A concrete pylon formwork self-adapting cleaning robot

Abstract

The application discloses a concrete bridge tower formwork self-adaptive cleaning robot, which comprises a whole moving mechanism, a cleaning moving mechanism and a cleaning mechanism; the whole moving mechanism is used for moving the robot; the cleaning mechanism comprises a frame, a rack for mounting all components, an adsorption module for adsorbing the formwork, and a cleaning module for cleaning / painting release agent of the formwork; the cleaning moving mechanism is mounted on the whole moving mechanism, the cleaning moving mechanism is connected with a fine adjustment module through an electric cylinder, and the fine adjustment module is connected with the cleaning mechanism; the fine adjustment module comprises an upper adjustment module, the upper adjustment module comprises a first rack, a first guide rail and a first spring adjuster; the electric cylinder is connected with the first rack, and the first guide rail is arranged in the first rack in a direction perpendicular to the formwork. The application can be used for automatic cleaning of the bridge tower formwork under a complex construction environment, reduces the labor cost, and improves the safety of construction operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of concrete construction equipment. More particularly, the present application relates to a self-adaptive cleaning robot for concrete bridge tower formwork. BACKGROUND

[0002] Formwork engineering is a temporary structure in concrete construction, specifically referring to the formwork of newly poured concrete and the entire construction system supporting the formwork. The construction part in direct contact with the cast-in-place concrete and controlling the predetermined size, shape and position is called formwork. Therefore, the cleanliness of the formwork surface and the spraying state of the release agent will directly affect the appearance quality of the newly poured concrete after demolding.

[0003] Currently, high-rise concrete bridge tower construction mostly uses hydraulic climbing formwork for construction. After the formwork is removed, high-altitude work needs to be done in a small space to complete the cleaning of the formwork surface and the application of release agent to meet the requirements of the next pouring. Currently, the cleaning and application of bridge tower formwork are mainly done by manual work. Due to the complex environment of bridge tower construction and the randomness of workers' subjective operation, the surface state of the formwork cannot be completely guaranteed to meet the requirements of concrete pouring. At the same time, due to the influence of objective environment and subjective factors of workers, the processing efficiency of the formwork surface quality cannot be guaranteed, which may affect the construction progress of the entire project.

[0004] To ensure the surface quality of the cast-in-place formwork of the concrete bridge tower construction and adapt to the synchronous operation of the tower bridge construction equipment, it is necessary to focus on the research of formwork surface foreign matter cleaning and release agent brushing process, complex formwork structure displacement mechanism, and automatic wall cleaning mechanism in a small space, to solve the problem that the formwork automatic cleaning robot can be applied to complex formwork structure. SUMMARY

[0005] The purpose of the present application is to provide a self-adaptive cleaning robot for concrete bridge tower formwork, which can be used for automatic cleaning in the complex construction environment of bridge tower formwork, reducing labor costs and improving the safety of construction operations.

[0006] The technical solution adopted by the present application to solve the technical problem is: a self-adaptive cleaning robot for concrete bridge tower formwork, comprising: an overall moving mechanism, a cleaning moving mechanism and a cleaning mechanism.

[0007] The overall moving mechanism is used for the movement of the robot.

[0008] The cleaning mechanism comprises: a frame, a rack for mounting all components; an adsorption module for adsorbing the formwork; a cleaning module for cleaning / brushing the release agent of the formwork.

[0009] The cleaning moving mechanism is installed on the whole moving mechanism, and is connected with a fine adjustment module through an electric cylinder, and the fine adjustment module is connected with the cleaning mechanism.

[0010] The upper adjustment module comprises a first frame body, a first guide rail and a first spring adjuster. The electric cylinder is connected with the first frame body. The first guide rail is arranged in the first frame body in a direction perpendicular to the template. The first spring adjuster is connected with a first sliding block on the first guide rail. The other end of the first guide rail is connected with the first frame body through a first spring, and is used for adjusting the position of the first sliding block on the first guide rail.

[0011] The middle adjustment module comprises a second frame body, a third frame body and a spring buffer hinge. The second frame body is connected with the first sliding block. The third frame body is arranged below the second frame body and is hingedly connected with the second frame body through a bolt. The spring buffer hinge is connected with the second frame body and the third frame body respectively. The spring buffer hinge is arranged to enable the cleaning mechanism to rotate by a certain angle in a vertical plane perpendicular to the template.

[0012] The middle adjustment module further comprises a first limiting screw arranged on one side of the second frame body. The middle adjustment module further comprises a second spring adjuster arranged on both sides of the third frame body and connected with the third frame body through a spring. The other end of the second spring adjuster is connected with the second frame body / the first frame body.

[0013] The lower adjustment module comprises a fourth frame body, a fifth frame body and a bearing. The fourth frame body is fixed with the third frame body. The fourth frame body is connected with the fifth frame body through the bearing. The fifth frame body is connected with the frame.

[0014] The lower adjustment module further comprises a second limiting screw arranged on the fourth frame body.

[0015] Preferably, the whole moving mechanism comprises a moving trolley and a supporting device. The supporting device is arranged on the chassis of the moving trolley in an extendable manner, and is used for supporting the moving trolley.

[0016] Preferably, the cleaning moving mechanism comprises:

[0017] A lead screw lifting platform, an X-direction linear module, a Y-direction linear guide rail module and an electric cylinder. The Y-direction linear guide rail module is arranged on the lead screw lifting platform. The X-direction linear module is arranged on the Y-direction linear guide rail module in a sliding manner. The electric cylinder is connected with the X-direction linear module through a sliding block. The electric cylinder is connected with the cleaning mechanism, and drives the cleaning mechanism to move up and down on the surface of the template.

[0018] Preferably, at least one pair of first guide modules symmetrically arranged along the X direction are included, the first guide module includes a guide column and a guide wheel, the guide column is arranged on one side of the screw lifting platform and fixed with the overall moving mechanism, a pair of guide wheels are symmetrically arranged on both sides of the guide column through a shaft, and both ends of the shaft are fixed with the screw lifting platform and the electric cylinder respectively.

[0019] Preferably, a second guide module is further included, which includes a limiting rail and a guide wheel, the limiting rail is arranged on one side of the X-direction linear module away from the template, the guide wheel is installed on the slider of the X-direction linear module through a wheel seat, and the guide wheel is arranged below the limiting rail and rolls with the limiting rail.

[0020] Preferably, the adsorption module includes a front plate, an intermediate plate, a rear plate, a rudder, a cam, an electromagnet and a vacuum chuck; the front plate and the rear plate are connected through an optical axis, the intermediate plate is movably arranged between the front plate and the rear plate through an optical axis, the electromagnet is installed on the intermediate plate, the vacuum chuck is installed on the front plate, a spring is arranged between the front plate and the intermediate plate, the rudder is installed on the rear plate, the rudder drives the cam to rotate, and the cam controls the intermediate plate to move close to or away from the front plate; the electromagnet realizes adsorption and separation of the front plate through on-off electricity and the action of the cam; the frame is fixed with the intermediate plate, and the frame is driven to move relative to the template through the intermediate plate.

[0021] Preferably, each group of adsorption modules is provided with a plurality of chucks, the plurality of chucks are divided into groups, and the same group of chucks of a plurality of adsorption modules is controlled by one vacuum pump.

[0022] The present application at least includes the following beneficial effects:

[0023] 1) Wide range of applications. The concrete bridge tower template self-adaptive cleaning robot can be used for template surface cleaning and painting process in narrow space.

[0024] 2) Good cleaning effect and high efficiency. The concrete bridge tower template self-adaptive cleaning robot can clean templates of different materials and shapes, realize template compression cleaning through fine adjustment module, and complete efficient and high-quality cleaning and film coating in the process of walking on the template.

[0025] 3) High safety performance. The adsorption module ensures safe and reliable adsorption of the device through double adsorption, and also ensures the cleaning effect.

[0026] Other advantages, objects and features of the present application will be partly embodied by the following description, and partly understood by those skilled in the art through research and practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1It is a structural schematic diagram of a concrete bridge tower formwork self-adaptive cleaning robot of the present application.

[0028] Figure 2 It is a structural schematic diagram of a cleaning mechanism of the present application.

[0029] Figure 3 It is a schematic diagram of a transmission unit of the present application.

[0030] Figure 4 It is a schematic diagram of an overall moving mechanism and a cleaning moving mechanism of the present application.

[0031] Figure 5 It is a schematic diagram of a second guiding module of the present application.

[0032] Figure 6 It is a structural schematic diagram of an adsorption module of the present application.

[0033] Figure 7 It is a structural schematic diagram of a fine adjustment module of the present application.

[0034] Label description: 1 overall moving mechanism; 11 moving trolley; 12 supporting device; 2 cleaning moving mechanism; 21 screw rod lifting platform; 22 X-direction linear module; 23 Y-direction linear guide rail module; 24 electric cylinder; 25 guiding column; 26 guiding wheel; 27 limiting rail; 3 cleaning mechanism; 31 frame; 32 adsorption module; 321 front plate; 322 middle plate; 323 rear plate; 324 steering engine; 325 cam; 326 electromagnet; 327 vacuum chuck; 328 optical axis; 329 spring; 33 cleaning module; 33a recycling bin; 33b1 high-pressure spray pipe; 33b2 first scraper; 33b3 roller brush; 33b4 spray pipe; 34 roller brush transmission unit; 341 synchronous belt; 342 tensioning wheel; 343 roller; 4 formwork; 5 fine adjustment module; 51 upper adjustment module; 511 first frame body; 512 first guide rail; 513 first spring adjuster; 514 first sliding block; 52 middle adjustment module; 521 second frame body; 522 third frame body; 523 spring buffer hinge; 524 first limiting screw rod; 525 second spring adjuster; 53 lower adjustment module; 531 fourth frame body; 532 fifth frame body; 533 bearing; 534 second limiting screw rod. DETAILED DESCRIPTION

[0035] The present application will be described in detail below with reference to the accompanying drawings. Those skilled in the art will be able to implement the present application based on these descriptions. Before the present application is described in detail with reference to the accompanying drawings, it should be particularly noted that the technical solutions and technical features provided in each part of the present application, including the following description, can be combined with each other without conflict.

[0036] Furthermore, the embodiments of the present invention described below are generally only some, not all, of the embodiments of the present invention. Therefore, all other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention.

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The specific implementation process is as follows:

[0038] like Figure 1 As shown, the present invention provides an adaptive cleaning robot for concrete bridge tower formwork, comprising: an overall moving mechanism 1, a cleaning moving mechanism 2, and a cleaning mechanism 3;

[0039] Overall moving mechanism 1, used for moving the device;

[0040] The cleaning mechanism 3 includes: a frame 31; an adsorption module 32 for adsorbing the template 4; and a cleaning module 33 for cleaning the template 4 / applying a release agent. Figure 2 As shown, the cleaning module 33 includes a water tank, two sets of spraying units, and a roller brush drive unit 34. The water tank supplies water to the two sets of spraying units, which are symmetrically arranged on the frame 31. The upper spraying unit, from top to bottom, includes a high-pressure spray pipe 33b1, a first scraper 33b2, and a roller brush 33b3 assembly. The lower spraying unit is mirror-symmetrically arranged compared to the upper spraying unit. The roller brush 33b3 assembly includes a roller brush 33b3 and a spray pipe 33b4. The spray pipe 33b4 is connected to the water tank and the release agent container via pipelines, and its connection to the water tank or the release agent container is controlled by a valve. Figure 3 As shown, the roller brush drive unit 34 includes: a synchronous belt 341, a motor, and a tensioning pulley 342. Due to thermal expansion and contraction, the belt is longer in summer and shorter in winter. The tension of the belt is adjusted by adjusting the tension. The roller brushes 33b3 of the two spraying units are driven by the synchronous belt 341. The motor drives the synchronous belt 341, and the tension of the synchronous belt 341 is adjusted by the tensioning pulley 342. Specifically, the synchronous belt 341 drives the roller brush 33b3 shaft to a roller 343 connected to one end. The synchronous belt 341 drives the roller 343 to rotate, thereby driving the roller brush 33b3 to rotate. Cleaning steps: Since the template 4 is dry, the dust on it cannot be cleaned directly by the roller brush 33b3. This device first sprays water onto the template 4 through the high-pressure spray pipe 33b1, then scrapes the template 4 with the first scraper 33b2, and then cleans the template 4 with the spray pipe 33b4 and the roller brush 33b3 or applies a release agent to the template 4.

[0041] In the preferred embodiment, the upper and lower groups of roller brushes 33b3 can be arranged in different structures, and the two groups of roller brushes 33b3 are respectively used for cleaning and coating release agent. The roller brushes 33b3 for coating release agent can adopt ordinary hair brushes, and the roller brushes 33b3 for cleaning can be provided with hard bristles and rubber scrapers at intervals along the circumferential direction, so that better cleaning effect can be achieved.

[0042] In addition, the first scraper 33b2 is arranged in a structure form in which the installation structure of the frame 31 can adjust the extension distance of the first scraper 33b2, and the first scraper 33b2 can be retracted during coating of release agent only.

[0043] The cleaning moving mechanism 2 is installed on the overall moving mechanism 1 and is used to drive the cleaning mechanism 3 to move in three-dimensional directions. The cleaning mechanism 3 is connected with the electric cylinder 24 through the fine adjustment module 5;

[0044] As shown in Figure 7 the fine adjustment module 5 includes:

[0045] The upper adjustment module 51 is used to solve the spacing problem between the overall moving mechanism 1 and the template 4. The upper adjustment module 51 includes a first frame body 511, a first guide rail 512 and a first spring adjuster 513. The electric cylinder 24 is connected with the first frame body 511. The first guide rail 512 is preferably in the form of a double guide rail. The first guide rail 512 is arranged in the first frame body 511 perpendicularly to the direction of the template 4. The first spring adjuster 513 is connected with a first sliding block 514 on the first guide rail 512. The other end of the first guide rail 512 is connected with the first frame body 511 through a first spring (not shown in the figure) for adjusting the position of the first sliding block 514 sliding on the first guide rail. The structure of the first spring adjuster 513 includes a fixed plate, a bolt, a limiting sleeve, a pair of nuts, a clamping piece and a second spring. The fixed plate is connected with the first frame body 511. The limiting sleeve is fixed on the fixed plate. The bolt is screwed on the limiting sleeve. The clamping piece is limited by the pair of nuts on the bolt. One end of the second spring is connected with the clamping piece, and the other end is connected with the first sliding block 514. The tension of the second spring is adjusted by rotating the bolt, so as to drive the first sliding block 514 to move forward and backward, and then adjust the distance between the cleaning mechanism 3 and the template 4.

[0046] The middle adjustment module 52 includes a second frame body 521, a third frame body 522 and a spring buffer hinge 523. The second frame body 521 is connected with the first sliding block 514. The third frame body 522 is arranged below the second frame body 521 and is hinged with the second frame body 521 through a bolt. The spring buffer hinge 523 is connected with the second frame body 521 and the third frame body 522 respectively. The spring buffer hinge 523 is arranged so that the cleaning mechanism 3 can rotate a certain angle in the vertical plane perpendicular to the template 4 to adapt to the distance between the cleaning mechanism 3 and the template 4.

[0047] The middle adjustment module 52 further comprises a first limiting screw 524 arranged on one side of the second frame body 521, and the angle of rotation of the spring buffer hinge 523 driving the cleaning mechanism 3 is adjusted by adjusting the first limiting screw 524, and when the first limiting screw 524 abuts against the spring buffer hinge 523, the maximum rotation angle is reached; the middle adjustment module 52 further comprises a second spring adjuster 525 which has the same structure as the first spring adjuster 513, and the second spring adjuster 525 is arranged on both sides of the third frame body 522 and connected with the third frame body 522 through springs, and the other end of the second spring adjuster 525 is connected with the second frame body 521 / the first frame body 511 (the spring in the second spring adjuster 525 connected with the first frame body 511 is not shown in the figure), and the stability of the rotation of the third frame body 522 is ensured by the spring tension of the second spring adjuster 525;

[0048] The lower adjustment module 53 comprises a fourth frame body 531, a fifth frame body 532 and a bearing 533; the fourth frame body 531 is fixed with the third frame body 522, the fourth frame body 531 is connected with the fifth frame body 532 through the bearing 533, and the fourth frame body 531 is connected with the fifth frame body 532 through the bearing 533, so that the relative horizontal rotation of the two can be realized, and the fifth frame body 532 is connected with the frame 31;

[0049] The lower adjustment module 53 further comprises a second limiting screw 534 arranged on the fourth frame body 531, and the distance between the second limiting screw 534 and the fifth frame body 532 is adjusted by rotating the second limiting screw 534, so as to adjust the horizontal rotation range of the fourth frame body 531 relative to the fifth frame body 532.

[0050] Since the distance between the vehicle and the mold plate 4 cannot be accurately adjusted to ensure that the cleaning mechanism 3 can be accurately attached to the mold plate 4, in addition, the cleaning mechanism 3 and the mold plate 4 cannot be completely parallel, and have a small included angle, the fine adjustment module 5 can adapt to the included angle to ensure the attachment of the cleaning mechanism 3 and the mold plate 4, the same normal pressure can be provided for uneven surfaces, the self-adaptive adjustment of the three degrees of freedom of the cleaning mechanism 3 is realized, the stress of the cleaning mechanism 3 is uniform, and the service life of the cleaning mechanism 3 is prolonged.

[0051] The technical solution can further include the following technical details to better achieve the technical effect: as Figure 4As shown, the overall moving mechanism 1 includes a moving trolley 11 and a support device 12, which is telescopically arranged on the chassis of the moving trolley 11 and used for supporting the moving trolley 11. Due to the relatively complex working environment, the moving trolley 11 is selected to be a combination of a four-wheel chassis and a solid tire with strong environmental adaptability. The support device 12 is arranged on the four-wheel chassis, which can be directly used when the tire is in contact with the ground during continuous working movement, and can be moved aside when it is not working to open the support device 12 to avoid pressure concentration on the tire. When working, counterweight should be added on the other side of the chassis to avoid rollover.

[0052] The technical scheme can further include the following technical details to better achieve the technical effects: as shown Figure 4 As shown, the cleaning moving mechanism 2 includes a lead screw lifting platform 21, an X-direction linear module 22 (parallel to the length direction of the template 4), a Y-direction linear guide rail module 23 arranged on the lead screw lifting platform 21, and an electric cylinder connected with the X-direction linear module 22 through a sliding block. The electric cylinder can be an electric cylinder 24, and preferably a multi-stage electric cylinder 24 to adapt to the height of the template 4. The electric cylinder 24 is connected with the cleaning mechanism 3 to drive the cleaning mechanism 3 to move up and down on the surface of the template 4. Specifically, a pair of Y-direction linear guide rail modules 23 are symmetrically fixed on the platform of the lead screw lifting platform 21, and the X-direction linear module 22 is movably arranged on the pair of Y-direction linear guide rail modules 23. The lead screw lifting platform 21 is started to move up and down with the X-direction linear module 22 and the Y-direction linear guide rail module 23 through lead screw transmission. The X-direction linear module 22 moves in the Y-axis direction through the Y-direction linear guide rail module 23, and drives the cleaning mechanism 3 to move in the length direction of the template 4.

[0053] The technical scheme can further include the following technical details to better achieve the technical effects: as shown Figure 4 As shown, it includes at least one pair of first guide modules symmetrically arranged along the X direction, the first guide module includes a guide column 25 and a guide wheel 26, the guide column 25 is arranged on one side of the lead screw lifting platform 21 and fixed with the overall moving mechanism 1. When only one pair of first guide modules is arranged, the first guide module is preferably arranged on the side of the lead screw lifting platform 21 away from the template 4. A pair of guide wheels 26 are symmetrically and slidably arranged on both sides of the guide column 25 through a shaft, and the both ends of the shaft are respectively fixed with the lead screw lifting platform 21 and the electric cylinder. In order to improve the stability of the shaft, the shaft is further fixed with the lead screw lifting platform 21 through a shaft seat. Due to the effect of the eccentric load on the lifting platform, a group of guide wheels 26 are added to give a certain pressure so that the lifting platform can be lifted horizontally.

[0054] The technical scheme can further include the following technical details to better achieve the technical effects: as shown Figure 5As shown, the second guiding module includes a limiting rail 27 and a guiding wheel 26, the limiting rail 27 is arranged on the side of the X-direction linear module 22 away from the template 4, the guiding wheel 26 is installed on the slider of the X-direction linear module 22 through a wheel seat, and the guiding wheel 26 is located below the limiting rail 27 and is arranged in rolling connection with the limiting rail 27. Because the weight of the multi-machine cylinder 24 and the cleaning mechanism 3 will cause the slider of the X-direction linear module 22 to be unbalanced, the pre-pressing of the limiting rail 27 of the second guiding module to the guiding wheel 26 can solve the problem of unbalanced load.

[0055] The technical scheme can further include the following technical details to better achieve the technical effects: as shown in the drawings, Figure 6 As shown, the adsorption module 32 includes a front plate 321, an intermediate plate 322, a rear plate 323, a rudder 324, a cam 325, an electromagnet 326 and a vacuum chuck 327; the front plate 321 and the rear plate 323 are connected through an optical axis 328, the intermediate plate 322 is movably arranged between the front plate 321 and the rear plate 323 through the optical axis 328, the electromagnet 326 is installed on the intermediate plate 322, the vacuum chuck 327 is installed on the front plate 321, a spring 329 is arranged between the front plate 321 and the intermediate plate 322, the rudder 324 is installed on the rear plate 323, the rudder 324 drives the cam 325 to rotate, and the cam 325 controls the intermediate plate 322 to move close to or away from the front plate 321. When the intermediate plate 322 needs to return to the position away from the front plate 321, the return elastic force of the spring 329 and the rotation of the cam 325 are used to achieve the return; the electromagnet 326 realizes the adsorption and separation of the front plate 321 by switching on and off and the action of the cam 325; the frame 31 is fixed with the intermediate plate 322, and the frame 31 is driven to move relative to the template 4 by the intermediate plate 322; the longitudinally and transversely arranged vacuum chucks preliminarily adsorb the template 4 through the vacuum chucks. At this time, the template 4 and the cleaning head are not tightly pressed, the roughness of the surface of the template 4 is large, and nails on the surface of the template 4 can cause the vacuum chucks to leak, which affects the adsorption of the template 4 by the cleaning head. In addition, the residual impurities such as concrete on the template 4 cannot be tightly adsorbed by the vacuum chucks, which causes the stubborn stains on the template 4 to be not cleaned by the cleaning roller 33b3. The intermediate frame of the vacuum chuck drives the intermediate plate 322 to move close to the vacuum chuck by the cam 325, and the electromagnet 326 realizes adsorption under the condition that the electromagnet 326 is not powered, so that the roller 33b3 is tightly pressed against the template 4 for cleaning. Preferably, the adsorption module 32 is arranged between the upper and lower groups of spraying units, and two groups of adsorption modules 32 are symmetrically arranged on the frame 31, but the number of the adsorption modules 32 is not limited to two, and the number of the adsorption modules 32 can be adjusted according to the site conditions.

[0056] The adsorption and separation process is as follows: vacuumizing through the vacuum chuck 327, the template 4 is preliminarily adsorbed and fixed by the adsorption module 32, then the rudder 324 drives the cam 325 to rotate, the large edge of the cam 325 pushes the middle plate 322 towards the front plate 321, the spring is in a compressed state, the control electromagnet 326 is powered off, the electromagnet 326 drives the middle plate 322 to be tightly adsorbed on the front plate 321, the middle plate 322 drives the cleaning head to be tightly pressed against the template 4, so that the effect of subsequent cleaning is ensured, the electromagnet 326 has an adsorption force of 80 kg in the application, the adsorption force is strong, and it is ensured that the adsorption module 32 cannot be separated from the template 4, it should be noted that the electromagnet 326 is not limited to having an adsorption force when powered off, and the electromagnet 326 can also be powered on to have an adsorption force. When it is needed to be separated, the rudder 324 drives the cam 325 to rotate, so that the small edge of the cam 325 faces the middle plate 322, the electromagnet 326 is powered on at the same time, and the middle plate 322 is reset under the action of the spring rebound force, the cleaning head is no longer tightly pressed against the template 4, and the vacuum pump is closed, so that the adsorption module 32 can be separated.

[0057] The technical scheme can further include the following technical details to better achieve the technical effects: each group of adsorption modules 32 is provided with a plurality of suction cups, the plurality of suction cups are divided into a plurality of groups, the suction cups of a plurality of adsorption modules 32 in the same group are controlled by one vacuum pump, and the suction cups of different groups are controlled by different vacuum pumps. In the embodiment, two groups of adsorption modules 32 and two vacuum pumps are provided, each group of adsorption modules 32 is provided with four suction cups, the two suction cups of each adsorption module 32 are controlled by one of the vacuum pumps, and the remaining two suction cups of each adsorption module 32 are controlled by the other vacuum pump, so that the suction cups are alternately adsorbed, if the suction cups leak due to nails or other obstacles, only part of the suction cups will be affected, and the remaining suction cups can still work normally, forming two independent systems.

[0058] The technical scheme can further include the following technical details to better achieve the technical effects: the electric cylinder is a steel wire rope winding mechanism, the cleaning mechanism 3 is pulled by the steel wire rope of the steel wire rope winding mechanism, and the length of the steel wire rope is adjusted to adapt to the inclination of the template 4 in the vertical direction.

[0059] The technical scheme can further include the following technical details to better achieve the technical effects: the cleaning module 33 further includes a recycling bin 33a, the bottom of the recycling bin 33a is located below the roller brush 33b3, and the recycling bin 33a has a slag outlet.

[0060] Although the embodiments of the present application have been disclosed as above, they are not limited to the application listed in the specification and the embodiments, and can be fully applied to various fields suitable for the present application, and additional modifications can be easily realized by those skilled in the art, and therefore the present application is not limited to specific details and the embodiments shown and described herein, without departing from the general concept defined by the claims and the equivalent scope.

Claims

1. An adaptive cleaning robot for concrete bridge tower formwork, characterized in that, include: Overall moving mechanism, cleaning moving mechanism, cleaning mechanism, and fine-tuning module; An integral moving mechanism used for the movement of a robot; The cleaning mechanism includes: a frame, a rack for mounting all components; an adsorption module for adsorbing the template; and a cleaning module for cleaning the template / applying a release agent. The cleaning module includes a water tank, two spray units, and a roller brush drive unit. The water tank supplies water to the two spray units, which are symmetrically arranged on the frame. The upper spray unit, from top to bottom, includes a high-pressure spray pipe, a first scraper, and a roller brush assembly. The lower spray unit is mirror-symmetrically arranged compared to the upper spray unit. The roller brush assembly includes a roller brush and a spray pipe. The spray pipe is connected to the water tank and the release agent container via pipelines, and its connection to the water tank or release agent container is controlled by valves. The roller brush drive unit includes a synchronous belt, a motor, and a tensioning pulley. The roller brushes of the two spray units are driven by the synchronous belt, which is driven by the motor. The tension of the synchronous belt is adjusted by the tensioning pulley. The cleaning module also includes a recovery bin, the bottom of which is located below the roller brushes, and the recovery bin has a slag discharge hole. A cleaning moving mechanism is mounted on the overall moving mechanism. The cleaning moving mechanism is connected to a fine-tuning module via an electric cylinder. The fine-tuning module is connected to the cleaning mechanism. The fine-tuning module includes: The upper adjustment module includes a first frame, a first guide rail, and a first spring adjuster. An electric cylinder is connected to the first frame. A first guide rail is arranged perpendicular to the template within the first frame. The first spring adjuster is connected to a first slider on the first guide rail. The other end of the first guide rail is connected to the first frame via a first spring, used to adjust the sliding position of the first slider on the first guide rail. The first spring adjuster includes a fixed plate, a bolt, a limiting sleeve, a pair of nuts, a clamping plate, and a second spring. The fixed plate is connected to the first frame. The limiting sleeve is fixed to the fixed plate. The bolt is screwed onto the limiting sleeve. A pair of nuts on the bolt limit the clamping plate. One end of the second spring is connected to the clamping plate, and the other end is connected to the first slider. The tension of the second spring is adjusted by rotating the bolt, thereby driving the first slider to move back and forth. The middle adjustment module includes a second frame, a third frame, and a spring buffer hinge; the second frame is connected to the first slider, the third frame is located below the second frame, the third frame is hinged to the second frame by bolts, the spring buffer hinge is connected to the second frame and the third frame respectively, and the spring buffer hinge is configured to allow the cleaning mechanism to rotate at a certain angle in a vertical plane perpendicular to the template; The central adjustment module also includes a first limiting screw, which is disposed on one side of the second frame; the central adjustment module also includes a second spring adjuster, which is disposed on both sides of the third frame and connected to the third frame through a spring, and the other end of the second spring adjuster is connected to the second frame / first frame, and the structure of the second spring adjuster is the same as that of the first spring adjuster; The lower adjustment module includes a fourth frame, a fifth frame, and a bearing; the fourth frame is fixed to the third frame, the fourth frame and the fifth frame are connected by the bearing, and the fifth frame is connected to the frame. The lower adjustment module also includes a second limiting screw, which is mounted on the fourth frame; The adsorption module includes a front plate, a middle plate, a rear plate, a servo motor, a cam, an electromagnet, and a vacuum suction cup. The front plate and the rear plate are connected by an optical axis. The middle plate is movably disposed between the front plate and the rear plate via an optical axis. An electromagnet is mounted on the middle plate. The vacuum suction cup is mounted on the front plate. A spring is disposed between the front plate and the middle plate. The servo motor is mounted on the rear plate. The servo motor drives the cam to rotate, and the cam controls the middle plate to move closer to or away from the front plate. The electromagnet achieves adsorption and detachment from the front plate through the switching on and off of power and the action of the cam. The frame is fixed to the middle plate, and the middle plate drives the frame to move relative to the template. The overall moving mechanism includes a moving trolley and a supporting device. The supporting device is retractably mounted on the chassis of the moving trolley and is used to support the moving trolley. The cleaning moving mechanism includes: The system includes a screw lifting platform, an X-axis linear module, a Y-axis linear guide module, and an electric cylinder. The Y-axis linear guide module is mounted on the screw lifting platform, the X-axis linear module is slidably mounted on the Y-axis linear guide module, and the electric cylinder is connected to the X-axis linear module via a slider. The electric cylinder is also connected to a cleaning mechanism, which moves the cleaning mechanism up and down on the surface of the template.

2. The adaptive cleaning robot for concrete bridge tower formwork as described in claim 1, characterized in that, It includes at least one pair of first guide modules symmetrically arranged along the X direction. The first guide module includes a guide column and a guide wheel. The guide column is disposed on one side of the screw lifting platform and fixed to the overall moving mechanism. The pair of guide wheels are symmetrically slidably disposed on both sides of the guide column through shafts. The two ends of the shafts are respectively fixed to the screw lifting platform and the electric cylinder.

3. The adaptive cleaning robot for concrete bridge tower formwork as described in claim 1, characterized in that, It also includes a second guide module, which includes a limiting rail and a guide wheel. The limiting rail is located on the side of the X-direction linear module away from the template. The guide wheel is mounted on the slider of the X-direction linear module through a wheel seat. The guide wheel is located below the limiting rail and is rolled along with the limiting rail.

4. The adaptive cleaning robot for concrete bridge tower formwork as described in claim 1, characterized in that, Each adsorption module is equipped with multiple suction cups, which are divided into multiple groups. The suction cups in the same group of several adsorption modules are controlled by a vacuum pump.

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