Chamfered steel formwork side wall polishing and cleaning device and method

Abstract

The application provides a steel formwork side wall polishing and cleaning device and method with chamfers, the steel formwork side wall polishing and cleaning device with chamfers comprises a bearing plate group, the bearing plate group is detachably connected to a wall climbing robot, a polishing disc capable of moving forward and backward and rotating in a vertical plane is arranged at the rear side of the upper end of the bearing plate group, columnar polishing heads capable of moving left and right and forward and backward are arranged at the left and right sides of the upper end of the bearing plate group, the polishing heads can rotate around the central axes of the polishing heads in a horizontal plane and rotate in a vertical plane, and the two polishing heads are respectively arranged below the left and right sides of the polishing disc. The application has the beneficial effects that the polishing disc and the polishing heads are integrated on the wall climbing robot through the bearing plate group, the position of the polishing disc and the polishing heads is moved and the polishing of the planar area and the chamfered area of the steel formwork is controlled through the wall climbing robot, manual polishing is replaced, time and labor are saved, and the polishing and cleaning efficiency is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of polishing treatment, and particularly relates to a steel formwork side wall polishing and cleaning device and method with chamfer. BACKGROUND

[0002] In large bridge, wharf and other construction projects, large-sized piers are often used, but due to the limitations of construction conditions such as site space and equipment, it is inconvenient to cast the large piers on site, so the piers are prefabricated in a prefabrication plant and then transported to the construction site. The prefabricated pier technology has the advantages of high quality precision, short construction period, environmental protection and the like, and is widely used in cross-sea bridge, wharf and other construction projects.

[0003] In the production process of square prefabricated piers, a square frame type steel formwork group is used for shaping. If the pier is a hollow structure, the steel formwork group is provided as a two-layer structure of an inner formwork group and an outer formwork group, the reinforced cage is placed between the inner formwork group and the outer formwork group, and then the concrete is poured between the inner formwork group and the outer formwork group. After shaping, the inner formwork group and the outer formwork group are demolded. If the pier is a solid structure, the steel formwork group is provided as a one-layer structure of an outer formwork group only, the reinforced cage is placed inside the outer formwork group, and then the concrete is poured into the outer formwork group. After shaping, the outer formwork group is demolded. In order to reduce stress concentration and consider the aesthetic feeling, the square prefabricated pier usually sets the right-angle edge as a structure with arc chamfer, so the square frame type steel formwork group structure used is a plurality of inverted L-shaped steel formworks which are spliced and fixed together, and the corners of the inverted L-shaped steel formworks are provided as chamfered structures.

[0004] After the prefabricated pier is shaped, the demolding operation is performed. In this process, a small amount of concrete may be attached to the surface of the steel formwork, and the demolding agent may also be left. In addition, after long-term use, a large area of rust marks may be generated on the surface of the steel formwork. Therefore, the steel formwork is polished and cleaned before use, and the polishing effect directly affects the apparent quality of the pier. The steel formwork currently used is as high as about 6 meters, and is vertically placed in an outdoor environment. When polishing and cleaning the steel formwork, it needs to be polished vertically. The traditional polishing method is to manually hold an angle grinder to polish, which has the safety risk problem of high-altitude operation, and the workload is large. Before polishing, a climbing frame also needs to be erected, which is time-consuming and laborious, and the polishing efficiency is low. SUMMARY

[0005] Therefore, the present application aims to overcome the problems in the prior art, such as high work intensity, long time, low polishing efficiency and high-altitude operation risk, and provides a steel formwork side wall polishing and cleaning device and method with chamfer.

[0006] To achieve the above-mentioned purpose, the technical scheme of the present application is as follows:

[0007] The first aspect of the present application provides a steel formwork side wall chamfer polishing device, comprising a bearing plate group, the bearing plate group is detachably connected to a wall climbing robot, a polishing disc capable of moving forward and backward and rotating in a vertical plane is arranged at the upper rear side of the bearing plate group, a cylindrical polishing head capable of moving left and right and forward and backward is arranged at the left and right sides of the upper end of the bearing plate group, and the polishing head can rotate around the central axis of the polishing head in a horizontal plane and rotate in a vertical plane, the two polishing heads are respectively located below the left and right of the polishing disc, and when the two polishing heads are arranged facing each other, the minimum distance between the two polishing heads is less than the diameter of the polishing disc, and when the polishing head rotates, the polishing head and the polishing disc are tangent or separated.

[0008] Further, the bearing plate group comprises a first bearing plate and a second bearing plate connected to the lower side of the first bearing plate, the second bearing plate is connected to the front side of the wall climbing robot, and the first bearing plate extends upward beyond the wall climbing robot.

[0009] Further, a first telescopic unit is vertically connected to the front side of the upper end of the first bearing plate, the telescopic rod of the first telescopic unit is arranged through the first bearing plate, a connecting plate is vertically connected to the end of the telescopic rod of the first telescopic unit, a first motor is connected to the front side of the connecting plate, the output shaft of the first motor is arranged through the connecting plate and connected to the polishing disc at the rear side of the connecting plate.

[0010] Further, mounting plates are connected to the left and right ends of the first bearing plate, a second telescopic unit is horizontally connected to the inner side of each mounting plate, the telescopic rod of the second telescopic unit is arranged through the corresponding mounting plate, a third telescopic unit is connected to the end of the telescopic rod of the second telescopic unit through an L-shaped connecting piece, the third telescopic unit is arranged through the corresponding L-shaped connecting piece and connected to one end of a linear connecting piece, a second motor is connected to the other end of the linear connecting piece, the output shaft of the second motor is arranged through the linear connecting piece and connected to a connecting frame, the polishing head is located at the other side of the connecting frame, a third motor is connected to the connecting frame, and the output shaft of the third motor is connected to the polishing head.

[0011] Further, the connecting frame comprises a shell part and a cover part, the shell part is open at one end, the cover part is detachably connected to the open end of the shell part, a connecting segment is integrally formed on the cover part, the connecting segment is located at the rear side of the linear connecting piece and connected to the output shaft of the second motor, the third motor is arranged inside the shell part and connected to the end of the shell part away from the cover part, the output shaft of the third motor is arranged through the end of the shell part away from the cover part and connected to the polishing head, and the output shaft of the third motor and the polishing head are coaxially arranged.

[0012] Further, the housing part is provided with an auxiliary hole on the front side.

[0013] Further, the circumferential outer side wall of the polishing head protrudes from the outer side wall of the cover part, one end of the connecting segment away from the polishing head is fixedly connected with a connecting shaft arranged perpendicularly to the connecting segment, the connecting shaft is fixedly connected with a polishing strip arranged perpendicularly to the connecting shaft and in a strip shape, the polishing strip is located at the rear side of the connecting frame, the front end of the polishing strip is arranged close to the polishing head, the rear side wall of the polishing strip is located on a plane coinciding with the tangent plane of the rear side of the polishing head, the connecting segment is provided with a positioning hole extending into the connecting shaft at the position corresponding to the connecting shaft, and the output shaft of the second motor is inserted into the positioning hole and fixedly connected with the connecting shaft.

[0014] Further, the lower end of the first bearing plate is fixedly connected with a fixed plate arranged along the length direction of the first bearing plate, the first bearing plate is arranged perpendicularly to the middle of the fixed plate, the lower side of each mounting plate is fixedly connected with the upper side of the fixed plate, a side reinforcing rib is arranged between the upper side of each mounting plate and the upper end of the first bearing plate, and a middle reinforcing rib is arranged between the upper and lower sides of the first bearing plate and the fixed plate; the second bearing plate is arranged in an inverted L-shaped structure, the horizontal segment of the second bearing plate is arranged close to the lower side of the fixed plate and is fixedly connected with the fixed plate through a plurality of second bolt-nut pairs.

[0015] The second aspect of the present application provides a method based on the above-mentioned steel formwork side wall polishing and cleaning device with chamfers, including a polishing and cleaning method for the planar region of the steel formwork and a polishing and cleaning method for the chamfered region of the steel formwork,

[0016] The polishing and cleaning method for the planar region of the steel formwork includes the following steps:

[0017] A. obtaining a first to-be-polished position in the planar region of the steel formwork and the position of the steel formwork side wall polishing and cleaning device with chamfers, and controlling the steel formwork side wall polishing and cleaning device with chamfers to move to the first to-be-polished position;

[0018] B. initializing the position of the polishing head, driving the polishing head to rotate to the state that the two polishing heads are arranged opposite to each other through the second motor, and controlling the corresponding polishing head to move horizontally and oppositely to the position where the distance between the two polishing heads is the smallest through the second telescopic unit;

[0019] C. adjusting the position of the steel formwork side wall polishing and cleaning device with chamfers during the movement of the steel formwork side wall polishing and cleaning device with chamfers to the first to-be-polished position, so that the center of the orthogonal projection of the first to-be-polished position along the width direction of the steel formwork side wall polishing and cleaning device with chamfers is aligned with the center of the orthogonal projection of the steel formwork side wall polishing and cleaning device with chamfers;

[0020] D. When the polishing and cleaning device for the side wall of the steel formwork with chamfer detects that the polishing disc and / or the polishing head is close to the edge of the first position to be polished, the relationship between the orthographic projection of the first position to be polished, the orthographic projection of the two polishing heads and the orthographic projection of the polishing disc in the width direction of the polishing and cleaning device for the side wall of the steel formwork with chamfer is determined to determine the polishing mode of the polishing disc and the polishing head and the advancing mode of the polishing and cleaning device for the side wall of the steel formwork with chamfer,

[0021] If the orthographic projection of the first position to be polished is completely covered by the orthographic projection of the polishing disc, the polishing and cleaning device for the side wall of the steel formwork with chamfer is controlled to move linearly, 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 towards the surface of the steel formwork, and the first position to be polished is polished and cleaned by the polishing disc;

[0022] If the edge of the orthographic projection of the first position to be polished exceeds the orthographic projection of the polishing disc and is covered by the orthographic projection of the two polishing heads arranged oppositely, the polishing and cleaning device for the side wall of the steel formwork with chamfer is controlled to move linearly, 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 towards the surface of the steel formwork, the third motor and the third telescopic unit are started, the polishing head is driven by the third motor to rotate in the horizontal plane along the central axis, the third telescopic unit drives the polishing head to move towards the surface of the steel formwork, and the first position to be polished is polished and cleaned by the polishing disc and the two polishing heads;

[0023] If the edge of the orthographic projection of the first position to be polished exceeds the orthographic projection of the two polishing heads arranged oppositely and is covered by the orthographic projection of the two polishing heads arranged oppositely, the polishing and cleaning device for the side wall of the steel formwork with chamfer is controlled to move linearly, 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 towards the surface of the steel formwork, the second motor, the third motor and the third telescopic unit are started, the polishing head is driven by the third motor to rotate in the horizontal plane along the central axis, the third telescopic unit drives the polishing head to move towards the surface of the steel formwork, the polishing head is driven by the second motor 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;

[0024] If the edge of the orthographic projection of the first position to be polished exceeds the orthographic projection of the two polishing heads arranged oppositely, the polishing and cleaning device for the side wall of the steel formwork with chamfer is controlled to move forward along the inclined Z-shaped track, 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 towards the surface of the steel formwork, the second motor, the third motor and the third telescopic unit are started, the polishing head is driven by the third motor to rotate in the horizontal plane along the central axis, the third telescopic unit drives the polishing head to move towards the surface of the steel formwork, the polishing head is driven by the second motor 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;

[0025] The polishing and cleaning method for the chamfered area of the steel formwork comprises the following steps:

[0026] a. Obtain the second position to be polished in the chamfered area of the steel formwork and the position of the steel formwork side wall polishing and cleaning device with chamfer, control the steel formwork side wall polishing and cleaning device with chamfer to move in the steel formwork plane area to the second position to be polished, until close to the second position to be polished, adjust the position of the steel formwork side wall polishing and cleaning device with chamfer to be consistent with the height direction of the steel formwork in the length direction of the steel formwork side wall polishing and cleaning device with chamfer, and when the polishing head is vertically upward, the upper end position of the polishing head is aligned with the lowest point of the second position to be polished;

[0027] b. Initialize the position of the polishing head, and rotate the polishing head close to the chamfered area of the steel formwork to a vertically upward state in the vertical plane by the second motor;

[0028] c. Start the second telescopic unit, the third telescopic unit and the third motor, adjust the position of the polishing head in the horizontal direction by the second telescopic unit, adjust the position of the polishing head in the direction perpendicular to the steel formwork plane area by the third telescopic unit, and rotate the polishing head by the third motor to make the polishing head polish along an arc trajectory in the chamfered area of the steel formwork, and control the steel formwork side wall polishing and cleaning device with chamfer to move upward in a straight line, so that the polishing head moves upward.

[0029] Compared with the prior art, the present application has the following advantages:

[0030] The steel formwork side wall polishing and cleaning device with chamfer and the method disclosed by the present application integrate the polishing disc and the polishing head through the bearing plate group on the wall climbing robot, control the position movement of the polishing disc and the polishing head by the wall climbing robot, and polish the steel formwork plane area and the chamfered area, instead of manual polishing, which saves time and effort and effectively improves the polishing and cleaning efficiency; when polishing the first position to be polished in the steel formwork plane area, the polishing mode of the polishing head and the polishing disc and the running track of the steel formwork side wall polishing and cleaning device with chamfer are planned according to the relationship between the orthographic projection of the first position to be polished along the width direction of the steel formwork side wall polishing and cleaning device with chamfer and the orthographic projection of the polishing head and the polishing disc, so as to polish more effectively and accurately; when polishing the second position to be polished in the chamfered area of the steel formwork, the steel formwork side wall polishing and cleaning device with chamfer moves vertically upward in the plane area close to the chamfered area of the steel formwork, and the polishing head moves along the arc surface by the second telescopic unit and the third telescopic unit, and the polishing head is polished by the third motor. BRIEF DESCRIPTION OF DRAWINGS

[0031] The drawings constituting a part of the present application serve to provide further understanding of the present application, the illustrative embodiments of the present application and the description thereof serve to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0032] Figure 1 The structure front view of the steel formwork side wall polishing cleaning device with chamfer of the embodiment one of the present application when two polishing heads are oppositely arranged;

[0033] Figure 2 The structure schematic view of the bearing plate connecting structure of the embodiment one of the present application when the polishing head is in the vertical upward state;

[0034] Figure 3 The polishing head and polishing piece connecting structure schematic view of the embodiment one of the present application;

[0035] Figure 4 The first bearing plate structure schematic view of the embodiment one of the present application;

[0036] Figure 5 The polishing area schematic view of the polishing disc, the polishing head and the polishing piece of the embodiment one of the present application;

[0037] Figure 6 The steel formwork top view;

[0038] Figure 7 The flow chart of the steel formwork planar area polishing of the chamfered steel formwork side wall polishing cleaning method of the embodiment two of the present application;

[0039] Figure 8 The flow chart of the steel formwork chamfer area polishing of the chamfered steel formwork side wall polishing cleaning method of the embodiment two of the present application.

[0040] Explanation of reference signs:

[0041] 1, first bearing plate; 101, mounting plate; 102, fixed plate; 103, side stiffener; 104, middle stiffener; 2, second bearing plate; 3, polishing disc; 4, connecting plate; 5, first motor; 6, first telescopic unit; 7, second telescopic unit; 8, L-shaped connecting piece; 9, third telescopic unit; 10, linear connecting piece; 11, second motor; 12, connecting frame; 121, shell part; 1211, auxiliary hole; 1212, connecting lug; 122, cover part; 1221, connecting section; 1222, connecting shaft; 13, third motor; 14, polishing head; 15, polishing piece; 16, steel formwork; 17, I area; 18, II area; 19, III area; 20, wall climbing robot; 21, first bolt and nut pair; 22, second bolt and nut pair. DETAILED DESCRIPTION

[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 the 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 of the 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, a feature 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 description of orientation in the technical solution of this invention is based on the vertically upward use of the steel template sidewall grinding and cleaning device with chamfer.

[0046] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0047] Example 1

[0048] like Figures 1 to 6As shown, the steel template sidewall grinding and cleaning device with chamfered edges includes a support plate assembly, which is detachably fixed to the wall-climbing robot 20. A grinding disc 3, capable of moving back and forth and rotating in a vertical plane, is located at the rear upper end of the support plate assembly. Columnar grinding heads 14, capable of moving left and right and back and forth, are located on the left and right sides of the upper end of the support plate assembly. Each grinding head 14 can rotate along its central axis in a horizontal plane and also rotate in a vertical plane. The two grinding heads 14 are located at the lower left and lower right of the grinding disc 3, respectively. When the two grinding heads 14 face each other, the minimum distance between them is less than the diameter of the grinding disc 3. When the grinding heads 14 rotate, they are either tangentially or disengaged from the grinding disc 3. In this embodiment, multiple magnetic adsorption blocks are evenly distributed on the surface of the walking belt of the wall-climbing robot 20, which are then adsorbed onto the steel template 16.

[0049] The support plate assembly includes a first support plate 1 and a second support plate 2 fixed to the lower side of the first support plate 1. The second support plate 2 is fixed to the front side of the wall-climbing robot 20, and the first support plate 1 extends upward from the wall-climbing robot 20. In this embodiment, the support plate assembly is composed of two parts: the second support plate 2 is fixed to the front side of the wall-climbing robot 20, and the first support plate 1 extends out of the wall-climbing robot 20. The relevant connection structures of the grinding disc 3 and the grinding head 14 are all integrated on the first support plate 1, which facilitates later maintenance and replacement. Only the fasteners between the first support plate 1 and the second support 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 support plate 2 and the wall-climbing robot 20, the second support plate 2 usually uses a lot of fasteners, and their positions are relatively scattered. Some fasteners may also be installed in a relatively hidden position, which increases the difficulty of disassembly and assembly. Therefore, the first support plate 1 and the second support plate 2 are set as a detachable structure, with fewer disassembly and assembly points and more operating space, which facilitates the disassembly and assembly between the wall-climbing robot 20 and the grinding mechanism.

[0050] A first telescopic unit 6 is vertically fixed to the front side of the upper end of the first support plate 1, and the end of the telescopic rod of the first telescopic unit 6 passes through the first support 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 side of the connecting plate 4, and the output shaft of the first motor 5 passes through the connecting plate 4 and is fixed together with the grinding disc 3 located behind the connecting plate 4. In this embodiment, the first motor 5 drives the grinding disc 3 to rotate, grinding out area I 17.

[0051] Mounting plates 101 are fixedly attached to both ends of the first bearing plate 1. A second telescopic unit 7 is horizontally fixed to the inner side of each mounting plate 101. The telescopic rod end of the second telescopic unit 7 passes through the corresponding mounting plate 101. A third telescopic unit 9 is fixed to the end of the telescopic rod of the second telescopic unit 7 through an L-shaped connector 8. The telescopic rod end of the third telescopic unit 9 passes through the corresponding L-shaped connector 8 and is fixed to one end of a straight connector 10. A second motor 11 is fixed to the front side of the other end of the straight connector 10. The output shaft of the second motor 11 passes through the straight connector 10 and is fixed to a connecting frame 12. The grinding head 14 is located on the outer side of the other end of the connecting frame 12. A third motor 13 is fixed to 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 outside 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.

[0052] The connecting frame 12 includes a housing part 121 and a cover part 122. One end of the housing part 121 is open. The cover part 122 is detachably fixed to the open end of the housing part 121. A connecting section 1221 integrally formed with the cover part 122 is also provided in the middle of the side of the cover part 122 away from the housing part 121. The connecting section 1221 is located on the rear side of the straight connector 10 and is fixedly connected to the output shaft of the second motor 11. The third motor 13 is disposed inside the housing part 121 and is fixedly connected to the end of the housing part 121 away from the cover part 122. The output shaft of the third motor 13 passes through the end of the housing part 121 away from the cover part 122 and is fixedly connected to the grinding head 14. 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 side edge of the cover portion 122. A connecting lug 1212 with a second connecting hole is fixedly connected to the outer side of the opening end of the housing portion 121 corresponding to each first connecting hole. The cover portion 122 is fixedly connected to the housing portion 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 pad is also provided between the first bolt and nut pair 21 and the connecting lug 1212.

[0053] An auxiliary hole 1211 is provided on the front side of the housing 121. This hole serves three purposes: to reduce weight, to dissipate heat, and to facilitate the cable connection of the internal third motor 13.

[0054] The outer circumferential wall of the grinding head 14 protrudes from the outer wall of the cover 122. A connecting shaft 1222, perpendicular to the connecting section 1221, is fixedly connected to the rear end of the connecting section 1221 away from the grinding head 14. A strip-shaped grinding disc 15, perpendicular to the connecting shaft 1222, is fixedly connected to the end of the connecting shaft 1222. The grinding disc 15 is located on the rear side of the connecting frame 12, with its front end close to the grinding head 14. The plane of the rear side wall of the grinding disc 15 coincides with the cut surface of the rearmost side of the grinding head 14. A positioning hole extending into the connecting shaft 1222 is provided on 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 fixedly connected to the connecting shaft 1222. In this embodiment, the outermost sidewalls of the cover portion 122, which is the outermost sidewall of the entire connecting frame 12, are provided. The outermost sidewall of the grinding head 14 protrudes from the outermost sidewall of the entire connecting frame 12, ensuring that the grinding head 14 can fit against the surface of the steel template 16 when rotating along its own central axis, and that the connecting frame 12 will not be worn or scratched. In this embodiment, a gap is left between the grinding head 14 and the grinding disc 15 to avoid 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 portion 122 are provided with cut-face structures, especially the cut-face structure on the rear side, which provides installation space for the grinding disc 15. In this embodiment, when the second motor 11 drives the grinding head 14 to rotate, the grinding disc 15 rotates synchronously. When the grinding head 14 rotates circumferentially along the output shaft of the second motor 11, it grinds out region II 18, and the grinding disc 15 rotates circumferentially synchronously to grind out region III 19, increasing the grinding area and thus improving grinding efficiency.

[0055] A fixing plate 102 is fixedly connected to the lower end of the first bearing plate 1, which is arranged along the length of the first bearing plate 1. The first bearing plate 1 is vertically arranged in the middle of the fixing plate 102. The lower side of each mounting plate 101 is fixedly connected to the upper side of the fixing plate 102. A side reinforcing rib 103 is provided between the upper side of each mounting plate 101 and the upper end of the first bearing plate 1. A middle reinforcing rib 104 is provided between the upper and lower sides of the first bearing plate 1 and the fixing plate 102. The second bearing plate 2 is configured as an inverted L-shaped structure. The horizontal section of the second bearing plate 2 is attached to the lower side of the fixing plate 102 and is fixedly connected to the fixing plate 102 by multiple 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 bearing plate 1 is configured as a structure that is narrow at the top and wide at the bottom. The side reinforcing rib 103 serves as the edge of the first bearing plate 1 and is inclined. 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 integrally formed, which increases the bearing strength of the first bearing plate 1.

[0056] 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 through the controller of the wall-climbing robot 20.

[0057] Example 2

[0058] like Figure 7 and Figure 8 As shown, the method for grinding and cleaning the sidewalls of steel formwork with chamfers is implemented using the grinding and cleaning device for the sidewalls of steel formwork with chamfers described in Embodiment 1. It includes a grinding and cleaning method for the planar area of ​​the steel formwork 16 and a grinding and cleaning method for the chamfered area of ​​the steel formwork 16.

[0059] The grinding and cleaning method for the 16-plane area of ​​the steel formwork includes the following steps:

[0060] A. Obtain the first position to be ground and the position of the steel formwork sidewall grinding and cleaning device in the plane area of ​​the steel formwork 16, and control the steel formwork sidewall grinding and cleaning device with chamfer to move to the first position to be ground;

[0061] In this embodiment, before the grinding and cleaning operation, the wall-climbing robot 20 first collects real-time images of the flat area of ​​the steel formwork. The first grinding position on the flat area of ​​the steel formwork 16 is obtained through image recognition. The position of the grinding and cleaning device for the chamfered steel formwork sidewall is used as the starting point, and the first grinding position on the flat area of ​​the steel formwork 16 is used as the ending point to determine the moving direction of the grinding and cleaning device for the chamfered steel formwork sidewall. It should be noted that since the first grinding position on the flat area of ​​the steel formwork 16 may be large, the image center point of the release agent, rust, or residual concrete on the flat area of ​​the steel formwork 16 is selected as the first grinding position to facilitate the alignment and movement of the grinding and cleaning device for the chamfered steel formwork sidewall towards the first grinding position.

[0062] B. Initialize the position of the grinding head 14, drive the grinding head 14 to rotate through the second motor 11 to the state where the two grinding heads 14 are facing each other, and control the corresponding grinding head 14 to move horizontally towards each other through the second telescopic unit 7 until the distance between the two grinding heads 14 is minimized.

[0063] C. During the process of the chamfered steel template sidewall grinding and cleaning device moving to the first grinding position, the position of the chamfered steel template sidewall grinding and cleaning device is adjusted so that the orthographic projection center of the first grinding position along the width direction of the chamfered steel template sidewall grinding and cleaning device is aligned with the orthographic projection center of the chamfered steel template sidewall grinding and cleaning device.

[0064] D. When the chamfered steel formwork 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 grinding position, the relationship between the orthographic projection of the first grinding position, the orthographic projection of the two grinding heads 14, and the orthographic projection of the grinding disc 3 is determined along the width direction of the chamfered steel formwork sidewall grinding and cleaning device. This determines the grinding method of the grinding disc 3 and the grinding head 14, as well as the travel method of the chamfered steel formwork sidewall grinding and cleaning device.

[0065] 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 sidewall 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. At the same time, the first telescopic unit 6 is started to drive the polishing disc 3 to move towards the surface of the steel template 16. The first position to be polished is polished and cleaned by the polishing disc 3 until the first position to be polished is polished to the right, and then step A is taken to polish the next first position to be polished.

[0066] 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 projection of the two opposing polishing heads 14, then the steel template sidewall 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 towards the surface of the steel template 16. At the same time, the third motor 13 and the third telescopic unit 9 are started. The third motor 13 drives the polishing head 14 to rotate in the horizontal plane along the central axis, and the third telescopic unit 9 drives the polishing head 14 to move towards the surface of the steel template 16. The polishing disc 3 and the two polishing heads 14 work together to polish and clean the first position to be polished until the first position to be polished is polished to the right, and then step A is taken to polish the next first position to be polished.

[0067] If the edge of the orthographic projection of the first position to be polished exceeds the orthographic projection of the two polishing heads 14 when they are facing each other, and is covered by the orthographic projection of the two polishing heads 14 that are facing away from each other, then the steel template sidewall 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. The third motor 13 drives the polishing head 14 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, and the second motor 11 drives the polishing head 14 to rotate in the vertical plane. The polishing disc 3 and the two polishing heads 14 work together to polish and clean the first position to be polished until the first position to be polished is polished to the right, and then step A is taken to polish the next first position to be polished.

[0068] If the orthographic projection edge of the first position to be ground exceeds the orthographic projection of the two opposing grinding heads 14, the steel template sidewall grinding and cleaning device with chamfers is controlled to move forward along an inclined Z-shaped trajectory. The first motor 5 is started to drive the grinding disc 3 to rotate, the first telescopic unit 6 is started to drive the grinding disc 3 to move towards 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 third motor 13 drives the grinding head 14 to rotate in the horizontal plane along the central axis, and the third telescopic unit 9 drives the grinding head 14 to move towards the surface of the steel template 16. The second motor 11 drives the grinding head 14 to rotate in the horizontal plane. The grinding head 14 rotates in the vertical plane, and the grinding disc 3 and the two grinding heads 14 work together to grind and clean the first position to be ground until the first position to be ground is ground to the required level. Then, step A is taken to grind the next first position to be ground. In this embodiment, when the second motor 11 is started to drive the grinding head 14 to rotate, the grinding disc 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 ground, which effectively reduces the ineffective movement of the grinding and cleaning device for the steel template sidewall with chamfer, ensuring that the first position to be ground can be completely ground.

[0069] The grinding and cleaning method for the chamfered area of ​​the steel formwork includes the following steps:

[0070] a. Obtain the second grinding position in the chamfered area of ​​the steel template 16 and the position of the chamfered steel template sidewall grinding and cleaning device. Control the chamfered steel template sidewall grinding and cleaning device to move towards the second grinding position in the plane area of ​​the steel template 16 until it is close to the second grinding position. Adjust the position of the chamfered steel template sidewall grinding and cleaning device so that the length direction of the chamfered steel template sidewall grinding and cleaning device is consistent with the height direction of the steel template 16, and when the grinding head 14 is set vertically upward, the upper end of the grinding head 14 is aligned with the lowest point of the second grinding position. In this embodiment, the length direction of the chamfered steel template sidewall grinding and cleaning device is defined as the walking direction of the wall-climbing robot 20.

[0071] In this embodiment, before the grinding and cleaning operation, the wall-climbing robot 20 moves in a planar area near the chamfered area to collect real-time images of the steel formwork chamfered area. The second grinding position on the steel formwork chamfered area is obtained through image recognition. The movement direction of the grinding and cleaning device is determined by using the position of the steel formwork sidewall grinding and cleaning device with the chamfered edge as the starting point and the second grinding position as the ending point. It should be noted that since the second grinding position on the steel formwork 16 may be relatively large, the image center point of the release agent, rust, or residual concrete in the chamfered area of ​​the steel formwork 16 is selected as the second grinding position to facilitate the alignment of the grinding and cleaning device towards the second grinding position.

[0072] b. Initialize the position of the grinding head 14, and drive the grinding head 14, which is close to the chamfer area of ​​the steel template 16, to rotate in the vertical plane to a vertically upward state through the second motor 11;

[0073] c. Activate the second telescopic unit 7, the third telescopic unit 9, and the third motor 13. Adjust the horizontal position of the grinding head 14 through the second telescopic unit 7, adjust the position of the grinding head 14 perpendicular to the plane area of ​​the steel template 16 through the third telescopic unit 9, and drive the grinding head 14 to rotate through the third motor 13. The grinding head 14 grinds along an arc trajectory in the chamfered area of ​​the steel template 16. Control the grinding and cleaning device of the chamfered steel template sidewall 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.

[0074] In step D, when the steel formwork sidewall grinding and cleaning device with chamfered edges reaches the edge of the plane area of ​​the steel formwork 16 or the junction of the plane area of ​​the steel formwork 16 and the chamfered area, the steel formwork sidewall grinding and cleaning device with chamfered edges adjusts its posture within the plane area of ​​the steel formwork 16 based on avoiding the edge of the plane area of ​​the steel formwork 16 or the junction of the plane area of ​​the steel formwork 16 and the chamfered area, and starts grinding disc 3 and / or grinding head 14 to grind by real-time monitoring of the grinding status of the first grinding position. When the grinding and cleaning device for the side wall of the steel formwork with chamfers reaches the edge of the plane area of ​​the steel formwork 16 or the junction of the plane area and the chamfer area of ​​the steel formwork 16, it is not necessary to judge 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, the orthographic projection of the two grinding heads 14 and the orthographic projection of the grinding disc 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 disc 3. If there is, the grinding head 14 and / or the grinding disc 3 is driven to grind. If not, the next first position to be ground is ground.

Claims

1. A device for grinding and cleaning the side walls of a steel form having a chamfer, characterized in that: The polishing head is located on the outside of the connecting segment, and the output shaft of the second motor is inserted into the positioning hole and connected with the connecting shaft. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor.

2. The steel formwork side wall chamfering and cleaning device according to claim 1, characterized in that: The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor.

3. The steel formwork side wall chamfering and cleaning apparatus of claim 2, wherein: The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor.

4. The steel formwork side wall chamfering and cleaning apparatus of claim 2, wherein: The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. 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The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. 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The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and is connected with the output shaft of the second motor. The connecting segment is located on the rear side of the L-shaped connecting piece and 5. The steel formwork side wall chamfering and cleaning apparatus of claim 1, wherein: The lower end of the first bearing plate is fixedly connected with a fixed plate arranged along the length direction of the first bearing plate, and the first bearing plate is vertically arranged at the middle of the fixed plate.

6. A method of grinding and cleaning a flat area of a steel formwork, characterized in that The polishing and cleaning device for the side wall of the steel formwork with chamfer is realized by adopting the device as claimed in any one of claims 1-5, and comprises the following steps: A. obtaining a first position to be polished in a planar region of the steel formwork and a position of the polishing and cleaning device for the side wall of the steel formwork with chamfer, and controlling the polishing and cleaning device for the side wall of the steel formwork with chamfer to move to the first position to be polished; B. initializing the position of the polishing head, controlling the two polishing heads to be in a state of facing each other, and controlling the polishing head to horizontally move to the state of facing each other until the distance between the two polishing heads is minimum; C. during the movement of the polishing and cleaning device for the side wall of the steel formwork with chamfer to the first position to be polished, adjusting the position of the polishing and cleaning device for the side wall of the steel formwork with chamfer, so that the center of the orthographic projection of the first position to be polished along the width direction of the polishing and cleaning device for the side wall of the steel formwork with chamfer is aligned with the center of the orthographic projection of the polishing and cleaning device for the side wall of the steel formwork with chamfer; D. when the polishing and cleaning device for the side wall of the steel formwork with chamfer monitors that the polishing disc and / or the polishing head is close to the edge of the first position to be polished, judging the relationship among the orthographic projection of the first position to be polished, the orthographic projection of the two polishing heads and the orthographic projection of the polishing disc along the width direction of the polishing and cleaning device for the side wall of the steel formwork with chamfer, determining the polishing mode of the polishing disc and the polishing head and the advancing mode of the polishing and cleaning device for the side wall of the steel formwork with chamfer, if the orthographic projection of the first position to be polished is completely covered by the orthographic projection of the polishing disc, controlling the polishing and cleaning device for the side wall of the steel formwork with chamfer to linearly walk, and driving the polishing disc to rotate and move to the surface of the steel formwork, so that the first position to be polished is polished and cleaned by the polishing disc; if the edge of the orthographic projection of the first position to be polished exceeds the orthographic projection of the polishing disc and is covered by the orthographic projection of the two polishing heads arranged facing each other, controlling the polishing and cleaning device for the side wall of the steel formwork with chamfer to linearly walk, driving the polishing disc to rotate and move to the surface of the steel formwork, and driving the polishing head to rotate in the horizontal plane along the central axis and move to the surface of the steel formwork, so that the first position to be polished is polished and cleaned by the polishing disc and the two polishing heads; if the edge of the orthographic projection of the first position to be polished exceeds the orthographic projection of the two polishing heads arranged facing each other and is covered by the orthographic projection of the two polishing heads arranged facing away from each other, controlling the polishing and cleaning device for the side wall of the steel formwork with chamfer to linearly walk, driving the polishing disc to rotate and move to the surface of the steel formwork, driving the polishing head to rotate in the horizontal plane along the central axis and move to the surface of the steel formwork, and driving the polishing head to rotate in the vertical plane, so that the first position to be polished is polished and cleaned by the polishing disc and the two polishing heads; If the first position to be polished is beyond the projection of the two oppositely arranged polishing heads, the chamfered steel formwork side wall polishing and cleaning device is controlled to move forward along the inclined Z-shaped track, the polishing disc is driven to rotate and move towards the steel formwork surface, the polishing head is driven to rotate along the central axis in the horizontal plane while moving towards the steel formwork surface, and the polishing head is driven to rotate in the vertical plane, so as to polish and clean the first position to be polished by the polishing disc and the two polishing heads.

7. A method of grinding and cleaning a chamfered area of a steel form, characterized by, The chamfered steel formwork side wall polishing and cleaning device is realized by adopting any one of the methods in claims 1-5, and comprises the following steps: a. obtaining the second position to be polished in the chamfered region of the steel formwork and the position of the chamfered steel formwork side wall polishing and cleaning device, controlling the chamfered steel formwork side wall polishing and cleaning device to move towards the second position to be polished in the steel formwork plane region, adjusting the position of the chamfered steel formwork side wall polishing and cleaning device to be consistent with the length direction of the chamfered steel formwork side wall polishing and cleaning device and the height direction of the steel formwork when the chamfered steel formwork side wall polishing and cleaning device is close to the second position to be polished, and aligning the upper end position of the polishing head with the lowest point of the second position to be polished when the polishing head is vertically upward arranged; b. initializing the position of the polishing head, and driving the polishing head close to the chamfered region of the steel formwork to rotate in the vertical plane to the vertically upward state; c. adjusting the position of the polishing head in the horizontal direction and the direction perpendicular to the steel formwork plane region, and driving the polishing head to rotate so that the polishing head polishes in the chamfered region of the steel formwork along the arc-shaped track, and controlling the chamfered steel formwork side wall polishing and cleaning device to move straight up so that the polishing head moves upward.

Images