Steel formwork surface treatment robot based on magnetic adsorption wall climbing

Abstract

The invention discloses a steel formwork surface treatment robot based on magnetic adsorption wall climbing, and belongs to the technical field of polishing and cleaning, the steel formwork surface treatment robot comprises a walking chassis and a polishing head, the polishing head is composed of a support, a flexible screw-down mechanism and an angle grinder, the support is arranged on the walking chassis, and the angle grinder is arranged on the support through the flexible screw-down mechanism; the flexible pressing mechanism is composed of a vertical frame, a U-shaped supporting plate, a triangular groove frame, an H-shaped double-fork arm, an adjustable damping spring and a connecting plate. The vertical frame is connected with the U-shaped supporting plate so as to clamp the angle grinder. The triangular groove frame is hinged to the U-shaped supporting plate through a fourth hinge shaft. The H-shaped two-fork arm is rotationally connected with the connecting plate and is hinged with the two vertical frames through a second hinge shaft and a third hinge shaft respectively; the two ends of the adjustable damping spring are hinged to the fifth hinge shaft and the connecting plate correspondingly, and the connecting plate is fixedly connected to the support. The first hinge shaft and the second hinge shaft of the triangular groove frame are rotationally connected to the support. According to the robot, efficient and stable automatic grinding and cleaning operation can be achieved in the complex construction environment, and the risk and cost of manual operation are reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of grinding and cleaning, and provides a steel formwork surface treatment robot based on magnetic adsorption wall climbing, which is particularly suitable for the automated grinding and cleaning operations of large-scale engineering steel formworks. Background Art

[0002] In modern infrastructure construction, as a key process equipment for the formation of reinforced concrete structures, the annual usage of steel formworks has long exceeded hundreds of millions of square meters. However, in the pretreatment process of steel formworks, especially in the grinding and cleaning process, it is mainly manually operated by skilled workers using angle grinders, resulting in a processing time of 4 - 6 man-hours for a single set of standard formworks, or even longer. It can be seen that the traditional manual operation mode of the steel formwork surface treatment process has exposed many technical bottlenecks:

[0003] 1) In terms of being time-consuming and laborious, due to the low automation level and large amount of grinding and cleaning, multiple workers need to be equipped for continuous construction, resulting in low grinding efficiency.

[0004] 2) In terms of quality stability, the fluctuation range of the surface roughness Ra value of manual grinding reaches 6.3 - 12.5 μm, which is much higher than the standard range of 3.2 - 6.3 μm that can be controlled by automated equipment, directly affecting the apparent quality of concrete components. Moreover, the rework rate of components due to improper formwork treatment is relatively high.

[0005] 3) In terms of operation safety, when operating on vertical formworks such as bridge piers (with a height generally exceeding 8 m), workers need to perform high-altitude grinding operations on mobile scaffolds, which is prone to the risk of falling accidents.

[0006] 4) In terms of occupational health, long-term exposure to grinding dust and the high-frequency vibration environment of angle grinders, the incidence rates of pneumoconiosis and hand-arm vibration syndrome among employees are higher than the industry average, directly affecting employees' occupational health and issues such as labor shortages.

[0007] In addition, a robot is an intelligent machine that can work semi-autonomously or fully autonomously. It can execute tasks through programming and automatic control to operate along a fixed motion trajectory during the grinding process. The movement of the robot is concentrated on the robot chassis, a hardware component. According to different structures, the walking chassis of the robot can be divided into wheeled, multi-legged, and tracked types, etc. In particular, magnetic adsorption wall-climbing robots belong to special robots and are mostly used in harsh and extreme working conditions. They can adsorb on ferromagnetic surfaces and perform specific operation tasks such as grinding. However, although there have been attempts to automate using wheeled or tracked mobile robots in the prior art, there are obvious technical shortcomings: traditional wheeled chassis cannot stably adhere when operating on vertical walls, and tracked structures are difficult to adapt to complex weld trajectories; the magnetic flux density of ordinary magnetic adsorption devices is usually low, and it is prone to slippage when operating on curved surface formworks.

[0008] Therefore, it is urgent to develop a special grinding robot with a highly adaptable mobile platform, an intelligent perception system and a flexible actuator, and it is necessary to reduce the disadvantages brought by manual grinding. Summary of the Invention

[0009] In view of this, the purpose of the present invention is to provide a steel formwork surface treatment robot based on magnetic adsorption wall climbing, aiming to overcome the problems that manual grinding not only has high labor intensity, time-consuming, low efficiency, but also cannot guarantee higher surface roughness and its consistency.

[0010] To achieve the above object, the present invention provides the following technical solutions:

[0011] The present invention provides a steel formwork surface treatment robot based on magnetic adsorption wall climbing, including a grinding head arranged on a walking chassis. The grinding head is composed of a bracket, a flexible pressing mechanism and a angle grinder. The bracket is arranged on the walking chassis, and the angle grinder is arranged on the bracket through the flexible pressing mechanism. The flexible pressing mechanism is composed of a vertical frame, a U-shaped support plate, a triangular groove frame, an H-shaped double-arm, an adjustable shock-absorbing spring and a connecting plate. Among them: the vertical frame is used to connect to the angle grinder, the U-shaped support plate is used to support the angle grinder, and the vertical frame and the U-shaped support plate are connected to clamp the angle grinder; the three corner ends of the triangular groove frame are respectively provided with a first hinge shaft, a fourth hinge shaft and a fifth hinge shaft; the triangular groove frame is hinged to the U-shaped support plate through the fourth hinge shaft; the two ends of the H-shaped double-arm are respectively provided with a second hinge shaft and a third hinge shaft; the H-shaped double-arm is hinged to the two vertical frames through the third hinge shaft; the H-shaped double-arm is also rotatably connected to the connecting plate through the second hinge shaft; the two ends of the adjustable shock-absorbing spring are respectively hinged to the fifth hinge shaft and the connecting plate, and the connecting plate is fixedly connected to the bracket; the first hinge shaft and the second hinge shaft are respectively rotatably connected to the bracket. In this way, the steel formwork surface treatment robot based on magnetic adsorption wall climbing of the present invention can realize efficient and stable automatic grinding and cleaning operations in a complex construction environment, significantly improve the operation efficiency and surface treatment quality, and reduce the risks and costs of manual operations.

[0012] Optionally, the vertical frame, U-shaped support plate, triangular groove frame, H-shaped double-arm, and connection plate are all made of sheet metal. The triangular groove frame is provided with a hollow first weight-reducing hole, and the H-shaped double-arm is provided with a hollow second weight-reducing hole. The vertical frame includes triangular plates symmetrically fixed on both sides of the angle grinder and a square tube connecting the two triangular plates. Each wing of the U-shaped support plate is provided with a connection ear. The two ends of the square tube respectively extend out of their respective triangular plates and are connected to the connection ears of the U-shaped support plate through a bolt assembly. The connection plate is provided as two pieces arranged side by side, and a pin shaft rotatably connected to an adjustable shock-absorbing spring is arranged between the two connection plates. The two connection plates are provided with a fixing plate at the bottom of the distal end away from the pin shaft, and the two connection plates are fixedly connected to the bracket through the fixing plate. In this way, through reasonable structural design and material selection, the lightweight, strength optimization, and shock-absorbing effect of the equipment are realized, meeting the requirements in practical applications.

[0013] Optionally, a plurality of flexible roll force mechanisms arranged in a single row or two rows with staggering are connected to the bracket. The bracket is composed of a vertical frame, triangular braces, and hinge plates. At least two triangular braces arranged side by side at intervals are provided on one side of the vertical frame. A hinge plate for connecting the H-shaped double-arm is provided at the upper part of the vertical frame. The H-shaped double-arm of a single flexible roll force mechanism corresponds to two hinge plates, and second mounting holes connected to a second hinge shaft are provided on the two hinge plates. A third mounting hole for fixedly connecting to the fixing plate is provided at the top of the vertical frame. A first mounting hole for connecting to the first hinge shaft of the triangular groove frame is provided at the lower part of the vertical frame. In this way, through this structural design, the bracket not only provides necessary physical support but also ensures the efficient operation and stability of the flexible roll force mechanism through reasonable arrangement and connection methods, meeting the requirements in practical applications.

[0014] Optionally, the bracket further includes a spacer rod for the elongation of the front-row flexible roll force mechanism in the two-row staggering arrangement, and a first mounting hole for connecting to the first hinge shaft of the triangular groove frame of the front-row flexible roll force mechanism is provided at the lower part of the spacer rod. The triangular groove frame, H-shaped double-arm, connection plate, and hinge plate corresponding to the front-row flexible roll force mechanism are respectively longer than those corresponding to the rear-row flexible roll force mechanism. In this way, through reasonable design and layout, the efficient and stable operation of the bracket and the flexible roll force mechanism thereon is realized, meeting the technical requirements in actual operation.

[0015] Optionally, the walking chassis is composed of a body, a roller assembly and a driving mechanism arranged on the body, the body includes a frame and a top plate and a bottom plate arranged on both sides of the frame in an upper and lower manner, the top plate is used to install a bracket, the frame includes a rectangular frame, a π-shaped frame symmetrically arranged on both sides of the rectangular frame, and a cover shell arranged on the π-shaped frame, the roller assembly is set to four, and is separately arranged in four notches formed between the rectangular frame and the π-shaped frames on both sides; the driving mechanism is also set to four, and is arranged on the π-shaped frames on both sides in a group of two and covered by the cover shell, and is used to drive four roller assemblies respectively. In this way, the walking chassis takes into account the industrial design style and functionality through reasonable structural design and layout, so that it can operate efficiently and stably in practical applications, and through different control methods of the four driving mechanisms, the walking chassis can realize a variety of movement modes, including forward, backward and steering movement. This design not only improves the maneuverability of the walking chassis, but also provides a guarantee for flexible operation in various operating scenarios to meet various operating needs.

[0016] Optionally, a single roller assembly includes a running wheel, the wheel axle of which is rotatably connected through bases disposed on the rectangular frame and the π-shaped frame; a single thrust ball bearing is mounted on the wheel axle and on both sides of the running wheel; the running wheel adopts a magnetic wheel or a Mecanum wheel with a magnet. With such a design, the roller assembly can not only effectively move on a horizontal plane, but also achieve stable crawling on a vertical or inclined surface, greatly expanding the application range and function of the walking chassis. This flexibility and adaptability enables the walking chassis to perform excellently in a variety of complex environments.

[0017] Optionally, a single driving mechanism includes a reduction motor, a driving gear, an intermediate gear and a driven gear, the reduction motors of the two driving mechanisms of any group are both arranged in the chamber of the π-shaped frame on the same side, and the driving gears and the driven gears of the two driving mechanisms of the group are both arranged on the π-shaped frame and away from the rectangular frame, the single reduction motor is connected to the driving gear, the axle of the single roller assembly is connected to the driven gear, and the driving gear is connected to the driven gear through at least one intermediate gear. Through this multi-level gear transmission design, the driving mechanism can achieve precise control and efficient drive, thereby providing strong support for the flexible movement of the entire walking chassis.

[0018] Optionally, a sealing plate for enclosing the chamber is provided on the π-shaped frame; a motor compartment fan for dissipating heat from the reduction motor provided in the chamber of the π-shaped frame is provided on the bottom plate; a power module and a control module are provided in the rectangular frame, and a battery compartment fan for dissipating heat from the power module and the control module provided therein is provided on the rectangular frame. The control module is electrically connected to the reduction motor, the motor compartment fan, the battery compartment fan, and the power module respectively. The power module is used to supply the required electrical energy to the reduction motor, the motor compartment fan, the battery compartment fan, and the control module. Through the above design, the entire system not only has good heat dissipation capacity but also realizes the centralized management of power and control. This structural optimization improves the overall performance of the walking chassis and ensures its stability and reliability in various working environments. Such a design will help improve the working efficiency of the equipment and ensure good performance during long-term operation.

[0019] Optionally, a connecting rod is strung through the hinge plates provided on the bracket, and a protective shell is provided on the connecting rod and rotatably connected thereto for covering the flexible roll force reduction mechanism. An exhaust fan is provided on the upper part of the protective shell facing away from the top plate. In this way, the combined design of the hinge plates, the connecting rod, and the protective shell on the bracket can not only effectively protect the flexible roll force reduction mechanism but also achieve effective heat dissipation through the exhaust fan, ensuring good temperature management and safety while the equipment is working efficiently. This design improves the overall performance of the equipment and ensures its stability and reliability in various working environments.

[0020] Optionally, a dust removal cover covering the exhaust fan is further provided on the upper part of the protective shell facing away from the top plate, and the dust removal cover is connected to a dust suction device through a dust suction hose. In this way, the dust removal cover of the protective shell and its connection design with the dust suction device enhance the cleaning and maintenance ability of the equipment and ensure that the equipment can maintain a good working state and environment during efficient operation. This structural design effectively improves the practicality and reliability of the overall system and helps extend the service life of the equipment.

[0021] Optionally, a detachable wire protection cover is provided on the top plate and is disposed close to the protective shell. In this way, the detachable wire protection cover provided on the top plate not only provides effective protection for the cables and connecting wires but also improves the maintenance convenience and the safety of the equipment through its detachable design. Such a design takes into account the requirements in actual operation and ensures the stability and safety of the equipment during operation.

[0022] Optionally, an edge probe for detecting the boundary of the object to be processed is provided on the top plate, and the length of the edge probe extending outside the walking chassis is longer than that of the grinding head. In this way, the edge probe provided on the top plate enhances the intelligence and safety of the walking chassis during grinding operations through its extended length and diverse detection technology design. Such a design not only improves the operation accuracy but also enhances the adaptability of the equipment in complex environments, making it perform excellently in practical applications.

[0023] Optionally, there are two to eight groups of grinding heads radially arranged around the top plate on the walking chassis; alternatively, the top plate of the walking chassis is set as a rotary turntable. In this way, the radial circular arrangement of the grinding heads on the walking chassis or the design of the rotary turntable of the top plate provides flexibility and efficiency for the grinding operation. This innovative design not only improves the working efficiency of the equipment, but also enhances its adaptability in complex environments, enabling the equipment to perform well under various working conditions.

[0024] The steel formwork surface treatment robot based on magnetic adsorption wall climbing of the present invention has the following beneficial effects:

[0025] 1. Efficient grinding and cleaning device: Through the provided flexible pressing mechanism, the grinding head can adapt to the surface of the steel formwork with a certain curvature with reasonable pressure and elasticity. This design enables the robot to flexibly adjust the pressure and, combined with the adjustable shock-absorbing spring, accurately apply pressure according to the requirements of the grinding degree, thereby improving the operation efficiency and grinding quality.

[0026] 2. Dust control: The protective shell, exhaust fan and dust removal cover equipped on the grinding head cooperate with each other to effectively adsorb and collect the dust generated during the grinding process. This design reduces the risk of dust floating in the working environment, reduces the health hazards to the practitioners, and improves the safety of the working environment.

[0027] 3. Reasonable space layout: The frame design of the walking chassis has sufficient space. Combining with the aesthetics of industrial design, it ensures that the layout among the driving mechanism, roller assembly, control module and power module is compact and reasonable. The four notches formed by the π-shaped frame and the rectangular frame can not only place the roller assembly, but also play a protective role, enhancing the stability of the overall structure.

[0028] 4. Contact magnetic adsorption wheel chassis: The adoption of the contact magnetic adsorption wheel chassis overcomes the limitations of the traditional crawler type and non-contact wheel type chassis in carrying the grinding and cleaning device and its movement load. This design ensures that the robot can fully cover the grinding and cleaning scenarios of the steel formwork, improving the flexibility and adaptability of the operation.

[0029] 5. Reducing labor intensity and safety hazards: The robot of the present invention significantly reduces the need for manual operation through automation technology, not only improving the efficiency and quality of grinding and cleaning, but also reducing the labor intensity, reducing the safety hazards during the operation, and improving the occupational health status of the practitioners.

[0030] Generally speaking, the steel formwork surface treatment robot based on magnetic adsorption wall climbing of the present invention has significant advantages in improving the efficiency and quality of grinding and cleaning, reducing the labor intensity, improving the working environment and the occupational health status of the practitioners, and promoting the automation process of the steel formwork surface treatment process.

[0031] Other advantages, objects, and features of the present invention will be set forth in part in the following description, and in part will be obvious to those skilled in the art based on the examination of the following, or can be learned from the practice of the present invention. The objects and other advantages of the present invention can be realized and obtained by the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings, where:

[0033] Figure 1 is a three-dimensional structure schematic diagram of a steel formwork surface treatment robot based on magnetic adsorption wall climbing of the present invention;

[0034] Figure 2 is Figure 1 a three-dimensional structure schematic diagram in another direction of ;

[0035] Figure 3 is Figure 1 a front perspective structure and dust removal hood schematic diagram of ;

[0036] Figure 4 is Figure 1 a three-dimensional structure schematic diagram of after removing the protective shell and wire protection box of the grinding head;

[0037] Figure 5 is Figure 4 a disassembled structure schematic diagram of ;

[0038] Figure 6 is Figure 5 a three-dimensional structure schematic diagram of the bracket in in another direction;

[0039] Figure 7 is Figure 4 a three-dimensional structure schematic diagram of after removing the top plate and one angle grinder;

[0040] Figure 8 is Figure 5 a three-dimensional structure schematic diagram of a single flexible pressing mechanism in ;

[0041] Figure 9 is Figure 8 a disassembled structure schematic diagram of ;

[0042] Figure 10 is Figure 1 a three-dimensional structure schematic diagram of the walking chassis in ;

[0043] Figure 11 is Figure 10 a three-dimensional structure schematic diagram of after removing the top plate;

[0044] Figure 12 isFigure 11 Schematic three-dimensional structure diagram after disassembling one of the roller assemblies;

[0045] Figure 13 is Figure 11 Schematic disassembled structure diagram of the frame and the bottom plate in;

[0046] Reference numerals:

[0047] 1 - Traveling chassis;

[0048] 10 - Top plate, 11 - Frame, 12 - Bottom plate; 13 - Driving mechanism, 14 - Roller assembly, 15 - Motor compartment fan; 16 - Battery compartment fan; 17 - Power module; 18 - Control module;

[0049] 101 - Card slot;

[0050] 111 - Rectangular frame, 112 - π-shaped frame, 113 - Sealing plate, 114 - Housing, 115 - Notch, 116 - Chamber;

[0051] 131 - Reducing motor, 132 - Driving gear, 133 - Intermediate gear, 134 - Driven gear;

[0052] 141 - Traveling wheel, 142 - Base, 143 - Axle, 144 - Single thrust ball bearing;

[0053] 2 - Grinding head;

[0054] 21 - Bracket, 22 - Flexible pressure-down mechanism, 23 - Angle grinder, 24 - Protective shell, 25 - Cable protection box, 26 - Dust removal cover;

[0055] 211 - Vertical frame, 212 - Triangular brace, 213 - Padding rod, 214 - First mounting hole, 215 - Hinge plate, 216 - Second mounting hole, 217 - Third mounting hole, 218 - Connecting rod;

[0056] 221 - Upright frame, 222 - Bolt assembly, 223 - U-shaped support plate, 224 - Triangular groove frame, 225 - H-shaped bifurcated arm, 226 - Adjustable shock-absorbing spring, 227 - Connecting plate;

[0057] 2211 - Triangular plate, 2212 - Square pipe;

[0058] 2231 - Connecting ear;

[0059] 2241 - First hinge shaft, 2242 - Fourth hinge shaft, 2243 - Fifth hinge shaft, 2244 - First weight-reducing hole;

[0060] 2251 - Second hinge shaft, 2252 - Third hinge shaft, 2253 - Second weight-reducing hole;

[0061] 2271 - Fixed plate, 2272 - Pin shaft;

[0062] 241 - Exhaust fan, 242 - Spring bolt;

[0063] 261 - Dust suction hose;

[0064] 3 - Edge probe. Detailed implementation manners

[0065] The present invention will be further described below in conjunction with the detailed implementation manners. Among them, the attached drawings are only used for exemplary illustration, showing only schematic diagrams, rather than physical diagrams, and should not be construed as a limitation to this patent; in order to better illustrate the embodiments of the present invention, some components in the attached drawings will be omitted, enlarged or reduced, and do not represent the dimensions of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the attached drawings may be omitted.

[0066] As Figure 1-9As shown, the steel formwork surface treatment robot based on magnetic adsorption wall climbing mentioned in this embodiment includes a grinding head 2 arranged on a walking chassis 1. The walking chassis 1 serves as the basic platform of the robot and provides stable movement and support. The grinding head 2 is composed of a bracket 21, a flexible pressing mechanism 22 and an angle grinder 23. The bracket 21 is arranged on the walking chassis 1 to support the entire grinding head. The angle grinder 23 is a tool for actual grinding operations and is arranged on the bracket 21 through the flexible pressing mechanism 22. The flexible pressing mechanism 22 is responsible for adjusting the pressure of the angle grinder 23 on the steel formwork, and is mainly composed of a stand 221, a U-shaped support plate 223, a triangular groove frame 224, an H-shaped two-fork arm 225, and an adjustable shock-absorbing spring. The vertical frame 221 is connected to the upper part of the angle grinder 23 to provide connection support, the U-shaped support plate 223 is used to support the lower part of the angle grinder 23 to provide support, and the vertical frame 221 is connected to the U-shaped support plate 223 to clamp the angle grinder 23 to ensure its stability during the grinding process; the triangular groove frame 224 has three hinge axes, namely the first hinge axis 2241, the fourth hinge axis 2242 and the third hinge axis 2243. The triangular groove frame 224 is hingedly connected to the U-shaped support plate 223 through the fourth hinge axis 2242, so that the angle grinder 23 can be adjusted. The two ends of the H-shaped two-fork arm 225 are respectively provided with a second hinge axis 2251 and a third hinge axis 2252. The H-shaped two-fork arm 225 is hingedly connected to the two frames 221 through the third hinge axis 2252 to form a flexible supporting structure. The H-shaped two-fork arm 225 is also hingedly connected to the two frames 221 through the third hinge axis 2252 to form a flexible supporting structure. The second hinge shaft 2251 is rotatably connected to the connecting plate 227; the adjustable shock-absorbing spring 226 has the functions of shock absorption and pressure regulation, and its two ends are respectively hinged to the fifth hinge shaft 2243 and the connecting plate 227, and the connecting plate 227 is fixedly connected to the bracket 21, and is connected to the H-shaped two-fork arm 225 and the adjustable shock-absorbing spring 226 to assist in transmitting the applied pressure; the first hinge shaft 2241 and the second hinge shaft 2251 are respectively rotatably connected to the bracket 21. Of course, in different examples, the adjustable shock-absorbing spring can also use a hydraulic damper to improve the shock absorption accuracy. Using the above scheme, the working principle of this robot is: first, shock absorption and pressure regulation. The design of the adjustable shock-absorbing spring enables the flexible pressing mechanism to not only absorb the vibration generated by the angle grinder during the grinding process, but also adjust the applied pressure according to the surface condition of the steel template. This pressure regulation capability can ensure that the angle grinder always maintains a suitable contact force during grinding, thereby improving the grinding efficiency and effect. The second is the horizontal maintenance mechanism, which uses a parallel connecting rod structure formed by a vertical frame, a U-shaped support plate and a triangular groove frame, and a linkage design with an H-shaped two-fork arm to keep the grinding disc of the angle grinder always level with the surface of the object being processed (steel template). This design ensures consistency during the grinding process and avoids uneven grinding caused by angle changes.The third is elastic space. The design of the flexible pressing mechanism provides a certain elastic space, allowing the angle grinder to adapt to different surface shapes and irregularities, such as welds or partial curved surfaces, to further improve the adaptability and effect of grinding, so as to be able to fully grind and clean the steel formwork.

[0067] In this embodiment, the stand 221, the U-shaped support plate 223, the triangular groove frame 224, the H-shaped two-fork arm 225 and the connecting plate 227 are all made of sheet metal. That is, by using sheet metal parts, the lightweight and strength optimization of each component are achieved, ensuring the stability and durability of the overall structure.

[0068] In this embodiment, a hollow first weight-reducing hole 2244 is opened on the triangular groove frame 224, and a hollow second weight-reducing hole 2253 is opened on the H-shaped two-fork arm 225, which not only reduces the weight of the structure but also improves the heat dissipation performance of the angle grinder 23 to a certain extent.

[0069] In this embodiment, the stand 221 includes triangular plates 2211 symmetrically fixed on both sides of the angle grinder 23 and a square tube 2212 connecting the two triangular plates 2211; a connecting ear 2231 is provided on each wing of the U-shaped support plate 223; both ends of the square tube 2212 are connected to the connecting ear 2231 of the U-shaped support plate 223 through a bolt assembly 222 outside their respective triangular plates 2211, so that the stand 221 and the U-shaped support plate 223 are matched to fix the angle grinder 23 in the XYZ three-axis directions, ensuring the firmness and reliability of the connection.

[0070] In this embodiment, the connecting plates 227 are arranged as two pieces side by side, which enhances the supporting capacity of the structure, and a pin shaft 2272 rotatably connected to the adjustable shock-absorbing spring 226 is arranged between the two connecting plates 227. This design can effectively absorb vibrations and improve the stability of the equipment. The two connecting plates 227 are provided with a fixed plate 2271 at the bottom of the far end away from the pin shaft 2272. The fixed plate 2271 provides additional support, and the two connecting plates 227 are fixedly connected to the bracket 21 through the fixed plate 2271 to ensure the stability and safety of the overall structure.

[0071] In this embodiment, the design structure of the bracket 21 is very important, which can provide basic support for the installation and stability of multiple flexible pressing mechanisms 22. That is, in different examples, the bracket 21 is connected with multiple flexible pressing mechanisms 22 arranged in a single row or two rows, as shown in the attached figure. Figure 2Three angle grinders are arranged in a triangular pattern. Specifically, the bracket 21 consists of a vertical frame 211, triangular braces 212, and hinge plates 215, forming a strong and effective support system. Specifically, at least two triangular braces 212 are arranged side by side at intervals on one side of the vertical frame 211. These triangular braces 212 are arranged in a side-by-side and spaced manner, enhancing the overall rigidity and stability of the bracket 21. The upper part of the vertical frame 211 is provided with hinge plates 215 for connecting the H-shaped two-fork arms 225. The H-shaped two-fork arms 225 of a single flexible roll gap adjusting mechanism 22 correspond to two hinge plates 215. This design ensures the flexibility and adaptability of the mechanism. Moreover, second mounting holes 216 for connecting to the second hinge shaft 2251 are provided on the two hinge plates 215, thus providing a convenient interface for the installation of the H-shaped two-fork arms 225. Third mounting holes 217 for fixedly connecting to the fixing plate 2271 are provided at the top of the vertical frame 211 for fixedly connecting to the fixing plate 2271, further enhancing the stability of the entire structure. First mounting holes 214 for connecting to the first hinge shaft 2241 of the triangular groove frame 224 are provided at the lower part of the vertical frame 211. Such a design enables the connection between the triangular groove frame 224 and the vertical frame 211 of the bracket 21, ensuring that the flexible roll gap adjusting mechanism does not displace or loosen during operation.

[0072] In this embodiment, the bracket 21 further includes a spacer rod 213 for the elongation of the front-row flexible roll gap adjusting mechanism 22 in the two rows of staggered arrangements. Moreover, first mounting holes 214 for connecting to the first hinge shaft 2241 of the triangular groove frame 224 of the front-row flexible roll gap adjusting mechanism 22 are provided at the lower part of the spacer rod 213. This design ensures that the front-row flexible roll gap adjusting mechanism 22 can form a staggered arrangement with the rear-row flexible roll gap adjusting mechanism 22 and has stability and flexibility during operation. Specifically, the triangular groove frame 224, H-shaped two-fork arms 225, connecting plates 227, and hinge plates 215 corresponding to the front-row flexible roll gap adjusting mechanism 22 are respectively longer than those corresponding to the rear-row flexible roll gap adjusting mechanism 22. This design of the staggered layout not only enables the front-row and rear-row components to work effectively in coordination but also avoids interference between them. It also improves the compactness of the overall structure and can achieve better force transmission and support effects during operation.

[0073] Specific to the application of the grinding head 2, in this embodiment, three angle grinders 23 are adopted, and a corresponding flexible pressing mechanism 22 is configured for each angle grinder. These angle grinders 23 are arranged in a staggered two-row zigzag pattern relative to the bracket 21 under the connection of the flexible pressing mechanism 22. This zigzag layout design enables the grinding discs of the angle grinders to effectively cover the body of the walking chassis, ensuring the comprehensiveness and uniformity of the grinding process. It is worth mentioning that the disc diameter of the grinding disc of the angle grinder 23 is 5 inches, which is larger than the conventional size. This customized design significantly improves the grinding efficiency. This improvement is not only reflected in the working efficiency but also in the better adaptation to different grinding requirements, ensuring an ideal grinding effect in practical applications.

[0074] For another example Figure 10-13As shown in the figure, the design of the walking chassis 1 fully considers the structural stability and reasonable layout of functions. It mainly consists of a body, a roller assembly 14 and a driving mechanism 13 arranged on the body, making its overall structure compact and efficient. Specifically, the body includes a frame 11, a top plate 10 and a bottom plate 12 arranged on both sides of the frame 11 up and down. The main function of the top plate 10 is to provide support for installing the bracket 21 to ensure the stability of the entire system. The frame 11 includes a rectangular frame 111, π-shaped frames 112 symmetrically arranged on both sides of the rectangular frame 111, and a housing 114 arranged on the π-shaped frames 112. The π-shaped frames 112 provide additional support and structural strength for the walking chassis 1. At the same time, the housing 114 arranged on the π-shaped frames 112 not only protects the internal components, but also optimizes the appearance design and enhances the aesthetic feeling of the industrial design. The roller assembly 14 is set to four and is respectively arranged in four notches 115 formed between the rectangular frame 111 and the π-shaped frames 112 on both sides. This design makes the layout of the roller assembly 14 more compact and improves the flexibility and stability of the walking chassis 1. Each roller assembly 14 can work independently to ensure good moving performance under different terrains and conditions. The driving mechanism 13 is also set to four and is divided into two groups and arranged on the π-shaped frames 112 on both sides and covered by the housing 114, which is used to drive the four roller assemblies 14 respectively. The driving mechanism design of the walking chassis 1 is very flexible. Through different control methods of the four driving mechanisms, various moving modes can be realized, improving the mobility and operation flexibility of the walking chassis. For example, when moving forward, when the four driving mechanisms 13 perform synchronous forward rotation, the driving signal will be transmitted to the four roller assemblies 14, causing the walking chassis 1 to move forward. This synchronous forward rotation design ensures the stability of the walking chassis when moving forward and can smoothly overcome the resistance brought by different terrains. Another example is moving backward. Similarly, when the four driving mechanisms 13 perform synchronous reverse rotation, the driving signal is also transmitted to the four roller assemblies 14, causing the walking chassis 1 to move backward. This function is particularly important in narrow spaces or when retreat is required, effectively improving the operation flexibility. Another example is steering movement. By performing differential transmission on the four driving mechanisms 13, the walking chassis 1 can perform steering movement in a specified direction. For example, the driving mechanism on the left can perform reverse rotation relative to the driving mechanism on the right to achieve a right turn; vice versa. This differential steering design makes the walking chassis more flexible when performing complex operations and can adapt to different operation requirements. The walking chassis has an industrial design style and a transmission design with a reasonable space layout, making the layout of the driving mechanism, control, power module, etc. the most compact and reasonable, achieving the best effect in space utilization of the entire walking chassis.

[0075] In this embodiment, a single roller assembly 14 includes a running wheel 141. The design of the running wheel 141 is the core of the entire roller assembly 14, responsible for contacting the ground and providing driving force for walking. The axle 143 of the running wheel 141 is rotatably connected through pedestals 142 separately provided on a rectangular frame 111 and a π-shaped frame 112. The design of the axle 143 ensures the smooth rotation of the running wheel 141, and the rectangular frame 111 and the π-shaped frame 112 provide reliable support and connection, ensuring the structural stability of the entire roller assembly 14, thereby improving the walking efficiency and stability of the walking chassis. Single thrust ball bearings 144 are sleeved on both sides of the running wheel 141 on the axle 143. The single thrust ball bearings 144 play a supporting role, reducing friction and improving the rotation efficiency of the running wheel 141. Especially when the walking chassis performs vertical wall-climbing movement, the single thrust ball bearings can effectively share the load, improving stability and safety. The running wheel 141 is a magnetic adsorption wheel or a Mecanum wheel with a magnet. The magnetic adsorption wheel can provide strong adhesion force. For example, the magnetic flux density of magnetic adsorption is greater than 1T, which is suitable for walking on vertical or inclined surfaces. The Mecanum wheel allows the chassis to achieve omnidirectional movement on a plane, including lateral and diagonal movement, which greatly improves the mobility of the walking chassis.

[0076] In this embodiment, the design of a single drive mechanism 13 aims to achieve efficient power transmission and control to drive the movement of the roller assembly 14. Specifically, a single drive mechanism 13 includes a reduction motor 131, a driving gear 132, an intermediate gear 133, and a driven gear 134. The reduction motor 131 is the core of the drive mechanism and is responsible for providing power output. It has high-precision control capabilities and can precisely adjust the rotation speed and direction according to the instructions of the control system. The reduction motors 131 of the two drive mechanisms 13 in any group are both arranged in the chamber 116 of the π-shaped frame 112 on the same side as them. This design helps to save space and improve the compactness of the overall structure. Moreover, the driving gears 132 and the driven gears 134 of the two drive mechanisms 13 in this group are both on the π-shaped frame 112 and are arranged away from the rectangular frame 111 to maintain good space utilization and structural stability. Such a design not only improves the efficiency of power transmission but also effectively reduces potential friction and wear, extending the service life of the equipment. The single reduction motor 131 is connected to the driving gear 132 through a tension sleeve and drives its rotation through the rotation of the motor. The axle 143 of the single roller assembly 14 is connected to the driven gear 134 through a tension sleeve and is responsible for converting the power transmitted through the driving gear and the intermediate gear into the rotational movement of the roller. At the same time, the design of the driven gear 134 also ensures the smoothness and efficiency of the movement. The driving gear 132 is drivingly connected to the driven gear 134 through at least one intermediate gear 133. The intermediate gear 133 is rotatably mounted on the π-shaped frame 112 through deep groove ball bearings. By using the intermediate gear, a more flexible gear combination can be achieved, allowing the designer to adjust the gear ratio according to needs, thereby optimizing the power output and speed.

[0077] In this embodiment, the design of the walking chassis 1 fully considers the heat dissipation and power management of the electrical components to ensure its stability and reliability under high-load working conditions. Specifically, a sealing plate 113 for enclosing the chamber 116 is provided on the π-shaped frame 112; this design not only ensures the safety of the reduction motor 131 and other internal components, but also prevents the entry of external dust and debris, improving the durability of the equipment. In addition, since magnetic adsorption roller components are arranged before and after the π-shaped frame 112 on one side of the walking chassis 1, to prevent the interference of the front and rear magnetism on the reduction motor 131 arranged in the chamber 116 of the π-shaped frame 112, the reduction motor 131 therein is protected by the chamber 116 enclosed by the π-shaped frame 112, the sealing plate 113 and the bottom plate 12 with magnetic isolation characteristics. An electric motor compartment fan 15 for dissipating heat from the reduction motor 131 arranged in the chamber 116 of the π-shaped frame 112 is provided on the bottom plate 12. The reduction motor generates heat during operation, and the electric motor compartment fan 15 helps reduce the temperature of the motor by forced air circulation, preventing overheating from affecting its performance and service life; a power supply module 17 and a control module 18 are arranged in the rectangular frame 111, and a battery compartment fan 16 for dissipating heat from the power supply module 17 and the control module 18 arranged therein is provided on the rectangular frame 111. By maintaining a low temperature, the battery compartment fan 16 can ensure that the power supply module and the control module do not overheat during efficient operation, thereby extending their service life. The control module 18 is responsible for managing and controlling the operating states of each electrical component, that is, it is electrically connected to the reduction motor 131, the electric motor compartment fan 15, the battery compartment fan 16 and the power supply module 17 respectively, so that the control module 17 can intelligently adjust the operation of the motor and the fan according to different working conditions. The power supply module 17 is responsible for providing the electrical energy required by the entire system, that is, it is used to provide the electrical energy required by the reduction motor 131, the electric motor compartment fan 15, the battery compartment fan 16 and the control module 18, ensuring that each component can obtain a stable power supply.

[0078] In this embodiment, a connecting rod 218 is strung through a hinge plate 215 provided on the bracket 21. A protective housing 24 which is rotatably connected to the connecting rod 218 and used to cover the flexible pressure mechanism 22 is provided on the connecting rod 218. This design of rotational connection enables the protective housing 24 to be opened or closed as needed, facilitating the maintenance and replacement of the flexible pressure mechanism 22, and also being able to effectively protect the mechanism during the working state. At the same time, the protective housing 24 can prevent external objects from damaging the mechanism, thereby improving the reliability and service life of the equipment. The design of the protective housing also takes into account the overall aesthetics and enhances the appearance of the equipment. An exhaust fan 241 is provided on the upper part of the protective housing 24 facing away from the top plate 10, mainly for heat dissipation and ventilation. With the grinding work of the angle grinder 23, heat is generated, and the exhaust fan 241 can effectively discharge the generated heat, keeping the internal temperature within a reasonable range, and also having a certain effect of adsorbing and dispersing grinding dust. This design helps to prevent performance degradation or equipment failure caused by overheating. In addition, considering the opening and closing fixation problem of the protective housing 24, a spring bolt 242 is provided on each of the two sides of the protective housing 24 below the connecting rod 218, and a card slot 101 for cooperating with the spring bolt 242 for limiting is opened on the corresponding two sides of the top plate 10, so as to achieve a locking effect when the protective housing 24 is closed by using the cooperation relationship between the spring bolt and the card slot.

[0079] In this embodiment, to further enhance the cleaning and maintenance functions of the equipment. A dust removal cover 26 covering the exhaust fan 241 is further provided on the upper part of the protective housing 24 facing away from the top plate 10. The design of the dust removal cover 26 aims to prevent dust and sundries from entering the exhaust fan 241, thereby maintaining the normal operation of the fan and ensuring good heat dissipation effect. This design can effectively extend the service life of the fan and reduce the performance degradation caused by dust accumulation. At the same time, the dust removal cover 26 is connected to a dust suction device (not shown) through a dust suction hose 261; this design realizes the centralized cleaning function and can timely remove the generated grinding dust and sundries during the operation of the equipment. By using the dust suction device, the internal cleanliness of the equipment can be effectively maintained, and the influence of dust on the flexible pressure mechanism 22 and other components can be prevented. In this way, combining the design of the dust removal cover 26 and the dust suction hose 261 makes the cleaning process more efficient and convenient. The operator can quickly clean the dust in the protective housing through the dust suction device when the equipment is running or stopped, ensuring the normal operation state of the equipment without disassembling the protective housing or other components. This design not only keeps the internal cleanliness of the equipment, but also helps to improve the working environment, reduce the accumulation of dust and pollutants, and improve the sanitation conditions of the workplace.

[0080] In this embodiment, a cable protection cover 25 is detachably connected to the top plate 10 and is disposed near the protective housing 24. The main function of the cable protection cover 25 is to protect the cables and connecting wires, preventing them from being mechanically damaged, worn, or affected by the external environment during the operation of the equipment. By covering the cables, the cable protection cover can reduce the risk of failures caused by friction, collision, or other external factors. The detachable design of the cable protection cover 25 makes maintenance and repair work more convenient. The operator can quickly remove the cable protection cover to facilitate the inspection, repair, or replacement of the cables and connecting wires. This design improves the maintenance efficiency, reduces the downtime, and ensures the continuous operation of the equipment. Additionally, the cable protection cover 25 is disposed near the protective housing 24, which helps to optimize the spatial layout. In this way, important cable connections can be protected without occupying too much space, while maintaining the compactness of the overall structure. The design of the cable protection cover 25 can also enhance the overall appearance of the equipment to a certain extent, making the layout of the internal cables and connecting wires more orderly and strengthening the industrial design style of the equipment.

[0081] In this embodiment, an edge probe 3 for detecting the boundary of the object to be processed is provided on the top plate 10, and the length of the edge probe 3 extending outside the traveling chassis 1 is longer than that of the grinding head 2, ensuring that the boundary of the object to be processed can be detected in advance during the grinding operation. This design can effectively prevent the grinding head 2 from colliding with surrounding obstacles or edges, thereby improving the working safety and precision. The edge probe 3 arranged at the front end of the grinding device can adopt various detection technologies to facilitate avoiding obstacles and detecting edges, including but not limited to one or more of a depth camera, an ultrasonic radar, or a laser detector. For example, a depth camera can obtain the depth information of the surface of the object to be processed and is suitable for edge detection in complex environments. The ultrasonic radar can effectively detect the distance of an object by emitting ultrasonic waves and measuring the echo time and is very suitable for detecting relatively simple obstacles. The laser detector is known for its high precision and fast response, can provide accurate distance measurement and high-resolution edge detection, and is suitable for high-precision application scenarios. In this way, the setting of the edge probe 3 enables the grinding device to detect the surrounding environment in real time, so as to intelligently avoid obstacles during movement and ensure safety. At the same time, by detecting the boundary of the object, the grinding process can be accurately controlled to avoid damaging the object to be processed. Also, by detecting the boundary and obstacles in advance, the edge probe 3 can help the system optimize the path planning and operation strategy, improving the overall operation efficiency. This intelligent operation method can reduce manual intervention and increase the degree of automation.

[0082] In this embodiment, the design of the walking chassis 1 takes into account the flexibility and efficiency of the grinding operation, which is specifically reflected in the arrangement of the grinding heads 2. The following is a detailed description of this design: First, the radially circumferentially arranged grinding heads 2. There are two to eight groups of grinding heads 2 arranged on the walking chassis 1 relative to the top plate 10 in a radially circumferential manner. This arrangement enables multiple grinding heads to be symmetrically distributed around the center in the same plane, covering a larger working area and improving the grinding efficiency. With this layout, the grinding heads can ensure uniform and comprehensive grinding of the surface of the object being processed during operation. Second, the rotary turntable design. The top plate 10 of the walking chassis 1 can also be set as a rotary turntable. Specifically, the top plate 10 and the walking chassis 1 are connected in a rotary manner, and a gear ring is provided at the bottom of the top plate 10. The pinion on the output shaft of the rotary motor provided on the walking chassis 1 is used to engage with the tooth part of the gear ring to enable the top plate 10 to have a radial rotation function relative to the main body of the walking chassis. This design allows the grinding head 2 to rotate around the central axis, making the grinding process more flexible. The rotary turntable can work at different angles and directions to adapt to objects being processed with different shapes and sizes, further improving the flexibility and adaptability of the operation. The advantages they bring are: improving work efficiency. The radially circumferentially arranged grinding head configuration can cover a larger area in one operation, reducing the need for repeated operations and significantly improving the overall operation efficiency. Flexibly coping with steel formworks of different specifications. Whether it is the radial arrangement or the rotary design, it can be adjusted according to the shapes and sizes of different steel formworks, enabling it to maintain an efficient working state in a variety of application scenarios. Optimizing the operation quality. Through the reasonable arrangement of the grinding heads, it can ensure a uniform surface treatment effect during grinding and improve the surface quality of the steel formwork. Intelligent control. Combining with the detection function of the edge probe 3, intelligent control of the grinding head 2 can be realized, automatically adjusting the working mode of the grinding head according to the shape and boundary of the object being processed, and further improving the degree of automation.

[0083] In addition, the steel formwork surface treatment robot based on magnetic adsorption wall climbing can, through self-developed intelligent algorithms, combine with advanced AI technology in the control module 18 to construct a highly intelligent autonomous working system. The following is a general description of the various elements of this system: First, intelligent algorithms and autonomous learning. The robot uses three-dimensional point cloud technology and advanced AI algorithms for autonomous learning, enabling it to effectively recognize and understand the surrounding environment. This algorithm can process and analyze the collected data in real time, forming a deep understanding of the environment, thus supporting the robot's autonomous decision-making in complex environments. Second, full autonomous working ability. Through programming and automatic control, the robot can perform corresponding grinding and cleaning tasks and operate along fixed movement trajectories. This autonomous working ability enables the robot to complete tasks independently, reducing dependence on manual operations and achieving true unmanned operation. Third, path planning and autonomous control. The robot can autonomously plan paths and adjust action strategies in real time to adapt to different working environments and task requirements. This intelligent path planning ability can effectively improve work efficiency and ensure the accuracy and consistency of the grinding process. Fourth, quality determination and feedback mechanism. The integrated artificial intelligence algorithm enables the robot to have the ability of autonomous quality determination. During the grinding process, the robot can monitor the surface state in real time and compare it with the set quality standards, thus adjusting the grinding parameters in a timely manner to ensure the consistency of surface roughness. Fifth, a highly adaptable mobile platform. This magnetic adsorption wheeled walking chassis is designed as a highly adaptable mobile platform, which can work stably on different types of steel formwork surfaces, including complex weld tracks and curved surface structures. The application of magnetic adsorption technology enables the robot to operate safely and reliably on vertical or inclined metal surfaces. Sixth, the intelligent perception of the edge probe. The setting of the edge probe enables the robot to monitor the surface state of the steel formwork in real time and obtain surface boundary information and obstacle information in a timely manner. This intelligent perception function combined with the grinding algorithm can automatically adjust the grinding parameters to ensure the consistency and high quality of the grinding effect. Seventh, the integration of structure, perception, control, and algorithm: Through the integration of the above parts, the robot realizes the complete integration of structure, perception, control, and algorithm, achieving the design purpose. This systematic design not only improves the intelligent level of the robot but also enhances its operation ability in complex environments. Generally speaking, this steel formwork surface treatment robot based on magnetic adsorption wall climbing realizes an efficient and intelligent full autonomous working mode through the combination of intelligent algorithms and autonomous learning. This design not only improves the efficiency and quality of grinding operations but also enables the robot to flexibly cope with different working conditions, providing strong support for industrial automation and intelligence.

[0084] The core innovative structure of this steel formwork surface treatment robot based on magnetic adsorption wall climbing is as follows:

[0085] 1. Multi-link linkage design of a flexible roll force mechanism. The innovation of this structure lies in: a multi-link mechanism composed of an upright frame, a U-shaped support plate, a triangular groove frame, an H-shaped bifurcated arm, an adjustable shock-absorbing spring and a connecting plate, and the articulated shaft linkage realizes the adaptive pressure adjustment and horizontal holding functions of the angle grinder. The technical effects brought by it are: the adjustable shock-absorbing spring absorbs vibration and dynamically adjusts the grinding pressure to ensure that the surface roughness (Ra value) is stably in the range of 3.2 - 6.3 μm, significantly better than the fluctuation range of 6.3 - 12.5 μm of manual operation. And through the parallel link and bifurcated arm coupling structure, the grinding head always remains horizontal with the surface of the steel formwork, avoiding uneven grinding caused by angle deviation.

[0086] 2. High-adaptability magnetic adsorption wall-climbing walking chassis. The innovation of this structure lies in: using magnetic adsorption wheels or magnetic Mecanum wheels, combined with four-wheel independent drive and differential steering control, to achieve stable adsorption and flexible movement on the vertical / inclined steel formwork surface. The technical effects brought by it are: the design of magnetic adsorption wheels with magnetic flux density > 1T solves the problem of insufficient adhesion of traditional wheeled chassis on vertical surfaces; differential control supports omnidirectional movement (forward, backward, turning), adapting to complex weld tracks and curved formwork.

[0087] 3. Layout of multi-row staggered grinding heads and intelligent collaborative control. The innovation of this structure lies in: multiple flexible roll force mechanisms arranged in two rows in a staggered manner on the bracket, such as the angle grinders are arranged in a triangular shape, and the coverage area is increased by more than 30%. The technical effects brought by it are: through the staggered design of the front and rear rows (pad rods + extended articulated plates, etc.), interference between mechanisms is avoided and the grinding range is expanded. And combined with the AI algorithm to achieve collaborative path planning of multiple grinding heads, improving the operation efficiency by more than 50%.

[0088] 4. Integrated heat dissipation and dust control module. The innovation of this structure lies in: an exhaust fan, a dust removal cover and a dust suction hose are integrated in the protective shell, and motor compartment fans and battery compartment fans are arranged on the bottom plate. The technical effects brought by it are: the dust collection efficiency ≥ 90%, and the dust concentration in the working environment is reduced to 5mg / m 3 The following (better than the industry standard of 10mg / m 3 ). And the dual-fan heat dissipation system controls the temperature of the core components within 45 °C, ensuring the stability of continuous operation.

[0089] 5. Edge probe and intelligent perception system. The innovation of this structure lies in: using composite detection technology such as depth camera + ultrasonic radar, and the length of the edge probe extending out of the walking chassis > 20% of the grinding head. The technical effects brought by it are: identifying the boundary and obstacles of the steel formwork in advance, the response time of path planning < 0.5 seconds, and the collision risk is reduced by 90%. And it supports dynamic adjustment of grinding parameters (such as pressure, speed) to adapt to different surface curvatures and weld heights.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the present technical solution, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A steel formwork surface treatment robot based on magnetic adsorption wall climbing, including a grinding head (2) arranged on a walking chassis (1), characterized in that, The grinding head (2) is composed of a bracket (21), a flexible pressing mechanism (22) and an angle grinder (23); the bracket (21) is arranged on the walking chassis (1); the angle grinder (23) is arranged on the bracket (21) through the flexible pressing mechanism (22); the flexible pressing mechanism (22) is composed of a stand (221), a U-shaped support plate (223), a triangular groove frame (224), an H-shaped two-fork arm (225), an adjustable shock-absorbing spring (226) and a connecting plate (227), wherein: The stand (221) is used to be connected to the angle grinder (23), the U-shaped support plate (223) is used to support the angle grinder (23), and the stand (221) and the U-shaped support plate (223) are connected to clamp the angle grinder (23); The three corner ends of the triangular groove frame (224) are respectively provided with a first hinge shaft (2241), a fourth hinge shaft (2242) and a fifth hinge shaft (2243); the triangular groove frame (224) is hingedly connected to the U-shaped support plate (223) via the fourth hinge shaft (2242); A second hinge shaft (2251) and a third hinge shaft (2252) are respectively provided at two ends of the H-shaped two-fork arm (225); the H-shaped two-fork arm (225) is hingedly connected to the two frames (221) via the third hinge shaft (2252); the H-shaped two-fork arm (225) is also rotatably connected to the connecting plate (227) via the second hinge shaft (2251); The two ends of the adjustable damping spring (226) are respectively hinged to the fifth hinge shaft (2243) and the connecting plate (227), and the connecting plate (227) is fixedly connected to the bracket (21); the first hinge shaft (2241) and the second hinge shaft (2251) are respectively rotatably connected to the bracket (21).

2. The steel formwork surface treatment robot based on magnetic adsorption wall climbing according to claim 1, characterized in that, The stand (221), the U-shaped support plate (223), the triangular groove frame (224), the H-shaped two-fork arm (225) and the connecting plate (227) are all made of sheet metal, and the triangular groove frame (224) is provided with a hollow first weight-reducing hole (2244), and the H-shaped two-fork arm (225) is provided with a hollow second weight-reducing hole (2253); The stand (221) comprises triangular plates (2211) symmetrically fixed on both sides of the angle grinder (23) and a square tube (2212) connecting the two triangular plates (2211); a connecting ear (2231) is respectively provided on the two wings of the U-shaped support plate (223); both ends of the square tube (2212) are connected to the connecting ears (2231) of the U-shaped support plate (223) through a bolt assembly (222) after extending out of their respective triangular plates (2211); The connecting plates (227) are arranged in two pieces side by side, and a pin shaft (2272) rotatably connected to the adjustable shock-absorbing spring (226) is arranged between the two connecting plates (227). A fixing plate (2271) is arranged at the bottom of the far end of the two connecting plates (227) away from the pin shaft (2272), and the two connecting plates (227) are fixedly connected to the bracket (21) through the fixing plate (2271).

3. The steel formwork surface treatment robot based on magnetic adsorption wall climbing according to claim 1, characterized in that, A plurality of the flexible pressing mechanisms (22) are connected to the bracket (21) and arranged in a single row side by side or in two rows with staggering. The bracket (21) is composed of a vertical frame (211), triangular braces (212), and hinge plates (215). At least two triangular braces (212) are arranged side by side at intervals on one side of the vertical frame (211). An upper part of the vertical frame (211) is provided with a hinge plate (215) for connecting an H-shaped bifurcated arm (225). The H-shaped bifurcated arm (225) of a single flexible pressing mechanism (22) corresponds to two hinge plates (215), and second mounting holes (216) connected to a second hinge shaft (2251) are formed in the two hinge plates (215); a third mounting hole (217) for fixedly connecting to a fixing plate (2271) is formed at the top of the vertical frame (211); a first mounting hole (214) for connecting to a first hinge shaft (2241) of a triangular groove frame (224) is formed at a lower part of the vertical frame (211).

4. The steel formwork surface treatment robot based on magnetic adsorption wall climbing according to claim 3, characterized in that, The bracket (21) further includes a cushion rod (213) for elongating the front-row flexible pressing mechanism (22) in the two-row staggered arrangement, and a first mounting hole (214) for connecting to the first hinge shaft (2241) of the triangular groove frame (224) of the front-row flexible pressing mechanism (22) is formed at a lower part of the cushion rod (213); the triangular groove frame (224), H-shaped bifurcated arm (225), connecting plate (227), and hinge plate (215) corresponding to the front-row flexible pressing mechanism (22) are respectively longer than those corresponding to the rear-row flexible pressing mechanism (22).

5. The steel formwork surface treatment robot based on magnetic adsorption wall climbing according to any one of claims 1-4, characterized in that The traveling chassis (1) is composed of a body and a roller assembly (14) and a driving mechanism (13) arranged on the body. The body includes a frame (11) and a top plate (10) and a bottom plate (12) arranged on both sides of the frame (11) up and down. The top plate (10) is used for mounting the bracket (21). The frame (11) includes a rectangular frame (111), π-shaped frames (112) symmetrically arranged on both sides of the rectangular frame (111), and a housing (114) arranged on the π-shaped frames (112). The roller assembly (14) is provided with four and is respectively arranged in four notches (115) formed between the rectangular frame (111) and the π-shaped frames (112) on both sides; the driving mechanism (13) is also provided with four and is divided into two groups and arranged on the π-shaped frames (112) on both sides and covered by the housing (114) for respectively driving the four roller assemblies (14).

6. The steel formwork surface treatment robot based on magnetic adsorption wall climbing according to claim 5, characterized in that, A single roller assembly (14) includes a traveling wheel (141). A wheel shaft (143) of the traveling wheel (141) is rotatably connected through pedestals (142) respectively arranged on the rectangular frame (111) and the π-shaped frame (112); single-thrust ball bearings (144) are sleeved on both sides of the wheel shaft (143) and located on both sides of the traveling wheel (141); the traveling wheel (141) is a magnetic attraction wheel or a Mecanum wheel with a magnet.

7. The surface treatment robot for steel formwork based on magnetic adsorption wall climbing according to claim 5, characterized in that Each of the driving mechanisms (13) includes a reduction motor (131), a driving gear (132), an intermediate gear (133), and a driven gear (134). The reduction motors (131) of the two driving mechanisms (13) in any group are both arranged in the chamber (116) of the π-shaped frame (112) on the same side. The driving gears (132) and the driven gears (134) of the two driving mechanisms (13) in this group are both on the π-shaped frame (112) and arranged away from the rectangular frame (111). A single reduction motor (131) is connected to the driving gear (132), the axle (143) of a single roller assembly (14) is connected to the driven gear (134), and the driving gear (132) is in transmission connection with the driven gear (134) through at least one intermediate gear (133).

8. The surface treatment robot for steel formwork based on magnetic adsorption and wall climbing according to claim 7, wherein, A sealing plate (113) for closing the chamber (116) is provided on the π-shaped frame (112); a motor compartment fan (15) for cooling the reduction motor (131) arranged in the chamber (116) of the π-shaped frame (112) is provided on the bottom plate (12); a power module (17) and a control module (18) are arranged in the rectangular frame (111), a battery compartment fan (16) for cooling the power module (17) and the control module (18) arranged therein is provided on the rectangular frame (111), the control module (18) is electrically connected to the reduction motor (131), the motor compartment fan (15), the battery compartment fan (16), and the power module (17) respectively, and the power module (17) is used to supply the required electric energy to the reduction motor (131), the motor compartment fan (15), the battery compartment fan (16), and the control module (18).

9. The steel formwork surface treatment robot based on magnetic adsorption wall climbing according to claim 5, characterized in that A connecting rod (218) is strung through a hinge plate (215) provided on the bracket (21). A protective shell (24) which is rotatably connected to the connecting rod (218) and used to cover the flexible rolling-down mechanism (22) is provided on the connecting rod (218). An exhaust fan (241) is provided on the upper part of the protective shell (24) away from the top plate (10); a dust removal cover (26) covering the exhaust fan (241) is further provided on the upper part of the protective shell (24) away from the top plate (10), and the dust removal cover (26) is connected to a dust suction device through a dust suction hose (261); a wire protection cover (25) detachably connected is provided on the top plate (10) and close to the protective shell (24); an edge probe (3) for detecting the boundary of the object to be processed is provided on the top plate (10), and the length of the edge probe (3) extending outside the traveling chassis (1) is longer than that of the grinding head (2).

10. The steel formwork surface treatment robot based on magnetic adsorption wall climbing according to claim 5, characterized in that, Two to eight groups of grinding heads (2) are radially and annularly arranged on the traveling chassis (1) relative to the top plate (10); alternatively, the top plate (10) of the traveling chassis (1) is set as a rotary turntable.

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