Device and method for grinding residual concrete on steel formwork

Abstract

The present invention provides a device and method for grinding and processing residual concrete of steel formwork, wherein the device includes: a bearing plate, a core processing unit and an auxiliary processing unit. A core support seat and two slidable auxiliary support seats are provided on the bearing plate. The core processing unit includes a core bearing assembly and a core grinding motor, the core bearing assembly is liftably arranged on the core support seat, a core posture adjustment shaft is provided on the core bearing assembly, and the core grinding motor is provided on the core posture adjustment shaft. The auxiliary processing unit includes an auxiliary bearing assembly and an auxiliary grinding motor, the auxiliary bearing assembly is liftably arranged on the auxiliary support seat, an auxiliary posture adjustment shaft is provided on the auxiliary bearing assembly, and the auxiliary grinding motor is provided on the auxiliary posture adjustment shaft. The device and method for grinding and processing residual concrete of steel formwork created by the present invention can improve the grinding processing efficiency and grinding processing quality of residual concrete of steel formwork.

Description

Technical Field

[0001] The invention belongs to the technical field of grinding treatment, and in particular relates to a grinding treatment device and method for residual concrete in steel formwork. Background Art

[0002] Prefabricated pier technology is a key process in bridge construction. Due to its high quality and precision, short construction cycles, and environmentally friendly, low-impact design, it is widely used in the construction of various sea-crossing bridges. During pier prefabrication, workers first tie the steel cage according to pre-set standards and install it in a specially designed large steel formwork. Concrete is then poured. After strict temperature control, vibration, and curing, the resulting pier prefabricated components are reliable and precise.

[0003] Because steel formwork is reused during pier prefabrication, workers must polish it before reuse to remove any surface debris to ensure good pouring quality for subsequent pier prefabricated components. Typically, these surface debris can be categorized as rust, residual release agent, and residual concrete. Residual concrete, with its irregular thickness and shape, makes polishing difficult.

[0004] In existing technology, the grinding of residual concrete primarily relies on handheld processing equipment (such as angle grinders). However, the effectiveness of manual grinding depends entirely on the operator's operating skills and proficiency, so the treatment quality cannot be guaranteed. Incomplete grinding can lead to defects in the subsequent pier prefabricated components, while excessive grinding can damage the steel formwork. Furthermore, due to the varying thickness and shape of different residual concrete, traditional treatment methods can only grind layer by layer along the thickness of the residual concrete. This results in low residual concrete treatment efficiency, which in turn affects the construction schedule. Summary of the Invention

[0005] In view of this, the present invention aims to propose a device and method for grinding and treating residual concrete in steel formwork, so as to achieve the purpose of improving the grinding and treating efficiency and grinding and treating quality of residual concrete in steel formwork.

[0006] To achieve the above object, the technical solution created by the present invention is implemented as follows:

[0007] On the one hand, the present invention provides a device for grinding and processing residual concrete of steel formwork, comprising:

[0008] A carrying plate, which is detachably mounted on the wall-climbing robot and comprises a core support seat and two slidable auxiliary support seats, the two auxiliary support seats being located on either side of the core support seat, and the sliding directions of the two auxiliary support seats being parallel;

[0009] A core processing unit, comprising a core bearing assembly and a core grinding motor; the core bearing assembly is liftably arranged on a core support seat, a core posture adjustment shaft is provided on the core bearing assembly, the core posture adjustment shaft is parallel to the bearing plate, and the core posture adjustment shaft is perpendicular to the sliding direction of the auxiliary support seat; the core grinding motor is arranged on the core posture adjustment shaft, a detachable core grinding disc is further provided on the output shaft of the core grinding motor, and the posture of the core grinding disc can be adjusted by lifting the core bearing assembly and rotating the core posture adjustment shaft;

[0010] Auxiliary processing unit, the auxiliary processing unit includes an auxiliary bearing assembly and an auxiliary grinding motor; the auxiliary bearing assembly can be raised and lowered on the auxiliary support seat, and an auxiliary posture adjustment shaft is provided on the auxiliary bearing assembly, the auxiliary posture adjustment shaft is parallel to the sliding direction of the auxiliary support seat, and the auxiliary posture adjustment shaft is perpendicular to the core posture adjustment shaft; the auxiliary grinding motor is arranged on the auxiliary posture adjustment shaft, and a detachable auxiliary grinding disc is also provided on the output shaft of the auxiliary grinding motor, and the posture of the auxiliary grinding disc can be adjusted by lifting and lowering the auxiliary bearing assembly and rotating the auxiliary posture adjustment shaft.

[0011] Furthermore, the two auxiliary grinding discs are both located on the side of the core grinding disc away from the core support seat, the diameter of the auxiliary grinding disc is smaller than the diameter of the core grinding disc, and the distance between the two auxiliary grinding discs is smaller than the diameter of the core grinding disc.

[0012] Furthermore, the core bearing assembly includes a core bearing seat and a core limit seat; a core guide block is provided at one end of the core bearing seat, and a core guide cutout for accommodating the core guide block is provided on the core support seat; the core posture adjustment shaft is provided at the other end of the core bearing seat, and a connecting block is provided on the core grinding motor, and the connecting block is connected to the core posture adjustment shaft; the core limit seat is detachably provided at the end of the core guide block away from the core bearing seat, and the core limit seat and the core bearing seat are respectively located on both sides of the core support seat.

[0013] Furthermore, a core lifting electric cylinder is provided on the core support seat, and the telescopic rod of the core lifting electric cylinder is connected to the core limit seat; a core rotating motor is also provided on the core bearing seat, and the output shaft of the core rotating motor is connected to the core posture adjustment shaft.

[0014] Furthermore, the auxiliary bearing assembly includes an auxiliary bearing seat and an auxiliary limit seat; an auxiliary guide block is provided at one end of the auxiliary bearing seat, and an auxiliary guide cutout for accommodating the auxiliary guide block is provided on the auxiliary support seat; the auxiliary posture adjustment shaft is arranged at the other end of the auxiliary bearing seat, and the end of the auxiliary posture adjustment shaft away from the auxiliary guide block is connected to the auxiliary grinding motor; the auxiliary limit seat is detachably arranged at the end of the auxiliary guide block away from the auxiliary bearing seat, and the auxiliary limit seat and the auxiliary bearing seat are respectively located on both sides of the auxiliary support seat.

[0015] Furthermore, the auxiliary support seat is provided with an auxiliary lifting electric cylinder, and the telescopic rod of the auxiliary lifting electric cylinder is connected to the auxiliary limit seat; the auxiliary bearing seat is provided with a mounting hole, and the auxiliary posture adjustment shaft is rotatably arranged inside the mounting hole, and a receiving hole is provided on the auxiliary limit seat, and the receiving hole is connected with the mounting hole through the connecting hole on the auxiliary guide block; the auxiliary limiting seat is also provided with an auxiliary rotating motor, and the output shaft of the auxiliary rotating motor is inserted into the mounting hole along the receiving hole and the connecting hole, and the output shaft of the auxiliary rotating motor is connected to the auxiliary posture adjustment shaft.

[0016] Furthermore, a guide rail is provided on the bearing plate, a guide slider is provided on the guide rail, and the auxiliary support seat is detachably connected to the guide slider.

[0017] Furthermore, an avoidance cutout and a counterweight block are provided on the bearing plate, the avoidance cutout is located on the side of the core support seat close to the core grinding motor, and the counterweight block is located on the side of the core support seat away from the core grinding motor.

[0018] On the other hand, the invention provides a method for grinding residual concrete on steel formwork, which is implemented using the above-mentioned device for grinding residual concrete on steel formwork, and specifically includes the following steps:

[0019] Step S1, obtaining the position of the residual concrete and the position of the steel formwork residual concrete grinding processing device, and determining the operating direction of the steel formwork residual concrete grinding processing device according to the position of the residual concrete and the position of the steel formwork residual concrete grinding processing device;

[0020] Step S2: using the operating direction of the steel formwork residual concrete grinding processing device as a projection direction, obtaining a projection image of the residual concrete, and determining the maximum adhesion thickness of the residual concrete and the average surface inclination of the residual concrete on both sides of the area where the maximum adhesion thickness is located based on the projection image;

[0021] Step S3: Based on the average surface inclination of the residual concrete and the diameter of the auxiliary grinding disc, the auxiliary posture adjustment shaft is driven to rotate, and the auxiliary bearing assembly is driven to rise and fall, so that the inclination of the auxiliary grinding disc is the same as the average surface inclination of the residual concrete, and the bottom edge of the auxiliary grinding disc contacts the steel formwork;

[0022] Step S4: driving the auxiliary support seat to slide in the direction of the residual concrete so that the auxiliary grinding disc moves above the residual concrete; starting the auxiliary grinding motor so that the auxiliary grinding disc performs a first-stage grinding process on the residual concrete; during the first-stage grinding process, driving the auxiliary posture adjustment shaft to rotate and driving the auxiliary bearing assembly to rise and fall, so that the auxiliary grinding disc rotates to be parallel to the steel template when the first-stage grinding process is completed, and the bottom surface of the auxiliary grinding disc contacts the steel template;

[0023] Step S5: turning off the auxiliary grinding motor and driving the auxiliary support seat to slide and reset; according to the maximum attachment thickness and the diameter of the core grinding disc, driving the core posture adjustment shaft to rotate, and driving the core bearing assembly to rise and fall, so that the distance between the top edge of the core grinding disc and the steel template is equal to the maximum attachment thickness, and the bottom edge of the core grinding disc is in contact with the steel template;

[0024] Step S6: Drive the steel formwork residual concrete grinding processing device to move along the working direction, and start the auxiliary grinding motor and the core grinding motor, so that the auxiliary grinding disc and the core grinding disc perform two-stage grinding processing on the residual concrete. After completing the two-stage grinding processing, the core grinding disc is reset by rotating the core posture adjustment shaft and lifting the core bearing assembly, and the auxiliary grinding motor and the core grinding motor are turned off.

[0025] Furthermore, before executing step S3, the method for grinding residual concrete on steel formwork further includes:

[0026] Step S21: adjusting the distance between the rotating shafts according to the diameter of the auxiliary grinding disc and the two auxiliary postures to determine the maximum grinding width for grinding the residual concrete on the steel formwork;

[0027] determining the attachment surface width of the residual concrete according to the projection image;

[0028] When the attachment surface width is less than or equal to the maximum grinding width, executing steps S3-S6;

[0029] When the width of the attachment surface is greater than the maximum grinding processing width, the auxiliary posture adjustment shaft is driven to rotate according to the diameter of the auxiliary grinding disc, and the auxiliary bearing assembly is driven to rise and fall, so that the auxiliary grinding disc is perpendicular to the steel template, and the bottom edge of the auxiliary grinding disc is in contact with the steel template; the auxiliary grinding motor is started and the auxiliary support seat is driven to slide in the direction of the residual concrete, so that the auxiliary grinding disc cuts the residual concrete to form three concrete cutting blocks; the auxiliary grinding disc is reset by the sliding of the auxiliary support seat and the rotation of the auxiliary posture adjustment shaft, and the auxiliary grinding motor is turned off; the concrete cutting blocks are treated as residual concrete one by one, and steps S1-S6 are repeated until all concrete cutting blocks have completed the grinding process.

[0030] Compared with the prior art, the device and method for grinding residual concrete in steel formwork created by the present invention have the following advantages:

[0031] The present invention creates a device and method for grinding and processing residual concrete of steel formwork, in which the posture of the core grinding disc in the device for grinding and processing residual concrete of steel formwork can be adjusted by lifting and lowering the core bearing assembly and rotating the core posture adjustment shaft, and the posture of the auxiliary grinding disc can be adjusted by lifting and lowering the auxiliary bearing assembly and rotating the auxiliary posture adjustment shaft, and the auxiliary grinding disc can also move closer to or away from the residual concrete as the auxiliary support seat slides. Therefore, when using this device to grind the residual concrete, the posture adjustment of the auxiliary grinding disc can adapt to the different surface inclinations of the residual concrete, and the posture adjustment of the core grinding disc can adapt to the different maximum attachment thicknesses of the residual concrete, so that it can adapt to residual concrete of different shapes and thicknesses, thereby having better grinding processing quality. Secondly, this device can first perform a first-stage grinding process on the residual concrete through the auxiliary grinding disc, and then perform a second-stage grinding process together through the core grinding disc and the auxiliary grinding disc. Because the first-stage grinding process removes the edge areas of the residual concrete, reducing the contact area between the residual concrete and the steel formwork, thereby reducing the adhesion strength between the residual concrete and the steel formwork, the second-stage grinding process can achieve higher grinding efficiency and quickly separate the residual concrete from the steel formwork. In addition, because the core grinding disc adjusts its position according to the maximum adhesion thickness of the residual concrete during the second-stage grinding process, the core grinding disc and the residual concrete achieve a larger grinding contact area during the second-stage grinding process, further improving the grinding quality and efficiency of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0033] Figure 1 This is a schematic diagram of the structure of the steel formwork residual concrete grinding processing device according to an embodiment of the present invention installed on a wall-climbing robot;

[0034] Figure 2 A schematic structural diagram of a carrier plate according to an embodiment of the present invention;

[0035] Figure 3 A schematic structural diagram of the core processing unit and core support base described in an embodiment of the present invention;

[0036] Figure 4 An exploded view of the core load-bearing assembly according to an embodiment of the present invention;

[0037] Figure 5 A schematic structural diagram of the auxiliary processing unit and the auxiliary support seat according to an embodiment of the present invention;

[0038] Figure 6 An exploded view of the auxiliary bearing assembly according to an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the working state of the steel formwork residual concrete grinding treatment device according to an embodiment of the present invention during the first stage of grinding treatment;

[0040] Figure 8 This is a schematic diagram of the working state of the steel formwork residual concrete grinding treatment device according to an embodiment of the present invention during the second stage grinding treatment;

[0041] Figure 9 This is a flow chart of the method for grinding residual concrete on steel formwork according to an embodiment of the present invention;

[0042] Figure 10 A schematic diagram of the relative positions of the residual concrete and the auxiliary grinding disc during a first-stage grinding process according to an embodiment of the present invention;

[0043] Figure 11 Schematic diagram of the relative positions of the residual concrete and the core grinding disc during the second stage grinding process described in the embodiment of the present invention.

[0044] Description of reference numerals:

[0045] 1-Wall-climbing robot; 2-Carrying plate; 21-Guide rail; 22-Guide slider; 23-Avoidance cutout; 24-Counterweight; 31-Core support seat; 311-Core guide cutout; 312-Core lifting cylinder; 32-Auxiliary support seat; 321-Auxiliary guide cutout; 322-Auxiliary lifting cylinder; 41-Core posture adjustment shaft; 42-Core bearing seat; 421-Core guide block; 422-Core rotating motor; 43-Core limit seat; 5-Core grinding motor; 51-Core grinding disc; 61-Auxiliary posture adjustment shaft; 62-Auxiliary bearing seat; 621-Auxiliary guide block; 622-Connecting hole; 63-Auxiliary limit seat; 631-Auxiliary rotating motor; 632-Accommodating hole; 7-Auxiliary grinding motor; 71-Auxiliary grinding disc; 8-Residual concrete; 81-First-stage grinding removal part; 9-Steel formwork. DETAILED DESCRIPTION

[0046] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0047] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are 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 cannot be understood as a limitation on the present invention. In addition, the terms "first", "second" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, features defined as "first", "second" and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0048] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0049] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0050] A device for grinding residual concrete on steel templates is used to grind steel templates used for prefabricated piers, thereby removing residual concrete attached to the steel templates and ensuring that the steel templates have sufficient surface accuracy during subsequent recycling.

[0051] Specifically, the steel formwork residual concrete grinding and processing device in this embodiment includes: a supporting plate 2, a core processing unit and an auxiliary processing unit, wherein the supporting plate 2 is used to provide an installation basis for the core processing unit and the auxiliary processing unit, and to realize the assembly between this device and the wall-climbing robot 1, and the core processing unit and the auxiliary processing unit are used to grind the residual concrete on the steel formwork, and can adjust their own working posture according to the actual situation of the residual concrete, so that the grinding treatment of the residual concrete can obtain good quality and efficiency.

[0052] like Figure 2 As shown, a core support seat 31 and two slidable auxiliary support seats 32 are provided on the carrier plate 2. The core support seat 31 is used to provide a mounting base for the core processing unit, and the auxiliary support seat 32 is used to provide a mounting base for the auxiliary processing unit. The two auxiliary support seats 32 should be located on both sides of the core support seat 31, and the sliding directions of the two auxiliary support seats 32 should be parallel. Figure 1 As shown, during use, the supporting plate 2 is detachably mounted on the wall-climbing robot 1 (the detachable connection between the supporting plate 2 and the wall-climbing robot 1 can be achieved using a bolt connection method commonly used in the prior art, or the supporting plate 2 can be mounted on the wall-climbing robot 1 by pre-installing a fixing device such as a claw or clamp). When performing the grinding process on the steel formwork, the wall-climbing robot 1 will drive the device to move along a preset travel route on the steel formwork, thereby automatically completing the grinding process on the steel formwork.

[0053] Optionally, to enable the auxiliary support base 32 to slide, the carrier plate 2 may be provided with a guide rail 21, and a guide slider 22 may be provided on the guide rail 21. During assembly, the auxiliary support base 32 can be detachably mounted to the guide slider 22 by bolting. During use, the guide slider 22 slides along the guide rail 21 to drive the auxiliary support base 32 to move.

[0054] It should be noted that the wall-climbing robot 1 described in this embodiment is a mature automated mobile working device in the prior art. The operating principle, specific structure, and control method of the wall-climbing robot 1 are well known to the public. In addition, the matching structure of the guide slider 22 and the guide rail 21 in this embodiment can refer to the common linear slide structure. Those skilled in the art can easily understand this structure and correctly apply it in combination with existing technology. The above content does not form part of the invention content of this application and is therefore not elaborated in this article.

[0055] Figure 3 It is a structural diagram of the core processing unit and the core support seat 31. As shown in the figure, the core processing unit includes a core bearing assembly and a core grinding motor 5. The core bearing assembly is arranged on the core support seat 31 in a liftable manner. A core posture adjustment shaft 41 is provided on the core bearing assembly. The core posture adjustment shaft 41 is parallel to the bearing plate 2, and the core posture adjustment shaft 41 is perpendicular to the sliding direction of the auxiliary support seat 32. The core grinding motor 5 is arranged on the core posture adjustment shaft 41, and a detachable core grinding disc 51 is also provided on the output shaft of the core grinding motor 5. When performing the grinding process, the posture of the core grinding disc 51 can be adjusted by lifting and lowering the core bearing assembly and rotating the core posture adjustment shaft 41, so that the actual working posture of the core grinding disc 51 matches the residual concrete, thereby improving the grinding efficiency and grinding quality of the residual concrete.

[0056] Optional, such as Figure 4 As shown, the core bearing assembly in this embodiment may include a core bearing seat 42 and a core limiting seat 43. A core guide block 421 is provided at one end of the core bearing seat 42, and a core guide cutout 311 for accommodating the core guide block 421 is provided on the core support seat 31. The core posture adjustment shaft 41 is provided at the other end of the core bearing seat 42, a connecting block is provided on the core grinding motor 5, and the connecting block is connected to the core posture adjustment shaft 41, and the core limiting seat 43 is detachably provided at the end of the core guide block 421 away from the core bearing seat 42. During assembly, the staff can first insert the core guide block 421 into the core guide cutout 311, and then install the core limiting seat 43 on the core guide block 421, so that the core limiting seat 43 and the core bearing seat 42 are respectively located on both sides of the core support seat 31. At this time, the cooperation between the core limit seat 43 and the core bearing seat 42 can prevent the core guide block 421 from separating from the core guide cut 311, and the cooperation between the core guide cut 311 and the core guide block 421 can guide and constrain the lifting and lowering action of the core bearing assembly, thereby making the lifting and lowering action of the core bearing assembly on the core support seat 31 have good reliability.

[0057] In addition, in order to achieve the lifting and lowering of the core bearing assembly, a core lifting electric cylinder 312 may be provided on the core support seat 31, and the telescopic rod of the core lifting electric cylinder 312 should be connected to the core limit seat 43. Correspondingly, in order to achieve the rotation of the core posture adjustment shaft 41, a core rotating motor 422 may also be provided on the core bearing seat 42, and the output shaft of the core rotating motor 422 is connected to the core posture adjustment shaft 41. When the core bearing assembly needs to be lifted or lowered, the core lifting electric cylinder 312 can drive its telescopic rod to extend and retract, thereby driving the core bearing assembly to be lifted or lowered. When the core posture adjustment shaft 41 needs to be rotated, the core rotating motor 422 will input torque to the core posture adjustment shaft 41 through its output shaft, thereby driving the core posture adjustment shaft 41 to rotate.

[0058] Figure 5 This is a structural diagram of the auxiliary processing unit and the auxiliary support seat 32. As shown in the figure, the auxiliary processing unit includes an auxiliary bearing assembly and an auxiliary grinding motor 7. The auxiliary bearing assembly is arranged on the auxiliary support seat 32 in a liftable manner. An auxiliary posture adjustment shaft 61 is provided on the auxiliary bearing assembly. The auxiliary posture adjustment shaft 61 is parallel to the sliding direction of the auxiliary support seat 32, and the auxiliary posture adjustment shaft 61 is perpendicular to the core posture adjustment shaft 41. The auxiliary grinding motor 7 is arranged on the auxiliary posture adjustment shaft 61, and a detachable auxiliary grinding disc 71 is also provided on the output shaft of the auxiliary grinding motor 7. During the grinding process, the posture of the auxiliary grinding disc 71 can be adjusted by lifting and lowering the auxiliary bearing assembly and rotating the auxiliary posture adjustment shaft 61, so that the actual working posture of the auxiliary grinding disc 71 matches the residual concrete, thereby improving the grinding efficiency and grinding quality of the residual concrete.

[0059] Optional, such as Figure 6 As shown, the auxiliary bearing assembly in this embodiment may include an auxiliary bearing seat 62 and an auxiliary limiting seat 63. An auxiliary guide block 621 is provided at one end of the auxiliary bearing seat 62, and an auxiliary guide cutout 321 for accommodating the auxiliary guide block 621 is provided on the auxiliary support seat 32. The auxiliary posture adjustment shaft 61 is provided at the other end of the auxiliary bearing seat 62, and the end of the auxiliary posture adjustment shaft 61 away from the auxiliary guide block 621 is connected to the auxiliary grinding motor 7, and the auxiliary limiting seat 63 is detachably provided at the end of the auxiliary guide block 621 away from the auxiliary bearing seat 62. Similar to the core bearing assembly, during assembly, the staff can first insert the auxiliary guide block 621 into the auxiliary guide cutout 321, and then install the auxiliary limiting seat 63 on the auxiliary guide block 621, so that the auxiliary limiting seat 63 and the auxiliary bearing seat 62 are respectively located on both sides of the auxiliary support seat 32, so that the lifting and lowering action of the auxiliary bearing assembly obtains good reliability.

[0060] In addition, to achieve the lifting and lowering of the auxiliary bearing assembly, an auxiliary lifting electric cylinder 322 may be provided on the auxiliary support seat 32, and the telescopic rod of the auxiliary lifting electric cylinder 322 is connected to the auxiliary limit seat 63. Correspondingly, to achieve the rotation of the auxiliary posture adjustment shaft 61, an auxiliary rotation motor 631 may also be provided on the auxiliary limit seat 63. Unlike the core bearing assembly, to ensure that the torque generated by the auxiliary rotation motor 631 is transmitted to the auxiliary posture adjustment shaft 61, the auxiliary bearing seat 62 should be provided with a mounting hole for accommodating the auxiliary posture adjustment shaft 61, and the auxiliary limit seat 63 should be provided with a receiving hole 632. When the auxiliary limit seat 63 is assembled with the auxiliary bearing seat 62, the receiving hole 632 will be connected to the mounting hole through the preset connection hole 622 on the auxiliary guide block 621, so that the output shaft of the auxiliary rotation motor 631 can be inserted into the mounting hole along the receiving hole 632 and the connection hole 622 and connected to the auxiliary posture adjustment shaft 61. Similar to the core load-bearing assembly, when the auxiliary load-bearing assembly needs to be raised or lowered, the auxiliary lift cylinder 322 drives its telescopic rod to extend and retract, thereby driving the auxiliary load-bearing assembly to rise or fall. When the auxiliary posture adjustment shaft 61 needs to be rotated, the auxiliary rotation motor 631 inputs torque to the auxiliary posture adjustment shaft 61 through its output shaft, thereby driving the auxiliary posture adjustment shaft 61 to rotate.

[0061] As a preferred embodiment of this embodiment, in order to ensure that the device obtains a good grinding processing range, the two auxiliary grinding discs 71 should be located on the side of the core grinding disc 51 away from the core support seat 31, and the diameter of the auxiliary grinding disc 71 is smaller than the diameter of the core grinding disc 51, and the distance between the two auxiliary grinding discs 71 is smaller than the diameter of the core grinding disc 51. Since the distance between the two auxiliary grinding discs 71 is smaller than the diameter of the core grinding disc 51, in this device, the auxiliary grinding disc 71 is located on the side of the core grinding disc 51 away from the core support seat 31. Figure 1 When the steel template is polished in the posture shown, the core polishing disc 51 polishes the gap between the two auxiliary polishing discs 71, thereby avoiding the occurrence of processing dead angles within the polishing range of the device and improving the polishing quality of the device.

[0062] As an optional implementation of this embodiment, in order to improve the stability of the device when performing the grinding work, a counterweight block 24 can be provided on the supporting plate 2, and the counterweight block 24 should be located on the side of the core support seat 31 away from the core grinding motor 5. Since the core grinding motor 5 and the auxiliary grinding motor 7 are located on the outside of the supporting plate 2, the weight of the core grinding motor 5 and the auxiliary grinding motor 7 and the force generated by the grinding process will cause the center of gravity of the device to shift toward the direction of the core grinding motor 5. By providing the counterweight block 24, the gravity distribution on the supporting plate 2 can be balanced, so that the center of gravity of the device is transferred to the top of the wall-climbing robot 1, ensuring that the wall-climbing robot 1 still obtains good walking stability after carrying this device. In addition, since the core posture adjustment shaft 41 is perpendicular to the sliding direction of the auxiliary support seat 32, when the posture of the core grinding disc 51 is adjusted by rotating the core posture adjustment shaft 41, the core grinding disc 51 may interfere with the supporting plate 2. To solve this problem, an avoidance cutout 23 may be provided on the carrier plate 2 of the core support seat 31 close to the core grinding motor 5, thereby providing sufficient space for the posture adjustment of the core grinding disc 51 with the help of the avoidance cutout 23.

[0063] Based on the above content, this embodiment also provides a method for grinding and processing residual concrete of steel formwork, which is implemented by the above-mentioned steel formwork residual concrete grinding and processing device. By using this steel formwork residual concrete grinding and processing method, the working posture of the steel formwork residual concrete grinding and processing device can be adjusted according to the actual situation of the residual concrete, so that the grinding processing of the residual concrete can obtain better quality and higher efficiency.

[0064] Figure 9 The flowchart of the method for grinding residual concrete on steel formwork is shown in the figure. The method for grinding residual concrete on steel formwork specifically includes the following steps:

[0065] Step S1, obtaining the position of the residual concrete and the position of the steel formwork residual concrete grinding processing device, and determining the operating direction of the steel formwork residual concrete grinding processing device according to the position of the residual concrete and the position of the steel formwork residual concrete grinding processing device.

[0066] Before performing the grinding process, this embodiment will use the position of the steel formwork residual concrete grinding process device as the starting point and the position of the residual concrete as the end point to determine the operating direction of the steel formwork residual concrete grinding process device. It should be noted that when obtaining the positions of the steel formwork residual concrete grinding process device and the residual concrete, a real-time image of the steel formwork can be first collected, and the positions of the steel formwork residual concrete grinding process device and the residual concrete can be determined by image recognition. Accordingly, in order to facilitate the alignment of the steel formwork residual concrete grinding process device and the residual concrete during the subsequent grinding process, when determining the position through image recognition, the position of the center point of the image of the residual concrete should be used as the position of the residual concrete, and the position of the core processing unit on the steel formwork residual concrete grinding process device should be used as the position of the steel formwork residual concrete grinding process device, so that when the steel formwork residual concrete grinding process device moves toward the residual concrete along the operating direction, the core processing unit maintains an alignment posture with the center of the residual concrete.

[0067] Step S2: Using the operating direction of the steel formwork residual concrete grinding and processing device as the projection direction, obtain a projection image of the residual concrete, and determine the maximum adhesion thickness of the residual concrete and the average surface inclination of the residual concrete on both sides of the area where the maximum adhesion thickness is located based on the projection image.

[0068] Because different residual concretes vary in thickness and shape, in order to develop an appropriate grinding strategy tailored to the actual residual concrete conditions, this embodiment uses the projection image of the residual concrete to determine the maximum adhesion thickness of the residual concrete and the average surface inclination of the residual concrete on both sides of the area with the maximum adhesion thickness. The maximum adhesion thickness is used to determine the posture adjustment strategy of the core grinding disc 51, ensuring that the core grinding disc 51 obtains a larger grinding contact area with the residual concrete during the second-stage grinding process. The average surface inclination of the residual concrete is used to determine the posture adjustment strategy of the auxiliary grinding disc 71, ensuring that the posture of the auxiliary grinding disc 71 matches the surface shape of the residual concrete.

[0069] For example, since the residual concrete grinding and processing device for steel formwork is installed on the wall-climbing robot 1 during use, in this embodiment, both the real-time image of the steel formwork and the projected image of the residual concrete can be captured by the image acquisition device (e.g., a camera) inherent to the wall-climbing robot 1, facilitating subsequent image recognition. Accordingly, those skilled in the art can also use the image acquisition device on other devices (e.g., an aerial drone) to perform the aforementioned image acquisition, thereby increasing the flexibility of image acquisition.

[0070] It should be noted that because the residual concrete on the steel formwork typically has an irregular surface shape, the adhesion thickness of the residual concrete varies from area to area. After obtaining a projection image of the residual concrete, the surface of the residual concrete in the projection image can be divided into multiple areas. The vertical distance between each area and the residual concrete adhesion surface (i.e., the steel formwork surface) is calculated one by one. This vertical distance is then used as the adhesion thickness of the area. The adhesion thickness of each area is then compared to determine the maximum adhesion thickness of the residual concrete and clearly identify the area with the maximum adhesion thickness.

[0071] Accordingly, when calculating the surface inclination of the residual concrete, the surface of the residual concrete in the projected image can be divided into multiple regions. The difference in the vertical distances from the endpoints to the attachment surface, as well as the horizontal distance between the endpoints, can be calculated within each region to determine the surface inclination of each region. After the region with the maximum attachment thickness is determined, the surface inclinations of the regions on either side of the region with the maximum attachment thickness can be averaged to determine the average surface inclination of the residual concrete on both sides of the region with the maximum attachment thickness.

[0072] Step S3: According to the average surface inclination of the residual concrete and the diameter of the auxiliary grinding disc 71, the auxiliary posture adjustment shaft 61 is driven to rotate, and the auxiliary bearing assembly is driven to rise and fall, so that the inclination of the auxiliary grinding disc 71 is the same as the average surface inclination of the residual concrete, and the bottom edge of the auxiliary grinding disc 71 contacts the steel formwork.

[0073] After determining the average surface inclination of the residual concrete, this embodiment adjusts the working posture of the auxiliary grinding disc 71 according to the average surface inclination of the residual concrete and the diameter of the auxiliary grinding disc 71, so that the steel formwork residual concrete grinding processing device forms the following Figure 7 Specifically, when adjusting the working posture of the auxiliary grinding disc 71, the rotation of the auxiliary posture adjustment shaft 61 can form an angle between the auxiliary grinding disc 71 and the steel formwork, so that the inclination of the auxiliary grinding disc 71 should be the same as the average inclination of the surface of the residual concrete, which facilitates the removal of the edge area of ​​the residual concrete by the auxiliary grinding disc 71 during the first-stage grinding process, thereby reducing the adhesion contact area between the residual concrete and the steel formwork. The lifting and lowering of the auxiliary bearing assembly can adjust the relative position between the auxiliary grinding disc 71 and the steel formwork, so that the bottom edge of the auxiliary grinding disc 71 in the tilted state contacts the steel formwork, thereby preventing the auxiliary grinding disc 71 from damaging the steel formwork during the first-stage grinding process.

[0074] In addition, since the average surface inclinations of the residual concrete on both sides of the area with the maximum attachment thickness on the residual concrete may be different, when executing step S3, the two auxiliary grinding discs 71 should be adjusted separately according to the average surface inclinations of the residual concrete on both sides of the area with the maximum attachment thickness.

[0075] Step S4, drive the auxiliary support seat 32 to slide in the direction of the residual concrete so that the auxiliary grinding disc 71 moves above the residual concrete; start the auxiliary grinding motor 7 so that the auxiliary grinding disc 71 performs a first-stage grinding process on the residual concrete. During the first-stage grinding process, drive the auxiliary posture adjustment shaft 61 to rotate and drive the auxiliary bearing assembly to rise and fall, so that the auxiliary grinding disc 71 rotates to be parallel to the steel template when the first-stage grinding process is completed, and the bottom surface of the auxiliary grinding disc 71 contacts the steel template.

[0076] After the auxiliary grinding disc 71 is adjusted, the embodiment drives the auxiliary processing unit in the steel formwork residual concrete grinding processing device to perform a first-stage grinding process on the residual concrete. Specifically, it is necessary to first drive the auxiliary support seat 32 to slide in the direction of the residual concrete so that the auxiliary grinding disc 71 moves to the top of the residual concrete. At this time, the auxiliary grinding disc 71 and the residual concrete 8 will form a Figure 10 Next, the auxiliary grinding motor 7 is started to cause the auxiliary grinding disc 71 to perform a first-stage grinding process on the residual concrete. During the first-stage grinding process, the auxiliary posture adjustment shaft 61 is rotated and the auxiliary bearing assembly is lifted and lowered to drive the auxiliary grinding disc 71 to rotate and lift during the first-stage grinding process. When the first-stage grinding process is completed, the auxiliary grinding disc 71 rotates to a posture parallel to the steel template 9, and the bottom surface of the auxiliary grinding disc 71 is in contact with the steel template 9.

[0077] During the first-stage grinding process, the auxiliary grinding disc 71 rotates and rises driven by the auxiliary posture adjustment shaft 61 and the auxiliary bearing assembly, and rotates under the action of the auxiliary grinding motor 7. Therefore, after the auxiliary grinding disc 71 comes into contact with the residual concrete 8, the first-stage grinding-removed portion 81 of the residual concrete 8 at the edge is separated from the steel formwork 9. After the first-stage grinding-removed portion 81 is separated, the contact area between the residual concrete 8 and the steel formwork 9 is reduced, thereby reducing the adhesion between the residual concrete 8 and the steel formwork 9, facilitating the complete removal of the residual concrete during the second-stage grinding process.

[0078] Step S5, turn off the auxiliary grinding motor 7 and drive the auxiliary support seat 32 to slide and reset; according to the maximum adhesion thickness and the diameter of the core grinding disc 51, drive the core posture adjustment shaft 41 to rotate, and drive the core bearing assembly to rise and fall, so that the distance between the top edge of the core grinding disc 51 and the steel template is equal to the maximum adhesion thickness, and the bottom edge of the core grinding disc 51 is in contact with the steel template.

[0079] After completing the first stage of grinding, the auxiliary grinding motor 7 should be turned off and the auxiliary support seat 32 should be driven to slide and reset, so as to adjust the posture of the core grinding disc 51, so as to carry out the second stage of grinding of the residual concrete with the help of the core processing unit and the auxiliary processing unit.

[0080] When adjusting the posture of the core grinding disc 51, it should be adjusted according to the maximum adhesion thickness of the residual concrete and the diameter of the core grinding disc 51, so that the steel template residual concrete grinding processing device forms the following Figure 8 The working posture shown. Specifically, when adjusting the posture of the core grinding disc 51, the rotation of the core posture adjustment shaft 41 can form an angle between the core grinding disc 51 and the steel formwork, so that when the core grinding disc 51 is in an inclined state, the distance between its top edge and the steel formwork is equal to the maximum adhesion thickness of the residual concrete, ensuring that the core grinding disc 51 and the residual concrete obtain the maximum grinding contact area, thereby improving the grinding processing efficiency of the core grinding disc 51 on the residual concrete. The lifting and lowering of the core bearing assembly can adjust the relative position between the core grinding disc 51 and the steel formwork, so that the bottom edge of the core grinding disc 51 in the inclined state contacts the steel formwork, thereby preventing the core grinding disc 51 from damaging the steel formwork during the second stage grinding process.

[0081] Step S6: Drive the steel formwork residual concrete grinding processing device to move along the working direction, and start the auxiliary grinding motor 7 and the core grinding motor 5, so that the auxiliary grinding disc 71 and the core grinding disc 51 perform two-stage grinding processing on the residual concrete. After completing the two-stage grinding processing, the core grinding disc 51 is reset by rotating the core posture adjustment shaft 41 and lifting the core bearing assembly, and the auxiliary grinding motor 7 and the core grinding motor 5 are turned off.

[0082] After the core grinding disc 51 is adjusted, the embodiment drives the steel formwork residual concrete grinding processing device to perform a second-stage grinding process on the residual concrete. Specifically, first, the wall-climbing robot 1 needs to be driven by walking or other walking mechanisms to drive the steel formwork residual concrete grinding processing device to move along the working direction, so that the core grinding disc 51 and the residual concrete form a second-stage grinding process. Figure 11The position distribution state shown. Next, the auxiliary grinding motor 7 and the core grinding motor 5 are started, so that the auxiliary grinding disc 71 and the core grinding disc 51 perform a two-stage grinding process on the residual concrete. During the two-stage grinding process, since the steel formwork residual concrete grinding processing device will pass through the residual concrete under the drive of the wall-climbing robot 1 or other walking mechanism, the core grinding disc 51 in the tilted state will grind the residual concrete, thereby separating the residual concrete from the steel formwork 9, and the auxiliary grinding disc 71 will process the grinding gaps on the steel formwork 9 caused by the tilt of the core grinding disc 51, so that the steel formwork 9 can obtain good grinding quality.

[0083] After completing the second stage grinding process, the core grinding disc 51 should be reset by adjusting the rotation of the core posture shaft 41 and the lifting and lowering of the core bearing assembly, and the auxiliary grinding motor 7 and the core grinding motor 5 should be turned off to facilitate the steel formwork residual concrete grinding processing device to grind the next residual concrete.

[0084] In actual application, due to the differences in shape and size of residual concrete, if the actual width of the residual concrete is greater than the effective grinding width of the steel formwork residual concrete grinding treatment device, the grinding treatment quality of the residual concrete will be affected.

[0085] To solve this problem, the present embodiment may further include the following steps before executing step S3:

[0086] Step S21: Determine the maximum grinding width for grinding residual concrete on the steel formwork according to the diameter of the auxiliary grinding disc 71 and the distance between the two auxiliary posture adjustment shafts 61;

[0087] determining the attachment surface width of the residual concrete according to the projection image;

[0088] When the attachment surface width is less than or equal to the maximum grinding width, executing steps S3-S6;

[0089] When the width of the attachment surface is greater than the maximum grinding processing width, the auxiliary posture adjustment shaft 61 is driven to rotate according to the diameter of the auxiliary grinding disc 71, and the auxiliary bearing assembly is driven to rise and fall, so that the auxiliary grinding disc 71 is perpendicular to the steel template, and the bottom edge of the auxiliary grinding disc 71 is in contact with the steel template; the auxiliary grinding motor 7 is started and the auxiliary support seat 32 is driven to slide in the direction of the residual concrete, so that the auxiliary grinding disc 71 cuts the residual concrete to form three concrete cutting blocks; the auxiliary grinding disc 71 is reset by the sliding of the auxiliary support seat 32 and the rotation of the auxiliary posture adjustment shaft 61, and the auxiliary grinding motor 7 is turned off; the concrete cutting blocks are treated as residual concrete one by one, and steps S1-S6 are repeated until all concrete cutting blocks are completed.

[0090] It should be noted that when determining the attachment surface width of the residual concrete based on the projection image of the residual concrete, the width of the contact area between the projection image of the residual concrete and the steel formwork should be used as the attachment surface width.

[0091] In addition, when determining the maximum grinding processing width based on the diameter of the auxiliary grinding disk 71 and the distance between the two auxiliary posture adjustment shafts 61, if the diameters of the two auxiliary grinding disks 71 are the same, the sum of the distance between the two auxiliary posture adjustment shafts 61 and the diameter of one auxiliary grinding disk 71 should be calculated and used as the maximum grinding processing width. If the diameters of the two auxiliary grinding disks 71 are different, the radii of the two auxiliary grinding disks 71 should be calculated separately, and the sum of the distance between the two auxiliary posture adjustment shafts 61 and the radii of the two auxiliary grinding disks 71 should be calculated to obtain the maximum grinding processing width.

[0092] When the attachment surface width is less than or equal to the maximum grinding width, it proves that the steel formwork residual concrete grinding treatment device is capable of performing a complete grinding treatment on the residual concrete at one time, and steps S3-S6 can be directly executed at this time.

[0093] When the width of the attachment surface is greater than the maximum grinding processing width, it proves that the steel formwork residual concrete grinding processing device is unable to remove the residual concrete at one time. At this time, the auxiliary grinding disc 71 can be adjusted in posture through the auxiliary posture adjustment shaft 61 and the auxiliary bearing assembly so that the auxiliary grinding disc 71 is perpendicular to the steel formwork, and the bottom edge of the auxiliary grinding disc 71 is in contact with the steel formwork. After starting the auxiliary grinding motor 7 and driving the auxiliary support seat 32 to slide in the direction of the residual concrete, the auxiliary grinding disc 71 will cut the residual concrete, so that the residual concrete with a larger actual width is formed into three concrete cut blocks with a smaller actual width. Next, the auxiliary grinding disc 71 can be driven to reset, and the concrete cut blocks are treated as residual concrete one by one, and steps S1-S6 are repeated until all concrete cut blocks are polished, thereby completing the polishing of the residual concrete.

[0094] Correspondingly, if during the grinding process for a certain concrete cut block, it is found that the actual width of the concrete cut block is still greater than the maximum grinding processing width of the steel formwork residual concrete grinding processing device, the concrete cut block can be cut again until the resulting concrete cut block can be completely processed by the steel formwork residual concrete grinding processing device at one time.

[0095] The following describes the effects of the above scheme:

[0096] This embodiment provides a device and method for grinding residual concrete on steel formwork. The posture of the core grinding disc and the auxiliary grinding disc in the device for grinding residual concrete on steel formwork can be flexibly adjusted, thereby being able to adapt to residual concrete of different shapes and thicknesses, thereby achieving better grinding quality. Furthermore, this embodiment is capable of performing both a single-stage grinding process and a two-stage grinding process on the residual concrete. The single-stage grinding process can remove the edge areas on both sides of the residual concrete, reducing the adhesion contact area between the residual concrete and the steel formwork and lowering the adhesion strength between the residual concrete and the steel formwork. The two-stage grinding process can also provide a larger grinding contact area between the core grinding disc and the residual concrete, thereby achieving higher grinding efficiency.

[0097] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A grinding and processing device for residual concrete on steel formwork, characterized in that: include: A carrying plate (2), the carrying plate (2) being detachably arranged on the wall-climbing robot (1), and provided with a core support seat (31) and two slidable auxiliary support seats (32) on the carrying plate (2), the two auxiliary support seats (32) being respectively located on both sides of the core support seat (31), and the sliding directions of the two auxiliary support seats (32) being parallel to each other; A core processing unit, comprising a core bearing assembly and a core grinding motor (5); the core bearing assembly is movably arranged on a core support seat (31); a core posture adjustment shaft (41) is provided on the core bearing assembly; the core posture adjustment shaft (41) is parallel to the bearing plate (2), and the core posture adjustment shaft (41) is perpendicular to the sliding direction of the auxiliary support seat (32); the core grinding motor (5) is arranged on the core posture adjustment shaft (41); a detachable core grinding disc (51) is further provided on the output shaft of the core grinding motor (5); and the posture of the core grinding disc (51) can be adjusted by lifting the core bearing assembly and rotating the core posture adjustment shaft (41); An auxiliary processing unit, the auxiliary processing unit comprising an auxiliary bearing assembly and an auxiliary grinding motor (7); the auxiliary bearing assembly is movably arranged on an auxiliary support seat (32); an auxiliary posture adjustment shaft (61) is provided on the auxiliary bearing assembly, the auxiliary posture adjustment shaft (61) is parallel to the sliding direction of the auxiliary support seat (32), and the auxiliary posture adjustment shaft (61) is perpendicular to the core posture adjustment shaft (41); the auxiliary grinding motor (7) is arranged on the auxiliary posture adjustment shaft (61), and a detachable auxiliary grinding disc (71) is further provided on the output shaft of the auxiliary grinding motor (7); and the posture of the auxiliary grinding disc (71) can be adjusted by lifting the auxiliary bearing assembly and rotating the auxiliary posture adjustment shaft (61).

2. The device for grinding and treating residual concrete on steel formwork according to claim 1, characterized in that: The two auxiliary grinding discs (71) are both located on a side of the core grinding disc (51) away from the core support seat (31), the diameter of the auxiliary grinding disc (71) is smaller than the diameter of the core grinding disc (51), and the distance between the two auxiliary grinding discs (71) is smaller than the diameter of the core grinding disc (51).

3. The device for grinding and treating residual concrete on steel formwork according to claim 1, characterized in that: The core bearing assembly comprises a core bearing seat (42) and a core limiting seat (43); a core guide block (421) is provided at one end of the core bearing seat (42), and a core guide notch (311) for accommodating the core guide block (421) is provided on the core support seat (31); the core posture adjustment shaft (41) is provided at the other end of the core bearing seat (42), a connecting block is provided on the core grinding motor (5), and the connecting block is connected to the core posture adjustment shaft (41); the core limiting seat (43) is detachably provided at one end of the core guide block (421) away from the core bearing seat (42), and the core limiting seat (43) and the core bearing seat (42) are respectively located on both sides of the core support seat (31).

4. The device for grinding and treating residual concrete on steel formwork according to claim 3, characterized in that: A core lifting electric cylinder (312) is provided on the core support seat (31), and a telescopic rod of the core lifting electric cylinder (312) is connected to the core limit seat (43); a core rotating motor (422) is also provided on the core bearing seat (42), and an output shaft of the core rotating motor (422) is connected to the core posture adjustment shaft (41).

5. The device for grinding and treating residual concrete on steel formwork according to claim 1, characterized in that: The auxiliary bearing assembly comprises an auxiliary bearing seat (62) and an auxiliary limiting seat (63); an auxiliary guide block (621) is provided at one end of the auxiliary bearing seat (62), and an auxiliary guide notch (321) for accommodating the auxiliary guide block (621) is provided on the auxiliary support seat (32); the auxiliary posture adjustment shaft (61) is provided at the other end of the auxiliary bearing seat (62), and the end of the auxiliary posture adjustment shaft (61) away from the auxiliary guide block (621) is connected to the auxiliary grinding motor (7); the auxiliary limiting seat (63) is detachably provided at the end of the auxiliary guide block (621) away from the auxiliary bearing seat (62), and the auxiliary limiting seat (63) and the auxiliary bearing seat (62) are respectively located on both sides of the auxiliary support seat (32).

6. The device for grinding and treating residual concrete on steel formwork according to claim 5, characterized in that: An auxiliary lifting electric cylinder (322) is provided on the auxiliary support seat (32), and the telescopic rod of the auxiliary lifting electric cylinder (322) is connected to the auxiliary limiting seat (63); a mounting hole is provided on the auxiliary bearing seat (62), and the auxiliary posture adjustment shaft (61) is rotatably arranged inside the mounting hole; a receiving hole (632) is provided on the auxiliary limiting seat (63), and the receiving hole (632) is connected to the mounting hole through the connecting hole (622) on the auxiliary guide block (621); an auxiliary rotating motor (631) is also provided on the auxiliary limiting seat (63), and the output shaft of the auxiliary rotating motor (631) is inserted into the mounting hole along the receiving hole (632) and the connecting hole (622), and the output shaft of the auxiliary rotating motor (631) is connected to the auxiliary posture adjustment shaft (61).

7. The device for grinding and treating residual concrete on steel formwork according to claim 1, characterized in that: A guide rail (21) is provided on the bearing plate (2), a guide slider (22) is provided on the guide rail (21), and the auxiliary support seat (32) is detachably connected to the guide slider (22).

8. The device for grinding and treating residual concrete on steel formwork according to claim 1, characterized in that: The bearing plate (2) is provided with an avoidance cutout (23) and a counterweight (24), wherein the avoidance cutout (23) is located on a side of the core support seat (31) close to the core grinding motor (5), and the counterweight (24) is located on a side of the core support seat (31) away from the core grinding motor (5).

9. A method for grinding residual concrete on steel formwork, characterized by: The method is implemented by using the steel formwork residual concrete grinding processing device according to any one of claims 1 to 8, comprising the following steps: Step S1, obtaining the position of the residual concrete and the position of the steel formwork residual concrete grinding processing device, and determining the operating direction of the steel formwork residual concrete grinding processing device according to the position of the residual concrete and the position of the steel formwork residual concrete grinding processing device; Step S2: using the operating direction of the steel formwork residual concrete grinding processing device as a projection direction, obtaining a projection image of the residual concrete, and determining the maximum adhesion thickness of the residual concrete and the average surface inclination of the residual concrete on both sides of the area where the maximum adhesion thickness is located based on the projection image; Step S3, according to the average surface inclination of the residual concrete and the diameter of the auxiliary grinding disc (71), driving the auxiliary posture adjustment shaft (61) to rotate, and driving the auxiliary bearing assembly to rise and fall, so that the inclination of the auxiliary grinding disc (71) is the same as the average surface inclination of the residual concrete, and the bottom edge of the auxiliary grinding disc (71) contacts the steel template; Step S4, driving the auxiliary support seat (32) to slide in the direction of the residual concrete so that the auxiliary grinding disc (71) moves to the top of the residual concrete; starting the auxiliary grinding motor (7) so that the auxiliary grinding disc (71) performs a first-stage grinding process on the residual concrete, and when performing the first-stage grinding process, driving the auxiliary posture adjustment shaft (61) to rotate and driving the auxiliary bearing assembly to rise and fall, so that the auxiliary grinding disc (71) rotates to be parallel to the steel template when the first-stage grinding process is completed, and the bottom surface of the auxiliary grinding disc (71) contacts the steel template; Step S5, turning off the auxiliary grinding motor (7) and driving the auxiliary support seat (32) to slide and reset; according to the maximum attachment thickness and the diameter of the core grinding disc (51), driving the core posture adjustment shaft (41) to rotate, and driving the core bearing assembly to rise and fall, so that the distance between the top edge of the core grinding disc (51) and the steel template is equal to the maximum attachment thickness, and the bottom edge of the core grinding disc (51) is in contact with the steel template; Step S6: driving the steel formwork residual concrete grinding processing device to move along the working direction, and starting the auxiliary grinding motor (7) and the core grinding motor (5), so that the auxiliary grinding disc (71) and the core grinding disc (51) perform a two-stage grinding process on the residual concrete, and after completing the two-stage grinding process, the core grinding disc (51) is reset by rotating the core posture adjustment shaft (41) and lifting the core bearing assembly, and the auxiliary grinding motor (7) and the core grinding motor (5) are turned off.

10. A method for grinding residual concrete on steel formwork according to claim 9, characterized in that: Before executing step S3, the method for grinding residual concrete on steel formwork further includes: Step S21, determining the maximum grinding width of the steel formwork residual concrete grinding process according to the diameter of the auxiliary grinding disc (71) and the distance between the two auxiliary posture adjustment shafts (61); determining the attachment surface width of the residual concrete according to the projection image; When the attachment surface width is less than or equal to the maximum grinding width, executing steps S3-S6; When the width of the attachment surface is greater than the maximum grinding processing width, the auxiliary posture adjustment shaft (61) is driven to rotate according to the diameter of the auxiliary grinding disc (71), and the auxiliary bearing assembly is driven to rise and fall, so that the auxiliary grinding disc (71) is perpendicular to the steel template, and the bottom edge of the auxiliary grinding disc (71) is in contact with the steel template; the auxiliary grinding motor (7) is started and the auxiliary support seat (32) is driven to slide in the direction of the residual concrete, so that the auxiliary grinding disc (71) cuts the residual concrete to form three concrete cut blocks; the auxiliary grinding disc (71) is reset by sliding the auxiliary support seat (32) and rotating the auxiliary posture adjustment shaft (61), and the auxiliary grinding motor (7) is turned off; the concrete cut blocks are treated as residual concrete one by one, and steps S1-S6 are repeated until all concrete cut blocks are polished.

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