[0178] Step 302, drive the magnetic wheel 13 to rotate through the walking power component, so that the magnetic polishing robot moves along the width direction of the first junction area;

[0179] Step 303, in the process of rotating and moving of the magnetic wheel 13, at the same time, control the polishing roller 27 to rotate through the polishing power mechanism to polish the surface of the first junction area, until the polishing roller 27 completes the polishing of the first junction area;

[0180] Step four, polishing of the first web area:

[0181] Step 401, adjust the inclination angle of the two magnetic walking legs 1 through the lifting adjustment mechanism 7, so that the bottom of the polishing roller 27 fits the first web area; wherein the magnetic wheel 13 at the front end is adsorbed on the first web area, and the magnetic wheel 13 at the rear end is adsorbed on the first junction area;

[0182] Step 402, drive the magnetic wheel 13 to rotate through the walking power component, so that the magnetic polishing robot moves along the width direction of the first web area;

[0183] Step 403, in the process of rotating and moving of the magnetic wheel 13, at the same time, control the polishing roller 27 to rotate through the polishing power mechanism to polish the surface of the first web area, until the magnetic wheel 13 reaches the second junction area, and the polishing of the first web area is completed; wherein the rotating direction of the polishing roller 27 is opposite to the rotating direction of the magnetic wheel 13;

[0184] Step five, polishing of the second junction area:

[0185] Step 501, adjust the inclination angle of the two magnetic walking legs 1 through the lifting adjustment mechanism 7, so that the bottom of the polishing roller 27 fits the second junction area; wherein the magnetic wheel 13 at the front end is adsorbed on the bottom plate, and the magnetic wheel 13 at the rear end is adsorbed on the first web area;

[0186] Step 502, drive the magnetic wheel 13 to rotate through the walking power component, so that the magnetic polishing robot moves along the width direction of the second junction area;

[0187] Step 503, in the process of rotating and moving of the magnetic wheel 13, the surface of the second connection area is polished by rotating the polishing roller 27 controlled by the polishing power mechanism, until the polishing roller 27 completes the polishing of the second connection area;

[0188] Step six, polishing of the bottom plate area:

[0189] Step 601, adjust the inclination angle of the two magnetic walking legs 1 by the lifting adjustment mechanism 7, so that the bottom of the polishing roller 27 fits the bottom plate area; wherein the magnetic wheel 13 at the front end is adsorbed on the bottom plate, and the magnetic wheel 13 at the rear end is adsorbed on the second connection;

[0190] Step 602, drive the magnetic wheel 13 to rotate by the walking power component, so that the magnetic polishing robot moves along the width direction of the bottom plate area;

[0191] Step 603, in the process of rotating and moving of the magnetic wheel 13, the surface of the bottom plate area is polished by rotating the polishing roller 27 controlled by the polishing power mechanism, until the magnetic wheel 13 reaches the third connection area, and the polishing of the bottom plate area is completed;

[0192] Step seven, polishing of the third connection area:

[0193] Step 701, adjust the inclination angle of the two magnetic walking legs 1 by the lifting adjustment mechanism 7, so that the bottom of the polishing roller 27 fits the third connection area; wherein the magnetic wheel 13 at the front end is adsorbed on the second web plate area, and the magnetic wheel 13 at the rear end is adsorbed on the bottom plate area;

[0194] Step 702, drive the magnetic wheel 13 to rotate by the walking power component, so that the magnetic polishing robot moves along the width direction of the third connection area;

[0195] Step 703, in the process of rotating and moving of the magnetic wheel 13, the surface of the third connection area is polished by rotating the polishing roller 27 controlled by the polishing power mechanism, until the polishing roller 27 completes the polishing of the third connection area;

[0196] Step eight, polishing of the second web plate area:

[0197] Step 801, adjust the inclination angle of the two magnetic walking legs 1 by the lifting adjustment mechanism 7, so that the bottom of the polishing roller 27 fits the second web plate area; wherein the magnetic wheel 13 at the front end is adsorbed on the second web plate area, and the magnetic wheel 13 at the rear end is adsorbed on the third connection area;

[0198] Step 802, drive the magnetic wheel 13 to rotate by the walking power component, so that the magnetic polishing robot moves along the width direction of the second web plate area;

[0199] Step 803, in the process of rotating movement of the magnetic wheel 13, the second web area surface is polished by rotating the polishing roller 27 controlled by the polishing power mechanism until the magnetic wheel 13 reaches the fourth connection area, and the polishing of the second web area is completed; wherein the rotating direction of the polishing roller 27 is the same as the rotating direction of the magnetic wheel 13;

[0200] Step nine, polishing of the fourth connection area:

[0201] Step 701, adjust the inclination angle of the two magnetic walking legs 1 by the lifting adjustment mechanism 7, so that the bottom of the polishing roller 27 is attached to the fourth connection area; wherein the magnetic wheel 13 at the front end is adsorbed on the second flange plate area, and the magnetic wheel 13 at the rear end is adsorbed on the second web area;

[0202] Step 702, drive the magnetic wheel 13 to rotate by the walking power component, so that the magnetic polishing robot moves along the width direction of the fourth connection area;

[0203] Step 703, in the process of rotating movement of the magnetic wheel 13, the fourth connection area surface is polished by rotating the polishing roller 27 controlled by the polishing power mechanism until the polishing roller 27 completes the polishing of the fourth connection area;

[0204] Step ten, polishing of the second flange plate area:

[0205] Step A01, adjust the inclination angle of the two magnetic walking legs 1 by the lifting adjustment mechanism 7, so that the bottom of the polishing roller 27 is attached to the second flange plate area surface; wherein the magnetic wheel 13 at the front end is adsorbed on the second flange plate area, and the magnetic wheel 13 at the rear end is adsorbed on the fourth connection area;

[0206] Step A02, drive the magnetic wheel 13 to rotate by the walking power component, so that the magnetic polishing robot moves along the width direction of the second flange plate area;

[0207] Step A03, in the process of rotating movement of the magnetic wheel 13, the second flange plate area surface is polished by rotating the polishing roller 27 controlled by the polishing power mechanism until the polishing roller 27 completes the polishing of the first flange plate area;

[0208] Step eleven, repeat steps two to ten to realize the next polishing of the box girder formwork.

[0209] In this embodiment, the inclination angle of the two magnetic walking legs 1 is adjusted by the lifting adjustment mechanism 7, and the specific process is as follows:

[0210] The intermediate motor 71 rotates, the intermediate motor 71 rotates through the intermediate speed reducer 72 to drive the adjusting screw rod 73 to rotate, the horizontal connecting rod 74 is moved upwards along the adjusting screw rod 73, in the process that the horizontal connecting rod 74 is moved upwards along the adjusting screw rod 73, the support leg 14 at one end is swung through the vertical connecting rod 75, and the support leg 14 at the other end is swung through the synchronous mechanism, so that the bottoms of the two magnetic walking support legs 1 are close to each other, and the magnetic polishing robot is lifted as a whole.

[0211] The intermediate motor 71 reversely rotates, the intermediate motor 71 reversely rotates through the intermediate speed reducer 72 to reversely drive the adjusting screw rod 73 to rotate, the horizontal connecting rod 74 is moved downwards along the adjusting screw rod 73, in the process that the horizontal connecting rod 74 is moved downwards along the adjusting screw rod 73, so that the bottoms of the two magnetic walking support legs 1 are away from each other, and the magnetic polishing robot is lowered as a whole.

[0212] In the embodiment, the walking motor drives the magnetic wheel to rotate and is adsorbed on the box girder formwork to move through the walking speed reducer; the power motor in the polishing power mechanism rotates to drive the driving gear to rotate through the speed reducer, the driving gear rotates to drive the driven gear and the transmission shaft to rotate through the chain, and the transmission shaft rotates to drive the polishing roller to rotate and polish through the transmission sleeve.

[0213] In the embodiment, the same height platform can be erected in the two flange plate regions, and the magnetic walking support leg 1 is conveniently supported.

[0214] In the embodiment, the box girder formwork is polished to remove impurity concrete or rust marks.

[0215] In the embodiment, after completing polishing once, the robot turns around and changes direction to start the next work, and the polishing of the unpolished position is realized.

[0216] In summary, the embodiment is reasonable in design, the lifting, left and right movement and front and back movement of the polishing roller are realized, the polishing of the polyurethane box girder formwork can be quickly completed, manpower and material resources are saved, and construction efficiency, polishing quality and personnel safety are improved.

[0217] The above is only a preferred embodiment of the present application, and does not limit the present application, any simple modification, change and equivalent structure change according to the technical essence of the present application to the above embodiment are still within the protection scope of the technical solution of the present application.

Claims

1. A magnetic box girder template polishing robot, characterized in that: The machine body, polishing mechanism (2) arranged at the bottom of the machine body, two groups of symmetrically arranged magnetic walking mechanisms at the wide side of the machine body and the control module arranged in the machine body; The magnetic walking mechanism includes two symmetrically arranged magnetic walking legs (1) at the end of the machine body, the machine body is provided with a lifting adjusting mechanism (7) for adjusting the inclination angle of the two magnetic walking legs (1), each magnetic walking leg (1) includes an inclined support leg (14), a magnetic wheel (13) arranged at the end of the support leg (14) away from the machine body and a walking power component driving the magnetic wheel (13) to rotate, the lifting adjusting mechanism (7) and the other end of the support leg (14) are hinged and drive the support leg (14) to swing, and the support legs (14) at both ends are connected through a synchronous mechanism; The polishing mechanism (2) includes a polishing power mechanism arranged in the machine body and a polishing roller (27) arranged at the bottom of the machine body and located between the two groups of magnetic walking mechanisms and connected with the polishing power mechanism; The control module includes a controller (100) arranged in the machine body, and the polishing power mechanism, the lifting adjusting mechanism (7) and the walking power component are controlled by the controller (100); The lifting adjusting mechanism (7) includes an intermediate motor (71) arranged in the machine body, an intermediate speed reducer (72) connected with the output shaft of the intermediate motor (71), an adjusting screw (73) connected with the intermediate speed reducer (72) and vertically arranged, and a connecting rod component threadedly connected with the adjusting screw (73), the connecting rod component is hinged with the two support legs (14); The connecting rod component includes a transverse connecting rod (74) vertically arranged on the adjusting screw (73) and two vertical connecting rods (75) respectively hinged with the two ends of the transverse connecting rod (74), and the vertical connecting rods (75) are hinged with the other ends of the support legs (14); The transverse connecting rod (74) includes a middle connecting rod part (742) and two groups of symmetrically arranged connecting rod ears (741) at the two ends of the middle connecting rod part (742), a vertical threaded hole (743) is arranged in the middle connecting rod part (742), and the adjusting screw (73) passes through the vertical threaded hole (743) and is threadedly connected; The support leg (14) includes an integral hinge ear (141), a middle section and a connecting end (145), one end of the vertical connecting rod (75) is hinged with the end of the transverse connecting rod (74) through a lower hinge shaft (76), and the other end of the vertical connecting rod (75) is hinged with the hinge ear (141) through an upper hinge shaft.

2. The magnetically attracted polishing robot for box girder formworks according to claim 1, characterized in that: The walking power component includes a walking motor (11) and a walking speed reducer (12) connected in sequence at one side of the end of the support leg (14), the output shaft of the walking speed reducer (12) is connected with the magnetic wheel (13), and the distance between the two walking motors (11) is less than the distance between the two magnetic wheels (13) at both ends. The connecting end (145) of the support leg (14) is provided with a receiving groove (146), the walking reducer (12) extends into the receiving groove (146), the connecting end (145) is provided with a mounting hole (147), and the output shaft of the walking reducer (12) is in transmission connection with the magnetic attraction wheel (13) through the mounting hole (147).

3. The magnetic polishing robot for box girder formworks according to claim 1, characterized in that: The number of the synchronization mechanisms is two, each of the two synchronization mechanisms comprises a bent plate (81) arranged in the machine body, a synchronization rotating shaft (82) arranged outside the bent plate (81), and two end shafts (83) symmetrically arranged at two ends of the synchronization rotating shaft (82). The wide side of the machine body is provided with a vertical plate (85), the end copper sleeve (84) is sleeved in the vertical plate (85), the end shaft (83) extends out of the vertical plate (85) through the end copper sleeve (84), and the end shaft (83) is in transmission connection with the support leg (14).

4. The magnetically attracted polishing robot for box girder formworks according to claim 1, characterized in that: The polishing power mechanism comprises a polishing motor (21) arranged in the bottom of the machine body, a speed reducer (22) in transmission connection with the output shaft of the polishing motor (21), a driving gear (23) arranged on the output shaft of the speed reducer (22), a driven gear (24) in transmission connection with the driving gear (23) through a chain (25), and a transmission shaft (28) arranged in the driven gear (24), the two groups of polishing rollers (27) are arranged in transmission sleeves (26) at the ends close to each other, the two ends of the transmission shaft (28) are in transmission connection with the two transmission sleeves (26), and the two groups of polishing rollers (27) are rotatably arranged at the wide side of the machine body at the ends away from each other. The bottom of the machine body is provided with a mounting seat (217), the mounting seat (217) comprises two vertical clamping plates (27-1) arranged in parallel and a connecting block (27-2) connected between the upper portions of the two vertical clamping plates (27-1), the transmission shaft (28) passes through the two vertical clamping plates (27-1), the driven gear (24) is located between the two vertical clamping plates (27-1), and the transmission shaft (28) is located below the connecting block (27-2).

5. The magnetically attracted polishing robot for box girder formworks according to claim 4, characterized in that: The two ends of the transmission shaft (28) extending out of the vertical clamping plate (27-1) are provided with external splines, the inside of the transmission sleeve (26) is provided with internal splines matched with the external splines, and the transmission shaft (28) is in transmission connection with the transmission sleeve (26) through the external splines and the internal splines. The outside of the vertical clamping plate (27-1) is sleeved with a protective shell (211), the height of the protective shell (211) is less than the height of the vertical clamping plate (27-1), a left limiting ring (261) is arranged on the outer circumference of the transmission sleeve (26), one end surface of the left limiting ring (261) is attached to the protective shell (211), and the other end surface of the left limiting ring (261) is attached to one end surface of the polishing roller (27). The distal ends of the two polishing rollers (27) are provided with positioning sleeves (212), the positioning sleeves (212) are provided with right limiting rings (2122), the right limiting rings (2122) are attached to the other end surfaces of the polishing rollers (27), the positioning sleeves (212) are provided with positioning shafts (2121), and the positioning shafts (2121) are rotatably installed on the wide side of the machine body through bearings.

6. The magnetically attracted polishing robot for box beam formworks according to claim 3, characterized in that: The machine body comprises two symmetrically arranged long side plates (32), two symmetrically arranged wide side plates (34) and a top cover plate (31) arranged on the top of the two long side plates (32) and the two wide side plates (34), and the top cover plate (31) is provided with a display screen (4) controlled by a controller (100). The long side plates (32) are provided with two handles (91) and hooks (92), the length direction of the bent plates (81) is consistent with the length direction of the long side plates (32), and a bottom plate (36) is arranged between the bottoms of the two bent plates (81). The bent plate (81) comprises an upper vertical plate (811), an upper horizontal plate (812), a lower vertical plate (813) and a lower horizontal plate (814) which are sequentially connected and integrally formed, the bending directions of the upper horizontal plate (812) and the lower horizontal plate (814) are opposite, the two long edges of the bottom plate (36) are connected with the lower horizontal plate (814) through bolts, and the synchronous rotation shaft (82) is located in the space below the upper horizontal plate (812) and outside the lower vertical plate (813).

7. A method of using the robot of claim 1 to grind a box beam form, wherein, The method comprises the following steps: Step one, division of the box girder template: The box girder template is divided into a first flange plate region, a first connecting region, a first web plate region, a second connecting region, a bottom plate, a third connecting region, a second web plate region, a fourth connecting region and a second flange plate region according to the walking direction of the robot; wherein the first flange plate region and the second flange plate region are symmetrically arranged, and the first web plate region and the second web plate region are symmetrically arranged; Step two, polishing of the first flange plate region: Step 201, the box girder template is moved to the first flange plate region by the magnetic attraction polishing robot through the magnetic attraction walking legs (1); wherein the length direction of the polishing roller (27) is arranged along the length direction of the box girder template; Step 202, the inclination angles of the two magnetic attraction walking legs (1) are adjusted through the lifting adjusting mechanism (7) to make the bottom of the polishing roller (27) adhere to the first flange plate region; Step 203, the magnetic attraction wheel (13) is driven to rotate by the walking power component to make the magnetic attraction polishing robot move along the width direction of the first flange plate region; wherein the magnetic attraction wheel (13) is adsorbed on the first flange plate region during rotation; Step 204, in the process of rotating and moving of the magnetic attraction wheel (13), the surface of the first flange plate region is polished by rotating the polishing roller (27) through the polishing power mechanism at the same time, until the magnetic attraction wheel (13) at the front end reaches the first connecting region, and the polishing of the first flange plate region is completed; Step three, polishing of the first connecting region: Step 301, adjust the inclination angle of the two magnetic walking legs (1) through the lifting adjustment mechanism (7) to make the bottom of the polishing roller (27) fit the first connection area; wherein the magnetic wheel (13) at the front end is adsorbed on the first web area, and the magnetic wheel (13) at the rear end is adsorbed on the first flange plate area; Step 302, drive the magnetic wheel (13) to rotate through the walking power component, so that the magnetic polishing robot moves along the width direction of the first connection area; Step 303, in the process of rotating and moving of the magnetic wheel (13), control the polishing roller (27) to rotate and polish the surface of the first connection area through the polishing power mechanism, until the polishing roller (27) completes the polishing of the first connection area; Step four, polishing of the first web area: Step 401, adjust the inclination angle of the two magnetic walking legs (1) through the lifting adjustment mechanism (7) to make the bottom of the polishing roller (27) fit the first web area; wherein the magnetic wheel (13) at the front end is adsorbed on the first web area, and the magnetic wheel (13) at the rear end is adsorbed on the first connection area; Step 402, drive the magnetic wheel (13) to rotate through the walking power component, so that the magnetic polishing robot moves along the width direction of the first web area; Step 403, in the process of rotating and moving of the magnetic wheel (13), control the polishing roller (27) to rotate and polish the surface of the first web area through the polishing power mechanism, until the magnetic wheel (13) reaches the second connection area, and the polishing of the first web area is completed; wherein the rotating direction of the polishing roller (27) is opposite to the rotating direction of the magnetic wheel (13); Step five, polishing of the second connection area: Step 501, adjust the inclination angle of the two magnetic walking legs (1) through the lifting adjustment mechanism (7) to make the bottom of the polishing roller (27) fit the second connection area; wherein the magnetic wheel (13) at the front end is adsorbed on the bottom plate, and the magnetic wheel (13) at the rear end is adsorbed on the first web area; Step 502, drive the magnetic wheel (13) to rotate through the walking power component, so that the magnetic polishing robot moves along the width direction of the second connection area; Step 503, in the process of rotating and moving of the magnetic wheel (13), control the polishing roller (27) to rotate and polish the surface of the second connection area through the polishing power mechanism, until the polishing roller (27) completes the polishing of the second connection area; Step six, polishing of the bottom plate area: Step 601, adjust the inclination angle of the two magnetic walking legs (1) through the lifting adjustment mechanism (7) to make the bottom of the polishing roller (27) fit the bottom plate area; wherein the magnetic wheel (13) at the front end is adsorbed on the bottom plate, and the magnetic wheel (13) at the rear end is adsorbed on the second connection; Step 602, drive the magnetic wheel (13) to rotate through the walking power component, so that the magnetic polishing robot moves along the width direction of the bottom plate area; Step 603, in the process of rotating movement of the magnetic wheel (13), the surface of the bottom plate area is polished by rotating the polishing roller (27) controlled by the polishing power mechanism, until the magnetic wheel (13) reaches the third connecting area, and the polishing of the bottom plate area is completed; Step seven, polishing of the third connecting area: Step 701, adjust the inclination angle of the two magnetic walking legs (1) through the lifting adjustment mechanism (7), so that the bottom of the polishing roller (27) fits the third connecting area; wherein the magnetic wheel (13) at the front end is adsorbed on the second web plate area, and the magnetic wheel (13) at the rear end is adsorbed on the bottom plate area; Step 702, drive the magnetic wheel (13) to rotate by the walking power component, so that the magnetic polishing robot moves along the width direction of the third connecting area; Step 703, in the process of rotating movement of the magnetic wheel (13), the surface of the third connecting area is polished by rotating the polishing roller (27) controlled by the polishing power mechanism, until the polishing roller (27) completes the polishing of the third connecting area; Step eight, polishing of the second web plate area: Step 801, adjust the inclination angle of the two magnetic walking legs (1) through the lifting adjustment mechanism (7), so that the bottom of the polishing roller (27) fits the second web plate area; wherein the magnetic wheel (13) at the front end is adsorbed on the second web plate area, and the magnetic wheel (13) at the rear end is adsorbed on the third connecting area; Step 802, drive the magnetic wheel (13) to rotate by the walking power component, so that the magnetic polishing robot moves along the width direction of the second web plate area; Step 803, in the process of rotating movement of the magnetic wheel (13), the surface of the second web plate area is polished by rotating the polishing roller (27) controlled by the polishing power mechanism, until the magnetic wheel (13) reaches the fourth connecting area, and the polishing of the second web plate area is completed; wherein the rotating direction of the polishing roller (27) is the same as the rotating direction of the magnetic wheel (13); Step nine, polishing of the fourth connecting area: Step 701, adjust the inclination angle of the two magnetic walking legs (1) through the lifting adjustment mechanism (7), so that the bottom of the polishing roller (27) fits the fourth connecting area; wherein the magnetic wheel (13) at the front end is adsorbed on the second flange plate area, and the magnetic wheel (13) at the rear end is adsorbed on the second web plate area; Step 702, drive the magnetic wheel (13) to rotate by the walking power component, so that the magnetic polishing robot moves along the width direction of the fourth connecting area; Step 703, in the process of rotating movement of the magnetic wheel (13), the surface of the fourth connecting area is polished by rotating the polishing roller (27) controlled by the polishing power mechanism, until the polishing roller (27) completes the polishing of the fourth connecting area; Step ten, polishing of the second flange plate area: Step A01, adjust the inclination angle of the two magnetic walking legs (1) through the lifting adjustment mechanism (7) to make the bottom of the polishing roller (27) fit the surface of the second flange plate area; wherein the magnetic wheel (13) at the displacement front end is adsorbed on the second flange plate area, and the magnetic wheel (13) at the displacement rear end is adsorbed on the fourth connection area; Step A02, drive the magnetic wheel (13) to rotate through the walking power component, so that the magnetic polishing robot moves along the width direction of the second flange plate area; Step A03, in the process of rotating and moving the magnetic wheel (13), control the rotation of the polishing roller (27) to polish the surface of the second flange plate area through the polishing power mechanism, until the polishing roller (27) completes the polishing of the first flange plate area; Step eleven, repeat steps two to ten to realize the next polishing of the box girder formwork.

8. The method of claim 7, wherein: Adjust the inclination angle of the two magnetic walking legs (1) through the lifting adjustment mechanism (7), the specific process is as follows: The intermediate motor (71) rotates, the intermediate motor (71) rotates to drive the adjusting screw (73) to rotate through the intermediate reducer (72), so that the transverse connecting rod (74) moves upward along the adjusting screw (73), in the process of the transverse connecting rod (74) moving upward along the adjusting screw (73), the supporting leg (14) at one end is swung through the vertical connecting rod (75), and the supporting leg (14) at the other end is swung through the synchronous mechanism, so that the bottoms of the two magnetic walking legs (1) are close to each other, and the whole magnetic polishing robot is lifted; The intermediate motor (71) reverses rotation, the intermediate motor (71) reverses rotation to drive the adjusting screw (73) to reverse rotation through the intermediate reducer (72), so that the transverse connecting rod (74) moves downward along the adjusting screw (73), in the process of the transverse connecting rod (74) moving downward along the adjusting screw (73), so that the bottoms of the two magnetic walking legs (1) are far away from each other, and the whole magnetic polishing robot is lowered.

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