Polishing and cleaning device and method for side wall of steel formwork with chamfer

Abstract

The invention provides a grinding and cleaning device and method for the side wall of a steel formwork with a chamfer, the grinding and cleaning device for the side wall of the steel formwork with the chamfer comprises a bearing plate set, the bearing plate set is detachably and fixedly connected to a wall-climbing robot, and a grinding disc capable of moving front and back and rotating in a vertical plane is arranged on the rear side of the upper end of the bearing plate set; columnar grinding heads capable of moving left and right and moving front and back are arranged on the left side and the right side of the upper end of the bearing plate set, the grinding heads can rotate along center shafts of the grinding heads in the horizontal plane and can rotate in the vertical plane, and the two grinding heads are located on the lower left portion and the lower right portion of the grinding disc correspondingly. The wall-climbing robot has the beneficial effects that the grinding disc and the grinding head are integrated on the wall-climbing robot through the bearing plate set, the position movement of the grinding disc and the grinding head and grinding of the plane area and the chamfering area of the steel formwork are controlled through the wall-climbing robot, manual grinding is replaced, time and labor are saved, and the grinding and cleaning efficiency is effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of grinding processing, and in particular relates to a device and method for grinding and cleaning the side wall of a steel template with a chamfer. Background Art

[0002] Large piers are often used in construction projects such as large bridges and docks. However, due to limited construction space and equipment, large piers are not easily cast on-site. Therefore, piers are prefabricated in a prefabrication plant and then transported to the construction site. Prefabricated pier technology offers advantages such as high quality and precision, short construction cycles, and environmental friendliness, making it widely used in construction projects such as cross-sea bridges and docks.

[0003] During the production process of square prefabricated piers, square frame steel formwork groups are used for shaping. If the interior of the pier is a hollow structure, the steel formwork group is set up as a two-layer structure of inner and outer forms. The tied steel cage is placed between the inner and outer forms, and concrete is poured between the inner and outer forms. After the shaping is completed, the inner and outer forms are demoulded. If the pier is a solid structure, the steel formwork group only has a single layer of outer formwork. The tied steel cage is placed inside the outer formwork, and concrete is poured into the outer formwork. After the shaping is completed, the formwork is demoulded. In order to reduce stress concentration and consider aesthetics, the right-angle edges of square prefabricated piers are usually set up as a structure with arc chamfers. Therefore, the square frame steel formwork group structure used is a plurality of inverted L-shaped steel formworks, which are spliced ​​and fixed together end to end, and the corners of the inverted L-shaped steel formworks are set up as chamfered structures.

[0004] After the prefabricated pier is formed, it is demolded. During this process, a small amount of concrete and release agent may adhere to the surface of the steel formwork, and large areas of rust may also form on the surface of the steel formwork after long-term use. Therefore, the steel formwork is polished and cleaned before use. The polishing effect has a direct impact on the surface quality of the pier. The steel formwork currently used is about 6 meters high and is stacked vertically in an outdoor environment. When polishing and cleaning the steel formwork, it needs to be polished upright. The traditional polishing method is to polish with a handheld angle grinder, which poses safety risks for high-altitude operations and is labor-intensive. Before polishing, a climbing frame must be set up, which is time-consuming and labor-intensive, and the polishing efficiency is low. Summary of the Invention

[0005] In view of this, the present invention aims to overcome the problems of manual grinding of steel formwork in the prior art, such as high work intensity, long time, low grinding efficiency, and the risk of high-altitude operations, and proposes a steel formwork side wall grinding and cleaning device and method with chamfered edges.

[0006] To achieve the above object, the technical solution of the present invention is achieved as follows: The first aspect of the present invention provides a steel formwork side wall grinding and cleaning device with chamfers, comprising a supporting plate group, which is detachably fixed to a wall-climbing robot, and a grinding disc that can move forward and backward and rotate in a vertical plane is provided at the rear side of the upper end of the supporting plate group, and a columnar grinding head that can move left and right and forward and backward is provided on the left and right sides of the upper end of the supporting plate group, and the grinding head can rotate along the central axis of the grinding head in the horizontal plane and can rotate in the vertical plane. The two grinding heads are respectively located at the lower left and lower right of the grinding disc, and when the two grinding heads are arranged facing each other, the minimum distance between the two grinding heads is less than the diameter of the grinding disc, and when the grinding heads rotate, the grinding heads and the grinding disc are arranged tangent to or apart from each other.

[0007] Furthermore, the supporting plate group includes a first supporting plate and a second supporting plate fixed to the lower side of the first supporting plate, the second supporting plate is fixed to the front side of the wall-climbing robot, and the first supporting plate extends upward from the wall-climbing robot.

[0008] Furthermore, a first telescopic unit is vertically fixed to the front side of the upper end of the first supporting plate, and the end of the telescopic rod of the first telescopic unit is arranged through the first supporting plate, and a connecting plate is vertically fixed to the end of the telescopic rod of the first telescopic unit, and a first motor is fixed to the front side of the connecting plate, and the output shaft of the first motor passes through the connecting plate and is fixed to the grinding disc located on the rear side of the connecting plate.

[0009] Furthermore, mounting plates are fixed to the rear at both left and right ends of the first supporting plate, a second telescopic unit is horizontally fixed to the inner side of each mounting plate, and the end of the telescopic rod of the second telescopic unit is passed through the corresponding mounting plate, and a third telescopic unit arranged perpendicular to the first supporting plate is fixed to the end of the telescopic rod of the second telescopic unit through an L-shaped connector, and the end of the telescopic rod of the third telescopic unit is passed through the corresponding L-shaped connector and fixed to one end of the I-shaped connector, a second motor is fixed to the front side of the other end of the I-shaped connector, the output shaft of the second motor is passed through the I-shaped connector and fixed to the connecting frame, the grinding head is located at the outside of the other end of the connecting frame, a third motor is fixed to the connecting frame, and the output shaft of the third motor is fixed to the grinding head.

[0010] Furthermore, the connecting frame includes a shell portion and a cover portion. The shell portion is opened at one end, and the cover portion is detachably fixed to the open end of the shell portion. A connecting section integrally formed with the cover portion is also provided in the middle of the side of the cover portion away from the shell portion. The connecting section is located on the rear side of the I-shaped connecting piece and is fixed to the output shaft of the second motor. The third motor is arranged inside the shell portion and is fixed to the end of the shell portion away from the cover portion. The output shaft of the third motor passes through the end of the shell portion away from the cover portion and is fixed to the grinding head, and the output shaft of the third motor and the grinding head are coaxially arranged.

[0011] Furthermore, an auxiliary hole is opened on the front side of the shell body.

[0012] Furthermore, the circumferential outer wall of the grinding head protrudes from the outer wall of the cover body, and a connecting shaft perpendicular to the connecting section is fixedly connected to the end of the connecting shaft away from the grinding head. A strip-shaped grinding sheet perpendicular to the connecting shaft is fixedly connected to the end of the connecting shaft. The grinding sheet is located on the rear side of the connecting frame, and the front end of the grinding sheet is arranged close to the grinding head, and the plane where the rear side wall of the grinding sheet is located coincides with the cross-section of the rearmost side of the grinding head. A positioning hole extending to the inside of the connecting shaft is opened at the front side of the connecting section corresponding to the connecting shaft, and the output shaft of the second motor is inserted into the positioning hole and fixed to the connecting shaft.

[0013] Furthermore, the lower end of the first bearing plate is fixedly connected to a fixed plate arranged along the length direction of the first bearing plate, and the first bearing plate is vertically arranged in the middle of the fixed plate, the lower side of each mounting plate is fixed to the upper side of the fixed plate, and side reinforcement ribs are provided between the upper side of each mounting plate and the upper end of the first bearing plate, and middle reinforcement ribs are provided between the upper and lower sides of the first bearing plate and the fixed plate; the second bearing plate is arranged to be an inverted L-shaped structure, and the horizontal section of the second bearing plate is arranged in contact with the lower side of the fixed plate, and is fixed to the fixed plate through multiple second bolt and nut pairs.

[0014] The second aspect of the present invention provides a method for grinding and cleaning the side wall of a steel template with chamfers based on the above-mentioned device, including a method for grinding and cleaning the flat area of ​​the steel template and a method for grinding and cleaning the chamfered area of ​​the steel template. The method for grinding and cleaning the plane area of ​​the steel template includes the following steps: A. obtaining a first position to be polished in the plane area of ​​the steel template and a position of a device for polishing and cleaning the side wall of the steel template with a chamfer, and controlling the device for polishing and cleaning the side wall of the steel template with a chamfer to move toward the first position to be polished; B. Initializing the positions of the grinding heads, driving the grinding heads to rotate toward each other via the second motor, and controlling the corresponding grinding heads to move horizontally toward each other via the second telescopic unit until the distance between the two grinding heads is minimized; C. During the process of the chamfered steel template side wall grinding and cleaning device moving toward the first position to be ground, the position of the chamfered steel template side wall grinding and cleaning device is adjusted so that the orthographic projection center of the first position to be ground along the width direction of the chamfered steel template side wall grinding and cleaning device is aligned with the orthographic projection center of the chamfered steel template side wall grinding and cleaning device; D. When the chamfered steel template sidewall grinding and cleaning device detects that the grinding disc and / or grinding head are approaching the edge of the first position to be ground, the relationship between the orthographic projection of the first position to be ground, the orthographic projections of the two grinding heads, and the orthographic projection of the grinding disc along the width direction of the chamfered steel template sidewall grinding and cleaning device is determined, and the grinding method of the grinding disc and grinding head and the travel mode of the chamfered steel template sidewall grinding and cleaning device are determined. If the orthographic projection of the first position to be polished is completely covered by the orthographic projection of the polishing disc, the steel template side wall polishing and cleaning device with chamfered corners is controlled to move in a straight line, and the first motor is started to drive the polishing disc to rotate, and the first telescopic unit is started to drive the polishing disc to move toward the surface of the steel template, and the first position to be polished is polished and cleaned by the polishing disc; If the orthographic projection edge of the first position to be polished exceeds the orthographic projection of the polishing disc and is covered by the orthographic projections of the two polishing heads arranged opposite to each other, the steel template side wall polishing and cleaning device with chamfered corners is controlled to move in a straight line, and the first motor is started to drive the polishing disc to rotate, and the first telescopic unit is started to drive the polishing disc to move toward the surface of the steel template, and the third motor and the third telescopic unit are started at the same time, and the polishing head is driven by the third motor to rotate in the horizontal plane along the central axis, and the third telescopic unit drives the polishing head to move toward the surface of the steel template, and the first position to be polished is polished and cleaned by the polishing disc and the two polishing heads together; If the orthographic projection edge of the first position to be polished exceeds the orthographic projection when the two polishing heads are arranged facing each other, and is covered by the orthographic projections of the two polishing heads arranged back to back, the steel template side wall polishing and cleaning device with chamfered corners is controlled to move in a straight line, and the first motor is started to drive the polishing disc to rotate, the first telescopic unit is started to drive the polishing disc to move toward the surface of the steel template, and the second motor, the third motor, and the third telescopic unit are started, the polishing head is driven by the third motor to rotate along the central axis in the horizontal plane, the third telescopic unit drives the polishing head to move toward the surface of the steel template, and the second motor is used to drive the polishing head to rotate in the vertical plane, and the first position to be polished is polished and cleaned by the polishing disc and the two polishing heads together; If the orthographic projection edge of the first position to be polished exceeds the orthographic projections of the two back-to-back grinding heads, the steel template side wall grinding and cleaning device with chamfered edges is controlled to move back and forth along an inclined Z-shaped trajectory, the first motor is started to drive the grinding disc to rotate, the first telescopic unit is started to drive the grinding disc to move toward the surface of the steel template, and the second motor, the third motor, and the third telescopic unit are started, the grinding head is driven by the third motor to rotate along the central axis in the horizontal plane, the third telescopic unit drives the grinding head to move toward the surface of the steel template, and the second motor is used to drive the grinding head to rotate in the vertical plane, and the first position to be polished is polished and cleaned by the grinding disc and the two grinding heads together; The method for grinding and cleaning the chamfered area of ​​the steel formwork includes the following steps: a. Obtaining the second position to be polished in the chamfered area of ​​the steel template and the position of the grinding and cleaning device for the side wall of the steel template with a chamfer, controlling the grinding and cleaning device for the side wall of the steel template with a chamfer to move toward the second position to be polished in the plane area of ​​the steel template until it approaches the second position to be polished, adjusting the position of the grinding and cleaning device for the side wall of the steel template with a chamfer so that the length direction of the grinding and cleaning device for the side wall of the steel template with a chamfer is consistent with the height direction of the steel template, and when the grinding head is set vertically upward, the upper end position of the grinding head is aligned with the lowest point of the second position to be polished; b. Initialize the grinding head position, and drive the grinding head near the chamfer area of ​​the steel template by the second motor to rotate in the vertical plane to a vertically upward state; c. Start the second telescopic unit, the third telescopic unit and the third motor, adjust the position of the grinding head in the horizontal direction through the second telescopic unit, adjust the position of the grinding head in the direction perpendicular to the plane area of ​​the steel template through the third telescopic unit, drive the grinding head to rotate through the third motor, make the grinding head grind along an arc trajectory in the chamfered area of ​​the steel template, and control the grinding and cleaning device of the side wall of the chamfered steel template to move straight upward, so that the grinding head moves upward.

[0015] Compared with the prior art, the present invention has the following advantages: The device and method for grinding and cleaning the side wall of the steel formwork with chamfers described in the present invention integrate the grinding disc and the grinding head on the wall-climbing robot through a supporting plate group, and the wall-climbing robot controls the position movement of the grinding disc and the grinding of the plane area and the chamfered area of ​​the steel formwork, replacing manual grinding, saving time and effort, and effectively improving the grinding and cleaning efficiency; and when grinding the first position to be ground in the plane area of ​​the steel formwork, the grinding method of the grinding head and the grinding disc and the travel trajectory of the grinding and cleaning device for the side wall of the steel formwork with chamfers are planned according to the relationship between the orthographic projection of the first position to be ground along the width direction of the grinding and cleaning device for the side wall of the steel formwork with chamfers and the orthographic projection of the grinding head and the grinding disc, thereby performing more effective and accurate grinding; when grinding the second position to be ground in the chamfered area of ​​the steel formwork, the grinding and cleaning device for the side wall of the steel formwork with chamfers moves vertically upward in the plane area close to the chamfered area of ​​the steel formwork, and controls the movement of the grinding head along the arc surface by the second telescopic unit and the third telescopic unit, and drives the grinding head to grind by the third motor at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings: Figure 1 This is a structural front view of the device for grinding and cleaning the side wall of a steel template with chamfers according to the first embodiment of the present invention, when two grinding heads are arranged facing each other; Figure 2 This is a schematic structural diagram of the supporting plate connection structure according to the first embodiment of the present invention when the grinding head is in a vertically upward position; Figure 3 This is a schematic diagram of the connection structure of the grinding head and the grinding sheet according to the first embodiment of the present invention; Figure 4 This is a structural schematic diagram of the first supporting plate according to the first embodiment of the present invention; Figure 5 Schematic diagram of the grinding area of ​​the grinding disc, grinding head, and grinding sheet according to the first embodiment of the present invention; Figure 6 This is the top view of the steel formwork; Figure 7 This is a flow chart of grinding a planar area of ​​a steel template using the method for grinding and cleaning a steel template side wall with chamfers according to the second embodiment of the present invention; Figure 8 This is a flow chart of grinding the chamfered area of ​​a steel template according to the method for grinding and cleaning the side wall of a steel template with chamfers described in Example 2 of the present invention.

[0017] Description of reference numerals: 1. First bearing plate; 101. Mounting plate; 102. Fixing plate; 103. Side reinforcement ribs; 104. Middle reinforcement ribs; 2. Second bearing plate; 3. Grinding disc; 4. Connecting plate; 5. First motor; 6. First telescopic unit; 7. Second telescopic unit; 8. L-shaped connector; 9. Third telescopic unit; 10. I-shaped connector; 11. Second motor; 12. Connecting frame; 121. Shell; 1211. Auxiliary hole; 1212. Connecting ear; 122. Cover; 1221. Connecting section; 1222. Connecting shaft; 13. Third motor; 14. Grinding head; 15. Grinding disc; 16. Steel template; 17. Region I; 18. Region II; 19. Region III; 20. Wall-climbing robot; 21. First bolt and nut pair; 22. Second bolt and nut pair. DETAILED DESCRIPTION

[0018] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0019] 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 limiting the present invention. In addition, the terms "first", "second", etc. 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. Therefore, features defined as "first", "second", etc. 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.

[0020] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0021] The description of the orientation in the technical solution of the present invention is based on the vertically upward use state of the chamfered steel template side wall grinding and cleaning device.

[0022] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0023] Example 1

[0024] like Figures 1 to 6 As shown, a device for grinding and cleaning the sidewall of a steel template with chamfers includes a supporting plate group, which is detachably fixed to a wall-climbing robot 20. A grinding disc 3 that can move forward and backward and rotate in a vertical plane is provided at the rear side of the upper end of the supporting plate group. Columnar grinding heads 14 that can move left and right and forward and backward are provided on both the left and right sides of the upper end of the supporting plate group. The grinding heads 14 can rotate along the central axis of the grinding heads 14 in the horizontal plane and can rotate in the vertical plane. The two grinding heads 14 are respectively located at the lower left and lower right of the grinding disc 3. When the two grinding heads 14 are arranged facing each other, the minimum distance between the two grinding heads 14 is less than the diameter of the grinding disc 3. When the grinding heads 14 rotate, the grinding heads 14 are arranged tangentially or apart from the grinding disc 3. In this embodiment, a plurality of magnetic adsorption blocks are evenly provided on the surface of the walking belt of the wall-climbing robot 20, which are adsorbed on the steel template 16 through the magnetic adsorption blocks.

[0025] The supporting plate assembly includes a first supporting plate 1 and a second supporting plate 2 fixed to the lower side of the first supporting plate 1. The second supporting plate 2 is fixed to the front side of the wall-climbing robot 20, and the first supporting plate 1 extends upward from the wall-climbing robot 20. In this embodiment, the supporting plate assembly is divided into two parts. The second supporting plate 2 is fixed to the front side of the wall-climbing robot 20, and the first supporting plate 1 extends from the wall-climbing robot 20. The connection structure related to the grinding disc 3 and the grinding head 14 is integrated on the first supporting plate 1, which is convenient for later maintenance and replacement. Only the fixings between the first supporting plate 1 and the second supporting plate 2 need to be removed, which facilitates the separate inspection and maintenance of the wall-climbing robot 20 and the grinding mechanism. In order to strengthen the connection between the second supporting plate 2 and the wall-climbing robot 20, more fixings are usually used, and the positions are relatively scattered. Some fixings may be relatively hidden, which increases the difficulty of disassembly and assembly. Therefore, a detachable structure is set between the first supporting plate 1 and the second supporting plate 2. There are fewer disassembly points and a larger operating space, which facilitates the disassembly and assembly between the wall-climbing robot 20 and the grinding mechanism.

[0026] A first telescopic unit 6 is vertically fixed to the front upper end of the first carrier plate 1. The end of the telescopic rod of the first telescopic unit 6 extends through the first carrier plate 1. A connecting plate 4 is vertically fixed to the end of the telescopic rod of the first telescopic unit 6. A first motor 5 is fixed to the front of the connecting plate 4. The output shaft of the first motor 5 extends through the connecting plate 4 and is fixed to the grinding disc 3 located on the rear side of the connecting plate 4. In this embodiment, the grinding disc 3 is driven by the first motor 5 to rotate, thereby grinding out the area I 17.

[0027] The left and right ends of the first supporting plate 1 are fixedly connected to the rear with a mounting plate 101, and the inner side of each mounting plate 101 is horizontally fixed with a second telescopic unit 7, and the end of the telescopic rod of the second telescopic unit 7 is passed through the corresponding mounting plate 101, and the end of the telescopic rod of the second telescopic unit 7 is fixed with a third telescopic unit 9 arranged perpendicular to the first supporting plate 1 through an L-shaped connector 8, and the end of the telescopic rod of the third telescopic unit 9 is passed through the corresponding L-shaped connector 8 and fixed to one end of the I-shaped connector 10, and a second motor 11 is fixed on the front side of the other end of the I-shaped connector 10, and the output shaft of the second motor 11 is passed through the I-shaped connector 10 and fixed to the connecting frame 12, the grinding head 14 is located at the outside of the other end of the connecting frame 12, and a third motor 13 is fixed on the connecting frame 12, and the output shaft of the third motor 13 is fixed to the grinding head 14. In this embodiment, the end of the telescopic rod of the second telescopic unit 7 is fixed to the outer side of the vertical section of the L-shaped connector 8 , and the third telescopic unit 9 is fixed to the front side of the horizontal section of the L-shaped connector 8 .

[0028] The connecting frame 12 includes a shell portion 121 and a cover portion 122. The shell portion 121 is open at one end, and the cover portion 122 is detachably fixed to the open end of the shell portion 121. A connecting section 1221 integrally formed with the cover portion 122 is provided in the middle of the side of the cover portion 122 away from the shell portion 121. The connecting section 1221 is located on the rear side of the I-shaped connector 10 and is fixed to the output shaft of the second motor 11. The third motor 13 is arranged inside the shell portion 121 and is fixed to one end of the shell portion 121 away from the cover portion 122. The output shaft of the third motor 13 passes through the end of the shell portion 121 away from the cover portion 122 and is fixed to the grinding head 14, and the output shaft of the third motor 13 and the grinding head 14 are coaxially arranged. In this embodiment, a plurality of first connecting holes are provided on one edge of the cover body 122, and a connecting ear 1212 with a second connecting hole is fixedly connected to the outer side of the open end of the shell body 121 corresponding to each first connecting hole, and the cover body 122 is fixedly connected to the shell body 121 through the cooperation of the first bolt and nut pair 21, the first connecting hole and the second connecting hole. Of course, an anti-slip gasket is also provided between the first bolt and nut pair 21 and the connecting ear 1212.

[0029] An auxiliary hole 1211 is opened on the front side of the shell portion 121, which is used to reduce weight, dissipate heat, and facilitate the cable connection of the third motor 13 inside.

[0030] The circumferential outer wall of the grinding head 14 protrudes from the outer wall of the cover body 122, and the end of the connecting section 1221 away from the grinding head 14 is fixed with a connecting shaft 1222 arranged perpendicular to the connecting section 1221. The end of the connecting shaft 1222 is fixed with a strip-shaped grinding sheet 15 arranged perpendicular to the connecting shaft 1222. The grinding sheet 15 is located on the rear side of the connecting frame 12, and the front end of the grinding sheet 15 is arranged close to the grinding head 14, and the plane where the rear side wall of the grinding sheet 15 is located coincides with the cross-section of the rearmost side of the grinding head 14. A positioning hole extending to the inside of the connecting shaft 1222 is opened at the front side of the connecting section 1221 corresponding to the connecting shaft 1222. The output shaft of the second motor 11 is inserted into the positioning hole and fixed to the connecting shaft 1222. In this embodiment, the outer walls of the cover 122 are the outermost side walls of the entire connecting frame 12, and the circumferential outer walls of the grinding head 14 protrude from the outermost side walls of the entire connecting frame 12. This ensures that the grinding head 14 can fit the surface of the steel template 16 when rotating along its own central axis, and that the connecting frame 12 is not subject to wear and scratches. In this embodiment, a gap is left between the grinding head 14 and the grinding disc 15 to prevent wear between the grinding head 14 and the grinding disc 15 when rotating along its own central axis. In this embodiment, both the front and rear sides of the cover 122 are provided with a cut-out structure, especially the cut-out structure on the rear side, which leaves space for the grinding disc 15 to install. In this embodiment, when the second motor 11 drives the grinding head 14 to rotate, the grinding disc 15 rotates synchronously therewith. When the grinding head 14 rotates circumferentially along the output shaft of the second motor 11, it grinds out area II 18. The grinding disc 15 also rotates circumferentially synchronously, grinding out area III 19, thereby increasing the grinding area and thereby improving the grinding efficiency.

[0031] The lower end of the first supporting plate 1 is fixedly connected to a fixed plate 102 arranged along the length direction of the first supporting plate 1, and the first supporting plate 1 is vertically arranged in the middle of the fixed plate 102. The lower side of each mounting plate 101 is fixed to the upper side of the fixed plate 102, and side reinforcing ribs 103 are provided between the upper side of each mounting plate 101 and the upper end of the first supporting plate 1, and middle reinforcing ribs 104 are provided between the upper and lower sides of the first supporting plate 1 and the fixed plate 102. The second supporting plate 2 is configured as an inverted L-shaped structure, and the horizontal section of the second supporting plate 2 is attached to the lower side of the fixed plate 102 and is fixed to the fixed plate 102 by a plurality of second bolt and nut pairs 22. Here, the nuts in each second bolt and nut pair 22 adopt a double nut structure to enhance the connection stability of the bolt and nut pair. In this embodiment, the first supporting plate 1 is configured as a structure that is narrow at the top and wide at the bottom, and the side reinforcing ribs 103 serve as the edges of the first supporting plate 1 and are arranged at an angle. In this embodiment, the first bearing plate 1 , the fixing plate 102 , the mounting plate 101 , the side reinforcing ribs 103 , and the middle reinforcing ribs 104 are an integrally formed structure, thereby increasing the bearing strength of the first bearing plate 1 .

[0032] In this embodiment, the first telescopic unit 6 , the second telescopic unit 7 and the third telescopic unit 9 all adopt an electric telescopic rod structure, and are controlled together with the first motor 5 , the second motor 11 and the third motor 13 by the controller of the wall-climbing robot 20 .

[0033] Example 2

[0034] like Figure 7 and Figure 8 As shown, the method for grinding and cleaning the side wall of a steel template with a chamfer is implemented by the device for grinding and cleaning the side wall of a steel template with a chamfer as described in Example 1, including a method for grinding and cleaning the plane area of ​​the steel template 16 and a method for grinding and cleaning the chamfered area of ​​the steel template 16. The method for grinding and cleaning the plane area of ​​the steel template 16 includes the following steps: A. Obtaining the first position to be polished in the plane area of ​​the steel template 16 and the position of the steel template side wall polishing and cleaning device with chamfers, and controlling the steel template side wall polishing and cleaning device with chamfers to move toward the first position to be polished; In this embodiment, before the grinding and cleaning operation, a real-time image of the steel template plane area is first collected by the wall-climbing robot 20, and the first position to be ground on the steel template 16 plane area is obtained by image recognition. The position of the steel template side wall grinding and cleaning device with chamfered corners is used as the starting point, and the first position to be ground on the steel template 16 plane area is used as the end point to determine the movement direction of the steel template side wall grinding and cleaning device with chamfered corners. It should be noted that since the first position to be ground on the steel template 16 plane area may be relatively large, the position of the center point of the image of the release agent, rust, or residual concrete on the steel template 16 plane area is selected as the first position to be ground, so that the steel template side wall grinding and cleaning device with chamfered corners can be aligned and moved toward the first position to be ground. B. Initializing the positions of the grinding heads 14, driving the grinding heads 14 to rotate by the second motor 11 until the two grinding heads 14 are disposed facing each other, and controlling the corresponding grinding heads 14 to move horizontally toward each other by the second telescopic unit 7 until the distance between the two grinding heads 14 is minimized; C. During the process of the chamfered steel template side wall grinding and cleaning device moving toward the first position to be ground, the position of the chamfered steel template side wall grinding and cleaning device is adjusted so that the orthographic projection center of the first position to be ground along the width direction of the chamfered steel template side wall grinding and cleaning device is aligned with the orthographic projection center of the chamfered steel template side wall grinding and cleaning device; D. When the chamfered steel template sidewall grinding and cleaning device detects that the grinding disc 3 and / or the grinding head 14 are close to the edge of the first position to be ground, the relationship between the orthographic projection of the first position to be ground, the orthographic projections of the two grinding heads 14, and the orthographic projection of the grinding disc 3 along the width direction of the chamfered steel template sidewall grinding and cleaning device is determined, and the grinding method of the grinding disc 3 and the grinding head 14 and the travel mode of the chamfered steel template sidewall grinding and cleaning device are determined. If the orthographic projection of the first position to be polished is completely covered by the orthographic projection of the polishing disc 3, the steel template side wall polishing and cleaning device with chamfered corners is controlled to move in a straight line, and the first motor 5 is started to drive the polishing disc 3 to rotate, and the first telescopic unit 6 is started to drive the polishing disc 3 to move toward the surface of the steel template 16, and the first position to be polished is polished and cleaned by the polishing disc 3 until the first position to be polished is polished in place, and then the process goes to step A to polish the next first position to be polished; If the orthographic projection edge of the first position to be polished exceeds the orthographic projection of the polishing disc 3 and is covered by the orthographic projections of the two polishing heads 14 arranged opposite to each other, the steel template side wall polishing and cleaning device with chamfered corners is controlled to move in a straight line, and the first motor 5 is started to drive the polishing disc 3 to rotate, and the first telescopic unit 6 is started to drive the polishing disc 3 to move toward the surface of the steel template 16. At the same time, the third motor 13 and the third telescopic unit 9 are started, and the polishing head 14 is driven by the third motor 13 to rotate in the horizontal plane along the central axis. The third telescopic unit 9 drives the polishing head 14 to move toward the surface of the steel template 16. The first position to be polished is polished and cleaned by the polishing disc 3 and the two polishing heads 14 until the first position to be polished is polished into place, and step A is entered to polish the next first position to be polished. If the orthographic projection edge of the first position to be polished exceeds the orthographic projection when the two polishing heads 14 are set facing each other, and is covered by the orthographic projections of the two polishing heads 14 set back to each other, the steel template side wall polishing and cleaning device with chamfered corners is controlled to move in a straight line, and the first motor 5 is started to drive the polishing disc 3 to rotate, the first telescopic unit 6 is started to drive the polishing disc 3 to move toward the surface of the steel template 16, and the second motor 11, the third motor 13, and the third telescopic unit 9 are started, and the polishing head 14 is driven by the third motor 13 to rotate in the horizontal plane along the center axis, the third telescopic unit 9 drives the polishing head 14 to move toward the surface of the steel template 16, and the polishing head 14 is driven by the second motor 11 to rotate in the vertical plane, and the first position to be polished is polished and cleaned by the polishing disc 3 and the two polishing heads 14 until the first position to be polished is polished in place, and step A is entered to polish the next first position to be polished; If the orthographic projection edge of the first position to be polished exceeds the orthographic projection of the two back-to-back polishing heads 14, the steel template side wall polishing and cleaning device with chamfered corners is controlled to move back and forth along the inclined Z-shaped trajectory, the first motor 5 is started to drive the polishing disc 3 to rotate, the first telescopic unit 6 is started to drive the polishing disc 3 to move toward the surface of the steel template 16, and the second motor 11, the third motor 13, and the third telescopic unit 9 are started. The polishing head 14 is driven to rotate along the central axis in the horizontal plane by the third motor 13, the third telescopic unit 9 drives the polishing head 14 to move toward the surface of the steel template 16, and the polishing head 14 is driven by the second motor 11. The grinding head 14 rotates in the vertical plane, and the grinding disc 3 and the two grinding heads 14 jointly grind and clean the first position to be polished until the first position to be polished is polished in place, and then the process proceeds to step A to grind the next first position to be polished. In this embodiment, when the second motor 11 is started to drive the grinding head 14 to rotate, the grinding sheet 15 rotates synchronously to increase the grinding area. In this embodiment, the boundary of the inclined Z-shaped trajectory is determined according to the edge of the first position to be polished, which effectively reduces the ineffective movement of the grinding and cleaning device for the side wall of the steel template with chamfers, ensuring that the first position to be polished can be completely polished. The method for grinding and cleaning the chamfered area of ​​the steel template 16 includes the following steps: a. Obtain the second position to be polished in the chamfered area of ​​the steel template 16 and the position of the steel template side wall polishing and cleaning device with chamfers, control the steel template side wall polishing and cleaning device with chamfers to move in the plane area of ​​the steel template 16 toward the second position to be polished until it approaches the second position to be polished, and adjust the position of the steel template side wall polishing and cleaning device with chamfers so that the length direction of the steel template side wall polishing and cleaning device with chamfers is consistent with the height direction of the steel template 16, and when the polishing head 14 is set vertically upward, the upper end position of the polishing head 14 is aligned with the lowest point of the second position to be polished; in this embodiment, the length direction of the steel template side wall polishing and cleaning device with chamfers is defined as the walking direction of the wall-climbing robot 20; In this embodiment, before the grinding and cleaning operation, the wall-climbing robot 20 is first moved in a plane area near the chamfered area to collect a real-time image of the steel formwork chamfered area, and the second position to be ground on the steel formwork chamfered area is obtained by image recognition. The position of the steel formwork side wall grinding and cleaning device with the chamfered area is used as the starting point, and the second position to be ground is used as the end point to determine the movement direction of the steel formwork side wall grinding and cleaning device with the chamfered area. It should be noted that since the second position to be ground on the steel formwork 16 may be relatively large, the position of the center point of the image of the release agent, rust, or residual concrete in the chamfered area of ​​the steel formwork 16 is selected as the second position to be ground, so that the steel formwork side wall grinding and cleaning device with the chamfered area can move toward the second position to be ground. b. Initialize the position of the grinding head 14, and drive the grinding head 14 near the chamfered area of ​​the steel template 16 by the second motor 11 to rotate in the vertical plane to a vertically upward state; c. Start the second telescopic unit 7, the third telescopic unit 9 and the third motor 13, adjust the position of the grinding head 14 in the horizontal direction through the second telescopic unit 7, adjust the position of the grinding head 14 in the direction perpendicular to the plane area of ​​the steel template 16 through the third telescopic unit 9, drive the grinding head 14 to rotate through the third motor 13, so that the grinding head 14 grinds along an arc trajectory in the chamfered area of ​​the steel template 16, and controls the grinding and cleaning device of the side wall of the chamfered steel template to move upward in a straight line, so that the grinding head 14 moves upward, and finally completes the grinding and cleaning of the second position to be ground in the chamfered area of ​​the steel template 16.

[0035] In step D, when the steel template side wall grinding and cleaning device with chamfers reaches the edge of the steel template 16 plane area or reaches the junction of the steel template 16 plane area and the chamfered area, the steel template side wall grinding and cleaning device with chamfers adjusts its posture within the steel template 16 plane area based on avoiding the edge of the steel template 16 plane area or avoiding the junction of the steel template 16 plane area and the chamfered area, and starts the grinding disc 3 and / or grinding head 14 for grinding by real-time monitoring of the grinding status of the first position to be ground. When the chamfered steel template side wall grinding and cleaning device reaches the edge of the steel template 16 plane area or reaches the junction of the steel template 16 plane area and the chamfered area for grinding, there is no need to judge the relationship between the orthographic projection of the first position to be ground along the width direction of the chamfered steel template side wall grinding and cleaning device, the orthographic projections of the two grinding heads 14 and the orthographic projection of the grinding disk 3. It is only necessary to judge whether there is a first position to be ground near the grinding head 14 and / or the grinding disk 3. If so, drive the grinding head 14 and / or the grinding disk 3 for grinding. If not, perform grinding of the next first position to be ground.

Claims

1. A device for grinding and cleaning the side wall of a steel template with chamfers, characterized in that: The robot comprises a supporting plate group, which is detachably fixed to the wall-climbing robot; a grinding disc capable of moving forward and backward and rotating in a vertical plane is provided at the rear side of the upper end of the supporting plate group; columnar grinding heads capable of moving left and right and forward and backward are provided on the left and right sides of the upper end of the supporting plate group; the grinding heads can rotate along the central axis of the grinding heads in the horizontal plane and can rotate in the vertical plane; the two grinding heads are respectively located at the lower left and lower right of the grinding disc; and when the two grinding heads are arranged facing each other, the minimum distance between the two grinding heads is less than the diameter of the grinding disc; and when the grinding heads rotate, the grinding heads and the grinding disc are arranged tangentially or apart; The bearing plate assembly includes a first bearing plate and a second bearing plate fixed to the lower side of the first bearing plate, the second bearing plate is fixed to the front side of the wall-climbing robot, and the first bearing plate extends upwardly from the wall-climbing robot; A first telescopic unit is vertically fixed to the front side of the upper end of the first supporting plate, and the end of the telescopic rod of the first telescopic unit is arranged through the first supporting plate. A connecting plate is vertically fixed to the end of the telescopic rod of the first telescopic unit, and a first motor is fixed to the front side of the connecting plate. The output shaft of the first motor passes through the connecting plate and is fixed to the grinding disc located on the rear side of the connecting plate. The left and right ends of the first supporting plate are fixedly connected to the rear with mounting plates, and a second telescopic unit is fixed horizontally to the inner side of each mounting plate, and the end of the telescopic rod of the second telescopic unit is passed through the corresponding mounting plate, and a third telescopic unit arranged perpendicular to the first supporting plate is fixed to the end of the telescopic rod of the second telescopic unit through an L-shaped connector, and the end of the telescopic rod of the third telescopic unit is passed through the corresponding L-shaped connector and fixed to one end of the I-shaped connector, and a second motor is fixed on the front side of the other end of the I-shaped connector, the output shaft of the second motor is passed through the I-shaped connector and fixed to the connecting frame, the grinding head is located at the outside of the other end of the connecting frame, the third motor is fixed to the connecting frame, and the output shaft of the third motor is fixed to the grinding head.

2. The device for grinding and cleaning the side wall of a steel template with chamfers according to claim 1, characterized in that: The connecting frame includes a shell portion and a cover portion. The shell portion is open at one end, and the cover portion is detachably fixed to the open end of the shell portion. A connecting section integrally formed with the cover portion is also provided in the middle of the side of the cover portion away from the shell portion. The connecting section is located on the rear side of the I-shaped connecting piece and is fixed to the output shaft of the second motor. The third motor is arranged inside the shell portion and is fixed to the end of the shell portion away from the cover portion. The output shaft of the third motor passes through the end of the shell portion away from the cover portion and is fixed to the grinding head, and the output shaft of the third motor and the grinding head are coaxially arranged.

3. The device for grinding and cleaning the side wall of a steel template with chamfers according to claim 2, characterized in that: An auxiliary hole is provided on the front side of the shell body.

4. The device for grinding and cleaning the side wall of a steel template with chamfers according to claim 2, characterized in that: The circumferential outer wall of the grinding head protrudes from the outer wall of the cover body, and a connecting shaft perpendicular to the connecting section is fixedly connected to the end of the connecting shaft away from the grinding head. A strip-shaped grinding sheet perpendicular to the connecting shaft is fixedly connected to the end of the connecting shaft. The grinding sheet is located on the rear side of the connecting frame, and the front end of the grinding sheet is arranged close to the grinding head, and the plane where the rear side wall of the grinding sheet is located coincides with the cross-section of the rearmost side of the grinding head. A positioning hole extending to the inside of the connecting shaft is opened at the front side of the connecting section corresponding to the connecting shaft, and the output shaft of the second motor is inserted into the positioning hole and fixed to the connecting shaft.

5. The device for grinding and cleaning the side wall of a steel template with chamfers according to claim 1, characterized in that: The lower end of the first bearing plate is fixedly connected to a fixing plate arranged along the length direction of the first bearing plate, and the first bearing plate is vertically arranged in the middle of the fixing plate, the lower side of each mounting plate is fixedly connected to the upper side of the fixing plate, and side reinforcement ribs are provided between the upper side of each mounting plate and the upper end of the first bearing plate, and middle reinforcement ribs are provided between the upper and lower sides of the first bearing plate and the fixing plate; the second bearing plate is arranged to be an inverted L-shaped structure, and the horizontal section of the second bearing plate is arranged to fit the lower side of the fixing plate, and is fixed to the fixing plate by a plurality of second bolt and nut pairs.

6. The method for grinding and cleaning the plane area of ​​the steel template is characterized by: The method is implemented by using the device for grinding and cleaning the side wall of a steel template with chamfers as described in any one of claims 1 to 5, comprising the following steps: A. obtaining a first position to be polished in the plane area of ​​the steel template and a position of a device for polishing and cleaning the side wall of the steel template with a chamfer, and controlling the device for polishing and cleaning the side wall of the steel template with a chamfer to move toward the first position to be polished; B. Initialize the grinding head positions, control the two grinding heads to be in a state of facing each other, and control the grinding heads to move horizontally toward each other until the distance between the two grinding heads is the smallest; C. During the process of the chamfered steel template side wall grinding and cleaning device moving toward the first position to be ground, the position of the chamfered steel template side wall grinding and cleaning device is adjusted so that the orthographic projection center of the first position to be ground along the width direction of the chamfered steel template side wall grinding and cleaning device is aligned with the orthographic projection center of the chamfered steel template side wall grinding and cleaning device; D. When the chamfered steel template sidewall grinding and cleaning device detects that the grinding disc and / or grinding head are approaching the edge of the first position to be ground, the relationship between the orthographic projection of the first position to be ground, the orthographic projections of the two grinding heads, and the orthographic projection of the grinding disc along the width direction of the chamfered steel template sidewall grinding and cleaning device is determined, and the grinding method of the grinding disc and grinding head and the travel mode of the chamfered steel template sidewall grinding and cleaning device are determined. If the orthographic projection of the first position to be polished is completely covered by the orthographic projection of the polishing disc, the steel template side wall polishing and cleaning device with chamfered corners is controlled to move in a straight line, and the polishing disc is driven to rotate while moving toward the surface of the steel template, and the first position to be polished is polished and cleaned by the polishing disc; If the orthographic projection edge of the first position to be polished exceeds the orthographic projection of the polishing disc and is covered by the orthographic projections of the two polishing heads arranged opposite to each other, the steel template side wall polishing and cleaning device with chamfered edges is controlled to move in a straight line, the polishing disc is driven to rotate and move toward the surface of the steel template, and the polishing head is driven to rotate in a horizontal plane along the central axis and move toward the surface of the steel template, and the first position to be polished is polished and cleaned by the polishing disc and the two polishing heads together; If the orthographic projection edge of the first position to be polished exceeds the orthographic projection of the two polishing heads when they are arranged facing each other, and is covered by the orthographic projection of the two polishing heads arranged back to back, the steel template side wall polishing and cleaning device with chamfered edges is controlled to move in a straight line, the polishing disc is driven to rotate and move toward the surface of the steel template, the polishing head is driven to rotate along the central axis in the horizontal plane while moving toward the surface of the steel template, and the polishing head is driven to rotate in the vertical plane, and the first position to be polished is polished and cleaned by the polishing disc and the two polishing heads together; If the orthographic projection edge of the first position to be polished exceeds the orthographic projection of the two back-to-back polishing heads, the steel template side wall polishing and cleaning device with chamfered corners is controlled to move back and forth along the inclined Z-shaped trajectory, the polishing disc is driven to rotate and move toward the surface of the steel template, the polishing head is driven to rotate along the center axis in the horizontal plane while moving toward the surface of the steel template, and the polishing head is driven to rotate in the vertical plane, and the first position to be polished and cleaned is polished and cleaned by the polishing disc and the two polishing heads.

7. The method for grinding and cleaning the chamfered area of ​​the steel template is characterized in that: The method is implemented by using the device for grinding and cleaning the side wall of a steel template with chamfers as described in any one of claims 1 to 5, comprising the following steps: a. Obtaining the second position to be polished in the chamfered area of ​​the steel template and the position of the grinding and cleaning device for the side wall of the steel template with a chamfer, controlling the grinding and cleaning device for the side wall of the steel template with a chamfer to move toward the second position to be polished in the plane area of ​​the steel template until it approaches the second position to be polished, adjusting the position of the grinding and cleaning device for the side wall of the steel template with a chamfer so that the length direction of the grinding and cleaning device for the side wall of the steel template with a chamfer is consistent with the height direction of the steel template, and when the grinding head is set vertically upward, the upper end position of the grinding head is aligned with the lowest point of the second position to be polished; b. Initialize the grinding head position and drive the grinding head near the chamfer area of ​​the steel template to rotate in the vertical plane to a vertically upward state; c. Adjust the position of the grinding head in the horizontal direction and in the direction perpendicular to the plane area of ​​the steel template, and drive the grinding head to rotate so that the grinding head grinds along an arc trajectory in the chamfered area of ​​the steel template, and control the grinding and cleaning device of the side wall of the steel template with chamfers to move upward in a straight line to move the grinding head upward.

Images