A formwork surface residue polishing apparatus and method for mobile formwork

Abstract

The application provides a template surface residual polishing device and method for a mobile formwork, wherein the device comprises a wall-climbing robot and a polishing module arranged on the wall-climbing robot, the polishing module comprises an equipment mounting rack, a main polishing mechanism arranged below the equipment mounting rack and a secondary polishing mechanism arranged above the equipment mounting rack; the main polishing mechanism comprises a main polishing roller, and a driving mechanism for driving the main polishing roller to rotate is arranged on the equipment mounting rack; the secondary polishing mechanism comprises a support and a rotating frame rotatably arranged on the support, the rotating frame is obliquely arranged, one end of the rotating frame obliquely downward is provided with an extendable telescopic frame, and one end of the telescopic frame obliquely downward extends out of the rotating frame and is provided with a secondary polishing roller. The template surface residual polishing device and method for the mobile formwork can effectively clean the template surface residual of the mobile formwork, and has good polishing treatment effect and high polishing treatment efficiency.

Description

Technical Field

[0001] This invention belongs to the field of polishing technology, and in particular relates to a device and method for polishing residues on the surface of a template for a movable mold frame. Background Technology

[0002] In modern bridge construction, especially in the construction of large prestressed concrete continuous beam bridges, mobile formwork bridge-building machines have become a mainstream construction method due to their significant advantages such as high efficiency, safety, recyclability, and strong adaptability to terrain. The core function of mobile formwork is to provide a movable, enclosed formwork system (usually including bottom formwork, side formwork, and inner formwork) to complete concrete pouring, curing, and prestressing tensioning processes span by span or segment by segment above the bridge site. The entire system is then moved to the next construction location, realizing the "factory-like" assembly line production of bridges.

[0003] However, a common technical challenge during concrete pouring and demolding is the residue of concrete on the formwork surface. This residue mainly stems from the following factors: First, the characteristics of concrete materials; freshly mixed concrete has a certain degree of viscosity and bleeding. Second, ineffective or uneven application of the release agent; although release agents are used during construction to reduce adhesion, uneven application, insufficient dosage, poor performance, or erosion by rainwater can all lead to increased adhesion between the concrete and the formwork in localized areas. Third, improper operation of the vibrator (such as over-vibration or touching the formwork) or uneven local vibration can exacerbate the enrichment and adhesion of cement paste in specific areas. Fourth, premature demolding may result in insufficient concrete strength and adhesion to the formwork, while delayed demolding may increase the "grip" force between the concrete and the formwork due to shrinkage; mechanical collisions during demolding may also leave concrete fragments on the formwork. Fifth, the surface condition of the formwork; the smoothness and flatness of the formwork itself, as well as any small residues not completely cleaned after the previous use, all become "base points" for concrete adhesion during the next pour.

[0004] Because the formwork system on the mobile formwork needs to be reused, hardened concrete residue left on the formwork can create defects on the surface of the box girder during the next pour, severely affecting the bridge's appearance and potentially even its durability. Therefore, to ensure the bridge's construction quality, protect the expensive formwork system, and maintain normal construction progress and efficiency, the residue on the formwork working surface must be thoroughly cleaned after the mobile formwork completes construction of one segment and is demolded, and before moving to the next segment for installation.

[0005] In existing technologies, forcibly removing large or hardened residual concrete using crushing equipment can easily damage the formwork panels, reducing their flatness and smoothness, creating a vicious cycle. Therefore, mechanical grinding is generally performed manually using handheld grinding equipment (such as angle grinders, handheld grinders, and dedicated formwork grinders with dust collection devices). However, manual grinding is inefficient for cleaning large or hardened concrete, resulting in long processing times and poor cleaning effects, thus affecting the overall construction efficiency of the mobile formwork. Summary of the Invention

[0006] In view of this, the present invention aims to provide a grinding device and method for removing residues from the surface of a movable formwork, in order to solve the problem that existing grinding equipment is not efficient in cleaning large pieces or hardened concrete on the surface of formwork.

[0007] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0008] In a first aspect, embodiments of the present invention provide a device for polishing residues on the surface of a template for a mobile template frame, comprising a wall-climbing robot and a polishing module disposed on the wall-climbing robot, wherein the polishing module comprises an equipment mounting frame, a main polishing mechanism disposed below the equipment mounting frame, and a secondary polishing mechanism disposed above the equipment mounting frame;

[0009] The main grinding mechanism includes a main grinding roller, which is rotatably mounted on an equipment mounting frame. The equipment mounting frame is provided with a drive mechanism for driving the main grinding roller to rotate.

[0010] The auxiliary grinding mechanism includes a support frame and a rotating frame rotatably mounted on the support frame. The rotating frame is inclined, and a telescopic frame is provided at the downward-sloping end of the rotating frame. The downward-sloping end of the telescopic frame extends out of the rotating frame and is provided with an auxiliary grinding roller. The length direction of the auxiliary grinding roller is the same as that of the main grinding roller. A power component for driving the auxiliary grinding roller to rotate is provided on the telescopic frame. A driver for driving the telescopic frame to extend and retract is provided on the rotating frame. A drive component for driving the rotating frame to rotate is provided on the equipment mounting frame at a position corresponding to the upward-sloping end of the rotating frame.

[0011] Furthermore, two brackets are provided at the left and right ends of the corresponding equipment mounting frame, and two rotating shafts are provided at the left and right ends of the rotating frame. Each bracket is provided with an assembly hole that can cooperate with the rotating shaft.

[0012] Furthermore, the assembly hole includes a limiting section that can cooperate with the rotating shaft at the bottom and a receiving section that facilitates the upward movement of the rotating shaft at the top. The diameter of the receiving section is larger than the diameter of the rotating shaft, and there is a smooth transition between the receiving section and the limiting section. The bracket is provided with a telescopic rod for driving the rotating shaft to move from the receiving section to the limiting section. The fixed end of the telescopic rod is rotatably mounted on the bracket, and the telescopic end is rotatably connected to the rotating shaft.

[0013] Furthermore, the drive assembly includes telescopic cylinders, with two telescopic cylinders arranged at the left and right ends of the rotating frame. Each telescopic cylinder is vertically arranged on the equipment mounting frame at the position corresponding to the main grinding roller. The telescopic ends of the two telescopic cylinders are connected by a connecting shaft. The rotating frame is provided with an elongated hole that mates with the connecting shaft.

[0014] Furthermore, the telescopic frame is provided with a connector above the auxiliary grinding roller, and the thickness of the connector is equal to the diameter of the auxiliary grinding roller.

[0015] Furthermore, the end of the insertion part facing the auxiliary grinding roller is provided with a tapered end.

[0016] Furthermore, the power assembly includes a drive motor mounted on a telescopic frame, the output end of which is connected to the auxiliary grinding roller via a transmission belt, and the telescopic frame is provided with a receiving cavity for accommodating the transmission belt.

[0017] Furthermore, the rotating frame is provided with an assembly groove that slides with the telescopic frame.

[0018] Secondly, embodiments of the present invention also provide a method for polishing residues on the surface of a template for a movable mold frame, comprising the following steps:

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] Step S7: Repeat steps S1 to S6 until all residual concrete on the template surface is ground off.

[0026] Furthermore, step S2 specifically includes the following steps:

[0027] 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.

[0028] 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;

[0029] 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.

[0030] 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.

[0031] Compared with the prior art, the present invention provides a device and method for grinding residues on the surface of a movable mold frame, which has the following advantages:

[0032] The present invention discloses a device and method for grinding residues on the surface of a movable formwork. By integrating a main grinding mechanism and a secondary grinding mechanism into the grinding module, the main grinding mechanism and the secondary grinding mechanism can be used to grind residues on the formwork surface in a coordinated manner. The secondary grinding mechanism can turn large pieces of concrete remaining on the formwork into smaller pieces or thinner pieces of concrete, which are convenient for subsequent grinding and cleaning by the main grinding mechanism. This can effectively clean residues on the surface of the movable formwork, and the grinding effect is good and the grinding efficiency is high. It is also less likely to damage the surface quality of the perforated steel plate formwork, thus improving the overall grinding efficiency and effect of this device. Attached Figure Description

[0033] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0034] Figure 1 This is a schematic diagram of the structure of a template surface residue grinding device for a movable template according to an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of the structure of the telescopic frame extending out of the rotating frame in a template surface residue grinding device for a movable template according to an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the telescopic frame in a template surface residue grinding device for a movable template according to an embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of the structure inside the telescopic frame receiving cavity in a template surface residue grinding device for a movable template according to an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of a method for grinding residues on the surface of a template used in a movable mold frame, as described in an embodiment of the present invention.

[0039] Explanation of reference numerals in the attached figures:

[0040] 1. Wall-climbing robot; 2. Equipment mounting frame; 3. Drive mechanism; 4. Main grinding roller; 5. Rotating frame; 6. Auxiliary grinding roller; 7. Support; 8. Rotating shaft; 9. Assembly hole; 10. Telescopic rod; 11. Telescopic cylinder; 12. Connecting shaft; 13. Long slot; 14. Driver; 15. Telescopic frame; 16. Plug-in part; 17. Power assembly; 18. Drive motor; 19. Transmission belt; 20. Receiving cavity. Detailed Implementation

[0041] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0042] A device for grinding residues on the surface of mobile formwork is provided for grinding mobile formwork to remove residual deposits, especially large pieces or hardened residual concrete, ensuring the flatness and smoothness of the formwork surface during subsequent construction and improving the grinding efficiency of the formwork.

[0043] Specifically, in this embodiment, the movable mold frame uses a template surface residue grinding device, such as... Figures 1 to 4 As shown, the device includes a wall-climbing robot 1 and a grinding module mounted on the wall-climbing robot 1. The grinding module includes a device mounting frame 2, a main grinding mechanism located below the device mounting frame 2, and a secondary grinding mechanism located above the device mounting frame 2.

[0044] Optionally, the equipment mounting bracket 2 can be installed and fixed on the body of the wall-climbing robot 1 by conventional means such as screws, so as to realize the detachable assembly of the grinding module on the wall-climbing robot 1, which facilitates the subsequent maintenance and repair of the grinding module and helps to reduce the difficulty of using and maintaining this grinding device.

[0045] In practical applications, the wall-climbing robot can be manually driven to move the grinding module on the template, and the grinding module can automatically grind away the residue attached to the template, which helps to improve the grinding efficiency and effect of the template. It should be noted that the wall-climbing robot 1 described in this embodiment is a mature automated mobile operation device in the prior art, and the working principle, specific structure and control method of the wall-climbing robot 1 are well known to the public.

[0046] Specifically, 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.

[0047] In practical applications, the main grinding roller 4 can be installed on the equipment mounting frame 2 by conventional means such as a rotating shaft. The drive mechanism 3 can be a commonly used drive device such as a motor. Those skilled in the art can select the appropriate installation and drive method of the main grinding roller 4 according to actual needs to achieve the grinding by driving the main grinding roller 4 to rotate. This will not be elaborated here.

[0048] Specifically, 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 inclined end of the rotating frame 5. The downward inclined 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 inclined end of the rotating frame 5.

[0049] Preferably, two brackets 7 are provided at the left and right ends of the equipment mounting frame 2, and two rotating shafts 8 are provided at the left and right ends of the rotating frame 5. Each bracket 7 is provided with an assembly hole 9 that can cooperate with the rotating shaft 8. For example, the brackets 7 are all fixed on the equipment mounting frame 2. By providing brackets 7 at both 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 drive assembly to drive the rotating frame 5 to rotate stably.

[0050] In practical applications, a telescopic frame 15 is installed on the rotating frame 5, and a rotating auxiliary grinding roller 6 for grinding residual concrete is mounted on the telescopic frame 15. When there are large or hardened concrete pieces on the template, the telescopic frame 15 can be used to move the auxiliary grinding roller 6, which then assists in grinding the residual concrete. This grinds deep grooves in areas where the residual concrete is thicker, thus segmenting the large concrete pieces and facilitating their breakage and removal. Simultaneously, by extending the telescopic frame 15 into the ground groove and using a drive assembly to drive the rotating frame 5 to rotate the telescopic frame 15, one end of the telescopic frame 15 extending into the groove can form a fulcrum by pressing against the inner wall of the groove. The entire telescopic frame 15 and rotating frame 5 can then act as a pry bar to pry up a portion of the concrete on the residual concrete, thereby breaking up or thinning the large concrete pieces.

[0051] The mobile formwork surface residue grinding device described in this embodiment uses a main grinding mechanism and a secondary grinding mechanism for coordinated grinding. The secondary grinding mechanism transforms large pieces of concrete remaining on the formwork into smaller or thinner pieces, making it easier for the main grinding mechanism to grind and clean them later. This improves the overall grinding efficiency and processing effect of the device.

[0052] Optionally, the mounting hole 9 includes a limiting section that mates with the rotating shaft 8 at the bottom and a receiving section that facilitates the upward movement of the rotating shaft 8 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 moving the rotating shaft 8 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. For example, the rotating shaft 8 is fixed on the rotating frame 5 to achieve a stable connection between the two.

[0053] Specifically, the mounting hole 9 is a strip-shaped or elliptical hole that is larger at the top and smaller at the bottom. This allows the rotating shaft 8 to move freely with the rotating frame 5 when the rotating frame 5 and the telescopic frame 15 rotate upwards and pry open the residual concrete, preventing the support 7 from affecting the rotation of the rotating frame 5. In actual use, by using the mounting hole 9 with a larger top and smaller bottom, after the telescopic frame 15 extends into the residual concrete, when the rotating frame 5 is driven by the drive assembly to rotate the telescopic frame 15 upwards to pry open and break the concrete, the mounting hole 9 will not restrict the movement of the rotating shaft 8, and thus will not restrict the rotation angle of the rotating frame 5. This ensures that the telescopic frame 15 on the rotating frame 5 can more smoothly pry open and break or thin the concrete.

[0054] Meanwhile, by employing mounting holes 9 that are larger at the top and smaller at the bottom, the drive assembly can drive the rotating frame 5 to rotate the telescopic frame 15 upwards to pry and break the concrete. Compared to prying and breaking downwards, the broken concrete not only avoids getting stuck between the main and auxiliary grinding mechanisms, but the upward-rotating frame 5 also has a higher degree of freedom, resulting in better prying and breaking of large pieces of concrete. Furthermore, since the rotating frame 5 is only connected to the equipment mounting frame 2 through the drive assembly during the prying and breaking process, it has a high degree of freedom overall. Except for the force at the connection between the drive assembly and the equipment mounting frame 2, the prying fulcrum of the telescopic frame 15 is located at its end that extends into the concrete, thus not causing too much impact on the wall-climbing robot 1, which helps ensure the stability of the wall-climbing robot 1 on the template.

[0055] In practical applications, the telescopic rod 10 can be a commonly used telescopic rod such as a cylinder. The function of the telescopic rod 10 is to drive the rotating shaft 8 back to its original position. That is, after the rotating shaft 8 moves with the rotating frame 5, in order to make the rotating frame 5 rotate and reset, the telescopic rod 10 is used to drive the rotating shaft 8 to move back from the receiving section to the limiting section. The limiting is achieved by the rotating shaft 8 cooperating with the limiting section, and the limiting is also achieved by the telescopic rod 10 tightening the rotating shaft 8. Under the dual limiting action, the rotating shaft 8 can remain stable under the combined action of the limiting section of the assembly hole 9 and the telescopic end of the telescopic rod 10, so that the rotating frame 5 can remain stable when the telescopic frame 15 on the rotating frame 5 extends and retracts, ensuring the stable extension of the telescopic frame 15, and ensuring that the auxiliary grinding roller 6 on the telescopic frame 15 can stably perform auxiliary grinding treatment on the residual concrete.

[0056] It should be noted that the function of the telescopic rod 10 is not to drive the rotating shaft 8 to move upward. Therefore, when the drive assembly drives the rotating frame 5 to rotate upward, the telescopic rod 10 can freely extend, retract, and rotate with the rotating shaft 8. This is beneficial for those skilled in the art to implement using existing air supply control systems, and will not be elaborated here. By having the telescopic rod 10 follow the rotating shaft 8, it is possible to avoid the telescopic rod 10 exerting extra force on the equipment mounting frame 2 when the rotating frame 5 and the telescopic frame 15 pry the concrete. This ensures that the equipment mounting frame 2 is only subjected to the vertical force of the drive assembly, thereby preventing the wall-climbing robot 1 from moving or falling off due to the oblique force on the equipment mounting frame 2. This is beneficial for improving the stability and safety of this device during the grinding process.

[0057] Preferably, the drive assembly includes telescopic cylinders 11, with two telescopic cylinders 11 arranged at the left and right ends of the rotating frame 5. Each telescopic cylinder 11 is vertically arranged 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.

[0058] For example, the telescopic cylinder 11 can be a commonly used telescopic cylinder such as a hydraulic cylinder. By setting the telescopic cylinder 11 to correspond to the main grinding roller 4 and vertically mounting 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 vertically downward force, which is transmitted to the template through the main grinding roller 4 that stops rotating. This not only provides stable support for the telescopic cylinder 11, ensuring that the telescopic cylinder 11 stably drives the rotating frame 5 to drive the telescopic frame 15 to pry and break large pieces of concrete, but also does not generate oblique or horizontal forces on the wall-climbing robot 1, ensuring that the wall-climbing robot 1 is stably attached to the template.

[0059] In practical applications, the connecting shaft 12 and the telescopic end of the telescopic cylinder 11 are connected by conventional methods such as nuts. Alternatively, the connecting shaft 12 can be rotatably mounted on the telescopic end of the telescopic cylinder 11 to reduce wear between the connecting shaft 12 and the rotating frame 5. Those skilled in the art can choose a suitable method to install the connecting shaft 12 according to actual needs, which will not be elaborated here. By using the connecting shaft 12 to connect the telescopic ends of the two telescopic cylinders 11, the two telescopic cylinders 11 can jointly drive the rotating frame 5 to rotate, ensuring 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 is evenly stressed, thereby preventing the wall-climbing robot 1 from falling.

[0060] Preferably, the telescopic frame 15 is provided with an insertion part 16 at a position above the secondary grinding roller 6, and the thickness of the insertion part 16 is equal to the diameter of the secondary grinding roller 6. Specifically, by setting the thickness of the insertion part 16 to be equal to the diameter of the secondary grinding roller 6, the main purpose is to enable the insertion part 16 to extend into the deep groove ground by the secondary grinding roller 6. Those skilled in the art can set it according to actual needs based on the above description, and it will not be elaborated here.

[0061] In practical applications, by setting a plug-in part 16 on the telescopic frame 15, when the auxiliary grinding roller 6 grinds a deep groove in the residual concrete, the plug-in part 16 can be inserted into the deep groove and make contact with the inner wall of the deep groove, ensuring that the end of the telescopic frame 15 that extends into the residual concrete forms a prying fulcrum.

[0062] Optionally, the end of the insertion part 16 facing the auxiliary grinding roller 6 is provided with a tapered end. Specifically, by providing the tapered end, it is easier for the insertion part 16 to extend into the deep groove that the auxiliary grinding roller 6 grinds on the residual concrete.

[0063] Preferably, the power assembly 17 includes a drive motor 18 mounted on the 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 has a receiving cavity 20 for accommodating the transmission belt 19. Exemplarily, the transmission belt 19 can be an existing type. Both the output end of the drive motor 18 and the end of the auxiliary grinding roller 6 are provided with transmission wheels that cooperate with the transmission belt 19. The fixed end of the drive motor 18 can be mounted and fixed to the telescopic frame 15 using conventional methods such as screws. The telescopic frame 15 has a mounting groove for mounting the drive motor 18, which communicates with the receiving cavity 20. Furthermore, those skilled in the art can select other suitable power assemblies 17 and transmission methods according to actual needs to achieve the rotation of the auxiliary grinding roller 6; these will not be elaborated upon here.

[0064] In practical applications, by mounting the drive motor 18 on the telescopic frame 15, the drive motor 18 can extend and retract with the telescopic frame 15, requiring only a power supply line of sufficient length. Furthermore, by using a transmission belt 19 and concealing it within the receiving cavity 20 of the telescopic frame 15, the transmission belt 19 is well protected, preventing damage during grinding and improving the reliability and safety of the auxiliary grinding mechanism during the grinding process.

[0065] Optionally, the actuator 14 is a linear module, and the telescopic frame 15 is connected to the slide of the linear module. For example, the fixed end of the linear module can be fixed to the rotating frame 5 using conventional methods such as screws, and the telescopic frame 15 can be mounted on the slide of the linear module using screws, so that the linear module can drive the telescopic frame 15 to extend and retract. Those skilled in the art can also select other suitable actuators 14 according to actual needs to achieve the extension and retraction of the telescopic frame 15 on the rotating frame 5, which will not be elaborated here.

[0066] Optionally, the rotating frame 5 is provided with an assembly groove that slides into the telescopic frame 15. By providing an assembly groove on the rotating frame 5 that slides into the telescopic frame 15, the telescopic frame 15 can be stored and the power assembly 17 on the telescopic frame 15 can be protected. At the same time, by utilizing the assembly groove to cooperate with the entire telescopic frame 15, it is also beneficial to improve the structural strength of the connection between the telescopic frame 15 and the rotating frame 5, ensuring that the rotating frame 5 maintains a stable connection with the telescopic frame 15 when the rotating frame 5 drives the telescopic frame 15 to pry and break the concrete block.

[0067] Based on the above, this embodiment also provides a method for grinding residues on the surface of a movable formwork template. The method for grinding residues on the surface of a movable formwork template is implemented using the aforementioned grinding device. By using this method, residues on the movable formwork template can be effectively removed, and large pieces or hardened concrete on the movable formwork template can be ground, resulting in high processing efficiency and good processing effect.

[0068] Figure 5 This is a schematic flowchart illustrating a method for grinding residues on the surface of a template used in a movable mold frame, as described in an embodiment of the present invention. See also... Figure 5 This method of polishing the surface residue of the movable mold frame includes the following steps:

[0069] Step S1: Obtain the location of the residual concrete and its three-dimensional image. After obtaining the maximum adhesion thickness and minimum adhesion length of the residual concrete based on the three-dimensional image, control the driver to drive the telescopic frame to extend the rotating frame based on the maximum adhesion thickness, so that the distance between the auxiliary grinding roller and the template surface is less than the maximum adhesion thickness.

[0070] Before the grinding process, the location and three-dimensional image of each residual concrete on the moving formwork template can be determined by existing measurement and three-dimensional reconstruction methods such as binocular vision-based three-dimensional positioning and reconstruction. Then, the three-dimensional images of each residual concrete on the moving formwork template are imported into three-dimensional modeling software for measurement. The maximum adhesion thickness of the residual concrete is measured, that is, the height of the farthest point of the residual concrete relative to the surface of the moving formwork template. The minimum adhesion length of the residual concrete is also measured, that is, the minimum length of the contact surface between the residual concrete and the template surface. The above measurements can also be achieved by existing software or algorithms. Those skilled in the art can choose the appropriate measurement method according to actual needs, which will not be elaborated here.

[0071] In practical applications, by obtaining the maximum adhesion thickness of the residual concrete, the thickness of the residual concrete can be determined. This allows for adjustment of the extension length of the telescopic frame beyond the rotating frame, ensuring that the secondary grinding roller can contact the residual concrete during subsequent grinding of deep grooves using the secondary grinding mechanism, preventing the secondary grinding roller from bypassing the residual concrete. Specifically, the driver can be controlled based on the maximum adhesion thickness to extend the telescopic frame beyond the rotating frame, making the distance between the secondary grinding roller and the template surface less than the maximum adhesion thickness. In this case, the secondary grinding roller can contact the residual concrete during the movement of the grinding device towards it.

[0072] It should be noted that the specific size of the distance between the auxiliary grinding roller and the template surface can be adjusted according to the actual situation. Those skilled in the art can choose to set it to achieve auxiliary grinding treatment of residual concrete, which will not be elaborated here.

[0073] 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.

[0074] Because the minimum adhesion length of residual concrete on the movable formwork may be greater than the length of the auxiliary grinding roller, the telescopic frames at both ends of the auxiliary grinding roller may be blocked by the residual concrete during grinding, potentially preventing the creation of deep grooves that the telescopic frames can reach into the residual concrete. Therefore, it is necessary to measure the minimum adhesion length of the residual concrete and compare it with the length of the auxiliary grinding roller before proceeding with the subsequent pre-grinding process.

[0075] In practical applications, if the minimum adhesion length of the residual concrete is less than or equal to the length of the auxiliary grinding roller, it means that the residual concrete will not affect the extension of the telescopic frame, and the auxiliary grinding mechanism can be used directly to grind the concrete. Conversely, if the minimum adhesion length of the residual concrete is greater than the length of the auxiliary grinding roller, it means that the auxiliary grinding roller cannot grind a deep groove on the residual concrete. Therefore, other methods are needed to pre-grind the residual concrete to shorten its minimum adhesion length to no greater than the length of the auxiliary grinding roller before the auxiliary grinding mechanism can be used to assist in grinding the concrete.

[0076] Preferably, step S2 specifically includes the following steps:

[0077] 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.

[0078] In practical applications, when the minimum adhesion length of the residual concrete is less than or equal to the length of the auxiliary grinding roller, the auxiliary grinding roller can be used to perform auxiliary grinding parallel to the minimum adhesion length of the residual concrete. In order to move the auxiliary grinding roller to the residual concrete, the template surface residue grinding device needs to move toward the residual concrete in a direction perpendicular to the minimum adhesion length. During the movement of the template surface residue grinding device, the length direction of the auxiliary grinding roller can always be kept parallel to the minimum adhesion length direction.

[0079] 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.

[0080] Specifically, existing software or algorithms can be used to calculate the difference between the minimum adhesion length and the length of the auxiliary grinding roller. By calculating the difference between the two, the minimum pre-grinding length can be obtained, which is used to control the pre-grinding treatment of the residue grinding device on the template surface, so as to ensure that the minimum adhesion length of the residual concrete after pre-grinding treatment is less than or equal to the length of the auxiliary grinding roller.

[0081] 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.

[0082] In practical applications, after obtaining the pre-grinding length, the template surface residue grinding device can be controlled to move from one side of the residual concrete to the other side along the direction of the minimum adhesion length, and the drive mechanism is used to drive the main grinding roller to rotate to grind the edge of the residual concrete. The grinding length should be at least equal to the pre-grinding length.

[0083] Optionally, during the process of the template surface residue grinding device moving from one side of the residual concrete to the other along the minimum adhesion length direction, the thickness of the residual concrete can be judged using the auxiliary grinding mechanism. For example, if the auxiliary grinding roller is blocked by the residual concrete, preventing the template surface residue grinding device from moving further, it indicates that the thickness of the residual concrete in that direction is relatively thick, and the efficiency of continuing grinding with the main grinding roller is low. In this case, the template surface residue grinding device can be controlled to move away from the residual concrete first, and then the grinding process can be restarted from the other side of the residual concrete. As long as the sum of the grinding lengths on both sides of the residual concrete meets the pre-grinding length requirement, it is acceptable. Those skilled in the art can set the pre-grinding length according to actual needs, which will not be elaborated here.

[0084] 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.

[0085] In practical applications, after pre-grinding the residual concrete, the minimum adhesion length of the residual concrete will be less than or equal to the length of the auxiliary grinding roller. This ensures that the auxiliary grinding roller can grind a deep groove in the residual concrete for the telescopic frame to extend into. Therefore, the residual material grinding device on the template surface can be first controlled away from the residual concrete to allow the device to readjust its direction and position. Afterward, the device can be controlled to move back towards the residual concrete in a direction perpendicular to the minimum adhesion length.

[0086] 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.

[0087] In practical applications, as the template surface residue grinding device moves to grind the residual concrete, the auxiliary grinding roller will eventually come into contact with the residual concrete surface. At this point, it can be determined that the auxiliary grinding roller can perform deep groove grinding. By stopping the movement of the template surface residue grinding device and the rotation of the main grinding roller, it is possible not only to ensure that the telescopic frame can extend stably and drive the auxiliary grinding roller to perform auxiliary grinding, but also to avoid damage to the template surface caused by the continuous rotation of the main grinding roller.

[0088] Step S4: After the grinding device for residue on the template surface 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.

[0089] In practical applications, the telescopic frame is driven by the driver to extend the rotating frame. As the telescopic frame extends, the auxiliary grinding roller on the telescopic frame can grind a deep groove in the residual concrete. As the telescopic frame continues to extend into the deep groove, the insertion part on the telescopic frame can extend into the deep groove and fit against the inner wall of the deep groove. At this time, the insertion part can form a fulcrum by fitting against the inner wall of the deep groove, which facilitates the subsequent prying and breaking of the residual concrete.

[0090] 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.

[0091] In practical applications, the telescopic cylinders extend to push the rotating frame upward at one end. By utilizing the sliding engagement between the connecting shaft and the elongated hole on the rotating frame, the two telescopic cylinders can continuously and stably push the rotating frame upward at one end. At the same time, the telescopic frame rotates with its insertion point and the contact point between its insertion part and the inner wall of the deep trench as the fulcrum. This achieves the prying and breaking of the concrete above the deep trench on the residual concrete, and may even divide the residual concrete in two at the deep trench, quickly reducing the size and thickness of the residual concrete. This is beneficial to improving the cleaning efficiency of this device for large pieces or hardened concrete.

[0092] 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.

[0093] In practical applications, the rotating frame is moved downwards and reset by shortening the drive shaft of the telescopic cylinder, and the telescopic rod is also shortened to move the rotating shaft from the assembly hole receiving section to the limit section, thus resetting the rotating frame. Simultaneously, by using a driver to retract the telescopic frame into the rotating frame assembly slot and stopping the power unit from rotating the auxiliary grinding roller, the various moving parts of the template surface residue grinding device for the movable formwork can be reset, facilitating subsequent grinding of residual concrete.

[0094] Step S7: Repeat steps S1 to S6 until all residual concrete on the template surface is ground off.

[0095] Since there may be multiple residual concretes on the template surface, repeat steps S1 to S6 above to grind off the residual concrete on each template one by one, and the grinding of the residue on the template surface will be completed.

[0096] The effects of the above solution are explained below:

[0097] This invention provides a device and method for grinding residues on the surface of a movable formwork. By integrating a main grinding mechanism and a secondary grinding mechanism into the grinding module, the main and secondary grinding mechanisms can be used to grind residues on the formwork surface in a coordinated manner. The secondary grinding mechanism can turn large pieces of concrete remaining on the formwork into smaller pieces or thinner pieces of concrete, which are easier to grind and clean using the main grinding mechanism later. This method can effectively clean residues on the surface of the movable formwork, and the grinding effect is good and the grinding efficiency is high. It is also less likely to damage the surface quality of the perforated steel plate formwork, thus improving the overall grinding efficiency and effect of this device.

[0098] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A mobile formwork formwork surface residue planing device, characterized by: The wall climbing robot (1) and the polishing module arranged on the wall climbing robot (1), the polishing module comprises a device mounting rack (2), a main polishing mechanism arranged below the device mounting rack (2), and a secondary polishing mechanism arranged above the device mounting rack (2). The main polishing mechanism comprises a main polishing roller (4) which is rotatably arranged on the device mounting rack (2), and a driving mechanism (3) arranged on the device mounting rack (2) and used for driving the main polishing roller (4) to rotate. The secondary polishing mechanism comprises a support (7) and a rotating frame (5) rotatably arranged on the support (7), the rotating frame (5) is arranged obliquely, 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 a secondary polishing roller (6), the length direction of the secondary polishing roller (6) is the same as the length direction of the main polishing roller (4), and a power assembly (17) used for driving the secondary polishing roller (6) to rotate is arranged on the telescopic frame (15); a driver (14) used for driving the telescopic frame (15) to extend and retract is arranged on the rotating frame (5), and a driving assembly used for driving the rotating frame (5) to rotate is arranged on the device mounting rack (2) and corresponds to the position of one end of the rotating frame (5) obliquely upward.

2. A mobile formwork panel surface residue grinding device according to claim 1, characterised in that: The support (7) is arranged at two positions corresponding to the left and right ends of the device mounting rack (2), two rotating shafts (8) are arranged at the left and right ends of the rotating frame (5) correspondingly, and an assembly hole (9) capable of cooperating with the rotating shaft (8) is arranged on each support (7).

3. A mobile formwork panel surface residue planing device according to claim 2, wherein: 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 hole diameter of the containing section is greater than the diameter of the rotating shaft (8), and the containing section and the limiting section are smoothly connected; a telescopic rod (10) used for driving the rotating shaft (8) to move from the containing section to the limiting section is arranged on the support (7), and the fixed end of the telescopic rod (10) is rotatably arranged on the support (7), and the telescopic end is rotatably connected with the rotating shaft (8).

4. A mobile formwork panel surface residue grinding device according to claim 1, wherein: The driving assembly comprises two telescopic cylinders (11) arranged at the left and right ends of the rotating frame (5) correspondingly, each telescopic cylinder (11) is vertically arranged on the device mounting rack (2) and corresponds to the position of the main polishing roller (4), the telescopic ends of the two telescopic cylinders (11) are connected through a connecting shaft (12), and a long slot (13) matched with the connecting shaft (12) is arranged on the rotating frame (5).

5. A mobile formwork panel surface residue planing device according to claim 1, wherein: The telescopic frame (15) is provided with a plug-in part (16) corresponding to the position above the secondary polishing roller (6), and the thickness of the plug-in part (16) is equal to the diameter of the secondary polishing roller (6).

6. A mobile formwork panel surface residue planing device according to claim 5, wherein: One end of the plug-in part (16) towards the secondary polishing roller (6) is provided with a tapered end.

7. A mobile formwork panel surface residue grinding device according to claim 1, wherein: The power assembly (17) comprises 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 containing cavity (20) used for containing the transmission belt (19).

8. A mobile formwork panel surface residue planing device according to claim 1, characterised in that: The rotating frame (5) is provided with an assembly groove in sliding fit with the telescopic frame (15).

9. A method of removing formwork surface residue from a formwork for a mobile formwork, characterized in that, The method for polishing the residual concrete on the formwork surface of a mobile formwork is realized by using the method according to any one of claims 1-8, and comprises the following steps: In step S1, the position and three-dimensional image of the residual concrete are obtained, and the maximum adhesion thickness and minimum adhesion length of the residual concrete are obtained according to the three-dimensional image; then, the telescopic frame is driven to extend out of the rotating frame by the driver based on the maximum adhesion thickness, so that the distance between the secondary polishing roller and the formwork surface is less than the maximum adhesion thickness; In step S2, it is determined whether the minimum adhesion length of the residual concrete is not greater than the length of the secondary polishing roller; if yes, the formwork surface residual concrete polishing device is controlled to move towards the residual concrete in a direction perpendicular to the minimum adhesion length direction; if no, the formwork surface residual concrete polishing device is first controlled to move towards the residual concrete in the minimum adhesion length direction, and the primary polishing roller is driven to rotate by the driving mechanism to realize pre-polishing treatment of the residual concrete, until the minimum adhesion length of the residual concrete is not greater than the length of the secondary polishing roller, and then the formwork surface residual concrete polishing device is controlled to move towards the residual concrete in a direction perpendicular to the minimum adhesion length direction; In step S3, during the movement of the formwork surface residual concrete polishing device, the primary polishing roller is driven to rotate by the driving mechanism to realize polishing treatment of the residual concrete, and after the secondary polishing roller contacts the residual concrete, the movement of the formwork surface residual concrete polishing device and the rotation of the primary polishing roller are stopped; In step S4, after the formwork surface residual concrete polishing device stops moving, the secondary polishing roller is driven to rotate by the power assembly, and the telescopic frame is driven to extend out of the rotating frame by the driver; during the movement of the telescopic frame driving the secondary polishing roller, the secondary polishing roller can polish a deep groove on the residual concrete, so that the telescopic frame can extend into the residual concrete through the deep groove; In step S5, after the telescopic frame extends into the residual concrete through the deep groove, 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 crushing or thinning of the residual concrete; In step S6, the rotating frame is reset by the driving assembly, and the telescopic frame is reset by the driver, and the rotation of the secondary polishing roller is stopped; In step S7, steps S1 to S6 are repeated until the polishing treatment of all residual concrete on the formwork surface is completed.

10. The method of claim 9, wherein, The step S2 specifically comprises the following steps: In step S21, it is determined whether the minimum adhesion length of the residual concrete is not greater than the length of the secondary polishing roller, and if yes, the formwork surface residual concrete polishing device is controlled to move towards the residual concrete in a direction perpendicular to the minimum adhesion length direction; In step S22, if no, the difference between the minimum adhesion length of the residual concrete and the length of the secondary polishing roller is calculated to obtain a pre-polishing length. Step S23, control the template surface residue polishing device to move from one side of the residual concrete to the other side by a distance equal to the pre-polishing length in the direction of the minimum adhesion length of the residual concrete, and drive the main polishing roller to rotate by the driving mechanism during the movement of the template surface residue polishing device to achieve pre-polishing treatment of the residual concrete; Step S24, after completing the pre-polishing treatment, 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 direction of the minimum adhesion length.

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