Template surface residue grinding device and method for movable formwork

Abstract

The invention provides a template surface residue grinding device and method for a movable formwork. The device comprises a wall-climbing robot and a grinding module arranged on the wall-climbing robot, and the grinding module comprises an equipment mounting frame, a main grinding mechanism arranged below the equipment mounting frame and an auxiliary grinding mechanism arranged above the equipment mounting frame; the main polishing mechanism comprises a main polishing roller, and a driving mechanism used for driving the main polishing roller to rotate is arranged on the equipment mounting frame; the auxiliary grinding mechanism comprises a support and a rotating frame rotationally arranged on the support, the rotating frame is obliquely arranged, a telescopic frame is arranged at the obliquely-downward end of the rotating frame, and the obliquely-downward end of the telescopic frame extends out of the rotating frame and is provided with an auxiliary grinding roller. According to the template surface residue grinding device and method for the movable formwork, residues on the surface of the template of the movable formwork can be effectively removed, the grinding treatment effect is good, and the grinding treatment efficiency is high.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of polishing treatment, and particularly relates to a formwork surface residual polishing device and method for a mobile formwork. BACKGROUND

[0002] In modern bridge construction, especially in the construction of large pre-stressed concrete continuous girder bridges, the mobile formwork bridge builder has become a mainstream construction method due to its high efficiency, safety, recyclability, strong adaptability to terrain and other remarkable advantages. The core function of the mobile formwork is to provide a movable and closed formwork system (usually including a bottom formwork, a side formwork and an inner formwork), to complete the concrete pouring, curing and pre-stress tensioning processes across the bridge or in segments, and then to move to the next construction position as a whole to realize the "factory-like" assembly line production of the bridge.

[0003] However, during the concrete pouring and demolding process, a common technical problem is the residual concrete on the formwork surface. This residual mainly results from the following factors: first, the material properties of the concrete, the freshly mixed concrete has certain viscosity and bleeding. Second, the failure or uneven application of the release agent, although a release agent is used in construction to reduce adhesion, uneven application, insufficient amount, poor performance or being washed away by rainwater of the release agent can all lead to increased adhesion of the concrete to the formwork in local areas. Third, improper operation of the vibrating rod (such as over-vibration, touching the formwork) or uneven local vibration can exacerbate the enrichment and adhesion of the cement paste in specific areas. Fourth, premature formwork removal can cause insufficient concrete strength and adhesion to the formwork, and late formwork removal can increase the "grip" force of the concrete to the formwork, and mechanical impact during the formwork removal process can also cause concrete chunks to remain on the formwork. Fifth, the surface state of the formwork, the smoothness and flatness of the formwork itself, and the small residual materials not completely cleaned after the previous use, all can become the "base point" for the adhesion of the concrete in the next pouring.

[0004] Since the formwork system on the mobile formwork needs to be reused, the hardened concrete blocks remaining on the formwork can form defects on the surface of the box girder during the next pouring, which seriously affects the appearance quality of the bridge and may even affect the durability. Therefore, in order to ensure the construction quality of the bridge, protect the expensive formwork system, maintain the normal construction progress and efficiency, after the mobile formwork completes the construction of a segment and is demolded, before it is moved to the next segment position for installation, the residual materials on the formwork surface must be thoroughly cleaned.

[0005] In the prior art, if the large blocks or hardened residual concrete are forcibly removed by using a crushing device or the like, the formwork panel is easily damaged, the flatness and smoothness thereof are reduced, and a vicious cycle is formed. Therefore, mechanical polishing treatment is generally performed by manually holding a polishing device (such as an angle grinder, a handheld grinding machine, a special formwork polisher with a dust collection device, or the like). However, the manual polishing method has low cleaning efficiency for large blocks or hardened concrete, has a long process time, and has poor cleaning effect, which affects the overall construction efficiency of the movable formwork. SUMMARY

[0006] Therefore, the present application aims to provide a formwork surface residual polishing device and method for a movable formwork to solve the problem of poor cleaning efficiency of the existing polishing device for large blocks or hardened concrete on the formwork surface.

[0007] To achieve the above-mentioned object, the technical scheme of the present application is as follows: In a first aspect, the present application provides a formwork surface residual polishing device for a movable formwork, comprising a wall-climbing robot and a polishing module arranged on the wall-climbing robot, wherein the polishing module comprises a device mounting rack, a main polishing mechanism arranged below the device mounting rack, and a secondary polishing mechanism arranged above the device mounting rack. The main polishing mechanism comprises a main polishing roller rotatably mounted on the device mounting rack, and a driving mechanism arranged on the device mounting rack for driving the main polishing roller to rotate. The secondary polishing mechanism comprises a bracket and a rotating frame rotatably arranged on the bracket, wherein the rotating frame is obliquely arranged, one end of the rotating frame obliquely downward is provided with an extendable telescopic frame, the telescopic frame obliquely downward extends out of the rotating frame and is provided with a secondary polishing roller, the length direction of the secondary polishing roller is the same as that of the main polishing roller, and a power assembly for driving the secondary polishing roller to rotate is arranged on the telescopic frame; a driver for driving the telescopic frame to extend and retract is arranged on the rotating frame, and a driving assembly for driving the rotating frame to rotate is arranged on the device mounting rack corresponding to the position of one end of the rotating frame obliquely upward.

[0008] Further, two brackets are arranged corresponding to the left and right ends of the device mounting rack, and two rotating shafts are arranged corresponding to the left and right ends of the rotating frame, and an assembly hole capable of cooperating with the rotating shaft is arranged on each bracket.

[0009] Further, the assembly hole comprises a limiting section capable of cooperating with the rotating shaft below and a containing section capable of facilitating upward movement of the rotating shaft above, the diameter of the containing section is greater than the diameter of the rotating shaft, and the containing section and the limiting section are smoothly connected; a telescopic rod for moving the rotating shaft from the containing section to the limiting section is arranged on the bracket, and the fixed end of the telescopic rod is rotatably mounted on the bracket, and the telescopic end is rotatably connected with the rotating shaft.

[0010] Further, the driving assembly comprises telescopic cylinders, two of which are arranged at the left and right ends of the rotating frame, each of the telescopic cylinders is vertically arranged on the equipment mounting frame at a position corresponding to the main polishing roller, the telescopic ends of the two telescopic cylinders are connected through a connecting shaft, and the rotating frame is provided with a long hole matched with the connecting shaft.

[0011] Further, the telescopic frame is provided with an insertion part above a position corresponding to the auxiliary polishing roller, and the thickness of the insertion part is equal to the diameter of the auxiliary polishing roller.

[0012] Further, one end of the insertion part towards the auxiliary polishing roller is provided with a tapered end.

[0013] Further, the power assembly comprises a driving motor arranged on the telescopic frame, the output end of the driving motor is connected with the auxiliary polishing roller through a transmission belt, and the telescopic frame is provided with an accommodating cavity for accommodating the transmission belt.

[0014] Further, the rotating frame is provided with an assembly groove in sliding cooperation with the telescopic frame.

[0015] In a second aspect, the embodiment of the present application also provides a template surface residual polishing method for a mobile formwork, comprising the following steps: Step S1, the position of the residual concrete and its three-dimensional image are obtained, and after the maximum adhesion thickness and the minimum adhesion length of the residual concrete are obtained according to the three-dimensional image, the telescopic frame is controlled to extend out of the rotating frame based on the maximum adhesion thickness, so that the distance between the auxiliary polishing roller and the template surface is less than the maximum adhesion thickness; Step S2, it is judged whether the minimum adhesion length of the residual concrete is not greater than the length of the auxiliary polishing roller; if yes, the template surface residual polishing device is controlled to move towards the residual concrete in a direction perpendicular to the minimum adhesion length direction; if not, the template surface residual polishing device is first controlled to move towards the residual concrete in the minimum adhesion length direction, and the main polishing roller is driven to rotate by the driving mechanism to realize the pre-polishing treatment of the residual concrete, until the minimum adhesion length of the residual concrete is not greater than the length of the auxiliary polishing roller, then the template surface residual polishing device is controlled to move towards the residual concrete in a direction perpendicular to the minimum adhesion length direction; Step S3, in the process of moving the template surface residual polishing device, the main polishing roller is driven to rotate by the driving mechanism to realize the polishing treatment of the residual concrete, until the auxiliary polishing roller contacts the residual concrete, and the movement of the template surface residual polishing device and the rotation of the main polishing roller are stopped. Step S4, after the template surface residue polishing device stops moving, the power assembly drives the secondary polishing roller to rotate and the driver drives the telescopic frame to extend the rotating frame; wherein, in the process of the telescopic frame driving the secondary polishing roller to move, the secondary polishing roller can polish deep grooves on the residual concrete, so that the telescopic frame can extend into the residual concrete through the deep grooves; Step S5, after the telescopic frame extends into the residual concrete through the deep grooves, the driving assembly drives the rotating frame to rotate, and the rotating frame and the telescopic frame act as a pry plate to pry part of the concrete on the residual concrete, so as to achieve the crushing or thinning of the residual concrete; Step S6, after the driving assembly drives the rotating frame to reset and the driver drives the telescopic frame to reset, the rotation of the secondary polishing roller is stopped; Step S7, repeat steps S1 to S6 until the polishing treatment of all residual concrete on the template surface is completed.

[0016] Further, the step S2 specifically includes the following steps: Step S21, judge whether the minimum adhesion length of the residual concrete is not greater than the length of the secondary polishing roller, if yes, control the template surface residue polishing device to move towards the residual concrete in a direction perpendicular to the minimum adhesion length direction; Step S22, if not, calculate the difference between the minimum adhesion length of the residual concrete and the length of the secondary polishing roller to obtain a pre-polishing length; Step S23, control the template surface residue polishing device to move at least a distance equal to the pre-polishing length from one side of the residual concrete to the other side in the minimum adhesion length direction of the residual concrete, and in the process of the template surface residue polishing device moving, the driving mechanism drives the primary polishing roller to rotate to realize the pre-polishing treatment of the residual concrete; Step S24, after the pre-polishing treatment is completed, control the template surface residue polishing device to move away from the residual concrete, and control the template surface residue polishing device to move towards the residual concrete again in a direction perpendicular to the minimum adhesion length direction.

[0017] Compared with the prior art, the template surface residue polishing device and method for mobile formwork have the following advantages: The mobile formwork template surface residual polishing device and method can realize effective cleaning of the mobile formwork template surface residual, has good polishing treatment effect, has high polishing treatment efficiency, is not easy to cause damage to the surface quality of the perforated steel plate form, improves the polishing treatment efficiency and treatment effect of the device as a whole. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which form a part of the present application, are intended to provide further understanding of the present application, and are used to interpret the illustrative embodiments of the present application and their descriptions, and do not constitute improper limitations to the present application. In the drawings: Figure 1 A structure schematic view of the mobile formwork template surface residual polishing device according to the embodiment of the present application; Figure 2 A structure schematic view of the mobile formwork template surface residual polishing device according to the embodiment of the present application when the telescopic frame extends the rotating frame; Figure 3 A structure schematic view of the mobile formwork template surface residual polishing device according to the embodiment of the present application at the telescopic frame; Figure 4 A structure schematic view of the mobile formwork template surface residual polishing device according to the embodiment of the present application in the telescopic frame containing cavity; Figure 5 A flowchart of the mobile formwork template surface residual polishing method according to the embodiment of the present application.

[0019] Explanation of reference signs: 1, wall-climbing robot; 2, equipment mounting frame; 3, driving mechanism; 4, main polishing roller; 5, rotating frame; 6, auxiliary polishing roller; 7, support; 8, rotating shaft; 9, assembly hole; 10, telescopic rod; 11, telescopic cylinder; 12, connecting shaft; 13, long hole; 14, driver; 15, telescopic frame; 16, plug-in part; 17, power assembly; 18, driving motor; 19, transmission belt; 20, containing cavity. DETAILED DESCRIPTION

[0020] The present application will be further described in detail below in combination with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0021] The application discloses a template surface residual polishing device for a movable formwork, which is used for polishing the movable formwork template, removing the residual adhesion on the template, especially the large or hardened residual concrete, ensuring the flatness and smoothness of the template surface in the subsequent construction process, and improving the polishing efficiency of the template.

[0022] Specifically, the template surface residual polishing device for the movable formwork comprises a wall-climbing robot 1 and a polishing module arranged on the wall-climbing robot 1. Figures 1 to 4 As shown in the figure, the polishing module comprises an equipment mounting rack 2, a main polishing mechanism arranged below the equipment mounting rack 2, and a secondary polishing mechanism arranged above the equipment mounting rack 2.

[0023] Optionally, the equipment mounting rack 2 can be mounted and fixed on the body of the wall-climbing robot 1 through a conventional mode such as a screw, so as to realize detachable assembly of the polishing module on the wall-climbing robot 1, facilitate subsequent maintenance and repair of the polishing module, and be favorable for reducing the use and maintenance difficulty of the polishing device.

[0024] In actual application, the wall-climbing robot 1 drives the polishing module to move on the template, and automatically polishes the residual adhesion on the template by means of the polishing module, so as to improve the polishing efficiency and effect of the template.

[0025] Specifically, the main polishing mechanism comprises a main polishing roller 4, the main polishing roller 4 is rotationally installed on the equipment mounting rack 2, and the equipment mounting rack 2 is provided with a driving mechanism 3 for driving the main polishing roller 4 to rotate.

[0026] In actual application, the main polishing roller 4 can be installed on the equipment mounting rack 2 through a conventional mode such as a rotating shaft, and the driving mechanism 3 can adopt a common driving device such as a motor, and a person skilled in the art can select a suitable main polishing roller 4 installation and driving mode according to actual needs, so as to realize driving the main polishing roller 4 to rotate and realize polishing.

[0027] Specifically, the auxiliary polishing mechanism comprises a support 7 and a rotating frame 5 rotatably arranged on the support 7, the rotating frame 5 is arranged obliquely, and one end of the rotating frame 5 obliquely downward is provided with an extendable telescopic frame 15, one end of the telescopic frame 15 obliquely downward extends out of the rotating frame 5 and is provided with an auxiliary polishing roller 6, the length direction of the auxiliary polishing roller 6 is the same as the length direction of the main polishing roller 4, and the telescopic frame 15 is provided with a power assembly 17 for driving the auxiliary polishing roller 6 to rotate; the rotating frame 5 is provided with a driver 14 for driving the telescopic frame 15 to extend and retract, and the equipment mounting frame 2 is provided with a driving assembly corresponding to the position of the obliquely upward end of the rotating frame 5.

[0028] Preferably, two supports 7 are arranged at the left and right ends of the equipment mounting frame 2, and two rotating shafts 8 are arranged at the left and right ends of the rotating frame 5, and each support 7 is provided with an assembly hole 9 capable of cooperating with the rotating shaft 8. Illustratively, the supports 7 are fixed on the equipment mounting frame 2, and by arranging the supports 7 at the left and right ends of the equipment mounting frame 2, two fulcrum structures can be formed at the left and right ends of the rotating frame 5, which facilitates the stable rotation of the rotating frame 5 driven by the driving assembly.

[0029] In actual application, by arranging the telescopic frame 15 on the rotating frame 5 and installing the auxiliary polishing roller 6 capable of polishing the residual concrete on the telescopic frame 15, when there is a large piece or hardened concrete on the formwork, the telescopic frame 15 can be used to drive the auxiliary polishing roller 6 to move, and the auxiliary polishing roller 6 can be used to assist in polishing the residual concrete, so as to polish a deep groove at the position where the residual concrete is thick, and to realize the segmentation of the large piece of concrete, facilitating the crushing of the large piece of concrete. At the same time, by extending the telescopic frame 15 into the deep groove and driving the rotating frame 5 to rotate by the driving assembly, the end of the telescopic frame 15 extending into the deep groove can form a fulcrum by abutting against the inner wall of the deep groove, and the telescopic frame 15 and the rotating frame 5 as a whole can be used as a pry to pry part of the concrete on the residual concrete, thereby realizing the crushing or thinning of the large piece of concrete.

[0030] The mobile formwork template surface residual polishing device described in the embodiment can realize collaborative polishing by arranging the main polishing mechanism and the auxiliary polishing mechanism, and can change the large piece of concrete remaining on the formwork into a small piece or thin concrete by using the auxiliary polishing mechanism, which facilitates subsequent polishing and cleaning by using the main polishing mechanism, and improves the polishing efficiency and processing effect of the device as a whole.

[0031] Optionally, the assembly hole 9 comprises a limiting section capable of cooperating with the rotating shaft 8 below and a containing section capable of facilitating the upward movement of the rotating shaft 8 above, the aperture of the containing section is larger than the diameter of the rotating shaft 8, and the containing section and the limiting section are smoothly connected; the bracket 7 is provided with an extension rod 10 for driving the rotating shaft 8 to move from the containing section to the limiting section, the fixed end of the extension rod 10 is rotatably installed on the bracket 7, and the extension end is rotatably connected with the rotating shaft 8. Exemplarily, the rotating shaft 8 is fixed on the rotating frame 5 to realize the stable connection of the two.

[0032] Specifically, the assembly hole 9 is an upper-large-and-lower-small strip hole or an oval hole, so that when the rotating frame 5 and the telescopic frame 15 are rotated upward and pry the residual concrete, the rotating shaft 8 can move freely with the rotating frame 5, avoiding the influence of the bracket 7 on the rotation of the rotating frame 5. In actual use, by adopting the upper-large-and-lower-small assembly hole 9, when the telescopic frame 15 is inserted into the residual concrete and the rotating frame 5 is driven by the driving assembly to drive the telescopic frame 15 to rotate upward to pry and break the concrete, the assembly hole 9 will not limit the movement of the rotating shaft 8, and thus will not limit the rotation angle of the rotating frame 5, which can ensure that the telescopic frame 15 on the rotating frame 5 can pry and break the concrete more smoothly or thin it.

[0033] At the same time, by adopting the upper-large-and-lower-small assembly hole 9, the driving assembly can drive the rotating frame 5 to drive the telescopic frame 15 to rotate upward to pry and break the concrete. Compared with downward rotation to pry and break, the broken concrete will not be stuck between the main polishing mechanism and the auxiliary polishing mechanism, and the rotating frame 5 has higher freedom degree when rotating upward, and the prying and breaking effect on the large concrete is also better. In addition, since the rotating frame 5 is only connected with the equipment mounting frame 2 by the driving assembly during the prying and breaking process, the overall freedom degree is higher, except that the connection between the driving assembly and the equipment mounting frame 2 is stressed, the prying fulcrum of the telescopic frame 15 is located at the end position inserted into the concrete, so it will not cause excessive influence on the wall climbing robot 1, which is conducive to ensuring the stability of the wall climbing robot 1 on the formwork.

[0034] In actual application, the extension rod 10 can be a commonly used extension rod 10 such as a pneumatic cylinder. The function of the extension rod 10 is to drive the rotating shaft 8 to return to the original position, that is, when the rotating shaft 8 moves with the rotating frame 5, in order to make the rotating frame 5 rotate to the original position, the extension rod 10 is used to drive the rotating shaft 8 to move from the containing section to the limiting section again. The rotating shaft 8 is limited by cooperating with the limiting section, and the extension rod 10 is also used to pull the rotating shaft 8 to achieve limiting. Under the double limiting action, the rotating shaft 8 can be kept stable under the joint action of the limiting section of the assembly hole 9 and the extension end of the extension rod 10, so that the rotating frame 5 can be kept stable when the telescopic frame 15 on the rotating frame 5 is extended, ensuring the stable extension of the telescopic frame 15 and ensuring that the auxiliary polishing roller 6 on the telescopic frame 15 can stably assist in polishing the residual concrete.

[0035] It should be noted that the telescopic rod 10 is not used to drive the rotating shaft 8 to move upward, so when the driving assembly drives the rotating frame 5 to rotate upward, the telescopic rod 10 can freely expand and rotate with the rotating shaft 8, which is beneficial to improve the existing gas supply control system, and will not be described here. By following the telescopic rod 10 with the rotating shaft 8, the telescopic rod 10 can avoid the telescopic rod 10 from generating excessive force on the equipment mounting frame 2 when the rotating frame 5 and the telescopic frame 15 pry the concrete, so as to ensure that the equipment mounting frame 2 only bears the vertical force of the driving assembly, thereby preventing the wall climbing robot 1 from moving or falling due to the oblique force borne by the equipment mounting frame 2, and improving the stability and safety of the device during the polishing process.

[0036] Preferably, the driving assembly comprises two telescopic cylinders 11 arranged at the left and right ends of the rotating frame 5, each of which is vertically arranged on the equipment mounting frame 2 at a position corresponding to the main polishing roller 4. The telescopic ends of the two telescopic cylinders 11 are connected by a connecting shaft 12, and the rotating frame 5 is provided with a long hole 13 matched with the connecting shaft 12.

[0037] Exemplarily, the telescopic cylinder 11 can be a commonly used telescopic cylinder 11 such as a hydraulic cylinder. By arranging the telescopic cylinder 11 corresponding to the main polishing roller 4 and vertically arranging it on the equipment mounting frame 2, when the telescopic cylinder 11 drives the rotating frame 5 to rotate, the telescopic cylinder 11 only generates a vertical downward force, which is transmitted to the formwork through the stationary main polishing roller 4. Not only can it provide stable support for the telescopic cylinder 11 and ensure that the telescopic cylinder 11 stably drives the rotating frame 5 to drive the telescopic frame 15 to pry the broken large concrete, but also will not generate oblique or horizontal force on the wall climbing robot 1, which can ensure that the wall climbing robot 1 is stably adsorbed on the formwork.

[0038] In actual application, the connecting shaft 12 and the telescopic end of the telescopic cylinder 11 are connected by a conventional nut or other means, or the connecting shaft 12 can be rotatably installed on the telescopic end of the telescopic cylinder 11 to reduce the wear between the connecting shaft 12 and the rotating frame 5. Those skilled in the art can choose a suitable way to install the connecting shaft 12 according to actual needs, which will not be described here. By connecting the telescopic ends of the two telescopic cylinders 11 with the connecting shaft 12, the two telescopic cylinders 11 can drive the rotating frame 5 to rotate together and ensure that the rotating frame 5 remains stable during rotation. At the same time, the two telescopic cylinders 11 are symmetrically arranged on both sides of the equipment mounting frame 2, which can also ensure that the equipment mounting frame 2 bears force uniformly, thereby preventing the wall climbing robot 1 from falling.

[0039] Preferably, the telescopic frame 15 is provided with an insertion part 16 corresponding to the position above the secondary polishing roller 6, and the thickness of the insertion part 16 is equal to the diameter of the secondary polishing roller 6. Specifically, by setting the thickness of the insertion part 16 equal to the diameter of the secondary polishing roller 6, the insertion part 16 can be inserted into the deep groove polished by the secondary polishing roller 6. Based on the above description, those skilled in the art can set the thickness of the insertion part 16 according to actual needs, which will not be described here.

[0040] In actual application, when the secondary polishing roller 6 polishes a deep groove on the residual concrete, the insertion part 16 can be inserted into the deep groove and contact the inner wall of the deep groove, so as to ensure that the end of the telescopic frame 15 inserted into the residual concrete forms a pry fulcrum.

[0041] Optionally, the end of the insertion part 16 towards the secondary polishing roller 6 is provided with a tapered end. Specifically, by setting the tapered end, the insertion part 16 can be easily inserted into the deep groove polished by the secondary polishing roller 6 on the residual concrete.

[0042] Preferably, the power assembly 17 includes a driving motor 18 arranged on the telescopic frame 15, the output end of the driving motor 18 is connected with the secondary polishing roller 6 through a transmission belt 19, and the telescopic frame 15 is provided with a receiving cavity 20 for accommodating the transmission belt 19. Specifically, the transmission belt 19 can be an existing transmission belt 19, the output end of the driving motor 18 and the end of the secondary polishing roller 6 are both provided with a transmission wheel matched with the transmission belt 19, the fixed end of the driving motor 18 can be installed and fixed on the telescopic frame 15 by a conventional method such as screw, and the telescopic frame 15 is provided with a mounting groove for mounting the driving motor 18, which is in communication with the receiving cavity 20. In addition, those skilled in the art can also select other suitable power assemblies 17 and transmission modes according to actual needs to drive the secondary polishing roller 6 to rotate, which will not be described here.

[0043] In actual application, by arranging the driving motor 18 on the telescopic frame 15, the driving motor 18 can be telescoped with the telescopic frame 15, and only a power supply line with sufficient length is needed. By using the transmission belt 19 and hiding the transmission belt 19 in the receiving cavity 20 of the telescopic frame 15, the transmission belt 19 can be well protected, and damage to the transmission belt 19 during polishing can be avoided, which is beneficial to improve the reliability and safety of the secondary polishing mechanism during polishing.

[0044] Optionally, the driver 14 adopts a linear module, and the telescopic frame 15 is connected with a sliding table of the linear module.

[0045] Optionally, the rotating frame 5 is provided with an assembly groove in sliding cooperation with the telescopic frame 15. By providing the assembly groove in sliding cooperation with the telescopic frame 15 on the rotating frame 5, the telescopic frame 15 can be accommodated, and the power assembly 17 on the telescopic frame 15 can be protected. Meanwhile, by cooperating the assembly groove with the entire telescopic frame 15, the structural strength of the connection between the telescopic frame 15 and the rotating frame 5 can be improved, so that the stable connection between the rotating frame 5 and the telescopic frame 15 can be ensured when the rotating frame 5 drives the telescopic frame 15 to pry and break the concrete block.

[0046] On the basis of the above, the embodiment further provides a template surface residual polishing method for a mobile formwork, which is realized by using the template surface residual polishing device for the mobile formwork. By using the template surface residual polishing method for the mobile formwork, the residual on the template of the mobile formwork can be effectively removed, and the large or hardened concrete on the template of the mobile formwork can be polished, so that the processing efficiency is high and the processing effect is good.

[0047] Figure 5 A flowchart of the template surface residual polishing method for the mobile formwork is shown in the embodiment of the application. Referring to Figure 5 The template surface residual polishing method for the mobile formwork specifically includes the following steps. In step S1, the position and three-dimensional image of the residual concrete are obtained, the maximum adhesion thickness and minimum adhesion length of the residual concrete are obtained according to the three-dimensional image, and then the driver is controlled to drive the telescopic frame to extend out of the rotating frame based on the maximum adhesion thickness, so that the spacing between the auxiliary polishing roller and the template surface is less than the maximum adhesion thickness.

[0048] Before the polishing treatment is performed, the position of each residual concrete on the mobile formwork template and its three-dimensional image can be determined through existing measurement and three-dimensional reconstruction methods based on binocular vision three-dimensional positioning and reconstruction, and then the three-dimensional image of each residual concrete on the mobile formwork template is imported into a three-dimensional modeling software for measurement to measure the maximum attached thickness of the residual concrete, i.e., the farthest point height of the residual concrete relative to the surface of the mobile formwork template. The minimum attached length of the residual concrete, i.e., the minimum length of the contact surface of the residual concrete and the template surface, also needs to be measured. The above measurement can also be achieved through existing software or algorithms, and a suitable measurement method can be selected by a person skilled in the art according to actual needs, which will not be described here.

[0049] In actual application, by obtaining the maximum attached thickness of the residual concrete, the thickness of the residual concrete can be obtained, so that the length of the telescopic frame extending the rotating frame is adjusted, so that the secondary polishing roller can contact the residual concrete when the secondary polishing mechanism is used to polish the deep groove on the residual concrete in the subsequent process, preventing the secondary polishing roller from passing over the residual concrete. Specifically, the driver can be controlled based on the maximum attached thickness to drive the telescopic frame to extend the rotating frame, so that the distance between the secondary polishing roller and the template surface is less than the maximum attached thickness. At this time, the secondary polishing roller can contact the residual concrete during the movement of the polishing device to the residual concrete.

[0050] It should be noted that the specific size of the distance between the secondary polishing roller and the template surface can be adjusted according to actual conditions, and a person skilled in the art can select to set it to achieve the auxiliary polishing treatment of the residual concrete, which will not be described here.

[0051] Step S2, determining whether the minimum attached length of the residual concrete is not greater than the length of the secondary polishing roller; if yes, controlling the template surface residual material polishing device to move towards the residual concrete in a direction perpendicular to the minimum attached length direction; if not, first controlling the template surface residual material polishing device to move towards the residual concrete in the minimum attached length direction, and driving the primary polishing roller to rotate by using the driving mechanism to achieve the pre-polishing treatment of the residual concrete, until the minimum attached length of the residual concrete is not greater than the length of the secondary polishing roller, and then controlling the template surface residual material polishing device to move towards the residual concrete in a direction perpendicular to the minimum attached length direction.

[0052] Since the minimum attached length of the residual concrete on the mobile formwork template can be greater than the length of the secondary polishing roller, the telescopic frames at both ends of the secondary polishing roller can be blocked by the residual concrete when the secondary polishing roller is polishing the residual concrete, which can cause the telescopic frame to be unable to polish the deep groove on the residual concrete. Therefore, the minimum attached length of the residual concrete needs to be measured and compared with the length of the secondary polishing roller before the subsequent pre-polishing treatment is performed.

[0053] In actual application, if the minimum adhesion length of the residual concrete is less than or equal to the length of the secondary polishing roller, it indicates that the residual concrete will not affect the extension of the telescopic frame, and the secondary polishing mechanism can be directly used to polish the concrete. On the contrary, if the minimum adhesion length of the residual concrete is greater than the length of the secondary polishing roller, it indicates that the secondary polishing roller cannot polish a deep groove on the residual concrete, and therefore other ways are needed to pre-polish the residual concrete to shorten the minimum adhesion length of the residual concrete to not greater than the length of the secondary polishing roller, so that the secondary polishing mechanism can be better used to assist in polishing the concrete.

[0054] Preferably, step S2 specifically comprises the following steps: Step S21, judging whether the minimum adhesion length of the residual concrete is not greater than the length of the secondary polishing roller, if yes, controlling the formwork surface residual polishing device to move towards the residual concrete in a direction perpendicular to the direction of the minimum adhesion length.

[0055] In actual application, when the minimum adhesion length of the residual concrete is less than or equal to the length of the secondary polishing roller, the secondary polishing roller can be used to assist in polishing in parallel to the minimum adhesion length of the residual concrete, and at this time, in order to move the secondary polishing roller to the residual concrete, the formwork surface residual polishing device needs to move towards the residual concrete in a direction perpendicular to the direction of the minimum adhesion length, and during the movement of the formwork surface residual polishing device, the length direction of the secondary polishing roller can be always kept parallel to the direction of the minimum adhesion length.

[0056] Step S22, if no, calculating the difference between the minimum adhesion length of the residual concrete and the length of the secondary polishing roller to obtain a pre-polishing length.

[0057] Specifically, the difference between the minimum adhesion length and the length of the secondary polishing roller can be calculated by using existing software or algorithm, and the minimum pre-polishing length can be obtained by calculating the difference between the two, which is used to control the formwork surface residual polishing device to perform pre-polishing, so as to ensure that the minimum adhesion length of the residual concrete after pre-polishing is less than or equal to the length of the secondary polishing roller.

[0058] Step S23, controlling the formwork surface residual polishing device to move at least a distance equal to the pre-polishing length from one side of the residual concrete to the other side in the direction of the minimum adhesion length of the residual concrete, and during the movement of the formwork surface residual polishing device, the driving mechanism is used to drive the main polishing roller to rotate to realize pre-polishing of the residual concrete.

[0059] In actual application, after the pre-polishing length is obtained, the template surface residue polishing device can be controlled to move along the minimum adhesion length direction from one side of the residual concrete to the other side, and the main polishing roller is driven to rotate by the driving mechanism to polish the edge of the residual concrete, and at least a length equal to the pre-polishing length is polished.

[0060] Optionally, during the movement of the template surface residue polishing device along the minimum adhesion length direction from one side of the residual concrete to the other side, the thickness of the residual concrete can also be judged by the auxiliary polishing mechanism. For example, when the auxiliary polishing roller is stopped by the residual concrete, indicating that the thickness of the residual concrete in front of the direction is relatively thick, and the efficiency of further polishing by the main polishing roller is relatively low. At this time, the template surface residue polishing device can be controlled to move away from the residual concrete and then polish the other side of the residual concrete. As long as the sum of the polishing lengths of the two sides of the residual concrete meets the pre-polishing length requirement, the pre-polishing length can be set according to actual needs by those skilled in the art, and will not be described here.

[0061] Step S24, after the pre-polishing treatment is completed, the template surface residue polishing device is controlled to move away from the residual concrete, and the template surface residue polishing device is controlled to move towards the residual concrete in a direction perpendicular to the minimum adhesion length direction.

[0062] In actual application, after the pre-polishing treatment of the residual concrete, the minimum adhesion length of the residual concrete is less than or equal to the length of the auxiliary polishing roller, which can ensure that the auxiliary polishing roller can polish a deep groove for the telescopic frame to extend into on the residual concrete. Therefore, the template surface residue polishing device can be controlled to move away from the residual concrete to facilitate the adjustment of the direction and position of the template surface residue polishing device, and then the template surface residue polishing device can be controlled to move towards the residual concrete in a direction perpendicular to the minimum adhesion length direction.

[0063] Step S3, during the movement of the template surface residue polishing device, the main polishing roller is driven to rotate by the driving mechanism to polish the residual concrete, and after the auxiliary polishing roller contacts the residual concrete, the movement of the template surface residue polishing device and the rotation of the main polishing roller are stopped. In actual application, as the template surface residue polishing device moves to polish the residual concrete, the auxiliary polishing roller will eventually contact the surface of the residual concrete, which can be judged as the auxiliary polishing roller can polish a deep groove. By stopping the movement of the template surface residue polishing device and the rotation of the main polishing roller, it can not only ensure that the telescopic frame can be stably extended and drive the auxiliary polishing roller for auxiliary polishing treatment, but also avoid damage to the template surface caused by the continuous rotation of the main polishing roller.

[0064] Step S4, after the template surface residue polishing device stops moving, the power assembly drives the secondary polishing roller to rotate and the driver drives the telescopic frame to extend the rotating frame; wherein, in the process of moving the secondary polishing roller driven by the telescopic frame, the secondary polishing roller can polish deep grooves on the residual concrete, so that the telescopic frame can extend into the residual concrete through the deep grooves.

[0065] In actual application, by driving the telescopic frame to extend the rotating frame, as the telescopic frame extends, the secondary polishing roller on the telescopic frame can polish deep grooves on the residual concrete, and as the telescopic frame continues to extend into the deep grooves, the insertion part on the telescopic frame can extend into the deep grooves and fit with the inner wall of the deep grooves, at this time the insertion part can form a fulcrum by fitting with the inner wall of the deep grooves, facilitating the subsequent prying and breaking of the residual concrete.

[0066] Step S5, after the telescopic frame extends into the residual concrete through the deep grooves, the rotating frame is driven to rotate by the driving assembly, and the rotating frame and the telescopic frame are used as pry plates to pry part of the concrete on the residual concrete, so as to realize the breaking or thinning of the residual concrete.

[0067] In actual application, by extending the telescopic cylinders to push the obliquely upward end of the rotating frame upward, the two telescopic cylinders can continuously and stably push the obliquely upward end of the rotating frame upward by sliding fit of the connecting shaft and the long hole on the rotating frame, while driving the telescopic frame to rotate with the insertion part of the telescopic frame contacting the inner wall of the deep groove as the fulcrum, realizing the prying and breaking of the concrete above the deep grooves on the residual concrete, and even possibly dividing the residual concrete into two parts at the deep grooves, quickly reducing the size and thickness of the residual concrete, which is conducive to improving the cleaning efficiency of this device for large or hardened concrete.

[0068] Step S6, after the rotating frame is reset by the driving assembly and the telescopic frame is reset by the driver, the rotation of the secondary polishing roller is stopped.

[0069] In actual application, by shortening the telescopic cylinders to drive the connecting shaft and bring the rotating frame down to reset, and cooperating with the telescopic rod to shorten and drive the rotating shaft to move from the accommodating section of the assembly hole to the limiting section, the rotating frame can be reset. At the same time, by driving the telescopic frame to retract into the rotating frame assembly groove by the driver, and stopping the secondary polishing roller from rotating by the power assembly, the reset of each moving component on the mobile formwork template surface residue polishing device can be realized, so as to facilitate the subsequent polishing treatment of the residual concrete.

[0070] Step S7, repeat steps S1 to S6 until the polishing treatment of all residual concrete on the template surface is completed.

[0071] Since there can be multiple residual concretes on the template surface, the above steps S1 to S6 are repeated to complete the polishing treatment of the residual concretes on the template one by one, and then the polishing treatment of the residual concretes on the template surface is completed.

[0072] The effects of the above scheme are described as follows. The embodiment of the present application provides a template surface residual polishing device and method for a mobile formwork, the main polishing mechanism and the auxiliary polishing mechanism are integrated on the polishing module, the template surface residual can be polished by the main polishing mechanism and the auxiliary polishing mechanism, the auxiliary polishing mechanism can change the large block of residual concretes on the template into small blocks or thin concretes, the subsequent polishing and cleaning can be facilitated by the main polishing mechanism, the template surface residual of the mobile formwork can be effectively cleaned, the polishing effect is good, the polishing efficiency is high, the surface quality of the hole steel plate template is not damaged, the polishing efficiency and the processing effect of the device are improved.

[0073] Note that the above are only the preferred embodiments of the present application and the applied technical principles. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A device for grinding residues on the surface of a movable mold frame, characterized in that: It includes a wall-climbing robot (1) and a grinding module installed on the wall-climbing robot (1). The grinding module includes an equipment mounting frame (2), a main grinding mechanism installed below the equipment mounting frame (2), and a secondary grinding mechanism installed above the equipment mounting frame (2). The main grinding mechanism includes a main grinding roller (4), which is rotatably mounted on the equipment mounting frame (2). The equipment mounting frame (2) is provided with a drive mechanism (3) for driving the main grinding roller (4) to rotate. The auxiliary grinding mechanism includes a bracket (7) and a rotating frame (5) rotatably mounted on the bracket (7). The rotating frame (5) is inclined, and a telescopic frame (15) is provided at the downward-sloping end of the rotating frame (5). The downward-sloping end of the telescopic frame (15) extends out of the rotating frame (5) and is provided with an auxiliary grinding roller (6). The length direction of the auxiliary grinding roller (6) is the same as the length direction of the main grinding roller (4). A power component (17) for driving the auxiliary grinding roller (6) to rotate is provided on the telescopic frame (15). A driver (14) for driving the telescopic frame (15) to extend and retract is provided on the rotating frame (5). A drive component for driving the rotating frame (5) to rotate is provided on the equipment mounting frame (2) at the position corresponding to the upward-sloping end of the rotating frame (5).

2. The device for grinding residues on the surface of a movable mold frame according to claim 1, characterized in that: The bracket (7) is provided at the left and right ends of the corresponding equipment mounting frame (2), and the rotating frame (5) is provided at the left and right ends of the corresponding rotating shafts (8). Each bracket (7) is provided with an assembly hole (9) that can cooperate with the rotating shaft (8).

3. The device for grinding residues on the surface of a movable mold frame according to claim 2, characterized in that: The assembly hole (9) includes a limiting section that can cooperate with the rotating shaft (8) at the bottom and a receiving section that allows the rotating shaft (8) to move upward at the top. The diameter of the receiving section is larger than the diameter of the rotating shaft (8), and there is a smooth transition between the receiving section and the limiting section. The bracket (7) is provided with a telescopic rod (10) for driving the rotating shaft (8) to move from the receiving section to the limiting section. The fixed end of the telescopic rod (10) is rotatably mounted on the bracket (7), and the telescopic end is rotatably connected to the rotating shaft (8).

4. The device for grinding residues on the surface of a movable mold frame according to claim 1, characterized in that: The drive assembly includes telescopic cylinders (11). Two telescopic cylinders (11) are provided at the left and right ends of the rotating frame (5). Each telescopic cylinder (11) is vertically installed on the equipment mounting frame (2) at the position corresponding to the main grinding roller (4). The telescopic ends of the two telescopic cylinders (11) are connected by a connecting shaft (12). The rotating frame (5) is provided with an elongated hole (13) that cooperates with the connecting shaft (12).

5. The device for grinding residues on the surface of a movable mold frame according to claim 1, characterized in that: The telescopic frame (15) is provided with a plug-in part (16) above the auxiliary grinding roller (6), and the thickness of the plug-in part (16) is equal to the diameter of the auxiliary grinding roller (6).

6. The device for grinding residues on the surface of a movable mold frame according to claim 5, characterized in that: The insertion part (16) has a tapered end facing the auxiliary grinding roller (6).

7. The device for grinding residues on the surface of a movable mold frame according to claim 1, characterized in that: The power assembly (17) includes a drive motor (18) mounted on a telescopic frame (15). The output end of the drive motor (18) is connected to the auxiliary grinding roller (6) via a transmission belt (19). The telescopic frame (15) is provided with a receiving cavity (20) for accommodating the transmission belt (19).

8. The device for grinding residues on the surface of a movable mold frame according to claim 1, characterized in that: The rotating frame (5) is provided with an assembly groove that slides with the telescopic frame (15).

9. A method for grinding residues on the surface of a template for a movable mold frame, characterized in that, The process of removing surface residue from a template used in a movable mold frame, as described in any one of claims 1-8, includes the following steps: Step S1: Obtain the location of the residual concrete and its three-dimensional image, and obtain the maximum adhesion thickness and minimum adhesion length of the residual concrete based on the three-dimensional image. Then, based on the maximum adhesion thickness, control the driver to drive the telescopic frame to extend out of the rotating frame, so that the distance between the auxiliary grinding roller and the template surface is less than the maximum adhesion thickness. Step S2: Determine whether the minimum adhesion length of the residual concrete is not greater than the length of the auxiliary grinding roller; if so, control the template surface residue grinding device to move toward the residual concrete in a direction perpendicular to the minimum adhesion length; otherwise, first control the template surface residue grinding device to move toward the residual concrete in the direction of the minimum adhesion length, and use the drive mechanism to drive the main grinding roller to rotate to achieve pre-grinding treatment of the residual concrete until the minimum adhesion length of the residual concrete is not greater than the length of the auxiliary grinding roller, and then control the template surface residue grinding device to move toward the residual concrete in a direction perpendicular to the minimum adhesion length. Step S3: During the movement of the template surface residue grinding device, the main grinding roller is driven to rotate by the drive mechanism to grind the residual concrete until the auxiliary grinding roller comes into contact with the residual concrete. Then the movement of the template surface residue grinding device and the rotation of the main grinding roller are stopped. Step S4: After the template surface residue grinding device stops moving, the power component drives the auxiliary grinding roller to rotate and the driver drives the telescopic frame to extend out of the rotating frame; wherein, during the process of the telescopic frame driving the auxiliary grinding roller to move, the auxiliary grinding roller can grind a deep groove on the residual concrete so that the telescopic frame can extend into the residual concrete through the deep groove. Step S5: After the telescopic frame extends into the residual concrete through the deep groove, the drive assembly drives the rotating frame to rotate. The rotating frame and the telescopic frame act as prying boards to pry up part of the concrete on the residual concrete, so as to break or thin the residual concrete. Step S6: After resetting the rotating frame using the drive assembly and the telescopic frame using the driver, stop the rotation of the auxiliary grinding roller. Step S7: Repeat steps S1 to S6 until all residual concrete on the template surface is ground off.

10. The method according to claim 9, characterized in that, Step S2 specifically includes the following steps: Step S21: Determine whether the minimum adhesion length of the residual concrete is not greater than the length of the auxiliary grinding roller. If so, control the template surface residue grinding device to move toward the residual concrete in a direction perpendicular to the minimum adhesion length. Step S22: Otherwise, calculate the difference between the minimum adhesion length of the residual concrete and the length of the auxiliary grinding roller to obtain the pre-grinding length; Step S23: Control the template surface residue grinding device to move from one side of the residual concrete to the other side along the direction of the minimum adhesion length of the residual concrete, and during the movement of the template surface residue grinding device, use the drive mechanism to drive the main grinding roller to rotate to achieve the pre-grinding treatment of the residual concrete. Step S24: After completing the pre-grinding process, control the template surface residue grinding device to move away from the residual concrete, and control the template surface residue grinding device to move back toward the residual concrete in a direction perpendicular to the minimum adhesion length direction.

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