A device and method for polishing a bending area of a special-shaped steel formwork

Abstract

The application provides a special-shaped steel formwork bending area polishing treatment device and method, and belongs to the technical field of polishing treatment. The device comprises an assembly unit, a bearing plate, a bending polishing unit and a main polishing unit. The assembly unit comprises an assembly plate and a connecting seat, and the connecting seat is slidably arranged on the assembly plate. The bearing plate is arranged on the connecting seat in a lifting manner, and a posture adjusting shaft is arranged on the side of the bearing plate away from the connecting seat. The bending polishing unit comprises a bending bearing seat and a detection plate. The main polishing unit comprises a main bearing seat and a polishing driving assembly. The special-shaped steel formwork bending area polishing treatment device and method can improve the polishing efficiency and polishing quality of the bending area of the special-shaped steel formwork.

Description

Technical Field

[0001] This invention belongs to the field of grinding technology, and in particular relates to a grinding device and method for the bending area of ​​irregular steel templates. Background Technology

[0002] When constructing a cross-sea bridge, the construction window at the offshore site is short, and the environmental controllability is low. Therefore, to ensure good processing quality and precision for the piers, those skilled in the art typically choose prefabrication technology. During pier prefabrication, workers first tie the reinforcing cage and insert it into steel formwork, followed by concrete pouring, thus obtaining reliable and high-precision prefabricated pier components.

[0003] To meet the mechanical and functional requirements of practical applications, precast pier components typically come in various shapes. Correspondingly, the steel formwork used in the precast pier process is generally divided into two types: ordinary steel formwork and irregular steel formwork (irregular steel formwork refers to steel formwork with bent parts at the edges or specific locations of the main body of the steel formwork, and the bending area formed between the bent parts and the main body of the steel formwork meets the special shaping requirements of the precast pier components). This allows workers to use the formwork according to the shape requirements of the precast pier components.

[0004] However, due to the limited operating space within the bending area of ​​irregularly shaped steel formwork, and the varying angles formed between the bending parts and the main body of the formwork on different shapes, the difficulty of grinding the bending area increases significantly when reusing irregularly shaped steel formwork. Traditional grinding equipment cannot grind both the main body of the steel formwork and the bending parts in the bending area in one go, nor can it adapt well to the different angles between the main body of the steel formwork and the bending parts. Therefore, after grinding, rust, release agent, or concrete residue is easily found inside the bending area, which not only affects the overall construction efficiency but also leads to casting defects on subsequent precast pier components due to residue. Summary of the Invention

[0005] In view of this, the present invention aims to provide a grinding device and method for the bending area of ​​irregular steel formwork, so as to improve the grinding efficiency and grinding quality of the bending area of ​​irregular steel formwork.

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

[0007] In one aspect, the present invention provides a grinding and processing device for the bending area of ​​irregularly shaped steel templates, comprising:

[0008] An assembly unit, comprising an assembly plate and a connecting seat, wherein the assembly plate is detachably mounted on the wall-climbing robot and the connecting seat is slidably mounted on the assembly plate;

[0009] A support plate is provided, which is vertically and heightably mounted on the connecting seat and is parallel to the assembly plate; an attitude adjustment shaft is provided on the side of the support plate away from the connecting seat, the attitude adjustment shaft is parallel to the support plate and perpendicular to the sliding direction of the connecting seat;

[0010] A bending and polishing unit includes a bending support and a detection plate. The bending support is slidably mounted on an attitude adjustment shaft, and rotates synchronously with the attitude adjustment shaft when the shaft rotates. Two first floating connection components are provided on the bending support, each with a detachable bending and polishing disc, and the bending and polishing discs on the two first floating connection components are parallel. The detection plate is mounted on the bending support, parallel to the bending and polishing discs, and has an attitude detection module on it.

[0011] The main grinding unit includes a main support seat and a grinding drive assembly. The main support seat is rotatably mounted on a bent support seat and is located between two first floating connection assemblies. A second floating connection assembly is provided on the main support seat, and a detachable main grinding disc is provided on the second floating connection assembly, and the main grinding disc is parallel to the support plate. The grinding drive assembly is disposed on the support plate and can drive the main support seat and the bent support seat to perform linear reciprocating motion along the attitude adjustment axis.

[0012] Furthermore, the bending support is provided with an assembly hole for accommodating the attitude adjustment shaft, and a limiting strip is provided inside the assembly hole; the side wall of the attitude adjustment shaft is provided with a limiting groove for accommodating the limiting strip, and the length direction of the limiting groove is parallel to the attitude adjustment shaft.

[0013] Furthermore, the bending support includes a first limiting segment, a connecting segment, and a second limiting segment connected in sequence; the main support is provided with a mounting hole for accommodating the connecting segment, the outer diameter of the first limiting segment and the second limiting segment are both larger than the inner diameter of the mounting hole, and the distance between the first limiting segment and the second limiting segment is equal to the axial length of the mounting hole.

[0014] Furthermore, the detection plate is provided with a group of detection holes for installing the attitude detection module and an avoidance cut for avoiding the main body support.

[0015] The attitude detection module includes a first distance sensor, a second distance sensor, and a third distance sensor. The detection hole group includes a first detection hole for accommodating the first distance sensor, a second detection hole for accommodating the second distance sensor, and a third detection hole for accommodating the third distance sensor. The line connecting the first and second detection holes is parallel to the attitude adjustment axis, and the line connecting the third detection hole and the first detection hole is perpendicular to the attitude adjustment axis.

[0016] Furthermore, the bending support is provided with two positioning components, and the line connecting the two positioning components is parallel to the attitude adjustment axis; each positioning component includes two parallel first positioning plates, and a first guide rod is provided between the two first positioning plates in the same positioning component, and the first guide rod is perpendicular to the attitude adjustment axis; the first floating connection component includes a first floating seat and a first spring, the bending grinding disc is detachably disposed on the bottom surface of the first floating seat, a first connecting ear is provided on the top of the first floating seat, the first connecting ear is slidably disposed between the two first positioning plates, and a first guide hole for accommodating the first guide rod is provided on the first connecting ear; the first spring is sleeved on the first guide rod, and the first spring is located on the side of the first connecting ear away from the support plate;

[0017] The second floating connection assembly includes a second floating seat and a second spring; the main support seat is provided with two parallel second positioning plates, and a second guide rod is provided between the two second positioning plates, with the second guide rod perpendicular to the attitude adjustment shaft; the main grinding disc is detachably disposed on the bottom surface of the second floating seat, and a second connecting ear is provided on the top of the second floating seat, the second connecting ear is slidably disposed between the two second positioning plates, and a second guide hole for accommodating the second guide rod is provided on the second connecting ear; the second spring is sleeved on the second guide rod, and the second spring is located on the side of the second connecting ear closer to the support plate.

[0018] Furthermore, the attitude adjustment shaft is provided with a drive rod, and the drive rod is perpendicular to the attitude adjustment shaft; an electric telescopic rod is also provided on the support plate, the electric telescopic rod is perpendicular to the attitude adjustment shaft, and one end of the electric telescopic rod is hinged to the support plate, and the other end is hinged to the drive rod.

[0019] Furthermore, the grinding drive assembly includes a linear motor and a connecting rod assembly. One end of the connecting rod assembly is detachably connected to the motion slider of the linear motor, and the other end of the connecting rod assembly is detachably connected to the main support seat.

[0020] Furthermore, the connecting seat includes a first connecting plate and a second connecting plate, the second connecting plate being disposed on one side of the first connecting plate, the second connecting plate being perpendicular to the first connecting plate, and the first connecting plate being parallel to the assembly plate.

[0021] Furthermore, the assembly plate is provided with a guide slide rail, and a guide slider is provided on the guide slide rail, and the first connecting plate is detachably connected to the guide slider;

[0022] The first connecting plate is provided with a mounting base, and a lifting electric cylinder is provided on the mounting base, and the end of the telescopic rod of the lifting electric cylinder is connected to the bearing plate;

[0023] The support plate has a guide post on its side wall near the second connecting plate. The second connecting plate has a guide cut for accommodating the guide post. A detachable limiting plate is also provided at the end of the guide post away from the support plate. The limiting plate and the support plate are located on opposite sides of the second connecting plate.

[0024] On the other hand, the present invention also provides a method for grinding the bending area of ​​irregular steel formwork, which is implemented using the above-mentioned grinding device for the bending area of ​​irregular steel formwork, and specifically includes the following steps:

[0025] Step S1: After the grinding and treatment device for the bending area of ​​the irregular steel template moves along the main body of the steel template to the bending area, the relative position of the detection plate and the bending part is determined by the posture detection module, and the detection plate is made parallel to the bending part by rotating the posture adjustment shaft.

[0026] Step S2: Drive the connecting seat to slide in the direction of the bending part, and drive the bearing plate to descend so that the bending grinding disc contacts the bending part and the main grinding disc contacts the main body of the steel template.

[0027] Step S3: Start the grinding drive assembly to drive the main bearing seat and the bending bearing seat to perform linear reciprocating motion along the attitude adjustment axis, so that the main grinding disc and the bending grinding disc can grind the bending area, and the single stroke of the linear reciprocating motion is greater than the sum of the lengths of the main grinding disc and the bending grinding disc along the attitude adjustment axis.

[0028] Step S4: After the grinding process is completed, turn off the grinding drive assembly, and use the sliding of the connecting seat and the lifting of the bearing plate to detach the main grinding disc and the bending grinding disc from the irregular steel template.

[0029] Compared with existing technologies, the grinding device and method for the bending area of ​​irregular steel templates described in this invention have the following advantages:

[0030] This invention provides a grinding device and method for the bending area of ​​irregularly shaped steel formwork. The device's support plate is capable of lifting and lowering, and the connecting seat is capable of sliding, thus facilitating the entry of the main grinding unit and the bending grinding unit into the bending area. Furthermore, the device allows the bending grinding unit to rotate according to the inclination of the bending section via a posture adjustment shaft. Therefore, when grinding the bending area of ​​the irregularly shaped steel formwork, the main grinding disc and the bending grinding disc respectively contact the steel formwork body and the bending section, adapting to different angles between the bending section and the steel formwork body. This allows for grinding of both the steel formwork body and the bending section in a single operation, thereby improving the grinding efficiency and quality of the bending area of ​​the irregularly shaped steel formwork. Furthermore, this device is equipped with floating connection components on both the main support and the bending support. Therefore, when the main grinding disc and the bending grinding disc are driven to contact the main body of the steel formwork and the bending part respectively, the floating connection components enable the grinding disc and the support to move relative to each other. This further improves the adaptability of this device to different angles between the bending part and the main body of the steel formwork, and ensures that the grinding disc contacts the junction area between the bending part and the main body of the steel formwork during the grinding process, thereby avoiding dead corners in the bending area of ​​the irregular steel formwork during the grinding process. Attached Figure Description

[0031] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0032] Figure 1 A schematic diagram of the structure of the irregular steel template bending area grinding device described in the embodiment of the present invention, installed on a wall-climbing robot;

[0033] Figure 2 A schematic diagram of the assembly plate described in the embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the structure of the connecting seat and the bearing plate described in the embodiment of the present invention;

[0035] Figure 4 A schematic diagram of the bending and polishing unit described in the embodiment of the present invention;

[0036] Figure 5 A schematic diagram of the bending and polishing unit described in an embodiment of the present invention from another angle;

[0037] Figure 6 A schematic diagram of the main grinding unit described in an embodiment of the present invention;

[0038] Figure 7 A schematic diagram of the grinding and processing device for the bending area of ​​the irregular steel template described in the embodiment of the present invention in use (the related structure of the assembly unit is hidden).

[0039] Figure 8 The flowchart illustrates the grinding process for the bending area of ​​the irregular steel template as described in the embodiments of the present invention.

[0040] Explanation of reference numerals in the attached figures:

[0041] 1-Wall-climbing robot; 2-Assembly plate; 21-Guide slide rail; 22-Guide slider; 23-Counterweight; 31-First connecting plate; 311-Mounting base; 312-Lifting cylinder; 32-Second connecting plate; 321-Guide slit; 4-Bearing plate; 41-Attitude adjustment shaft; 411-Limiting groove; 412-Drive rod; 42-Guide column; 421-Limiting plate; 43-Electric telescopic rod; 51-First limiting section; 52-Connecting section; 53-Second limiting section; 54-Detection plate; 541-Avoidance slit; 542-First distance sensor; 543- Second distance sensor; 544-Third distance sensor; 55-Assembly hole; 551-Limiting strip; 56-First positioning plate; 561-First guide rod; 61-Bending grinding disc; 62-First floating seat; 621-First connecting ear; 63-First spring; 7-Main body support; 71-Mounting hole; 72-Second positioning plate; 721-Second guide rod; 81-Main body grinding disc; 82-Second floating seat; 821-Second connecting ear; 83-Second spring; 91-Linear motor; 92-Connecting rod assembly; 101-Steel template body; 102-Bending part. Detailed Implementation

[0042] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0043] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0044] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0045] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0046] A grinding device for the bending area of ​​irregular steel formwork is used to simultaneously grind the main body of the steel formwork with included angles and the bending part in the bending area of ​​the irregular steel formwork, thereby improving the grinding efficiency and grinding quality of the bending area of ​​the irregular steel formwork.

[0047] Specifically, the grinding device for the bent area of ​​the irregular steel formwork in this embodiment includes: an assembly unit, a support plate 4, a bending grinding unit, and a main grinding unit. The bending grinding unit and the main grinding unit are used to grind the bent portion of the irregular steel formwork and the main body of the steel formwork, respectively. The assembly unit is used to assemble this device with the wall-climbing robot 1, and during the grinding process, it drives other components in the device to move closer to or away from the bent portion. The support plate 4 provides a mounting base for the bending grinding unit and the main grinding unit, and during the grinding process, it drives the bending grinding unit and the main grinding unit to move closer to or away from the main body of the steel formwork.

[0048] like Figure 2 and Figure 3As shown, the assembly unit includes an assembly plate 2 and a connecting seat. The connecting seat is slidably mounted on the assembly plate 2, and a support plate 4 is vertically mounted on the connecting seat, with the support plate 4 parallel to the assembly plate 2. Figure 1 As shown, during use, the assembly plate 2 is detachably mounted on the wall-climbing robot 1 (the detachable connection between the assembly plate 2 and the wall-climbing robot 1 can be achieved using bolt connections, a common technique in the prior art, or by pre-setting clamps or grippers on the wall-climbing robot 1 to mount the assembly plate 2). When grinding irregularly shaped steel templates, the wall-climbing robot 1 will move this device along the steel template body. When the device moves near the bending area, the sliding of the connecting seat and the lifting of the bearing plate 4 allow the bending grinding unit and the main grinding unit to enter the bending area, thus enabling subsequent grinding work on the bending area within a limited operating space.

[0049] Optionally, the connecting base may include a first connecting plate 31 and a second connecting plate 32, wherein the second connecting plate 32 is disposed on one side of the first connecting plate 31, the second connecting plate 32 is perpendicular to the first connecting plate 31, and the first connecting plate 31 is parallel to the assembly plate 2. During design and manufacturing, the operator should adjust the actual dimensions of the second connecting plate 32 according to the specifications of the wall-climbing robot 1, ensuring that the distance from the bottom of the second connecting plate 32 to the bottom surface of the first connecting plate 31 is not greater than the overall height of the wall-climbing robot 1, so as to avoid interference from the connecting base during the movement of the wall-climbing robot 1.

[0050] To facilitate the sliding of the connecting seat, this embodiment includes a guide rail 21 on the assembly plate 2, and a guide slider 22 on the guide rail 21. During assembly, the first connecting plate 31 can be detachably installed onto the guide slider 22 using bolts. In use, the sliding of the guide slider 22 along the guide rail 21 moves the connecting seat. It should be noted that since the center of gravity of the device shifts when the connecting seat slides away from the wall-climbing robot 1, a counterweight 23 should be provided on the side of the assembly plate 2 away from the connecting seat to ensure good stability of the wall-climbing robot 1 during grinding operations. This counterweight 23 helps to balance the center of gravity.

[0051] To achieve the lifting and lowering of the support plate 4, this embodiment may provide a mounting base 311 on the first connecting plate 31, and a lifting electric cylinder 312 on the mounting base 311. Correspondingly, a guide post 42 should be provided on the side wall of the support plate 4 near the second connecting plate 32, and a guide cutout 321 for accommodating the guide post 42 should be provided on the second connecting plate 32. A detachable limiting plate 421 should also be provided at the end of the guide post 42 away from the support plate 4. During assembly, the operator should first insert the guide post 42 into the guide cutout 321, and then install the limiting plate 421 on the guide post 42, so that the limiting plate 421 and the support plate 4 are located on both sides of the second connecting plate 32, respectively. Then, the connection between the end of the telescopic rod of the lifting electric cylinder 312 and the support plate 4 is achieved by bolt connection. At this time, the cooperation between the limiting plate 421 and the bearing plate 4 can prevent the guide post 42 from disengaging from the guide cutout 321, and the cooperation between the guide cutout 321 and the guide post 42 can guide and constrain the lifting action of the bearing plate 4. Therefore, when the lifting electric cylinder 312 drives its telescopic rod to perform telescopic action, the bearing plate 4 will perform a stable and reliable lifting action.

[0052] In practical applications, the angles formed between the bent parts and the main body of different shaped steel templates vary. Therefore, to adapt to different angle conditions and ensure that the bending and grinding unit and the main body grinding unit can perform high-quality grinding on the bent parts and the main body of the steel template, this embodiment also provides a posture adjustment shaft 41 parallel to the bearing plate 4 on the side away from the connecting seat. The posture adjustment shaft 41 should be perpendicular to the sliding direction of the connecting seat. During use, the posture adjustment shaft not only guides the grinding actions of the bending and grinding unit and the main body grinding unit, but also drives the bending and grinding unit to rotate according to the angle between the bent parts and the main body of the steel template, thereby meeting different working requirements.

[0053] Optionally, to drive the attitude adjustment shaft 41 to rotate, a drive rod 412 perpendicular to the attitude adjustment shaft 41 may be provided on the attitude adjustment shaft 41, and an electric telescopic rod 43 perpendicular to the attitude adjustment shaft 41 should also be provided on the support plate 4. During assembly, one end of the electric telescopic rod should be hinged to a pre-set hinge seat on the support plate 4, and the other end should be hinged to the drive rod 412. When it is necessary to adjust the attitude of the bending and grinding unit by rotating the attitude adjustment shaft 41, the electric telescopic rod 43 can be driven to extend and retract, so that the attitude adjustment shaft 41 rotates in accordance with the extension and retraction of the electric telescopic rod 43. For example, when the angle between the bent part and the steel formwork body is large, the electric telescopic rod 43 can be driven to extend, so that the end of the drive rod 412 away from the attitude adjustment shaft 41 rotates away from the connecting seat. When the angle between the bent part and the steel formwork body is small, the electric telescopic rod 43 can be driven to shorten, so that the end of the drive rod 412 away from the attitude adjustment shaft 41 rotates towards the connecting seat.

[0054] Figure 4 and Figure 5 The diagram shows the structure of the bending and grinding unit in this embodiment. As shown, the bending and grinding unit includes a bending support seat and a detection plate 54. The bending support seat is slidably mounted on the attitude adjustment shaft 41, and rotates synchronously with the attitude adjustment shaft 41 when it rotates. The bending support seat has two first floating connection components, each with a detachable bending and grinding disc 61, and the bending and grinding discs 61 on the two first floating connection components are parallel. The detection plate 54 is mounted on the bending support seat, parallel to the bending and grinding discs 61, and has an attitude detection module for determining the relative attitude between the bending and grinding unit and the bent portion of the irregular steel template. In operation, the relative position between the detection plate 54 and the bent portion of the irregular steel template is first determined by the attitude detection module. Based on the determination result, the attitude adjustment shaft 41 is rotated to make the detection plate 54 and the bent portion 102 parallel to each other. Since the detection plate 54 is parallel to the bending grinding disc 61, after the attitude adjustment is completed, the bending grinding disc 61 will also be parallel to the bent portion. Next, the bending grinding disc 61 can be brought into contact with the bent portion by sliding the connecting seat and raising and lowering the bearing plate 4, so that when the device starts grinding, the bent portion on the irregular steel template can be ground by the bending grinding disc 61 to remove the attached substances on the bent portion.

[0055] Optionally, to ensure that the bending support seat rotates synchronously with the attitude adjustment shaft 41, the bending support seat may be provided with a mounting hole 55 for accommodating the attitude adjustment shaft 41, and a limiting strip 551 is provided inside the mounting hole 55. Correspondingly, the side wall of the attitude adjustment shaft 41 should be provided with a limiting groove 411 for accommodating the limiting strip 551, and the length direction of the limiting groove 411 should be parallel to the attitude adjustment shaft 41. When the attitude adjustment shaft 41 rotates, the cooperation between the limiting groove 411 and the limiting strip 551 will transmit the torque on the attitude adjustment shaft 41 to the bending support seat, thereby enabling the bending support seat and the attitude adjustment shaft 41 to rotate synchronously. In addition, since the length direction of the limiting groove 411 should be parallel to the attitude adjustment axis 41, when the bending and grinding unit reciprocates along the attitude adjustment axis 41 due to the grinding action, the limiting strip 551 can also slide inside the limiting groove 411, thereby avoiding motion interference to the grinding action of the bending and grinding unit.

[0056] Figure 6 The diagram shows the structure of the main grinding unit in this embodiment. The main grinding unit includes a main support seat 7 and a grinding drive assembly. The main support seat 7 is rotatably mounted on a bent support seat and is located between two first floating connection assemblies. A second floating connection assembly is provided on the main support seat 7, and a detachable main grinding disc 81 is provided on the second floating connection assembly, with the main grinding disc 81 parallel to the support plate 4. The grinding drive assembly is located on the support plate 4. During grinding, the grinding drive assembly drives the main support seat 7 and the bent support seat to reciprocate linearly along the attitude adjustment axis 41, causing relative friction between the main grinding disc 81 and the bent grinding disc 61 and the steel template, thereby removing the deposits on the steel template.

[0057] For example, the grinding drive assembly in this embodiment may include a linear motor 91 and a connecting rod assembly 92. The connecting rod assembly 92 serves as a transmission connection structure between the linear motor 91 and the main support 7. One end of the connecting rod assembly 92 should be detachably connected to the motion slider of the linear motor 91, and the other end of the connecting rod assembly 92 should be detachably connected to the main support 7. When the linear motor 91 is started, the motion slider will reciprocate linearly along the track. At this time, the connecting rod assembly 92 can transfer the kinetic energy of the motion slider to the main support 7, thereby driving the main support 7 and the bending support to reciprocate linearly along the attitude adjustment shaft 41.

[0058] Optionally, to achieve the assembly between the main support 7 and the bending support, and to ensure that the bending support can follow the main support 7 in linear reciprocating motion along the attitude adjustment shaft 41 driven by the grinding drive assembly, the bending support may include a first limiting segment 51, a connecting segment 52, and a second limiting segment 53 connected in sequence. The main support 7 may be provided with a mounting hole 71 for accommodating the connecting segment 52. The outer diameters of both the first limiting segment 51 and the second limiting segment 53 should be larger than the inner diameter of the mounting hole 71, and the distance between the first limiting segment 51 and the second limiting segment 53 should be equal to the axial length of the mounting hole 71. Since the main support 7 and the grinding drive assembly on the support plate 4 have a transmission connection, when the bending support rotates with the attitude adjustment shaft 41, the transmission connection between the main support 7 and the grinding drive assembly will restrict the rotation of the main support 7. At this time, relative rotation will occur between the connecting segment 52 and the mounting hole 71, preventing the presence of the main support 7 from interfering with the attitude adjustment of the bending support. When the grinding drive assembly drives the main support seat 7 to reciprocate linearly along the attitude adjustment shaft 41, since the outer diameters of the first limiting segment 51 and the second limiting segment 53 are both larger than the inner diameter of the mounting hole 71, and the distance between the first limiting segment 51 and the second limiting segment 53 is equal to the axial length of the mounting hole 71, the reciprocating motion of the main support seat 7 will be transmitted to the bending support seat through the first limiting segment 51 and the second limiting segment 53, thereby causing the bending support seat to move along with the main support seat 7.

[0059] It should be noted that, to facilitate the assembly of the main support 7 and the bending support, the main support 7 can be manufactured as a modular assembly structure, or a detachable connection structure can be provided between the first limiting section 51, the connecting section 52, and the second limiting section 53, thereby reducing the assembly difficulty of the main support 7 and the bending support. Furthermore, a rotating connection structure, such as a bearing, should be provided inside the mounting hole 71 to reduce the rotational frictional resistance between the main support 7 and the bending support, and improve the smoothness of the bending grinding unit during posture adjustment.

[0060] Figure 7 This is a schematic diagram of the grinding device for the bent area of ​​irregular steel formwork in use (assembly unit related structures are hidden). As shown in the figure, during actual operation, the main grinding disc 81 and the bending grinding disc 61 will contact the main body 101 of the steel formwork and the bent portion 102 of the bent area of ​​the irregular steel formwork, respectively. However, when the angle between the main body 101 of the steel formwork and the bent portion 102 changes, adjusting the posture of the bending grinding unit alone may cause misalignment between the main grinding disc 81 and the bending grinding disc 61, resulting in a dead zone in the interface between the bent portion 102 and the main body 101 of the steel formwork.

[0061] To address this issue, this embodiment utilizes a first floating connection assembly to enable relative movement between the bending grinding disc 61 and the bending support seat, and a second floating connection assembly to enable relative movement between the main grinding disc 81 and the main support seat 7, thereby improving the device's adaptability to different angles between the bending portion 102 and the steel template body 101.

[0062] Specifically, such as Figure 4 As shown, the first floating connection assembly includes a first floating seat 62 and a first spring 63, and the bending grinding disc 61 is detachably mounted on the bottom surface of the first floating seat 62. To facilitate assembly between the first floating connection assembly and the bending bearing seat, the bending bearing seat is provided with two positioning components, and the line connecting the two positioning components is parallel to the attitude adjustment shaft 41. Each positioning component includes two parallel first positioning plates 56, and a first guide rod 561 perpendicular to the attitude adjustment shaft 41 is provided between the two first positioning plates 56 in the same positioning component. A first connecting ear 621 is provided at the top of the first floating seat 62, and a first guide hole for accommodating the first guide rod 561 is provided on the first connecting ear 621, and the first spring 63 is sleeved on the first guide rod 561.

[0063] During assembly, the first connecting ear 621 is slidably disposed between the two first positioning plates 56, and the first spring 63 should be located on the side of the first connecting ear 621 away from the bearing plate 4. Since the first guide rod 561 is perpendicular to the attitude adjustment shaft 41, the presence of the first floating connection assembly will not affect the normal grinding operation of the bending grinding disc 61. When the edge of the bending grinding disc 61 contacts the steel template body 101 during the descent of the bearing plate 4, the pushing action of the steel template body 101 on the edge of the bending grinding disc 61 will cause the first floating seat 62 to slide along the first guide rod 561, so that the edge of the bending grinding disc 61 can contact the junction area between the bending part 102 and the steel template body 101, avoiding grinding dead corners in the junction area during grinding. At the same time, the sliding of the first floating seat 62 will compress the first spring 63. The elastic force generated by the compression of the first spring 63 can improve the contact effect between the edge of the bending grinding disc 61 and the junction area, ensuring that the junction area obtains good grinding quality.

[0064] Similar to the first floating connection component, such as Figure 6As shown, the second floating connection assembly includes a second floating seat 82 and a second spring 83, and the main grinding disc 81 is detachably mounted on the bottom surface of the second floating seat 82. To facilitate assembly between the second floating connection assembly and the main support seat 7, the main support seat 7 is provided with two parallel second positioning plates 72, and a second guide rod 721 perpendicular to the attitude adjustment shaft 41 is provided between the two second positioning plates 72. The top of the second floating seat 82 is provided with a second connecting ear 821, and the second connecting ear 821 has a second guide hole for accommodating the second guide rod 721, and the second spring 83 is sleeved on the second guide rod 721.

[0065] During assembly, the second connecting ear 821 is slidably disposed between the two second positioning plates 72, and the second spring 83 is located on the side of the second connecting ear 821 closer to the bearing plate 4. Since the second guide rod 721 is also perpendicular to the attitude adjustment pivot 41, the presence of the second floating connection assembly will not affect the normal grinding operation of the main grinding disc 81. When the edge of the main grinding disc 81 contacts the bending part 102 as the connecting seat slides towards the bending part 102, the abutting action of the bending part 102 on the edge of the main grinding disc 81 will cause the second floating seat 82 to slide along the second guide rod 721, so that the edge of the main grinding disc 81 can contact the junction area between the bending part 102 and the steel template body 101, avoiding grinding dead corners in the junction area during grinding. At the same time, the sliding of the second floating seat 82 will compress the second spring 83. The elastic force generated by the compression of the second spring 83 can improve the contact effect between the edge of the main grinding disc 81 and the junction area, ensuring that the junction area obtains good grinding quality.

[0066] As an optional implementation of this embodiment, to prevent the bending and grinding unit from interfering with the main grinding unit as the posture adjustment shaft 41 rotates, the detection plate 54 may also be provided with a clearance cut 541 for avoiding the main support seat 7. In addition, to facilitate the installation of the posture detection module, the detection plate 54 may also be provided with a group of detection holes for installing the posture detection module.

[0067] As an example and not a limitation, the attitude detection module in this embodiment may include: a first distance sensor 542, a second distance sensor 543, and a third distance sensor 544. Correspondingly, the detection hole group should include: a first detection hole for accommodating the first distance sensor 542, a second detection hole for accommodating the second distance sensor 543, and a third detection hole for accommodating the third distance sensor 544. The line connecting the first and second detection holes should be parallel to the attitude adjustment shaft 41, and the line connecting the third and first detection holes should be perpendicular to the attitude adjustment shaft 41. In use, since the line connecting the first and second detection holes is parallel to the attitude adjustment shaft 41, when the distance information collected by the first distance sensor 542 and the second distance sensor 543 is the same, it can be proven that the attitude adjustment shaft 41 is parallel to the junction area formed by the bent portion and the steel template body. Meanwhile, since the line connecting the third and first detection holes is perpendicular to the attitude adjustment axis 41, when the distance information collected by the first distance sensor 542, the second distance sensor 543, and the third distance sensor 544 is the same, it can be proven that the plane where the attitude detection module is located (i.e., the detection plate 54) is parallel to the bent part of the irregular steel template. In this way, the operator can use the information collected by the above-mentioned distance sensors to determine whether the attitude of the device relative to the bent area meets the grinding requirements and make corresponding adjustments.

[0068] Based on the above, this embodiment also provides a method for grinding the bending area of ​​irregular steel formwork, which is implemented using the aforementioned grinding device for the bending area of ​​irregular steel formwork.

[0069] Figure 8 The flowchart for the grinding process of the bent area of ​​irregular steel formwork is shown in the figure. The specific steps of the grinding process of the bent area of ​​irregular steel formwork include:

[0070] Step S1: After the grinding and processing device moves along the main body 101 of the steel template to the bending area, the relative position of the detection plate 54 and the bending part 102 is determined by the posture detection module, and the detection plate 54 and the bending part 102 are made parallel by rotating the posture adjustment shaft 41.

[0071] It should be noted that when the attitude detection module uses the distance sensor mentioned above, the position of the attitude adjustment shaft 41 should be determined first by the first distance sensor 542 and the second distance sensor 543, and then the relative position of the detection plate 54 and the bent part 102 should be determined by the first distance sensor 542, the second distance sensor 543 and the third distance sensor 544, so as to avoid the attitude adjustment of the detection plate 54 from deviating from the actual situation.

[0072] Step S2: Drive the connecting seat to slide in the direction of the bending part 102, and drive the bearing plate 4 to descend so that the bending grinding disc 61 contacts the bending part 102, and the main grinding disc 81 contacts the steel template body 101.

[0073] It should be noted that during the process of bringing the bending grinding disc 61 into contact with the bending part 102 and the main grinding disc 81 into contact with the steel template body 101, common equipment such as pressure sensors can be used to detect the contact pressure between the bending grinding disc 61 and the main grinding disc 81 and the irregular steel template, so as to avoid causing undue damage to the steel template during the grinding process.

[0074] Step S3: Start the grinding drive assembly to drive the main body support 7 and the bending support to perform linear reciprocating motion along the attitude adjustment axis 41, so that the main grinding disc 81 and the bending grinding disc 61 can grind the bending area, and the single stroke of the linear reciprocating motion is greater than the sum of the lengths of the main grinding disc 81 and the bending grinding disc 61 along the attitude adjustment axis 41.

[0075] It should be noted that when the main bearing seat 7 and the bending bearing seat are driven to perform linear reciprocating motion along the attitude adjustment axis 41, the single stroke of the linear reciprocating motion is greater than the sum of the lengths of the main grinding disc 81 and the bending grinding disc 61 along the attitude adjustment axis 41. This can cause the areas traversed by the main grinding disc 81 and the bending grinding disc 61 to overlap. In this way, it is possible to avoid grinding dead corners in the areas traversed by the main grinding disc 81 and the bending grinding disc 61, and ensure that the bending area of ​​the irregular steel formwork achieves a good effect in removing attachments.

[0076] Step S4: After the grinding process is completed, turn off the grinding drive assembly, and use the sliding of the connecting seat and the lifting of the bearing plate 4 to detach the main grinding disc 81 and the bent grinding disc 61 from the irregular steel template.

[0077] The effects of the above solution are explained below:

[0078] This embodiment provides a grinding device and method for the bending area of ​​irregularly shaped steel formwork. The device allows the main grinding unit and the bending grinding unit to enter the bending area through the movement of the support plate and connecting seat, facilitating grinding operations in confined spaces and improving the grinding efficiency of the bending area of ​​irregularly shaped steel formwork. Furthermore, this device can adjust the posture of the bending grinding components according to the actual angle between the bending part and the main body of the steel formwork, and can achieve relative movement between the grinding disc and the support seat through a floating connection assembly. Therefore, it can meet different practical operational needs and achieve good grinding quality in the bending area of ​​irregularly shaped steel formwork.

[0079] It should be further noted that the wall-climbing robot described in this embodiment is a mature automated mobile work device in the prior art. A linear motor is an existing drive device that directly converts electrical energy into linear motion mechanical energy. A common linear motor typically consists of a sliding block and a track. The sliding block has a mover, and the track has a stator. The sliding block is driven to perform linear reciprocating motion on the track through electromagnetic principles. The specific working principles, structural composition, and control methods of the wall-climbing robot and linear motor are well-known and not part of the scope of this invention; therefore, they will not be elaborated upon here. Furthermore, the distance sensor, lifting cylinder, and electric telescopic rod mentioned in this embodiment are all prior art. Those skilled in the art are familiar with their specific structures and application methods and can correctly apply them based on the above description.

[0080] The above description is merely 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 within the protection scope of the present invention.

Claims

1. A device for polishing the bending area of a profiled steel formwork, characterized in that, The device comprises a mounting unit, a bearing plate, a posture adjustment rotating shaft, a bending polishing unit and a main body polishing unit. The mounting unit comprises a mounting plate and a connecting seat, the mounting plate is detachably arranged on a wall-climbing robot, and the connecting seat is slidably arranged on the mounting plate. The bearing plate is arranged on the connecting seat in a liftable manner, and the bearing plate is parallel to the mounting plate. The posture adjustment rotating shaft is arranged on the side of the bearing plate away from the connecting seat, and the posture adjustment rotating shaft is parallel to the bearing plate and perpendicular to the sliding direction of the connecting seat. The bending polishing unit comprises a bending bearing seat and a detection plate.

2. The device according to claim 1, characterized in that: The bending bearing seat is slidably sleeved on the posture adjustment rotating shaft, and the bending bearing seat rotates synchronously with the posture adjustment rotating shaft when the posture adjustment rotating shaft rotates.

3. The device according to claim 1, characterized in that: Each first floating connection assembly is provided with a detachable bending polishing piece. The detection plate is arranged on the bending bearing seat and parallel to the bending polishing piece. The main body polishing unit comprises a main body bearing seat and a polishing driving assembly. The main body bearing seat is rotatably sleeved on the bending bearing seat and located between the two first floating connection assemblies. The second floating connection assembly is provided with a detachable main body polishing piece. The polishing driving assembly is arranged on the bearing plate and drives the main body bearing seat and the bending bearing seat to move linearly along the posture adjustment rotating shaft. The bending bearing seat is provided with an assembly hole for accommodating the posture adjustment rotating shaft. The side wall of the posture adjustment rotating shaft is provided with a limiting groove for accommodating the limiting strip. The bending bearing seat comprises a first limiting section, a connecting section and a second limiting section connected in sequence. The main body bearing seat is provided with a mounting hole for accommodating the connecting section. The outer diameters of the first limiting section and the second limiting section are greater than the inner diameter of the mounting hole. The distance between the first limiting section and the second limiting section is equal to the axial length of the mounting hole.

4. The device according to claim 1, wherein The detection plate (54) is provided with a detection hole group for installing a posture detection module and an avoiding cutout (541) for avoiding the main body bearing seat (7); The posture detection module comprises a first distance sensor (542), a second distance sensor (543) and a third distance sensor (544), the detection hole group comprises a first detection hole for accommodating the first distance sensor (542), a second detection hole for accommodating the second distance sensor (543) and a third detection hole for accommodating the third distance sensor (544); the line between the first detection hole and the second detection hole is parallel to the posture adjustment rotating shaft (41), and the line between the third detection hole and the first detection hole is perpendicular to the posture adjustment rotating shaft (41).

5. The device according to claim 1, wherein: The bending bearing seat is provided with two positioning assemblies, and the line between the two positioning assemblies is parallel to the posture adjustment rotating shaft (41); each positioning assembly comprises two first positioning plates (56) parallel to each other, a first guide rod (561) is arranged between the two first positioning plates (56) in the same positioning assembly, and the first guide rod (561) is perpendicular to the posture adjustment rotating shaft (41); the first floating connection assembly comprises a first floating seat (62) and a first spring (63), the bending polishing piece (61) is detachably arranged on the bottom surface of the first floating seat (62), a first connecting lug (621) is arranged on the top of the first floating seat (62), the first connecting lug (621) is slidably arranged between the two first positioning plates (56), and a first guide hole for accommodating the first guide rod (561) is arranged on the first connecting lug (621); the first spring (63) is sleeved on the first guide rod (561), and the first spring (63) is located on the side of the first connecting lug (621) away from the bearing plate (4); The second floating connection assembly comprises a second floating seat (82) and a second spring (83); the main body bearing seat (7) is provided with two second positioning plates (72) parallel to each other, a second guide rod (721) is arranged between the two second positioning plates (72), and the second guide rod (721) is perpendicular to the posture adjustment rotating shaft (41); the main body polishing piece (81) is detachably arranged on the bottom surface of the second floating seat (82), a second connecting lug (821) is arranged on the top of the second floating seat (82), the second connecting lug (821) is slidably arranged between the two second positioning plates (72), and a second guide hole for accommodating the second guide rod (721) is arranged on the second connecting lug (821); the second spring (83) is sleeved on the second guide rod (721), and the second spring (83) is located on the side of the second connecting lug (821) close to the bearing plate (4).

6. The device for processing the bending area of the profiled steel form according to claim 1, characterized in that: The posture adjusting rotating shaft (41) is provided with a driving rod (412), and the driving rod (412) is perpendicular to the posture adjusting rotating shaft (41); the bearing plate (4) is further provided with an electric telescopic rod (43), the electric telescopic rod (43) is perpendicular to the posture adjusting rotating shaft (41), and one end of the electric telescopic rod (43) is hingedly connected with the bearing plate (4), and the other end is hingedly connected with the driving rod (412).

7. The device according to claim 1, characterized in that: The polishing driving assembly comprises a linear motor (91) and a connecting rod group (92), one end of the connecting rod group (92) is detachably connected with the moving slider of the linear motor (91), and the other end of the connecting rod group (92) is detachably connected with the main body bearing seat (7).

8. The device according to claim 1, characterized in that: The connecting seat comprises a first connecting plate (31) and a second connecting plate (32), the second connecting plate (32) is arranged on one side of the first connecting plate (31), the second connecting plate (32) is perpendicular to the first connecting plate (31), and the first connecting plate (31) is parallel to the assembly plate (2).

9. The device according to claim 8, characterized in that: The assembly plate (2) is provided with a guide rail (21), and a guide block (22) is arranged on the guide rail (21), and the first connecting plate (31) is detachably connected with the guide block (22); The first connecting plate (31) is provided with a mounting seat (311), and a lifting electric cylinder (312) is arranged on the mounting seat (311), and the telescopic rod end of the lifting electric cylinder (312) is connected with the bearing plate (4); The bearing plate (4) is provided with a guide column (42) on the side wall close to the second connecting plate (32), the second connecting plate (32) is provided with a guide notch (321) for accommodating the guide column (42), and a detachable limiting plate (421) is further arranged on the end of the guide column (42) away from the bearing plate (4), and the limiting plate (421) is arranged on the two sides of the second connecting plate (32) respectively.

10. A method for polishing a bending area of a profiled steel formwork, characterized in that: The device is realized by the device according to any one of claims 1-9, comprising the following steps: Step S1, after the device is moved to the bending area along the main body of the steel mold plate, the relative position between the detection plate (54) and the bending part is judged by the posture detection module, and the detection plate (54) is parallel to the bending part by rotating the posture adjusting rotating shaft (41); Step S2, drive the connecting seat to slide to the direction of the bending part, and drive the bearing plate (4) to descend, so that the bending polishing piece (61) contacts the bending part, and the main polishing piece (81) contacts the main body of the steel mold plate; Step S3, start the polishing driving assembly, drive the main body bearing seat (7) and the bending bearing seat to perform linear reciprocating motion along the posture adjusting rotating shaft (41), so that the main polishing piece (81) and the bending polishing piece (61) polish the bending area, and the single motion stroke of the linear reciprocating motion is greater than the sum of the lengths of the main polishing piece (81) and the bending polishing piece (61) along the posture adjusting rotating shaft (41). Step S4, after completing the polishing treatment, the polishing drive assembly is closed, and the main polishing piece (81) and the bent polishing piece (61) are separated from the special-shaped steel formwork by sliding the connecting seat and lifting the bearing plate (4).

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