Box beam template grinding device with switchable grinding head and grinding method thereof

Abstract

The present invention discloses a box girder template grinding device with switchable grinding heads and a grinding method thereof, the device comprises a walking mechanism, a multi-degree-of-freedom mechanical arm grinding assembly and a control module; the multi-degree-of-freedom mechanical arm grinding assembly comprises a rotary drive device, an expansion plate, a multi-degree-of-freedom mechanical arm and a hydraulic power, and a switchable grinding head assembly arranged at the end of the multi-degree-of-freedom mechanical arm, the switchable grinding head assembly comprises a base, a main grinding head, a first grinding head, a second grinding head and a third grinding head; the method comprises the following steps: 1. division of the box girder template; 2. synchronous grinding of the elevation of the box girder template and the first area of ​​the flange plate; 3. synchronous grinding of the second area of ​​the flange plate and the area at the joint of the positive angle; 4. grinding of the web area; 5. synchronous grinding of the area at the joint of the negative angle and the first area of ​​the bottom plate; 6. grinding of the remaining area of ​​the bottom plate. The present invention can quickly complete the grinding of the box girder template, thereby improving the construction efficiency.

Description

Technical Field

[0001] This invention belongs to the field of box girder formwork grinding technology, and in particular relates to a box girder formwork grinding device with switchable grinding heads and its grinding method. Background Art

[0002] Currently, most box girders used in bridges are precast box girders made using formwork at the beam yard. After precasting, concrete and other debris remain on the formwork, requiring grinding and cleaning before reuse. Most beam yards still rely primarily on manual grinding and cleaning. Due to the large length, width, and height differences of the formwork, manual cleaning is time-consuming, labor-intensive, and poses safety risks. Consequently, some formwork grinding equipment has emerged. For example, patent CN118342393A discloses a self-propelled grinding machine that can travel along the length of channel-shaped parts. Its multi-degree-of-freedom robotic arm has six rotational degrees of freedom, allowing the grinding head to grind the web, flanges, and wing plates. However, in actual use, due to the limitation of the grinding roller length, it cannot effectively adapt to grinding the vertical surfaces, external corners, and internal corners of the box girder formwork. Therefore, manual grinding is still required after using the grinding machine.

[0003] Therefore, there is currently a lack of box girder formwork grinding equipment with switchable grinding heads. This equipment would add a first, second, and third grinding head to the main grinding head, and these grinding heads could be switched by swinging. This would enable grinding of the box girder formwork facade, external corner joints, and internal corner joints, avoiding manual grinding and improving grinding efficiency. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a box girder formwork grinding device with switchable grinding heads, which is reasonably designed and adds a first grinding head, a second grinding head and a third grinding head to the main grinding head. The first grinding head, the second grinding head and the third grinding head can swing and switch, so as to realize the grinding of the box girder formwork facade, the external corner connection and the internal corner connection area, avoiding manual grinding and improving grinding efficiency.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a box girder template grinding device with switchable grinding heads, comprising a walking mechanism and a multi-degree-of-freedom robotic arm grinding assembly disposed on the top of the walking mechanism, and a control module disposed on the walking mechanism;

[0006] The multi-degree-of-freedom robotic arm grinding assembly includes a rotary drive device mounted on the walking mechanism, an extension plate mounted on the rotary drive device, two multi-degree-of-freedom robotic arms symmetrically mounted on the extension plate, two hydraulic power units symmetrically mounted on the extension plate, and a switchable grinding head assembly mounted at the end of the multi-degree-of-freedom robotic arms, with the front ends of the two multi-degree-of-freedom robotic arms located between the two hydraulic power units.

[0007] The switchable grinding head assembly includes a base disposed at the end of a multi-degree-of-freedom robotic arm, a main grinding head disposed at the bottom of the base, a first grinding head disposed at the front of one side of the base and capable of swinging, a second grinding head disposed at the rear of one side of the base and capable of swinging, and a third grinding head disposed at the front of the other side of the base and capable of swinging.

[0008] The control module includes a control box mounted on the walking mechanism and a controller mounted inside the control box. The main grinding roller in the main grinding head, the first grinding roller in the first grinding head, the concave arc grinding roller in the second grinding head, the third grinding roller in the third grinding head, the rotary drive device, the walking mechanism, and the multi-degree-of-freedom robotic arm are all controlled by the controller.

[0009] The above-mentioned box girder template grinding equipment with switchable grinding heads includes: the main grinding head includes a main grinding roller arranged at the bottom of the base and along the length of the bottom of the base, and a main motor power component that drives the main grinding roller to rotate and grind; the main motor power component includes a main motor and a main chain transmission component that drives the main motor and the main grinding roller; and a first dust cover is provided outside the main chain transmission component.

[0010] The above-mentioned box girder template grinding equipment with interchangeable grinding heads includes: the first grinding head includes a first cover hinged to the front of one side of the base, a first grinding roller installed in the first cover and exposed, a first motor power component set on the top of the first cover and driving the first grinding roller to rotate, and a first telescopic component that drives the first cover and the first grinding roller to swing.

[0011] The first motor power component includes a riser seat disposed on the top of the first cover and a first motor disposed on the top of the riser seat. The output shaft of the first motor, which extends into the riser seat, is connected to the top of the intermediate shaft of the first grinding roller via a coupling.

[0012] The above-mentioned box girder template grinding equipment with interchangeable grinding heads: the first cover includes an integrally formed top base plate, a semi-enclosed plate, and a connecting seat disposed on the side of the semi-enclosed plate near the base. The connecting seat is provided with a lower hinge hole for mounting a first hinge shaft on one side of the base and an upper hinge hole for hinged extension end of the first telescopic member. A first hinge seat is provided on one side of the base for hinged fixed end of the first telescopic member.

[0013] The heightening seat is mounted on the top substrate, and the intermediate shaft of the first grinding roller extends out of the top substrate and is rotatably connected to the top substrate.

[0014] The above-mentioned box girder template grinding equipment with interchangeable grinding heads includes: the second grinding head includes a second cover hinged to the rear of one side of the base, a concave arc grinding roller installed in the second cover, a second motor power component that drives the concave arc grinding roller to rotate, and a second telescopic component that drives the second cover and the concave arc grinding roller to swing.

[0015] The second motor power component includes a second motor and a first chain drive component that drives the second motor and the concave arc grinding roller. The first chain drive component is provided with a second dust cover.

[0016] The above-mentioned box girder template grinding equipment with interchangeable grinding heads: the first chain drive component includes a drive sprocket set on the output shaft of the second motor, a driven sprocket set on the top of the intermediate shaft of the concave arc grinding roller, and a chain that drives and connects the drive sprocket and the driven sprocket;

[0017] The second cover includes an integrally formed top and bottom plate, a convex arc cover, a connecting plate embedded in the top and bottom plate and the convex arc cover near the base, and a U-shaped hinge seat set at the bottom of the connecting plate. A second motor mounting seat for mounting the second motor is installed on the connecting plate.

[0018] The U-shaped hinge seat is provided with a first hinge hole for mounting a second hinge shaft on one side of the base and a second hinge hole for hinged extension end of the second telescopic member. A second hinge seat is provided on one side of the base for hinged fixation end of the second telescopic member.

[0019] The above-mentioned box girder template grinding equipment with interchangeable grinding heads includes: the third grinding head includes a third cover hinged to the front of the other side of the base, a third grinding roller installed in the third cover, a third motor power component that drives the third grinding roller to rotate, and a third telescopic component that drives the third cover and the third grinding roller to swing.

[0020] The third motor power component includes a third motor disposed on the rear side of the third cover and a second chain drive component that drives the third motor and the third grinding roller. A third dust cover is provided outside the second chain drive component.

[0021] The aforementioned box girder template grinding equipment with switchable grinding heads comprises: a third cover including an integrally formed arc-shaped cover, a U-shaped cover, and a grooved box; a third motor mounted on the side plate of the U-shaped cover near the grooved box; the intermediate shaft of the third grinding roller rotatably passing through the two wing plates of the U-shaped cover; an upper hinge seat for hinged connection of the telescopic end of the third telescopic component at the top of the grooved box; a lower hinge seat for mounting the third hinge shaft on the other side of the base at the side of the grooved box away from the U-shaped cover; a third motor mounting seat for mounting the third motor on the outer wall of the U-shaped cover; and a rear hinge seat for hinged connection of the fixed end of the third telescopic component on the base.

[0022] Meanwhile, a method for grinding box girder formwork is provided, which includes the following steps:

[0023] Step 1: Division of Box Girder Formwork:

[0024] The box girder formwork is divided into two symmetrically arranged box girder formwork facades and the first area of ​​the flange plate, two symmetrically arranged flange plate second areas and the area where the external corners connect, two symmetrically arranged web areas, two symmetrically arranged internal corners and the first area of ​​the bottom plate, and the remaining area of ​​the bottom plate.

[0025] Step 2: Simultaneous grinding of the box girder formwork facade and the first area of ​​the flange plate:

[0026] Step 201: The traveling mechanism operates to move the box girder formwork grinding equipment onto the box girder formwork; wherein the bottom of the traveling mechanism is supported on the bottom of the box girder formwork and can move along the length direction;

[0027] Step 202: The controller controls the rotary drive device and the multi-degree-of-freedom robotic arm to move so that the first grinding head at the end of the multi-degree-of-freedom robotic arm approaches the vertical surface of the box girder template; at the same time, the main grinding roller in the main grinding head at the end of the multi-degree-of-freedom robotic arm is in contact with the first area of ​​the flange plate.

[0028] Step 203: Adjust the first grinding roller in the first grinding head to fit against the vertical surface of the box girder template;

[0029] Step 204: The controller controls the first grinding roller to grind the vertical surface of the box girder template; at the same time, it controls the main grinding head to grind the first area of ​​the flange plate.

[0030] Step 205: The traveling mechanism drives the box girder formwork grinding equipment to move along the length of the box girder formwork. The main grinding roller and the first grinding roller move and grind along with the box girder formwork grinding equipment until the first part of the first area of ​​the first region of the box girder formwork elevation and flange plate is finished.

[0031] Step 3: Simultaneous sanding of the area where the second region of the flange plate connects to the outer corner:

[0032] Step 301: The controller controls the movement of the multi-degree-of-freedom robotic arm so that the main grinding roller in the main grinding head at the end of the multi-degree-of-freedom robotic arm fits into the second region of the flange plate; the concave arc grinding roller in the second grinding head is close to the region of the external corner connection.

[0033] Step 302: Adjust the concave arc grinding roller to fit the area where the external corner meets the surface;

[0034] Step 303: The controller controls the main grinding head to grind the second area of ​​the flange plate; at the same time, it controls the concave arc grinding roller to grind the area at the external corner connection.

[0035] Step 304: The traveling mechanism drives the box girder formwork grinding equipment to move along the length of the box girder formwork. The main grinding roller and the concave arc grinding roller move and grind along with the box girder formwork grinding equipment until the second area of ​​the flange plate and the area at the external corner are ground.

[0036] Step 4: Grinding the web area:

[0037] Step 401: The controller controls the movement of the multi-degree-of-freedom robotic arm so that the main grinding roller in the main grinding head at the end of the multi-degree-of-freedom robotic arm fits into the web area; wherein, the first grinding roller and the concave arc grinding roller are both far away from the box girder template.

[0038] Step 402: The controller controls the main grinding roller to grind the web area;

[0039] Step 403: The traveling mechanism drives the box girder formwork grinding equipment to move along the length of the box girder formwork. The main grinding roller moves and grinds along with the box girder formwork grinding equipment until the web area is finished.

[0040] Step 5: Simultaneous sanding of the corner joint area and the first area of ​​the base plate:

[0041] Step 501: The controller controls the movement of the multi-degree-of-freedom robotic arm so that the main grinding roller in the main grinding head at the end of the multi-degree-of-freedom robotic arm is in contact with the first area of ​​the base plate; the third grinding head is close to the area of ​​the inside corner connection; wherein, the first grinding roller and the concave arc grinding roller are both far away from the box girder template.

[0042] Step 502: Adjust the outer surface of the third grinding roller in the third grinding head to fit the area at the inside corner connection;

[0043] Step 503: The controller controls the main grinding roller to rotate and grind the first area of ​​the base plate; at the same time, it controls the third grinding roller to rotate and grind the area at the inside corner connection.

[0044] Step 504: The traveling mechanism drives the box girder formwork grinding equipment to move along the length of the box girder formwork. The main grinding roller and the third grinding roller move and grind along with the box girder formwork grinding equipment until the area at the inside corner and the first area of ​​the bottom plate are ground.

[0045] Step Six: Grinding the remaining area of ​​the base plate:

[0046] Step 601: The controller controls the movement of the multi-degree-of-freedom robotic arm so that the main grinding roller in the main grinding head at the end of the multi-degree-of-freedom robotic arm fits into the remaining area of ​​the bottom plate; wherein, the first grinding roller, the concave arc grinding roller and the third grinding roller are all far away from the box girder template;

[0047] Step 602: The traveling mechanism drives the box girder formwork grinding equipment to move along the length of the box girder formwork; at the same time, the controller controls the main grinding roller to rotate and grind the remaining area of ​​the bottom plate until the remaining area of ​​the bottom plate is ground.

[0048] Compared with the prior art, the present invention has the following advantages:

[0049] 1. This invention adds a first grinding head, a second grinding head, and a third grinding head to the main grinding head. The first grinding head, the second grinding head, and the third grinding head can swing and switch, realizing the grinding of the box girder formwork facade, the external corner connection and the internal corner connection area, avoiding manual grinding and improving grinding efficiency.

[0050] 2. The present invention is equipped with a first grinding head, a second grinding head, and a third grinding head, all of which can swing around the base, thereby adjusting the position of the first grinding head, the second grinding head, and the third grinding head so that the first grinding head fits against the vertical surface of the box girder template, the second grinding head fits against the external corner connection area, and the third grinding head fits against the internal corner connection area, thereby improving the grinding accuracy of the subsequent three grinding heads.

[0051] 3. The present invention sets up a main grinding head and a first grinding head, a second grinding head, and a third grinding head for separate control, so as to meet the needs of subsequent switching and to be independently set according to the grinding requirements.

[0052] 4. This invention sets up a main grinding head to work in conjunction with a first grinding head to achieve synchronous grinding of the box girder formwork facade and the first area of ​​the flange plate; the main grinding head works in conjunction with a second grinding head to achieve synchronous grinding of the second area of ​​the flange plate and the area where the external corner connects; the main grinding head works in conjunction with a third grinding head to achieve grinding of the area where the internal corner connects and the first area of ​​the base plate, thereby improving the synchronous grinding of the connection areas and increasing grinding efficiency.

[0053] In summary, the present invention is reasonably designed. It adds a first grinding head, a second grinding head, and a third grinding head to the main grinding head. The first grinding head, the second grinding head, and the third grinding head can swing and switch, realizing the grinding of the box girder formwork facade, the external corner connection area, and the internal corner connection area, avoiding manual grinding and improving grinding efficiency.

[0054] 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

[0055] Figure 1 This is a schematic diagram of the structure of the box girder template grinding equipment with switchable grinding heads according to the present invention.

[0056] Figure 2 This is a schematic diagram of the interchangeable grinding head assembly of the box girder template grinding equipment of the present invention.

[0057] Figure 3 This is a schematic diagram of the structure of the second grinding head of the box girder template grinding equipment with switchable grinding heads according to the present invention.

[0058] Figure 4 This is a schematic diagram of the first cover of the box girder template grinding equipment with switchable grinding heads according to the present invention.

[0059] Figure 5 This is a schematic diagram of the second cover of the box girder template grinding equipment with switchable grinding heads according to the present invention.

[0060] Figure 6 This is a schematic diagram of the third cover of the box girder template grinding equipment with switchable grinding heads according to the present invention.

[0061] Figure 7 This is a schematic diagram of the base structure of the box girder template grinding equipment with switchable grinding heads according to the present invention.

[0062] Figure 8 This is a schematic diagram of the state in step two of the box girder template grinding method of the present invention.

[0063] Figure 9 This is a schematic diagram of the state in step three of the box girder template grinding method of the present invention.

[0064] Figure 10 This is a schematic diagram of the state in step four of the box girder template grinding method of the present invention.

[0065] Figure 11 This is a schematic diagram of the state in step five of the box girder template grinding method of the present invention.

[0066] Figure 12 This is a flowchart of the method of the present invention.

[0067] Explanation of reference numerals in the attached figures:

[0068] 1—Traveling mechanism; 4—Rotation drive device; 41—Extension plate; 5—Lighting lamp;

[0069] 6—Hydraulic power; 7—Multi-degree-of-freedom robotic arm; 8—Control box;

[0070] 9—Main grinding head; 91—Main motor; 92—Main motor mount;

[0071] 93—Base; 931—First hinge axis; 932—Second hinge axis;

[0072] 933—Third hinge shaft; 934—Stiffening rib; 935—Outer plate;

[0073] 94—Main grinding roller; 95—Dust collector; 96—First dust cover;

[0074] 10—First grinding head; 101—First motor; 102—Elevator seat;

[0075] 103—First cover; 1031—Top base plate; 1032—Semi-enclosed plate;

[0076] 1033—Connecting seat; 1034—Lower hinge hole; 1035—Upper hinge hole;

[0077] 104—First grinding roller; 105—First telescopic component;

[0078] 11—Second grinding head; 111—Second motor; 112—Second motor mounting base;

[0079] 113—Second cover; 1131—Convex arc-shaped cover; 1132—Top and bottom plates;

[0080] 1133—Connecting plate; 1134—U-shaped hinge seat; 1135—First hinge hole;

[0081] 1136—Second hinge hole; 1137—Limiting block; 114—Concave arc grinding roller;

[0082] 115—Second telescopic component; 116—Second dust cover; 117—Drive sprocket;

[0083] 118—Chain; 119—Driven sprocket; 11A—Second hinge seat;

[0084] 12—Third grinding head; 121—Third motor; 122—Third motor mounting base;

[0085] 123—Third cover; 1231—Arc-shaped cover; 1232—U-shaped cover;

[0086] 1233—Groove box; 1234—Upper hinge seat; 1235—Lower hinge seat;

[0087] 124—Third grinding roller; 125—Third telescopic component; 126—Third dust cover;

[0088] 127—Rear hinge seat; 15—Baffle plate; 16—Support frame;

[0089] 161—Support rollers; 20—Box girder formwork;

[0090] 201—Box girder formwork elevation; 202—First area of ​​flange plate; 203—Second area of ​​flange plate;

[0091] 204—Area where the outer corner connects; 205—Area of ​​the web; 206—Area where the inner corner connects;

[0092] 207—First area of ​​the base plate; 208—Remaining area of ​​the base plate. Detailed Implementation

[0093] like Figures 1 to 7 The box girder template grinding equipment with switchable grinding heads shown includes a walking mechanism 1 and a multi-degree-of-freedom robotic arm grinding assembly set on the top of the walking mechanism 1, as well as a control module set on the walking mechanism.

[0094] The multi-degree-of-freedom robotic arm grinding assembly includes a rotary drive device 4 mounted on the walking mechanism 1, an extension plate 41 mounted on the rotary drive device 4, two multi-degree-of-freedom robotic arms 7 symmetrically mounted on the extension plate 41, two hydraulic power units 6 symmetrically mounted on the extension plate 41, and a switchable grinding head assembly mounted at the end of the multi-degree-of-freedom robotic arms 7, with the front ends of the two multi-degree-of-freedom robotic arms 7 located between the two hydraulic power units 6.

[0095] The switchable grinding head assembly includes a base 93 disposed at the end of the multi-degree-of-freedom robotic arm 7, a main grinding head 9 disposed at the bottom of the base 93, a first grinding head 10 disposed at the front of one side of the base 93 and capable of swinging, a second grinding head 11 disposed at the rear of one side of the base 93 and capable of swinging, and a third grinding head 12 disposed at the front of the other side of the base 93 and capable of swinging.

[0096] The control module includes a control box 8 mounted on the walking mechanism 1 and a controller mounted inside the control box 8. The main grinding roller 94 in the main grinding head 9, the first grinding roller 104 in the first grinding head 10, the concave arc grinding roller 114 in the second grinding head 11, the third grinding roller 124 in the third grinding head 12, the rotary drive device 4, the walking mechanism, and the multi-degree-of-freedom robotic arm 7 are all controlled by the controller.

[0097] In this embodiment, the main grinding head 9 includes a main grinding roller 94 disposed at the bottom of the base 93 and arranged along the length direction of the bottom of the base 93, and a main motor power component that drives the main grinding roller 94 to rotate and grind. The main motor power component includes a main motor 91 and a main chain transmission component that drives the main motor 91 and the main grinding roller 94. A first dust cover 96 is provided outside the main chain transmission component.

[0098] In this embodiment, the first grinding head 10 includes a first cover 103 hinged to the front of one side of the base 93, a first grinding roller 104 installed in the first cover 103 and exposed, a first motor power component disposed on the top of the first cover 103 and driving the first grinding roller 104 to rotate, and a first telescopic component 105 that drives the first cover 103 and the first grinding roller 104 to swing.

[0099] The first motor power component includes a riser seat 102 disposed on the top of the first cover 103 and a first motor 101 disposed on the top of the riser seat 102. The output shaft of the first motor 101 extending into the riser seat 102 is connected to the top end of the intermediate shaft of the first grinding roller 104 via a coupling.

[0100] In this embodiment, the first cover 103 includes an integrally formed top base plate 1031, a semi-enclosed plate 1032, and a connecting seat 1033 disposed on the side of the semi-enclosed plate 1032 near the base 93. The connecting seat 1033 is provided with a lower hinge hole 1034 for mounting a first hinge shaft 931 on one side of the base 93 and an upper hinge hole 1035 for hinged to the telescopic end of the first telescopic member 105. A first hinge seat is provided on one side of the base 93 for hinged to the fixed end of the first telescopic member 105.

[0101] The heightening seat 102 is mounted on the top substrate 1031, and the intermediate shaft of the first grinding roller 104 passes through the top substrate 1031 and is rotatably connected to the top substrate 1031.

[0102] In this embodiment, the second grinding head 11 includes a second cover 113 hinged to the rear of one side of the base 93, a concave arc grinding roller 114 installed in the second cover 113, a second motor power component that drives the concave arc grinding roller 114 to rotate, and a second telescopic component 115 that drives the second cover 113 and the concave arc grinding roller 114 to swing.

[0103] The second motor power component includes a second motor 111 and a first chain drive component that drives the second motor 111 and the concave arc grinding roller 114. A second dust cover 116 is provided outside the first chain drive component.

[0104] In this embodiment, the first chain drive component includes a drive sprocket 117 disposed on the output shaft of the second motor 111, a driven sprocket 119 disposed on the top of the intermediate shaft of the concave arc grinding roller 114, and a chain 118 that drives and connects the drive sprocket 117 and the driven sprocket 119.

[0105] The second cover 113 includes an integrally formed top and bottom plate 1132, a convex arc-shaped cover 1131, a connecting plate 1133 embedded in the top and bottom plate 1132 and the convex arc-shaped cover 1131 on the side near the base 93, and a U-shaped hinge seat 1134 provided at the bottom of the connecting plate 1133. A second motor mounting seat 112 for mounting the second motor 111 is installed on the connecting plate 1133.

[0106] The U-shaped hinge seat 1134 is provided with a first hinge hole 1135 for mounting the second hinge shaft 932 on one side of the base 93 and a second hinge hole 1136 for hinged extension end of the second telescopic member 115. The base 93 is provided with a second hinge seat 11A for hinged fixed end of the second telescopic member 115.

[0107] In this embodiment, the third grinding head 12 includes a third cover 123 hinged to the front of the other side of the base 93, a third grinding roller 124 installed in the third cover 123, a third motor power component that drives the third grinding roller 124 to rotate, and a third telescopic component 125 that drives the third cover 123 and the third grinding roller 124 to swing.

[0108] The third motor power component includes a third motor 121 disposed on the rear side of the third cover 123 and a second chain drive component that drives the third motor 121 and the third grinding roller 124. A third dust cover 126 is disposed outside the second chain drive component.

[0109] In this embodiment, the third cover 123 includes an integrally formed arc-shaped cover 1231, a U-shaped cover 1232, and a groove box 1233. The third motor 121 is mounted on the side plate of the U-shaped cover 1232 near the groove box 1233. The intermediate shaft of the third grinding roller 124 is rotatably passed through the two wing plates of the U-shaped cover 1232. The top of the groove box 1233 is provided with an upper hinge seat 1234 for hinged to the telescopic end of the third telescopic member 125. The side of the groove box 1233 away from the U-shaped cover 1232 is provided with a lower hinge seat 1235 for mounting the third hinge shaft 933 on the other side of the base 93. The outer wall of the U-shaped cover 1232 is provided with a third motor mounting seat 122 for mounting the third motor 121. The base 93 is provided with a rear hinge seat 127 for hinged to the fixed end of the third telescopic member 125.

[0110] In this embodiment, the structure of the walking mechanism 1 can be referred to in patent CN118342393A, which describes the walking mechanism in a self-propelled grinder.

[0111] In this embodiment, a lighting lamp 5 is provided on the top of the walking mechanism 1.

[0112] In this embodiment, the motor in the rotary drive device 4 is controlled by a controller.

[0113] In this embodiment, the structure of the multi-degree-of-freedom robotic arm 7 can be referenced in patent CN118342393A, which describes a multi-degree-of-freedom robotic arm in a self-propelled grinder.

[0114] In this embodiment, the rotary actuator in the multi-degree-of-freedom robotic arm 7 is a hydraulic cylinder.

[0115] In this embodiment, hydraulic power 6 provides hydraulic power to the equipment.

[0116] In this embodiment, a support frame 16 is provided on the other side of the substrate 93, and a support roller 161 is provided at the bottom of the support frame 16, which improves the stability of movement during the polishing process.

[0117] In this embodiment, specifically, one end of the base 93 is provided with a main motor mount 92 for mounting the main motor 91, and the two end side plates of the base 93 are provided with clearance grooves for mounting the intermediate shaft of the main grinding roller 94. The two end side plates of the base 93 are provided with side bearings for rotatably mounting the intermediate shaft of the main grinding roller 94. One end of the intermediate shaft of the main grinding roller 94 passes through the side bearings and is used for mounting the driven sprocket in the main chain drive. The driving sprocket in the main chain drive is mounted on the output shaft of the main motor 91, and the driven sprocket and the driving sprocket in the main chain drive are connected by chain drive.

[0118] In this embodiment, the base 93 is provided with stiffening ribs 934 and two extension plates 935 for mounting the first hinge seat and the second hinge seat 11A on its top.

[0119] In this embodiment, the end arm of the multi-degree-of-freedom robotic arm 7 is mounted on two stiffening ribs 934 to connect the multi-degree-of-freedom robotic arm 7 to the top of the base 93.

[0120] In this embodiment, a baffle plate 15 is provided in the middle of one side of the base 93, and a solenoid valve assembly is installed at the bottom of the baffle plate 15 to be connected to the oil supply line of the hydraulic power 6 for supplying oil to the hydraulic cylinder.

[0121] In this embodiment, a dust collector 95 is provided on the top of the substrate 93 to remove dust during the polishing process and reduce environmental pollution.

[0122] In this embodiment, the top and bottom plates 1132 are provided with bearings with seats for the top and bottom ends of the intermediate shaft of the concave arc grinding roller 114 to be rotatably mounted; the second dust cover 116 is installed on the top of the top and bottom plates 1132 through an L-shaped connecting plate.

[0123] In this embodiment, the arc of the concave arc grinding roller 114 is adapted to the external corner of the box girder template. The main grinding roller 94, the first grinding roller 104, the concave arc grinding roller 114, and the third grinding roller 124 are all steel wire grinding rollers.

[0124] In this embodiment, the connecting plate 1133 is provided with an oblong hole to facilitate fine adjustment of the installation position of the second motor mounting base 112, thereby improving adaptability.

[0125] The connecting plate 1133 is provided with a limiting block 1137 that limits the second motor mounting seat 112 to ensure that the second motor 111 is installed in place.

[0126] In this embodiment, the second chain drive component has the same structure as the first chain drive component, and includes a drive sprocket mounted on the output shaft of the third motor 121, a driven sprocket mounted on the outer end of the intermediate shaft of the third grinding roller 124, and a chain that drives and connects the drive sprocket and the driven sprocket.

[0127] like Figures 8 to 12 As shown, a method for grinding box girder formwork using a grinding equipment with switchable grinding heads includes the following steps:

[0128] Step 1: Division of Box Girder Formwork:

[0129] The box girder formwork 20 is divided into two symmetrically arranged box girder formwork facades and the first area of ​​the flange plate, two symmetrically arranged flange plate second areas and the area where the external corners connect, two symmetrically arranged web areas, two symmetrically arranged internal corners and the first area of ​​the bottom plate, and the remaining area of ​​the bottom plate.

[0130] Step 2: Simultaneous grinding of the box girder formwork facade and the first area of ​​the flange plate:

[0131] Step 201: The traveling mechanism 1 operates to move the box girder formwork grinding equipment onto the box girder formwork; wherein, the bottom of the traveling mechanism 1 is supported on the bottom of the box girder formwork 20 and can move along the length direction;

[0132] Step 202: The controller controls the rotary drive device 4 and the multi-degree-of-freedom robotic arm 7 to move so that the first grinding head 10 at the end of the multi-degree-of-freedom robotic arm 7 approaches the box girder template facade 201; at the same time, the main grinding roller 94 in the main grinding head 9 at the end of the multi-degree-of-freedom robotic arm 7 fits against the first area 202 of the flange plate.

[0133] Step 203: Adjust the first grinding roller 104 in the first grinding head 10 to fit against the box girder template elevation 201;

[0134] Step 204: The controller controls the first grinding roller 104 to grind the box girder template elevation 201; at the same time, it controls the main grinding head 9 to grind the first area 202 of the flange plate.

[0135] Step 205: The traveling mechanism 1 drives the box girder formwork grinding equipment to move along the length of the box girder formwork 20. The main grinding roller 94 and the first grinding roller 104 move and grind along with the box girder formwork grinding equipment until the first part of the box girder formwork facade 201 and the first area 202 of the flange plate are ground.

[0136] Step 3: Simultaneous sanding of the area where the second region of the flange plate connects to the outer corner:

[0137] Step 301: The controller controls the movement of the multi-degree-of-freedom robotic arm 7 so that the main grinding roller 94 in the main grinding head 9 at the end of the multi-degree-of-freedom robotic arm 7 fits against the second region 203 of the flange plate; the concave arc grinding roller 114 in the second grinding head 11 is close to the region 204 of the external corner connection.

[0138] Step 302: Adjust the concave arc grinding roller 114 to fit the external corner connection area 204;

[0139] Step 303: The controller controls the main grinding head 9 to grind the second area 203 of the flange plate; at the same time, it controls the concave arc grinding roller 114 to grind the area 204 at the external corner connection.

[0140] Step 304: The traveling mechanism 1 drives the box girder formwork grinding equipment to move along the length of the box girder formwork 20. The main grinding roller 94 and the concave arc grinding roller 114 move and grind along with the box girder formwork grinding equipment until the second area 203 of the flange plate and the area 204 at the external corner are ground.

[0141] Step 4: Grinding the web area:

[0142] Step 401: The controller controls the movement of the multi-degree-of-freedom robotic arm 7 so that the main grinding roller 94 in the main grinding head 9 at the end of the multi-degree-of-freedom robotic arm 7 fits against the web area 205; wherein, the first grinding roller 104 and the concave arc grinding roller 114 are both far away from the box girder template 20.

[0143] Step 402: The controller controls the main grinding roller 94 to grind the web area 205;

[0144] Step 403: The traveling mechanism 1 drives the box girder formwork grinding equipment to move along the length of the box girder formwork 20. The main grinding roller 94 moves and grinds along with the box girder formwork grinding equipment until the web area 205 is ground.

[0145] Step 5: Simultaneous sanding of the corner joint area and the first area of ​​the base plate:

[0146] Step 501: The controller controls the movement of the multi-degree-of-freedom robotic arm 7 so that the main grinding roller 94 in the main grinding head 9 at the end of the multi-degree-of-freedom robotic arm 7 fits against the first area 207 of the bottom plate; the third grinding head 12 is close to the area 206 at the inside corner connection; wherein, the first grinding roller 104 and the concave arc grinding roller 114 are both far away from the box girder template 20.

[0147] Step 502: Adjust the outer surface of the third grinding roller 124 in the third grinding head 12 to fit the inner corner connection area 206;

[0148] Step 503: The controller controls the main grinding roller 94 to rotate and grind the first area 207 of the base plate; at the same time, it controls the third grinding roller 124 to rotate and grind the area 206 at the inside corner connection.

[0149] Step 504: The traveling mechanism 1 drives the box girder formwork grinding equipment to move along the length of the box girder formwork 20. The main grinding roller 94 and the third grinding roller 124 move and grind along with the box girder formwork grinding equipment until the internal corner connection area 206 and the first area 207 of the bottom plate are ground.

[0150] Step Six: Grinding the remaining area of ​​the base plate:

[0151] Step 601: The controller controls the movement of the multi-degree-of-freedom robotic arm 7 so that the main grinding roller 94 in the main grinding head 9 at the end of the multi-degree-of-freedom robotic arm 7 fits against the remaining area 208 of the bottom plate; wherein, the first grinding roller 104, the concave arc grinding roller 114 and the third grinding roller 124 are all far away from the box girder template 20.

[0152] Step 602: The traveling mechanism 1 drives the box girder formwork grinding equipment to move along the length of the box girder formwork 20; at the same time, the controller controls the main grinding roller 94 to rotate and grind the remaining area 208 of the bottom plate until the remaining area 208 of the bottom plate is ground.

[0153] In this embodiment, step 203 is as follows:

[0154] The controller controls the extension and retraction of the first telescopic component 105. The extension and retraction of the first telescopic component 105 drives the first grinding roller 104 of the first grinding head 10 to swing around the base 93, so that the outer surface of the first grinding roller 104 fits the box girder template facade 201.

[0155] In this embodiment, step 204 is as follows:

[0156] The controller controls the first motor 101 in the first motor power unit to work. The first motor 101 drives the first grinding roller 104 to rotate through the coupling. The first grinding roller 104 rotates to grind the box girder template elevation 201. At the same time, the controller controls the main motor 91 in the main motor power unit to work. The main motor 91 drives the main grinding roller 94 to rotate through the main chain transmission component. The main grinding roller 94 rotates to grind the first area 202 of the flange plate.

[0157] In this embodiment, step 302 is as follows:

[0158] The controller controls the extension and retraction of the second telescopic component 115. The extension and retraction of the second telescopic component 115 causes the concave arc grinding roller 114 of the second grinding head 11 to swing around the base 93, so that the outer surface of the concave arc grinding roller 114 fits the external corner connection area 204.

[0159] In this embodiment, step 303 is as follows:

[0160] The controller controls the main motor 91 in the main motor power unit to work. The main motor 91 drives the main grinding roller 94 to rotate through the main chain transmission component. The main grinding roller 94 rotates to grind the second area 203 of the flange plate. At the same time, the controller controls the second motor 111 in the second motor power unit to work. The second motor 111 drives the concave arc grinding roller 114 to rotate through the first chain transmission component. The concave arc grinding roller 114 rotates to grind the area 204 at the external corner connection.

[0161] In this embodiment, step 502 is as follows:

[0162] The controller controls the extension and retraction of the third telescopic component 125. The extension and retraction of the third telescopic component 125 causes the third grinding roller 124 in the third grinding head 12 to swing around the base 93, so that the outer surface of the third grinding roller 124 fits into the corner connection area 206.

[0163] In this embodiment, step 503 is as follows:

[0164] The controller controls the main motor 91 in the main motor power unit to work. The main motor 91 drives the main grinding roller 94 to rotate through the main chain transmission component. The main grinding roller 94 grinds the first area 207 of the base plate. At the same time, the controller controls the third motor 121 in the third motor power unit to work. The third motor 121 drives the third grinding roller 124 to rotate through the second chain transmission component. The third grinding roller 124 grinds the area 206 at the inside corner connection.

[0165] In this embodiment, it should be noted that step four is repeated multiple times along the height direction of the web area to achieve grinding of web areas at different heights.

[0166] When grinding the remaining area 208 of the base plate, the main grinding roller 94 can be positioned in front of or behind the traveling mechanism 1 to grind the contact area between the traveling mechanism 1 and the remaining area 208 of the base plate.

[0167] In this embodiment, it should be noted that if the box girder template is long, it can be divided into multiple box girder template segments along the length direction, and each box girder template segment is polished according to steps one to six.

[0168] In this embodiment, it should be noted that the main grinding roller 94 is a long cylindrical shape, and the third grinding roller 124 is a short cylindrical shape.

[0169] In this embodiment, during specific implementation, the multi-degree-of-freedom robotic arm 7, in conjunction with the main grinding head, the first grinding head, the second grinding head, and the third grinding head, achieves grinding of the entire area of ​​the box girder, thereby improving grinding efficiency.

[0170] In summary, the present invention is reasonably designed. It adds a first grinding head, a second grinding head, and a third grinding head to the main grinding head. The first grinding head, the second grinding head, and the third grinding head can swing and switch, realizing the grinding of the box girder formwork facade, the external corner connection area, and the internal corner connection area, avoiding manual grinding and improving grinding efficiency.

[0171] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the present invention. Any simple modifications, alterations, or equivalent structural changes made to the above embodiments based on the technical essence of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A box beam template grinding device with switchable grinding heads, characterized in that: It comprises a walking mechanism (1), a multi-degree-of-freedom mechanical arm grinding assembly arranged on the top of the walking mechanism (1), and a control module arranged on the walking mechanism; The multi-degree-of-freedom mechanical arm grinding assembly comprises a rotary drive device (4) arranged on a walking mechanism (1), an expansion plate (41) arranged on the rotary drive device (4), two multi-degree-of-freedom mechanical arms (7) symmetrically arranged on the expansion plate (41), two hydraulic power units (6) symmetrically arranged on the expansion plate (41), and a switchable grinding head assembly arranged at the ends of the multi-degree-of-freedom mechanical arms (7), wherein the front ends of the two multi-degree-of-freedom mechanical arms (7) are located between the two hydraulic power units (6); The switchable grinding head assembly comprises a base (93) arranged at the end of a multi-degree-of-freedom mechanical arm (7), a main grinding head (9) arranged at the bottom of the base (93), a first grinding head (10) arranged at the front of one side of the base (93) and capable of swinging, a second grinding head (11) arranged at the rear of one side of the base (93) and capable of swinging, and a third grinding head (12) arranged at the front of the other side of the base (93) and capable of swinging; The main grinding head (9) is used to grind the flange plate area, the web plate area and the bottom plate area of ​​the box beam template (20), the first grinding head (10) is used to grind the vertical surface (201) of the box beam template, the second grinding head (11) is used to grind the positive angle connection area (204) of the box beam template, and the third grinding head (12) is used to grind the negative angle connection area (206) of the box beam template; The control module comprises a control box (8) arranged on the walking mechanism (1), and a controller arranged in the control box (8); the main grinding roller (94) in the main grinding head (9), the first grinding roller (104) in the first grinding head (10), the concave arc grinding roller (114) in the second grinding head (11), the third grinding roller (124) in the third grinding head (12), the rotary drive device (4), and the multi-degree-of-freedom robot arm (7) are all controlled by the controller.

2. A box beam formwork grinding device with switchable grinding heads according to claim 1, characterized in that: The main grinding head (9) comprises a main grinding roller (94) arranged at the bottom of a base (93) and arranged along the length direction of the bottom of the base (93), and a main motor power component driving the main grinding roller (94) to rotate and grind, the main motor power component comprising a main motor (91) and a main chain transmission component connecting the main motor (91) and the main grinding roller (94), and a first dust cover (96) is arranged outside the main chain transmission component.

3. A box beam formwork grinding device with switchable grinding heads according to claim 1, characterized in that: The first grinding head (10) comprises a first cover body (103) hingedly connected to the front part of one side of the base body (93), a first grinding roller (104) installed in the first cover body (103) and exposed to the outside, a first motor power part arranged on the top of the first cover body (103) and driving the first grinding roller (104) to rotate, and a first telescopic part (105) driving the first cover body (103) and the first grinding roller (104) to swing; The first motor power component comprises a raised seat (102) arranged on the top of the first cover body (103) and a first motor (101) arranged on the top of the raised seat (102); the output shaft of the first motor (101) extending into the raised seat (102) is transmission-connected to the top of the intermediate shaft of the first grinding roller (104) via a coupling.

4. A box beam formwork grinding device with switchable grinding heads according to claim 3, characterized in that: The first cover body (103) comprises an integrally formed top base plate (1031), a semi-enclosing plate (1032), and a connecting seat (1033) arranged on the semi-enclosing plate (1032) near the side of the base body (93); the connecting seat (1033) is provided with a lower hinge hole (1034) for mounting a first hinge shaft (931) on one side of the base body (93) and an upper hinge hole (1035) for hinged connection of a telescopic end of the first telescopic member (105); and a first hinge seat for hinged connection of a fixed end of the first telescopic member (105) is provided on one side of the base body (93); The heightened seat (102) is mounted on a top base plate (1031); the middle shaft of the first grinding roller (104) passes through the top base plate (1031) and is rotatably connected to the top base plate (1031).

5. A box beam formwork grinding device with switchable grinding heads according to claim 1, characterized in that: The second grinding head (11) comprises a second cover body (113) hingedly connected to the rear part of one side of the base body (93), a concave arc grinding roller (114) installed in the second cover body (113), a second motor driving the concave arc grinding roller (114) to rotate, and a second telescopic member (115) driving the second cover body (113) and the concave arc grinding roller (114) to swing; The second motor power component comprises a second motor (111) and a first chain transmission component that is transmission-connected between the second motor (111) and the concave arc grinding roller (114); a second dust cover (116) is disposed outside the first chain transmission component.

6. A box beam template grinding device with switchable grinding heads according to claim 5, characterized in that: The first chain transmission member comprises a driving sprocket (117) arranged on the output shaft of the second motor (111), a driven sprocket (119) arranged on the top of the intermediate shaft of the concave arc grinding roller (114), and a chain (118) for transmission connection between the driving sprocket (117) and the driven sprocket (119); The second cover body (113) comprises an integrally formed top and bottom plates (1132), a convex arc-shaped cover (1131), a connecting plate (1133) embedded in the top and bottom plates (1132) and the convex arc-shaped cover (1131) on a side close to the base (93), and a U-shaped hinge seat (1134) arranged at the bottom of the connecting plate (1133); a second motor mounting seat (112) for mounting the second motor (111) is mounted on the connecting plate (1133); The U-shaped hinge seat (1134) is provided with a first hinge hole (1135) for mounting a second hinge shaft (932) on one side of the base (93) and a second hinge hole (1136) for hinge connection of a telescopic end of the second telescopic member (115); and a second hinge seat (11A) for hinge connection of a fixed end of the second telescopic member (115) is provided on one side of the base (93).

7. A box beam formwork grinding device with switchable grinding heads according to claim 1, characterized in that: The third grinding head (12) comprises a third cover body (123) hingedly connected to the front part of the other side of the base body (93), a third grinding roller (124) installed in the third cover body (123), a third motor driving the third grinding roller (124) to rotate, and a third telescopic member (125) driving the third cover body (123) and the third grinding roller (124) to swing; The third motor power component comprises a third motor (121) arranged at the rear side of the third cover body (123) and a second chain transmission component drivingly connected between the third motor (121) and the third grinding roller (124), and a third dust cover (126) is arranged outside the second chain transmission component.

8. A box beam formwork grinding device with switchable grinding heads according to claim 7, characterized in that: The third cover body (123) comprises an integrally formed arc-shaped cover (1231), a U-shaped cover (1232) and a groove box (1233); the third motor (121) is mounted on a side plate of the U-shaped cover (1232) close to the groove box (1233); an intermediate shaft of the third grinding roller (124) is rotatably arranged on two wing plates of the U-shaped cover (1232); a hinged end of the third telescopic member (125) is provided at the top of the groove box (1233); An upper hinge seat (1234), a lower hinge seat (1235) for mounting a third hinge shaft (933) on the other side of the base (93) is provided on the side of the groove box (1233) away from the U-shaped cover (1232), a third motor mounting seat (122) for mounting a third motor (121) is provided on the outer side wall of the U-shaped cover (1232), and a rear hinge seat (127) for hingedly connecting a fixed end of the third telescopic member (125) is provided on the base (93).

9. A method for grinding a box beam template using the box beam template grinding device according to claim 1, characterized in that: The method comprises the following steps: Step 1: Division of box beam formwork: Dividing the box girder formwork (20) into two symmetrically arranged box girder formwork facades and a first flange plate area, two symmetrically arranged flange plate second areas and a positive angle connection area, two symmetrically arranged web areas, two symmetrically arranged negative angle connection areas and a first bottom plate area, and a remaining bottom plate area; Step 2: Synchronous grinding of the box beam formwork facade and the first area of ​​the flange plate: Step 201: The walking mechanism (1) operates to move the box beam template grinding device onto the box beam template; wherein the bottom of the walking mechanism (1) is supported on the bottom of the box beam template (20) and can move along the length direction; Step 202: The controller controls the rotary drive device (4) and the multi-degree-of-freedom mechanical arm (7) to move so that the first grinding head (10) at the end of the multi-degree-of-freedom mechanical arm (7) is close to the box beam formwork facade (201); at the same time, the main grinding roller (94) in the main grinding head (9) at the end of the multi-degree-of-freedom mechanical arm (7) fits the first area (202) of the flange plate; Step 203, adjusting the first grinding roller (104) in the first grinding head (10) to fit the box beam formwork facade (201); Step 204: the controller controls the first grinding roller (104) to grind the box beam formwork facade (201); at the same time, the controller controls the main grinding head (9) to grind the first region (202) of the flange plate; Step 205, the walking mechanism (1) drives the box beam template grinding device to move along the length direction of the box beam template (20), and the main grinding roller (94) and the first grinding roller (104) grind along with the box beam template grinding device while moving, until the first part of the box beam template facade (201) and the first area (202) of the flange plate are completely ground; Step 3: Synchronous grinding of the second area of ​​the flange plate and the area where the external angle is connected: Step 301: The controller controls the multi-degree-of-freedom robot arm (7) to move so that the main grinding roller (94) in the main grinding head (9) at the end of the multi-degree-of-freedom robot arm (7) fits the second area (203) of the flange plate; and the concave arc grinding roller (114) in the second grinding head (11) is close to the positive angle connection area (204); Step 302, adjusting the concave arc grinding roller (114) to fit the positive corner connection area (204); Step 303: the controller controls the main grinding head (9) to grind the second area (203) of the flange plate; at the same time, controls the concave arc grinding roller (114) to grind the positive angle connection area (204); Step 304, the walking mechanism (1) drives the box beam template grinding device to move along the length direction of the box beam template (20), and the main grinding roller (94) and the concave arc grinding roller (114) grind along with the box beam template grinding device while moving, until the second area (203) of the flange plate and the external angle connection area (204) are polished; Step 4: Grinding of the belly area: Step 401: The controller controls the multi-degree-of-freedom robot arm (7) to move so that the main grinding roller (94) in the main grinding head (9) at the end of the multi-degree-of-freedom robot arm (7) fits the web area (205); wherein the first grinding roller (104) and the concave arc grinding roller (114) are both away from the box beam template (20); Step 402: The controller controls the main grinding roller (94) to grind the web area (205); Step 403, the walking mechanism (1) drives the box beam template grinding device to move along the length direction of the box beam template (20), and the main grinding roller (94) moves and grinds along with the box beam template grinding device until the web area (205) is completely ground; Step 5: Synchronous grinding of the inner corner connection area and the first area of ​​the base plate: Step 501: The controller controls the multi-degree-of-freedom robot arm (7) to move so that the main grinding roller (94) in the main grinding head (9) at the end of the multi-degree-of-freedom robot arm (7) is in contact with the first area (207) of the base plate; the third grinding head (12) is close to the inner corner connection area (206); wherein the first grinding roller (104) and the concave arc grinding roller (114) are both away from the box beam template (20); Step 502: adjusting the outer surface of the third grinding roller (124) in the third grinding head (12) to fit the inner corner connection area (206); Step 503: The controller controls the main grinding roller (94) to rotate and grind the first area (207) of the bottom plate; at the same time, the controller controls the third grinding roller (124) to rotate and grind the inner corner connection area (206); Step 504: the walking mechanism (1) drives the box beam template grinding device to move along the length direction of the box beam template (20), and the main grinding roller (94) and the third grinding roller (124) grind along with the box beam template grinding device while moving until the inner corner connection area (206) and the first area (207) of the bottom plate are completely ground; Step 6: Grinding the remaining area of ​​the base plate: Step 601: The controller controls the multi-degree-of-freedom robot arm (7) to move so that the main grinding roller (94) in the main grinding head (9) at the end of the multi-degree-of-freedom robot arm (7) fits the remaining area (208) of the bottom plate; wherein the first grinding roller (104), the concave arc grinding roller (114) and the third grinding roller (124) are all away from the box beam template (20); Step 602: The walking mechanism (1) drives the box beam template grinding device to move along the length direction of the box beam template (20); at the same time, the controller controls the main grinding roller (94) to rotate to grind the remaining area (208) of the bottom plate until the remaining area (208) of the bottom plate is completely ground.

Images