Automatic box beam outer mold polishing robot and use method

Abstract

The present invention relates to the technical field of grinding equipment, and specifically to an automatic grinding robot for a box girder outer mold and a method for using the robot, comprising a self-propelled gantry crane, a suspension assembly, a lifting connection assembly, a grinding belt adjustment assembly and a grinding belt, wherein the self-propelled gantry crane is arranged outside an external track, the suspension assembly is provided with two groups, the two groups of suspension assemblies are respectively arranged on both sides of the top of the self-propelled gantry crane, the upper end of the lifting connection assembly is arranged between the two groups of suspension assemblies, the grinding belt adjustment assembly is hoisted at the lower end of the lifting connection assembly, the grinding belt is inserted into the grinding belt adjustment assembly, the grinding belt adjustment assembly comprises a bottom end adjustment part for grinding the bottom of the box girder outer mold, lateral adjustment parts arranged on both sides of the bottom end adjustment part for grinding the side walls of the box girder outer mold, and a transverse adjustment part arranged outside the lateral adjustment part for adjusting the grinding range of the lateral adjustment part, the bottom end adjustment part, the lateral adjustment part and the transverse adjustment part cooperate to grind the surface of the box girder outer mold.

Description

Technical Field

[0001] The invention relates to the technical field of grinding equipment, and in particular to an automatic grinding robot for a box beam outer mold and a use method thereof. Background Art

[0002] The outer formwork of the box beam is a mold used to form concrete in the construction of prefabricated box beams. Its function is to provide a supporting and forming frame to ensure that the concrete can form the predetermined box beam shape during the pouring process. After the outer formwork of the box beam completes a pouring task and is demoulded, some concrete residues and oil stains will adhere to the outer formwork of the box beam. These substances not only affect the quality of subsequent construction, but also may cause the surface of the mold to be uneven, thereby affecting the molding effect. If it is not cleaned thoroughly, it may also cause corrosion of the mold and reduce its service life. Therefore, regular cleaning of the outer formwork of the box beam is an important measure to ensure project quality, improve work efficiency, and extend the service life of the mold;

[0003] At present, the cleaning of the box girder outer mold mainly relies on machine grinding. The commonly used grinding robots are mainly used for the side walls and bottom of the box girder inner mold. They cannot achieve good adaptability and cleaning for the arc part where the bottom of the mold connects with the side wall of the mold. Therefore, an automatic box girder outer mold grinding robot and a use method are proposed. Summary of the invention

[0004] In order to solve the technical problems existing in the above-mentioned prior art, the present invention provides a box girder outer mold automatic grinding robot and a use method.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: an automatic box girder outer mold grinding robot, comprising a self-propelled gantry crane, a suspension assembly, a hoisting connection assembly, a grinding belt adjustment assembly and a grinding belt;

[0006] The self-propelled gantry crane is arranged outside the external track, the suspension assembly is provided with two groups, and the two groups of suspension assemblies are respectively arranged on both sides of the top of the self-propelled gantry crane, the upper end of the lifting connection assembly is arranged between the two groups of suspension assemblies, the grinding belt adjustment assembly is hoisted at the lower end of the lifting connection assembly, and the grinding belt is inserted into the grinding belt adjustment assembly;

[0007] The grinding belt adjustment assembly includes a bottom adjustment part for grinding the bottom of the box girder outer mold, lateral adjustment parts arranged on both sides of the bottom adjustment part for grinding the side walls of the box girder outer mold, and a transverse adjustment part arranged outside the lateral adjustment part for adjusting the grinding range of the lateral adjustment part. The bottom adjustment part, the lateral adjustment part and the transverse adjustment part cooperate to make the grinding belt fit the surface of the box girder outer mold and drive the grinding belt to grind the surface of the box girder outer mold.

[0008] Preferably, the bottom end adjustment part includes a frame body, an adjustment part slide, an extension plate, an adjustment plate and a roller shaft 1, the adjustment part slide is installed on the top of the frame body, the lateral adjustment part is arranged in the frame body, the lateral adjustment part is locked relative to the frame body by bolts, the extension plate is provided with two groups, the two groups of extension plates are respectively sleeved inside the two ends of the frame body, the adjustment plate is installed on the end of the extension plate through a rotating shaft, and the roller shaft 1 is provided with two groups, the two groups of roller shaft 1 are respectively installed on the two ends of the adjustment plate through a rotating shaft.

[0009] Preferably, the two groups of rollers have two degrees of freedom to rotate left and right under the support of the adjustment plate. The roller located at the lower end of the adjustment plate pushes the grinding belt to contact the bottom of the box beam outer mold, and the roller located at the upper end of the adjustment plate pushes the grinding belt to contact the side wall of the box beam outer mold and the bottom transition section as the adjustment plate tilts.

[0010] Preferably, the bottom end adjustment part further comprises a frameless torque motor, and the frameless torque motor is arranged in the middle of the extension plate, and the frameless torque motor drives the grinding belt through contact friction.

[0011] Preferably, the grinding belt adjustment assembly also includes a grinding belt tensioning assembly, and the grinding belt tensioning assembly includes an adjustment track, an adjustment rod and an elastic sheet. Two groups of the adjustment tracks are opened in parallel at the middle position of the bottom adjustment part, and the two groups of the adjustment rods are respectively arranged inside the two groups of adjustment tracks. The two groups of the adjustment rods are arranged in opposite directions. The elastic sheet is connected between the ends of the two groups of adjustment rods. The grinding belt passes around the two groups of adjustment rods in turn, and the adjustment rods temporarily store the grinding belt inside the bottom adjustment part.

[0012] Preferably, the lateral adjustment part includes a lateral adjustment arm, a second roller shaft and a lifting connecting sleeve, the lateral adjustment arm is arranged in the adjustment part slide, the lateral adjustment arm is limited by the longitudinal position of the adjustment part slide, the lateral adjustment arm is fixed in relative position with the adjustment part slide by bolts, the second roller shaft is installed on the end of the lateral adjustment arm through a rotating shaft, the lifting connecting sleeve is fixed to the top of the lateral adjustment arm, and the lateral adjustment arm is connected to the lifting connecting assembly through the lifting connecting sleeve.

[0013] Preferably, the lateral adjustment part also includes an adjustment slot, the adjustment slot is opened on the upper part of the lateral adjustment arm, a through hole is opened inside the adjustment slot, the transverse adjustment part is arranged in the through hole inside the adjustment slot, and the transverse adjustment part includes an adjustment bolt, a roller shaft three and a fixing nut.

[0014] Preferably, the adjusting bolt is inserted into the through hole, the roller shaft three is installed on the end of the adjusting bolt through a rotating shaft, the fixing nut is threadedly connected to the end of the adjusting bolt, and the adjusting bolt cooperates with the roller shaft three to pull the passing grinding belt toward the lateral adjusting arm to form a clearance space.

[0015] Preferably, the lifting connection assembly includes a connecting plate and a connecting rod, and two groups of connecting rods are respectively arranged at both ends of the connecting plate. The connecting rod located at the upper end of the connecting plate is connected to the two groups of suspension assemblies, and the connecting rod located at the lower end of the connecting plate is inserted between the two groups of lifting connection sleeves.

[0016] A method for using a box beam outer mold automatic grinding robot comprises the following steps:

[0017] Step S1, after the outer formwork of the box beam is cast and removed, the self-propelled gantry crane cooperates with the suspension assembly and the lifting connection assembly to lift the grinding belt adjustment assembly to the middle position of one end of the outer formwork of the box beam;

[0018] Step S2, pulling the extension plate to move the extension plate out from the inside of the frame body until the lower roller shaft 1 at the end of the extension plate contacts the bottom of the box beam outer mold, at this time, the grinding belt contacts the bottom surface of the box beam outer mold under the push of the roller shaft 1;

[0019] Step S3, continue to push the extension plate, when the position of the lower roller shaft 1 remains unchanged, the adjustment plate rotates around the rotation axis and makes the upper roller shaft 1 contact the arc-shaped part of the transition section between the bottom of the box beam outer mold and the side wall, with the cooperation of the upper and lower roller shafts 1, the grinding belt is filled in the arc-shaped transition section, at this time, the setting position of the extension plate relative to the bottom end adjustment part is fixed by bolts, so that the extension plate remains in the extended state and fixed;

[0020] Step S4, after the extension plate is in place, the lateral adjustment arm is pushed to make the lateral adjustment arm move laterally along the adjustment part slideway, and the lateral adjustment arm cooperates with the extension plate to make the grinding belt stick to the side wall of the box beam outer mold;

[0021] Step S5, in the process of adjusting the lateral adjustment arm to move transversely along the slideway of the adjustment part, according to the degree of fit between the grinding belt and the surface of the outer mold of the box beam, the adjustment bolt is pulled to slide along the through hole, and the roller shaft three at the end of the adjustment bolt pulls the grinding belt that has been wound back by the roller shaft two toward the lateral adjustment arm, so that the lateral adjustment arm continues to push the grinding belt toward the side wall of the outer mold of the box beam through the roller shaft two;

[0022] Step S6, continuously push the lateral adjustment arm so that the lateral adjustment arm cooperates with the lifting connection sleeve to push the grinding belt, so that the part of the grinding belt that exceeds the top of the side wall of the box beam outer mold is attached to the arc-shaped part of the transition section at the top of the side wall of the box beam outer mold;

[0023] Step S7, visually inspect the fitting state of the grinding belt and the box girder outer mold under the push of the grinding belt adjustment component, and after determining that the fitting is sufficient, start the frameless torque motor, and the frameless torque motor drives the grinding belt to rotate, and the rotating grinding belt grinds the inner wall of the box girder outer mold. At this time, the self-propelled gantry crane moves laterally along the track, and the self-propelled gantry crane drives the grinding belt adjustment component to move laterally synchronously and slowly through the suspension component and the lifting connection component, so as to realize comprehensive grinding of the box girder outer mold.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] The present invention is provided with a bottom adjustment part, a lateral adjustment part and a transverse adjustment part, which can simultaneously push the grinding belt to the bottom, the side wall, the arc transition section between the bottom and the side wall, and the arc transition section between the side wall and the top of the box beam outer mold, so that the grinding belt can complete the grinding of the inner wall of the entire box beam outer mold at one time, and achieve adaptive cleaning of the inner wall of the box beam outer mold;

[0026] The present invention provides a lifting connection assembly, which enables the lateral adjustment portion to provide sufficient adjustment space when adjusting its position, so as to facilitate the lifting of the suspension assembly, thereby further improving the adaptability of the equipment to box girder outer molds of different specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0028] Figure 2 It is a schematic diagram of the three-dimensional structure of the bottom end adjustment part of the present invention;

[0029] Figure 3 It is a schematic diagram of the three-dimensional structure of the grinding belt tensioning assembly of the present invention;

[0030] Figure 4 It is a schematic diagram of the coordination structure of the lateral adjustment part and the transverse adjustment part of the present invention;

[0031] Figure 5 It is a schematic diagram of the use state of the present invention;

[0032] Figure 6 It is a partial front view cross-sectional structural schematic diagram of the present invention.

[0033] The numbers in the figure represent:

[0034] 1. Self-propelled gantry crane; 2. Suspension assembly; 3. Lifting connection assembly; 31. Connection plate; 32. Connection rod; 4. Grinding belt adjustment assembly; 41. Bottom adjustment part; 411. Frame body; 412. Adjustment part slideway; 413. Extension plate; 414. Adjustment plate; 415. Roller one; 416. Frameless torque motor; 42. Lateral adjustment part; 421. Lateral adjustment arm; 422. Roller two; 423. Lifting connection sleeve; 424. Adjustment notch; 43. Horizontal adjustment part; 431. Adjustment bolt; 432. Roller three; 433. Fixing nut; 44. Grinding belt tensioning assembly; 441. Adjustment track; 442. Adjustment rod; 443. Elastic sheet; 5. Grinding belt. DETAILED DESCRIPTION

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments, but the following embodiments are merely preferred embodiments of the present invention and are not exhaustive. Example

[0036] like Figure 1 - Figure 6 As shown, the present invention provides a box beam outer mold automatic grinding robot, comprising a self-propelled gantry crane 1, a suspension assembly 2, a lifting connection assembly 3, a grinding belt adjustment assembly 4 and a grinding belt 5;

[0037] The self-propelled gantry crane 1 is arranged outside the external track, and two groups of suspension components 2 are arranged. The two groups of suspension components 2 are respectively arranged on both sides of the top of the self-propelled gantry crane 1. The upper end of the lifting connection component 3 is arranged between the two groups of suspension components 2. The grinding belt adjustment component 4 is hoisted at the lower end of the lifting connection component 3, and the grinding belt 5 is inserted into the grinding belt adjustment component 4.

[0038] The grinding belt adjustment assembly 4 includes a bottom adjustment portion 41 for grinding the bottom of the box beam outer mold, lateral adjustment portions 42 arranged on both sides of the bottom adjustment portion 41 for grinding the side walls of the box beam outer mold, and a transverse adjustment portion 43 arranged outside the lateral adjustment portion 42 for adjusting the grinding range of the lateral adjustment portion 42. The bottom adjustment portion 41, the lateral adjustment portion 42 and the transverse adjustment portion 43 cooperate to fit the grinding belt 5 to the surface of the box beam outer mold and drive the grinding belt 5 to grind the surface of the box beam outer mold.

[0039] The bottom adjustment part 41 includes a frame body 411, an adjustment part slide 412, an extension plate 413, an adjustment plate 414 and a roller shaft 415;

[0040] The adjustment part slide 412 is installed on the top of the frame body 411, the lateral adjustment part 42 is arranged in the adjustment part slide 412, and the lateral adjustment part 42 is locked in the relative position of the frame body 411 by bolts. Two groups of extension plates 413 are provided, and the two groups of extension plates 413 are respectively sleeved inside the two ends of the frame body 411. The adjustment plate 414 is installed on the end of the extension plate 413 through a rotating shaft. Two groups of roller shafts 415 are provided, and the two groups of roller shafts 415 are respectively installed on the two ends of the adjustment plate 414 through the rotating shaft. When in use, the self-propelled gantry crane 1 cooperates with the suspension component 2 and the lifting connection component 3 to hoist the bottom end adjustment part 41 and the lateral adjustment part 42 to the surface of the inner mold of the box beam, and adjusts the position of the bottom end adjustment part 41 relative to the outer mold of the box beam by retracting and extending the suspension component 2, so that the bottom end adjustment part 41 is located in the middle position of the outer mold surface of the box beam;

[0041] The two sets of rollers 415 have two degrees of freedom to rotate left and right under the support of the adjustment plate 414. The roller 415 located at the lower end of the adjustment plate 414 pushes the grinding belt 5 to contact with the bottom of the box beam outer mold. The roller 415 located at the upper end of the adjustment plate 414 pushes the grinding belt 5 to contact with the side wall and bottom transition section of the box beam outer mold as the adjustment plate 414 tilts. When in use, the extension plate 413 is pulled to move the extension plate 413 out of the inside of the frame body 411 until the lower roller 415 at the end of the extension plate 413 contacts the bottom of the box beam outer mold. At this time, the grinding belt 5 is pushed by the roller 415. Contact with the bottom surface of the box beam outer mold, continue to push the extension plate 413, when the position of the lower roller shaft 415 remains unchanged, the adjustment plate 414 rotates around the axis of rotation and makes the upper roller shaft 415 contact with the arc-shaped part of the transition section between the bottom of the box beam outer mold and the side wall. With the cooperation of the upper and lower groups of roller shafts 415, the grinding belt 5 is filled in the arc-shaped transition section. At this time, the setting position of the extension plate 413 relative to the bottom end adjustment part 41 is fixed by bolts, so that the extension plate 413 remains in an extended state and fixed. When the grinding belt 5 is driven to rotate, the grinding belt 5 can complete the grinding of the bottom of the box beam outer mold and the arc-shaped part of the transition section.

[0042] The bottom adjustment part 41 also includes a frameless torque motor 416, which is arranged in the middle of the extension plate 413. The frameless torque motor 416 drives the grinding belt 5 through contact friction. When the frameless torque motor 416 is working, the frameless torque motor 416 rotates. The rotating frameless torque motor 416 drives the grinding belt 5 to rotate through contact friction, so that the grinding belt 5 performs grinding operations through continuous rotation.

[0043] The grinding belt adjustment assembly 4 also includes a grinding belt tensioning assembly 44, and the grinding belt tensioning assembly 44 includes an adjustment track 441, an adjustment rod 442 and an elastic sheet 443;

[0044] Two sets of adjustment rails 441 are parallelly opened at the middle position of the bottom adjustment part 41, two sets of adjustment rods 442 are respectively arranged inside the two sets of adjustment rails 441, the two sets of adjustment rods 442 are arranged in opposite directions, and the elastic sheet 443 is connected between the ends of the two sets of adjustment rods 442. The grinding belt 5 passes around the two sets of adjustment rods 442 in sequence, and the adjustment rods 442 temporarily store the grinding belt 5 inside the bottom adjustment part 41. In the process of pulling the extension plate 413, the roller 415 at the end of the extension plate 413 will pull the grinding belt 5 to a certain extent. The grinding belt 5 is pulled by the roller 415. When 415 is pulled, the adjusting rod 442 is driven to move horizontally inside the adjusting track 441, and the grinding belt 5 is released from the bottom adjusting part 41 by the horizontal movement of the adjusting rod 442. During the horizontal movement of the adjusting rod 442, the elastic sheet 443 is deformed and accumulates force. During the process of the extension plate 413 being retracted into the bottom adjusting part 41, the elastic sheet 443 can push back the two groups of adjusting rods 442 by resetting, thereby re-tightening the grinding belt 5 released due to the retraction of the extension plate 413, and preventing the grinding belt 5 from loosening and not being driven by the frameless torque motor 416.

[0045] The lateral adjustment part 42 includes a lateral adjustment arm 421, a roller shaft 422 and a lifting connection sleeve 423;

[0046] The lateral adjustment arm 421 is arranged in the adjustment part slideway 412, and the lateral adjustment arm 421 is limited by the longitudinal position of the adjustment part slideway 412. The lateral adjustment arm 421 is fixed relative to the adjustment part slideway 412 by bolts. The roller shaft 422 is installed at the end of the lateral adjustment arm 421 through a rotating shaft. The lifting connection sleeve 423 is fixed to the top of the lateral adjustment arm 421. The lateral adjustment arm 421 is connected to the lifting connection assembly 3 through the lifting connection sleeve 423. After the setting position of the extension plate 413 is in place, the lateral adjustment arm 421 is pushed to make the lateral adjustment arm 421 move laterally along the adjustment part slideway 412. The moving adjustment part slideway 412 makes the grinding belt 5 stick to the side wall of the box beam outer mold through the extension plate 413.

[0047] The lateral adjustment arm 421 is connected to the lifting connection component 3 through the lifting connection sleeve 423, and accepts the lifting of the lifting connection component 3. During the transverse movement along the adjustment part slide 412, the lateral adjustment arm 421 synchronously adjusts the relative position with the lifting connection component 3 through the lifting connection sleeve 423, so that the lateral adjustment part 42 can still accept the lifting of the lifting connection component 3 when adjusting its position.

[0048] The lateral adjustment part 42 also includes an adjustment slot 424, which is provided at the upper part of the lateral adjustment arm 421, and a through hole is provided inside the adjustment slot 424. The transverse adjustment part 43 is provided in the through hole inside the adjustment slot 424, and the transverse adjustment part 43 includes an adjustment bolt 431, a roller shaft 3 432 and a fixing nut 433. The adjustment bolt 431 is inserted into the through hole, and the roller shaft 3 432 is installed at the end of the adjustment bolt 431 through a rotating shaft. The fixing nut 433 is threadedly connected to the end of the adjustment bolt 431. The adjustment bolt 431 cooperates with the roller shaft 3 432 to pull the passing grinding belt 5 toward the lateral adjustment arm 421 to form a clearance space.

[0049] In the process of adjusting the lateral adjustment arm 421 to move horizontally along the adjustment part slide 412, the adjustment bolt 431 is pulled to make the adjustment bolt 431 slide along the through hole, and the roller shaft three 432 at the end of the adjustment bolt 431 pulls the grinding belt 5 that has been returned by the roller shaft two 422 toward the lateral adjustment arm 421, so that the lateral adjustment arm 421 continues to push the grinding belt 5 toward the side wall of the box beam outer mold through the roller shaft two 422, so that the part of the grinding belt 5 that exceeds the top of the side wall of the box beam outer mold is attached to the arc part of the transition section at the top of the side wall of the box beam outer mold, so as to fully grind each area of ​​the box beam outer mold.

[0050] The lifting connection assembly 3 includes a connecting plate 31 and a connecting rod 32. Two groups of connecting rods 32 are respectively arranged at both ends of the connecting plate 31. The connecting rod 32 located at the upper end of the connecting plate 31 is connected to the two groups of suspension assemblies 2. The connecting rod 32 located at the lower end of the connecting plate 31 is inserted between the two groups of lifting connection sleeves 423, so that when the lateral adjustment part 42 is adjusted in position, the lifting connection assembly 3 can provide sufficient adjustment space to facilitate the lifting of the suspension assembly 2.

[0051] The method of using the automatic grinding robot for the outer mold of the box beam is as follows: after the outer mold of the box beam is poured and demolded, the self-propelled gantry crane 1 cooperates with the suspension assembly 2 and the lifting connection assembly 3 to lift the grinding belt adjustment assembly 4 to the middle position of one end of the outer mold of the box beam, and pulls the extension plate 413 to move the extension plate 413 out from the inside of the frame body 411 until the lower roller 415 at the end of the extension plate 413 contacts the bottom of the outer mold of the box beam. At this time, the grinding belt 5 is pushed by the roller 415 to contact the outer mold of the box beam. The bottom surface of the outer formwork of the beam is contacted, and the extension plate 413 is continuously pushed. When the position of the lower roller shaft 1 415 remains unchanged, the adjustment plate 414 rotates around the rotation axis and makes the upper roller shaft 1 415 contact the arc-shaped part of the transition section between the bottom of the outer formwork of the box beam and the side wall. With the cooperation of the upper and lower roller shafts 1 415, the grinding belt 5 is filled in the arc-shaped transition section. At this time, the setting position of the extension plate 413 relative to the bottom end adjustment part 41 is fixed by bolts, so that the extension plate 413 remains in the extended state and fixed;

[0052] After the extension plate 413 is in place, the lateral adjustment arm 421 is pushed to make the lateral adjustment arm 421 move laterally along the adjustment portion slideway 412. The laterally moved lateral adjustment arm 421 cooperates with the extension plate 413 to make the grinding belt 5 stick to the side wall of the box beam outer mold. In the process of adjusting the lateral adjustment arm 421 to move laterally along the adjustment portion slideway 412, according to the degree of fit between the grinding belt 5 and the surface of the box beam outer mold, the adjustment bolt 431 is pulled to make the adjustment bolt 431 slide along the through hole. The roller shaft three 432 at the end of the adjustment bolt 431 pulls the grinding belt 5 that has been returned by the roller shaft two 422 toward the lateral adjustment arm 421, so that the lateral adjustment arm 421 continues to push the grinding belt 5 toward the side wall of the box beam outer mold through the roller shaft two 422.

[0053] Continue to push the lateral adjustment arm 421 so that the lateral adjustment arm 421 cooperates with the lifting connection sleeve 423 to push the grinding belt 5, so that the part of the grinding belt 5 that exceeds the top of the side wall of the box girder outer mold is fitted to the arc part of the transition section at the top of the side wall of the box girder outer mold. Visually check the fitting state of the grinding belt 5 and the box girder outer mold under the push of the grinding belt adjustment component 4. After determining that the fit is sufficient, start the frameless torque motor 416, and the frameless torque motor 416 drives the grinding belt 5 to rotate. The rotating grinding belt 5 grinds the inner wall of the box girder outer mold. At this time, the self-propelled gantry crane 1 moves laterally along the track, and the self-propelled gantry crane 1 drives the grinding belt adjustment component 4 to move laterally synchronously and slowly through the suspension component 2 and the lifting connection component 3, so as to realize comprehensive grinding of the box girder outer mold.

[0054] The above description is only a preferred embodiment of the present invention, which is only illustrative and not restrictive of the present invention. Those skilled in the art understand that many changes, modifications, and even equivalences may be made to the present invention within the spirit and scope defined by the claims of the present invention, but all of them will fall within the scope of protection of the present invention.

Claims

1. A method for using a box beam outer mold automatic grinding robot, characterized in that: The method of use comprises the following steps: Step S1, after the box girder outer formwork is cast and removed, the self-propelled gantry crane cooperates with the suspension assembly and the lifting connection assembly to lift the grinding belt adjustment assembly to the middle position of one end of the box girder outer formwork, the grinding belt adjustment assembly includes a bottom end adjustment part, the bottom end adjustment part includes an adjustment plate and a roller shaft 1, the adjustment plate is installed at the end of the extension plate through a rotating shaft, the roller shaft 1 is provided with two groups, the roller shaft 1 includes an upper roller shaft 1 and a lower roller shaft 1, the upper roller shaft 1 and the lower roller shaft 1 are respectively installed at both ends of the adjustment plate; Step S2, pulling the extension plate to move the extension plate out from the inside of the frame body until the lower roller shaft 1 in the adjustment plate at the end of the extension plate contacts the bottom of the box beam outer mold, at which time, the grinding belt contacts the bottom surface of the box beam outer mold under the push of the lower roller shaft 1; Step S3, continue to push the extension plate, when the position of the lower roller shaft 1 remains unchanged, the adjustment plate at the end of the extension plate rotates around the rotation axis and makes the upper roller shaft 1 contact the arc-shaped part of the transition section of the bottom side wall of the box beam outer mold, under the cooperation of the upper and lower groups of roller shafts 1, the grinding belt is filled in the arc-shaped transition section, at this time, the setting position of the extension plate relative to the bottom end adjustment part is fixed by bolts, so that the extension plate remains in an extended state and fixed; Step S4, after the extension plate is set in place, the lateral adjustment arm is pushed to make the lateral adjustment arm move laterally along the adjustment part slideway, and the laterally moved lateral adjustment arm cooperates with the extension plate to make the grinding belt stick to the side wall of the box beam outer mold; Step S5, in the process of adjusting the lateral adjustment arm to move transversely along the slideway of the adjustment part, according to the degree of fit between the grinding belt and the surface of the outer mold of the box beam, the adjustment bolt is pulled to slide along the through hole, and the roller shaft three at the end of the adjustment bolt pulls the grinding belt that has been wound back by the roller shaft two toward the lateral adjustment arm, so that the lateral adjustment arm continues to push the grinding belt toward the side wall of the outer mold of the box beam through the roller shaft two; Step S6, continuously push the lateral adjustment arm so that the lateral adjustment arm cooperates with the lifting connection sleeve to push the grinding belt, so that the part of the grinding belt that exceeds the top of the side wall of the box beam outer mold is attached to the arc-shaped part of the transition section at the top of the side wall of the box beam outer mold; Step S7, visually inspect the fitting state of the grinding belt and the box girder outer mold under the push of the grinding belt adjustment component, and after determining that the fitting is sufficient, start the frameless torque motor, and the frameless torque motor drives the grinding belt to rotate, and the rotating grinding belt grinds the inner wall of the box girder outer mold. At this time, the self-propelled gantry crane moves laterally along the track, and the self-propelled gantry crane drives the grinding belt adjustment component to move laterally synchronously and slowly through the suspension component and the lifting connection component, so as to realize comprehensive grinding of the box girder outer mold.

2. A box beam outer mold automatic polishing robot applied to the method of use described in claim 1, characterized in that: It includes a self-propelled gantry crane, a suspension component, a lifting connection component, a grinding belt adjustment component and a grinding belt. The self-propelled gantry crane is arranged outside the external track. The suspension component is provided with two groups, and the two groups of suspension components are respectively arranged on both sides of the top of the self-propelled gantry crane. The upper end of the lifting connection component is arranged between the two groups of suspension components. The grinding belt adjustment component is hoisted at the lower end of the lifting connection component, and the grinding belt is inserted into the grinding belt adjustment component.

3. The automatic box beam outer mold polishing robot according to claim 2, characterized in that: The grinding belt adjustment assembly includes a bottom adjustment part for grinding the bottom of the box girder outer mold, lateral adjustment parts arranged on both sides of the bottom adjustment part for grinding the side walls of the box girder outer mold, and a transverse adjustment part arranged outside the lateral adjustment part for adjusting the grinding range of the lateral adjustment part. The bottom adjustment part, the lateral adjustment part and the transverse adjustment part cooperate to make the grinding belt fit the surface of the box girder outer mold and drive the grinding belt to grind the surface of the box girder outer mold.

4. The automatic box beam outer mold polishing robot according to claim 3, characterized in that: The bottom end adjustment part includes a frame body, an adjustment part slide, an extension plate, an adjustment plate and a roller shaft 1, the adjustment part slide is installed on the top of the frame body, the lateral adjustment part is arranged in the frame body, the lateral adjustment part is locked relative to the frame body by bolts, the extension plate is provided with two groups, the two groups of extension plates are respectively sleeved inside the two ends of the frame body, the adjustment plate is installed on the end of the extension plate through a rotating shaft, the roller shaft 1 is provided with two groups, the two groups of roller shaft 1 are respectively installed at the two ends of the adjustment plate through a rotating shaft.

5. The automatic box beam outer mold polishing robot according to claim 4, characterized in that: The two groups of rollers have two degrees of freedom to rotate left and right under the support of the adjustment plate. The roller located at the lower end of the adjustment plate pushes the grinding belt to contact the bottom of the box beam outer mold. The roller located at the upper end of the adjustment plate pushes the grinding belt to contact the side wall of the box beam outer mold and the bottom transition section as the adjustment plate tilts.

6. The automatic box beam outer mold polishing robot according to claim 4, characterized in that: The bottom end adjustment part also includes a frameless torque motor, which is arranged in the middle of the extension plate and drives the grinding belt through contact friction.

7. The automatic box beam outer mold polishing robot according to claim 3, characterized in that: The grinding belt adjustment assembly also includes a grinding belt tensioning assembly, which includes an adjustment track, an adjustment rod and an elastic sheet. Two groups of the adjustment tracks are opened in parallel at the middle position of the bottom adjustment part. The two groups of the adjustment rods are respectively arranged inside the two groups of adjustment tracks. The two groups of the adjustment rods are arranged in opposite directions. The elastic sheet is connected between the ends of the two groups of adjustment rods. The grinding belt passes around the two groups of adjustment rods in turn, and the adjustment rods temporarily store the grinding belt inside the bottom adjustment part.

8. The automatic box beam outer mold polishing robot according to claim 3, characterized in that: The lateral adjustment part includes a lateral adjustment arm, a second roller shaft and a lifting connection sleeve. The lateral adjustment arm is arranged in the adjustment part slide. The lateral adjustment arm is limited by the longitudinal position of the adjustment part slide. The lateral adjustment arm is fixed in a relative position with the adjustment part slide by bolts. The second roller shaft is installed on the end of the lateral adjustment arm through a rotating shaft. The lifting connection sleeve is fixed to the top of the lateral adjustment arm. The lateral adjustment arm is connected to the lifting connection assembly through the lifting connection sleeve.

9. The automatic box beam outer mold polishing robot according to claim 8, characterized in that: The lateral adjustment part also includes an adjustment slot, which is arranged at the upper part of the lateral adjustment arm, and a through hole is arranged inside the adjustment slot. The transverse adjustment part is arranged in the through hole inside the adjustment slot, and the transverse adjustment part includes an adjustment bolt, a roller shaft three and a fixing nut. The adjustment bolt is inserted into the through hole, and the roller shaft three is installed on the end of the adjustment bolt through a rotating shaft. The fixing nut is threadedly connected to the end of the adjustment bolt. The adjustment bolt cooperates with the roller shaft three to pull the passing grinding belt toward the lateral adjustment arm to form a clearance space.

10. The automatic box beam outer mold polishing robot according to claim 2, characterized in that: The lifting connection assembly includes a connecting plate and a connecting rod. Two groups of connecting rods are respectively arranged at both ends of the connecting plate. The connecting rod located at the upper end of the connecting plate is connected to the two groups of suspension assemblies, and the connecting rod located at the lower end of the connecting plate is inserted between the two groups of lifting connection sleeves.

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