An automatic grinding, dust removal and spraying integrated system for box girder formwork

Abstract

The present invention discloses an integrated system for automatic grinding, dust removal and spraying of box girder formwork, which relates to the technical field of intelligent equipment and comprises a mobile vehicle; a winding assembly is fixedly arranged on the side of the mobile vehicle frame body, and the winding assembly is arranged on the side of the mobile vehicle, and the rubber plate and the clamping frame are respectively driven to move on the surface of the box girder formwork through the joint control vehicle body and the magnetic track assembly, so that the potholes on the surface of the box girder formwork are polished again, and the material can also be exported to the surface of the box girder formwork through the through hole on the bottom side of the hinged plate, and the imported material is slightly heated by the lamp arranged on the top side of the hinged plate to accelerate the solidification of the material, thereby improving the spraying quality and effect.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent devices, and specifically to an integrated system for automatic grinding, dust removal and spraying of box girder formwork. Background Art

[0002] With the continuous development of high-speed rail construction in China, large precast box girders have become an important part of engineering construction. After the box girders are precast in the beam fabrication yard, they are lifted onto the bridge and loaded onto the vehicle by a beam lifting machine, transported to the erection site by a beam transporter, and finally erected onto the piers that have been constructed by a bridge erection machine to complete the entire process of erection; the use of prestressed box girders can not only speed up the construction progress, but also achieve standardized production, greatly improving the controllability of bridge quality; however, with the continuous increase in the structure of prestressed box girders, after each precast box girder is completed, there will inevitably be contaminants such as concrete residues and even rust on the surface of the steel formwork, which need to be cleaned before the formwork is reused.

[0003] Currently, the cleaning of steel formwork mainly relies on manual operation. Due to the large size of the steel formwork of high-speed rail precast box girders, the entire grinding operation is extremely complex and the cleaning difficulty is high; more importantly, after cleaning, it is also necessary to spray a release agent on the surface of the formwork. Thus, it can be seen that the work burden of formwork cleaning, maintenance and spraying operators is heavy. More importantly, the subjective factors of construction workers relying entirely on manual operation are obvious, and it is extremely easy to have situations where cleaning and spraying are not in place, resulting in varying degrees of defects in the subsequent box girder precast, affecting the appearance quality of the precast box girder; most of the existing technologies are very complex, with various rods and lead screws arranged in a staggered manner, bringing great difficulties to maintenance during use. Summary of the Invention

[0004] Therefore, in order to solve the above deficiencies, the present invention provides an integrated system for automatic grinding, dust removal and spraying of box girder formwork here.

[0005] The present invention is implemented as follows. An integrated system for automatic grinding, dust removal and spraying of box girder formwork is constructed. The device includes a mobile vehicle; a winding assembly is fixedly arranged on the side of the mobile vehicle frame; a grinding assembly is adjustably arranged on the right side of the top of the mobile vehicle; a dust suction assembly is fixedly installed in the middle of the top of the mobile vehicle by bolts; a liquid material assembly is fixedly installed on the left side of the top of the mobile vehicle by bolts; a control assembly with a control function is fixedly installed in the middle of the top of the mobile vehicle by bolts.

[0006] Preferably, the winding assembly includes a first servo motor and a winding cylinder that are fixedly installed on the front side of the mobile vehicle frame through bolts, and the first servo motor is fixedly installed on the side of the shaft body of the winding cylinder through bolts; a rubber plate is wound around the outer cylinder of the winding cylinder; a hinge plate is adhesively arranged on the top of the rubber plate, and a through hole is arranged at the connection between the rubber plate and the hinge plate; a roller shaft is rotatably arranged on the bottom side of the rubber plate; the rubber plate is clamped and fixed on the side of the self-propelled assembly; a vision assembly is rotatably arranged on the top of the self-propelled assembly; the vision assembly is specifically composed of a robotic arm and a vision camera.

[0007] Preferably, the self-propelled assembly includes a control-linked vehicle body that is movably arranged on the front side of the mobile vehicle; a magnetic adsorption crawler assembly is fixedly arranged at the bottom of the control-linked vehicle body; a tail adjustment assembly is fixedly arranged at the notch at the rear side of the control-linked vehicle body, and the tail adjustment assembly is specifically composed of a cylinder for adjusting the height and a clamping plate fixedly arranged at the top end of the piston rod of the cylinder; a clamping frame is clamped and arranged inside the clamping plate on the top side of the tail adjustment assembly, and a rubber plate is clamped and arranged inside the clamping plate on the top side of the tail adjustment assembly.

[0008] Preferably, a second servo motor with a transmission function is fixedly installed on the side of the clamping frame through bolts; a worm and worm gear assembly with a transmission function is inserted into the side transmission shaft of the second servo motor; an adjusting plate is inserted and fixed on the side of the worm of the worm and worm gear assembly, and a connecting pipe one for guiding is fixedly arranged on the adjusting plate; a grinding head is inserted and fixed at the end of the side of the worm of the worm and worm gear assembly.

[0009] Preferably, the magnetic adsorption crawler assembly includes a crawler plate that is driven and arranged on the side of the motor shaft at the bottom of the control-linked vehicle body; an insertion cylinder with a limiting function is welded and fixed on the top side of the crawler plate; a pressing switch with a sensing function is fixedly installed on the top side of the inner cylinder wall of the insertion cylinder through bolts; a first resetting member with a resetting function is welded and fixed on the bottom side of the inner cylinder wall of the insertion cylinder; the first resetting member is welded and fixed to the top end of the connecting rod; the connecting rod is welded and fixed on the top side of the pressure receiving plate.

[0010] Preferably, the grinding assembly includes an adjusting member that is rotatably arranged on the turntable at the top of the mobile vehicle; the adjusting member is specifically composed of a housing fixedly installed on the turntable at the top of the mobile vehicle, a motor fixedly arranged on the top side inside the housing, and a rotating cylinder fixedly arranged at the bottom side of the transmission shaft of the motor; a cylinder is rotatably installed on the side of the rotating cylinder of the adjusting member; a first grinding assembly is rotatably installed at the end of the piston rod of the cylinder.

[0011] Preferably, the first grinding assembly is specifically composed of a housing rotatably arranged at the end of the piston rod of the cylinder, a motor fixedly installed on the top of the housing, and a grinding roller fixedly installed at the transmission shaft of the motor.

[0012] Preferably, an articulated frame is slidably arranged on the side of the housing of the first grinding assembly; a third servo motor is fixedly installed on the side of the articulated frame through bolts, and the third servo motor penetrates through the circular hole of the right connecting ear plate of the upper and lower plates of the articulated frame.

[0013] Preferably, a second grinding assembly is fixedly inserted on the side transmission shaft of the third servo motor, and the second grinding assembly specifically includes a housing fixedly inserted on the side transmission shaft of the third servo motor, a motor fixedly installed on the side of the housing, a grinding blade rotatably installed on the wheel frame on the side of the housing, and a gear set and a belt drivingly arranged on the motor.

[0014] Preferably, a control member with a reset function is arranged inside the chute arranged on the side of the second grinding assembly, and the elastic member is fixedly installed with the convex block of the articulated frame plate body.

[0015] Preferably, the dust suction assembly includes a dust collection box fixedly installed on the middle side of the top of the mobile vehicle; an air pump assembly is fixedly installed on the top of the dust collection box through bolts, and a pulse device is installed on the side of the dust collection box; a row of valves is fixedly inserted at the bottom of the dust collection box, and the row of valves is connected to the through hole on the side of the articulated plate through a second connecting pipe.

[0016] The present invention has the following advantages: The present invention provides an automatic grinding, dust removal and spraying integrated system for box girder templates through improvement. Compared with the same type of equipment, the following improvements are made:

[0017] In the automatic grinding, dust removal and spraying integrated system for box girder templates of the present invention, by arranging a winding assembly on the side of the mobile vehicle, the rubber plate and the clamping frame are respectively driven by the control vehicle and the magnetic adsorption crawler assembly to walk on the surface of the box girder template, so as to polish the pits on the surface of the box girder template again. The material can also be exported onto the surface of the box girder template through the through hole at the bottom side of the articulated plate, and the imported material is slightly heated by the lamp arranged on the inner top side of the articulated plate to accelerate the solidification of the material, thereby improving the spraying quality and effect; by arranging a grinding assembly and a dust suction assembly on the top side of the mobile vehicle, the first grinding assembly is regulated through the regulating actions of the regulating member and the cylinder to realize multi-faceted grinding of the surface of the box girder template, and then the second grinding assembly is driven by the third servo motor to adjust the angle so that the grinding blade arranged in the second grinding assembly grinds the arc edge of the box girder template, thereby realizing simultaneous grinding of the surfaces of box girder templates with different shapes and specifications and improving the grinding efficiency. Description of the Drawings

[0018] Figure 1 is the structural schematic diagram of the present invention;

[0019] Figure 2 is the Figure 1Schematic diagram of the enlarged structure at A in [the figure];

[0020] Figure 3 is the schematic diagram of the exploded structure of the winding assembly of the present invention;

[0021] Figure 4 is the schematic cross-sectional structure diagram of the self-propelled assembly of the present invention;

[0022] Figure 5 is the axonometric structure diagram of the magnetic adsorption crawler assembly of the present invention;

[0023] Figure 6 is of the present invention Figure 1 schematic diagram of the enlarged structure at B in [the figure];

[0024] Figure 7 is the exploded structure diagram of the polishing assembly of the present invention;

[0025] Figure 8 is the axonometric structure diagram of the dust collection assembly of the present invention.

[0026] Wherein: mobile vehicle - 1, winding assembly - 2, polishing assembly - 3, dust collection assembly - 4, liquid material assembly - 5, control assembly - 6, first servo motor - 21, winding drum - 22, rubber plate - 23, hinged plate - 24, roller shaft - 25, self-propelled assembly - 26, vision assembly - 27, linked control vehicle body - 261, magnetic adsorption crawler assembly - 262, tail adjustment assembly - 263, clamping frame - 264, second servo motor - 265, worm and worm gear assembly - 266, adjustment plate - 267, polishing head - 268, crawler plate - 2621, insertion cylinder - 2622, extrusion switch - 2623, first reset member - 2624, connecting rod - 2625, pressure receiving plate - 2626, adjusting member - 31, cylinder - 32, first polishing assembly - 33, hinged frame - 34, third servo motor - 35, second polishing assembly - 36, dust collection box - 41, air pump assembly - 42, pulse device - 43, row of valves - 44. Detailed implementation manners

[0027] The following combines the attached Figures 1 to 8 Describe the principles and features of the present invention. The examples cited are only used to explain the present invention and are not used to limit the scope of the present invention. In the following paragraphs, the present invention will be described more specifically by way of example with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and use non-precise scales, only for the purpose of conveniently and clearly assisting in explaining the purpose of the embodiments of the present invention.

[0028] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and should not be construed as indicating or implying relative importance.

[0029] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", "linkage", "setting" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following will describe the embodiments according to the overall structure of the present invention.

[0030] Embodiment 1:

[0031] Please refer to Figures 1 to 8 , an automatic grinding, dust removal and spraying integrated system for box girder formwork of the present invention, includes a mobile vehicle 1. A vision camera for image data acquisition is fixedly arranged on the top of the mobile vehicle 1; a winding assembly 2 is fixedly arranged on the side of the frame of the mobile vehicle 1; a grinding assembly 3 is adjustably arranged on the right side of the top of the mobile vehicle 1; a dust suction assembly 4 is fixedly installed on the middle side of the top of the mobile vehicle 1 by bolts; a liquid material assembly 5 is fixedly installed on the left side of the top of the mobile vehicle 1 by bolts. The liquid material assembly 5 is specifically composed of a liquid tank, a hydraulic pump, valves, and connecting pipes; a control assembly 6 with a control function is fixedly installed on the middle side of the top of the mobile vehicle 1 by bolts.

[0032] The winding assembly 2 includes a first servo motor 21 and a winding drum 22 fixedly installed on the front side of the frame of the mobile vehicle 1 by bolts, and the first servo motor 21 is fixedly installed on the side of the shaft of the winding drum 22 by bolts; a rubber plate 23 is wound around the outer cylinder of the winding drum 22. A lamp tube for micro heating is adhesively arranged on the top of the rubber plate 23; a hinge plate 24 is adhesively arranged on the top of the rubber plate 23, and a through hole is arranged at the connection between the rubber plate 23 and the hinge plate 24; a roller shaft 25 is rotatably arranged on the bottom side of the rubber plate 23; the rubber plate 23 is clamped and fixed on the side of the self-propelled assembly 26; a vision assembly 27 is rotatably arranged on the top of the self-propelled assembly 26; the vision assembly 27 is specifically composed of a robotic arm and a vision camera.

[0033] The self-propelled assembly 26 includes a joint-control vehicle body 261 that is movably arranged at the front side of the mobile vehicle 1; a magnetic track assembly 262 is fixedly arranged at the bottom of the joint-control vehicle body 261; a tail adjustment assembly 263 is fixedly arranged at the notch on the rear side of the joint-control vehicle body 261, and the tail adjustment assembly 263 is specifically composed of a cylinder for adjusting the height and a clamping plate fixedly arranged at the top end of the cylinder piston rod; a clamping frame 264 is clamped in the clamping plate on the top side of the tail adjustment assembly 263, and a rubber plate 23 is clamped in the clamping plate on the top side of the tail adjustment assembly 263; A second servo motor 265 with a transmission function is fixedly installed on the side of the clamping frame 264 by bolts; a worm gear assembly 266 with a transmission function is plugged into the transmission shaft on the side of the second servo motor 265, and the worm gear assembly 266 specifically consists of a worm wheel, a worm and an electromagnetic coil arranged on the worm gear shaft; an adjusting plate 267 is plugged into and fixed to the worm wheel side of the worm gear assembly 266, and a connecting pipe 1 for diversion is fixed on the adjusting plate 267; a grinding head 268 is plugged into and fixed to the end of the worm side of the worm gear assembly 266.

[0034] The magnetic track assembly 262 includes a track shoe 2621 which is transmission-arranged on the side of the motor shaft at the bottom of the joint control vehicle body 261; a plug-in sleeve 2622 with a limiting function is welded and fixed on the top side of the track shoe 2621; an extrusion switch 2623 with a sensing function is fixedly installed on the top side of the inner wall of the plug-in sleeve 2622 by bolts; a first reset member 2624 with a reset function is welded and fixed on the bottom side of the inner wall of the plug-in sleeve 2622; the first reset member 2624 is welded and fixed to the top end of the connecting rod 2625; the connecting rod 2625 is welded and fixedly installed on the top side of the pressure plate 2626, and a coil for adsorption is arranged inside the pressure plate 2626.

[0035] The dust collection assembly 4 includes a dust box 41 fixedly installed on the middle side of the top of the mobile vehicle 1 by bolts; an air pump assembly 42 is fixedly installed on the top of the dust box 41 by bolts, and a pulse device 43 is installed on the side of the dust box 41; a connecting valve 44 is fixedly installed on the bottom of the dust box 41, and the connecting valve 44 is connected to the side through hole of the hinged plate 24 through a connecting pipe 2.

[0036] Embodiment 2:

[0037] See also Figures 1 to 8, an integrated system for automatic grinding, dust removal and spraying of box girder formwork of the present invention, compared with embodiment 1, this embodiment also includes: a grinding assembly 3 includes an adjusting member 31 rotatably arranged on the turntable at the top of the mobile vehicle 1; the adjusting member 31 is specifically composed of a shell fixedly installed on the turntable at the top of the mobile vehicle 1, a motor fixedly arranged on the top side of the shell and a rotating drum fixedly arranged on the bottom side of the motor transmission shaft; a cylinder 32 is rotatably installed on the side of the rotating drum of the adjusting member 31; a first grinding assembly 33 is rotatably installed at the end of the piston rod on the side of the cylinder 32; the first grinding assembly 33 is specifically composed of a shell rotatably arranged at the end of the piston rod of the cylinder 32, a motor fixedly installed on the top of the shell and a grinding roller fixedly installed at the motor transmission shaft; a connecting pipe three for dust removal is arranged on the side of the shell of the first grinding assembly 33, and the connecting pipe three is connected to the connecting valve 44 of the dust suction assembly 4.

[0038] An articulated frame 34 is slidably provided on the side of the shell of the first grinding component 33; a third servo motor 35 is fixedly installed on the side of the articulated frame 34 by bolts, and the third servo motor 35 passes through the circular hole of the connecting ear plate on the right side of the upper and lower plates of the articulated frame 34; a second grinding component 36 is plugged and fixedly connected to the transmission shaft on the side of the third servo motor 35, and the second grinding component 36 specifically consists of a shell plugged and fixedly installed on the transmission shaft on the side of the third servo motor 35, a motor fixedly installed on the side of the shell, a grinding blade rotatably installed on the wheel frame on the side of the shell, and a gear set and belt transmitted by the motor; a control member with a reset function is provided inside the slide groove provided on the side of the second grinding component 36, and the elastic member is fixedly installed on the convex block of the plate body of the articulated frame 34.

[0039] Based on the above, the working principle of the automatic grinding, dust removal and spraying system for box beam formwork is:

[0040] First, when using this device, first place the device in the working area, and then connect the device to an external power source to provide the device with the power required for operation;

[0041] Second, when the construction of the prefabricated box beam is completed and the concrete reaches the designed strength, the inner mold of the box beam template is first removed, and the prefabricated box beam is further moved to a preset position for maintenance and storage, and then the mobile vehicle 1 is operated by the control component 6 to reach the surface or inside of the box beam template and maintain slow and uniform movement. Here, the visual camera on the top side of the mobile vehicle 1 is used to collect data on the surface of the box beam template, and the box beam template is divided to distinguish the plane and curvature of the box beam template;

[0042] Thirdly, then the control component 6 controls the rotary table on the top of the mobile vehicle 1 to drive the adjusting member 31 to rotate as a whole, and through the adjustment actions of the adjusting member 31 and the air cylinder 32, the first grinding assembly 33 is regulated so that the grinding roller inside it fits the surface of the box girder formwork and performs a grinding action. Here, by controlling the air pressure of the two sets of air cylinders 32 provided, the included angle between the two sets of first grinding assemblies 33 is adjusted, so as to realize multi-faceted grinding of the surface of the box girder formwork. Here, the articulated frame 34 is displaced on the side surface of the housing of the first grinding assembly 33 under force. A control member for providing displacement adjustment to the articulated frame 34 can be arranged inside the housing of the first grinding assembly 33, so that the hinge point of the articulated frame 34 is kept at the center of the two sets of first grinding assemblies 33. Then, the third servo motor 35 drives the second grinding assembly 36 to adjust the angle, so that the grinding blades arranged in the second grinding assembly 36 grind the arc edge of the box girder formwork. Here, the motor in the second grinding assembly 36 drives the gear set for transmission, so that the transmission belt drives the grinding blades rotating on the wheel frame to perform a rotary grinding action;

[0043] Fourthly, since the surface of the box girder formwork is prone to pitting due to long-term use, here the control vehicle body 261 and the magnetic adsorption track assembly 262 drive the rubber plate 23 and the clamping frame 264 to walk on the surface of the box girder formwork respectively. Specifically, the control component 6 controls the motor at the bottom side of the control vehicle body 261 to drive the track plate 2621 in the magnetic adsorption track assembly 262 for transmission. Here, the pressure receiving plate 2626 on the side surface of the track plate 2621 is squeezed by gravity, and drives the connecting rod 2625 to squeeze the pressure switch 2623. Thus, the pressure switch 2623 provides current to the coil inside the pressure receiving plate 2626. By adjusting the input current intensity, the adsorption force of the pressure receiving plate 2626 on the surface of the box girder formwork is adjusted. After rotation, the first reset member 2624 provides rebound to the connecting rod 2625 and the pressure receiving plate 2626 to stop squeezing the pressure switch 2623;

[0044] Fifthly, when the tail adjustment assembly 263 on the self-propelled assembly 26 clamps the clamping frame 264, here the second servo motor 265 drives the grinding head 268 to grind the pitted areas on the surface of the box girder formwork again through the worm and worm gear assembly 266. At the same time, through the worm and worm gear transmission action and the electromagnetic coil of the worm and worm gear assembly 266, the adjusting plate 267 is driven to adjust the angle, so as to avoid the adjusting plate 267 affecting the grinding action of the grinding head 268 and at the same time drive the connecting pipe to recover the grinding dust;

[0045] Sixth, when the tail adjustment component 263 on the self-propelled component 26 clamps the rubber plate 23, the control-linked vehicle body 261 pulls the rubber plate 23 out of the winding cylinder 22 and lays it on the surface of the box girder formwork. Here, the liquid pump in the liquid material component 5 guides the material into the inside of the articulated plate 24 through the second connecting pipe, and the material is exported onto the surface of the box girder formwork through the through holes on the bottom side of the articulated plate 24. Here, the imported material is slightly heated by the lamps arranged on the top inner side of the articulated plate 24 to accelerate the solidification of the material, thereby improving the spraying quality and effect.

[0046] The present invention provides an automatic grinding, dust removal and spraying integrated system for box girder formwork through improvement. By arranging the winding component 2 on the side of the mobile vehicle 1, the control-linked vehicle body 261 and the magnetic adsorption track component 262 drive the rubber plate 23 and the clamping frame 264 to walk on the surface of the box girder formwork respectively, so as to polish the pitted parts on the surface of the box girder formwork again. The material can also be exported onto the surface of the box girder formwork through the through holes on the bottom side of the articulated plate 24, and the imported material is slightly heated by the lamps arranged on the top inner side of the articulated plate 24 to accelerate the solidification of the material, thereby improving the spraying quality and effect. By arranging the grinding component 3 and the dust suction component 4 on the top of the mobile vehicle 1, the first grinding component 33 is regulated through the adjustment actions of the adjusting part 31 and the cylinder 32 to realize multi-faceted grinding of the surface of the box girder formwork. Then, the second grinding component 36 is driven by the third servo motor 35 to adjust the angle, so that the grinding blades arranged in the second grinding component 36 grind the arc edge of the box girder formwork, thereby realizing simultaneous grinding of the surfaces of box girder formworks with different shapes and specifications and improving the grinding efficiency.

[0047] The above shows and describes the basic principles, main features and advantages of the present invention. The standard parts used in the present invention can all be purchased from the market. The special-shaped parts can be customized according to the records in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets and welding that are mature in the prior art. The machines, parts and equipment all adopt conventional models in the prior art. Coupled with the circuit connection adopting the conventional connection method in the prior art, it will not be elaborated here.

[0048] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An integrated system for automatic grinding, dust removal and spraying of box beam formwork, comprising a mobile vehicle (1); a winding assembly (2) is fixedly arranged on the side of the frame of the mobile vehicle (1); a grinding assembly (3) is adjustable and arranged on the right side of the top of the mobile vehicle (1); a dust suction assembly (4) is fixedly installed on the middle side of the top of the mobile vehicle (1) by bolts; a liquid material assembly (5) is fixedly installed on the left side of the top of the mobile vehicle (1) by bolts; and a control assembly (6) with a control function is fixedly installed on the middle side of the top of the mobile vehicle (1) by bolts; Features: The winding assembly (2) comprises a first servo motor (21) and a winding drum (22) which are fixedly mounted on the front side of the frame of the mobile vehicle (1) by means of bolts, and the first servo motor (21) is fixedly mounted on the side of the shaft of the winding drum (22) by means of bolts; a rubber plate (23) is wound on the outer cylinder of the winding drum (22); a hinge plate (24) is glued to the top of the rubber plate (23), and a through hole is provided at the connection between the rubber plate (23) and the hinge plate (24); a roller shaft (25) is rotatably provided on the bottom side of the rubber plate (23); the rubber plate (23) is clamped and fixed on the side of the self-propelled assembly (26); The self-propelled component (26) comprises a linked control vehicle body (261) movably arranged at the front side of the mobile vehicle (1); a magnetic track component (262) is fixedly arranged at the bottom of the linked control vehicle body (261); a tail adjustment component (263) is fixedly arranged at the notch on the rear side of the linked control vehicle body (261), and the tail adjustment component (263) specifically comprises a cylinder for adjusting the height and a clamping plate fixedly arranged at the top end of the cylinder piston rod; a clamping frame (264) is clamped in the clamping plate on the top side of the tail adjustment component (263), and a rubber plate (23) is clamped in the clamping plate on the top side of the tail adjustment component (263); A second servo motor (265) having a transmission function is fixedly installed on the side of the clamping frame (264) by means of bolts; a worm gear assembly (266) having a transmission function is plugged and arranged on the transmission shaft on the side of the second servo motor (265); an adjustment plate (267) is plugged and fixedly arranged on the worm side of the worm gear assembly (266), and a connecting pipe one for diversion is fixedly arranged on the adjustment plate (267), and the connecting pipe one is driven by the adjustment plate (267) to recycle grinding dust; a grinding head (268) is plugged and fixedly arranged on the end of the worm side of the worm gear assembly (266); The magnetic track assembly (262) comprises a track shoe (2621) which is transmission-arranged on the side of the motor shaft at the bottom of the joint control vehicle body (261); a plug-in sleeve (2622) having a limiting function is welded and fixed on the top side of the track shoe (2621); a squeeze switch (2623) having a sensing function is fixedly installed on the top side of the inner cylinder wall of the plug-in sleeve (2622) by bolts; a first reset member (2624) having a reset function is welded and fixed on the bottom side of the inner cylinder wall of the plug-in sleeve (2622); the first reset member (2624) is welded and fixed to the top end of the connecting rod (2625); the connecting rod (2625) is welded and fixedly installed on the top side of the pressure plate (2626), and a coil for adsorption is arranged inside the pressure plate (2626); The liquid pump in the liquid material assembly (5) introduces the material into the interior of the hinged plate (24) through the second connecting pipe, and the material is guided out onto the surface of the box beam template through the through hole on the bottom side of the hinged plate (24).

2. According to claim 1, the automatic grinding, dust removal and spraying integrated system for box beam formwork is characterized in that: A visual component (27) is rotatably disposed on the top of the self-propelled component (26); the visual component (27) is specifically composed of a mechanical arm and a visual camera; The grinding assembly (3) comprises an adjusting member (31) rotatably mounted on a rotating table at the top of the moving vehicle (1); the adjusting member (31) is specifically composed of a housing fixedly mounted on the rotating table at the top of the moving vehicle (1), a motor fixedly mounted on the top side of the housing, and a rotating drum fixedly mounted on the bottom side of the motor drive shaft; a cylinder (32) is rotatably mounted on the side surface of the rotating drum of the adjusting member (31); and a first grinding assembly (33) is rotatably mounted on the end of a piston rod on the side surface of the cylinder (32).

3. According to claim 2, the automatic grinding, dust removal and spraying integrated system for box beam formwork is characterized in that: The first grinding assembly (33) specifically comprises a housing rotatably mounted at the end of a piston rod of a cylinder (32), a motor fixedly mounted on the top of the housing, and a grinding roller fixedly mounted on a transmission shaft of the motor.

4. According to claim 3, the automatic grinding, dust removal and spraying integrated system for box beam formwork is characterized in that: A hinged frame (34) is slidably provided on the side of the shell of the first grinding assembly (33); a third servo motor (35) is fixedly mounted on the side of the hinged frame (34) by means of bolts, and the third servo motor (35) passes through the circular hole of the right side connecting ear plate of the upper and lower plates of the hinged frame (34).

5. According to claim 4, the automatic grinding, dust removal and spraying integrated system for box beam formwork is characterized in that: A second grinding assembly (36) is plugged and fixedly connected to the transmission shaft on the side of the third servo motor (35), and the second grinding assembly (36) specifically comprises a housing plugged and fixedly connected to the transmission shaft on the side of the third servo motor (35), a motor fixedly connected to the side of the housing, a grinding blade rotatably connected to a wheel frame on the side of the housing, and a gear set and belt arranged on the motor for transmission.

6. According to claim 5, the automatic grinding, dust removal and spraying integrated system for box beam formwork is characterized in that: An elastic member with a reset function is arranged inside the sliding groove arranged on the side of the second polishing component (36), and the elastic member is fixedly mounted to the plate protrusion of the hinge frame (34).

7. According to claim 6, the automatic grinding, dust removal and spraying integrated system for box beam formwork is characterized by: The dust collection assembly (4) comprises a dust collection box (41) fixedly mounted on the middle side of the top of the mobile vehicle (1) by means of bolts; an air pump assembly (42) is fixedly mounted on the top of the dust collection box (41) by means of bolts, and a pulse device (43) is mounted on the side of the dust collection box (41); a connecting valve (44) is fixedly mounted on the bottom of the dust collection box (41) by means of a second connecting pipe, and the connecting valve (44) is connected to a through hole on the side of the hinged plate (24) by means of a second connecting pipe.

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