CN108145562B

CN108145562B - Intelligence steel form system of polishing

Info

Publication number: CN108145562B
Application number: CN201711413770.9A
Authority: CN
Inventors: 宋仲华
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-12-24
Filing date: 2017-12-24
Publication date: 2020-05-01
Anticipated expiration: 2037-12-24
Also published as: CN108145562A

Abstract

The invention discloses an intelligent steel formwork polishing system which comprises a monitoring platform, a polishing machine, on-site monitoring equipment and an intelligent carrier for carrying steel formworks, wherein the monitoring platform is used for monitoring the position of a steel formwork; the grinding machine and the field monitoring equipment are in communication connection with the monitoring platform; the intelligent steel template transport vehicle is in wireless communication connection with the monitoring platform; the on-site monitoring equipment comprises a camera system and pyroelectric infrared monitoring equipment; the intelligent transport vehicle is an unmanned electric transport vehicle; the intelligent steel formwork polishing system has the advantages of being rich in functions, high in polishing efficiency and high in automation degree.

Description

Intelligence steel form system of polishing

Technical Field

The invention relates to an intelligent steel formwork polishing system. Belongs to the building construction field, mainly used polishes to clean the steel form that the concrete lining was used, also can polish to clean etc. as the plane panel of some other materials.

Background

At present, in concrete lining construction, steel templates are generally adopted for matching molds and pouring, such as walls and floors of buildings, side walls and vault roofs of tunnels or underground pipe galleries, piers and bridge bodies of high-speed railways and highways, retaining walls and slope protection of riverways and side slopes and the like. Because the concrete has stronger caking property, after the steel templates are poured and demolded, more concrete residues are bonded on the surfaces of the templates, the templates are uneven, the next pouring quality is influenced, and in addition, the surface of some steel templates can generate more iron rust due to overlong idle time, and the apparent quality of the concrete can also be influenced. Therefore, before the templates are matched, the surfaces of the templates generally need to be polished and cleaned, and repair is needed when the templates are seriously deformed. The manual polishing and cleaning mode not only wastes time and energy and has low efficiency, but also causes personal injury because the worker is close to the polishing surface and splashed concrete residues and scrap iron easily enter eyes and nostrils of the worker.

Disclosure of Invention

The invention aims to solve the technical problem of providing an intelligent steel formwork polishing system which has the advantages of rich functions and high polishing efficiency.

The technical solution of the invention is as follows:

an intelligent steel formwork polishing system comprises a monitoring platform (an upper computer, a server and the like), a polishing machine, field monitoring equipment and an intelligent carrier for carrying steel formworks;

the grinding machine and the field monitoring equipment are in communication connection (wired or wireless) with the monitoring platform;

the intelligent steel template transport vehicle is in wireless communication connection with the monitoring platform;

the on-site monitoring equipment comprises a camera system and pyroelectric infrared monitoring equipment; the pyroelectric infrared monitoring equipment is used for monitoring whether a person is active on site or not, if the person is active, the infrared monitoring equipment starts alarming, and the infrared monitoring equipment also has a fire prevention and control effect;

the intelligent transport vehicle is an unmanned electric transport vehicle; the intelligent transport vehicle runs according to a preset line, can transport the steel templates which are not polished to the bearing vehicle, and transport the polished steel templates to a warehouse or a construction site from the bearing vehicle; the carrying vehicle is also provided with a camera and an ultrasonic sensor as a self obstacle avoidance module when necessary; the camera is used for collecting the environment image, and the ultrasonic sensor is used for avoiding colliding with the barrier, so that the safety of the carrying vehicle is improved.

The intelligent steel template polishing system further comprises a wireless charging device for wirelessly charging the carrier.

Intelligence carrier and polisher are many.

The monitoring platform is in wireless communication connection with the smart phone. The smart phone is provided with a monitoring APP.

The steel template grinding machine adopted by the system comprises a frame, a bearing vehicle (3) and a movable grinding device;

the bearing vehicle is used for bearing the steel template, and the bottom of the bearing vehicle is provided with at least 4 travelling wheels;

the bottom of the frame is provided with 2 lower guide rails for supporting the bearing vehicle; the bearing vehicle can move back and forth along the lower guide rail;

2 upper rails for supporting the movable polishing device are arranged above the rack; the movable polishing device can move back and forth along the upper rail by depending on a self-provided traveling mechanism to polish the upper surface of a steel template arranged on the bearing vehicle;

the upper rail is located above the lower rail.

The movable polishing device comprises a supporting plate, an electric cabinet (4), a traveling mechanism, a cylinder type lifting mechanism, a polishing mechanism (9) and a polishing motor (16) for driving the polishing mechanism;

the traveling mechanism, the electric cabinet and the cylinder type lifting mechanism are arranged on the supporting plate, the polishing mechanism is arranged below the bearing plate, and the cylinder type lifting mechanism is connected with the supporting plate and the bearing plate;

the cylinder type lifting mechanism is used for controlling the lifting and lowering of the supporting plate; when the backup pad lifted, the grinding machanism under the backup pad was in stall state, and when the backup pad was transferred, the grinding machanism under the backup pad was in the state of polishing.

The grinding mechanism is a roller with a steel wire brush. Or, a roller type grinding mechanism with a roller type grinding wheel can be used for grinding a whole surface.

The walking mechanism comprises a walking motor (12) and a walking wheel (7-1); the walking motor is fixed in the backup pad, and the walking wheel setting is in the bottom of backup pad, and the walking motor direct drive walking wheel moves.

The walking mechanism comprises a walking motor (12), a walking gear (6) and a walking wheel (7-1); the walking motor is fixed on the supporting plate, the walking wheel is arranged at the bottom of the supporting plate, and the walking motor drives the walking gear to run; a rack (5) matched with the walking gear is fixed below the upper rail.

The polishing device also comprises an air jet type cleaning mechanism; the jet-propelled cleaning mechanism comprises a blower (14) fixed on the supporting plate, a steel pipe with a nozzle (or a plurality of jet holes) fixed on the bearing plate and an air pipe (15) connecting the steel pipe and the blower, wherein air flow output by the blower reaches the steel pipe through the air pipe and is ejected out to clean impurities on the steel formwork.

The front end of a vehicle plate (3-2) of the bearing vehicle is provided with a handle (3-1), and the rear part of the vehicle plate is welded with a strip-shaped anti-slip baffle (3-6).

The rear end of the lower rail (the rear end refers to the end where the grinding device is located, and if necessary, the front end is also provided with a limiting block (not shown in the figure) for preventing the bearing vehicle from separating from the lower rail.

A damping mechanism (3-5) is arranged between the plate and the wheels of the bearing vehicle. Damper is spring damper for reduce the vibration, and elasticity and the flexibility ratio when improving and polish.

The front part of a vehicle plate (3-2) of the bearing vehicle is drilled with a fixed hole (3-3). When the template is longer, the hole can be used for installing fixed steel templates such as a clamp and the like, so that the steel templates are prevented from sliding.

A steel formwork polishing control method comprises the following steps:

step 1: loading a steel template and pushing to a polishing position;

firstly, placing a steel template on a bearing vehicle, and then pushing the bearing vehicle of the bearing vehicle to the lower part of a polishing device along a lower rail;

step 2: polishing the steel template;

lowering the polishing device through a cylinder type lifting mechanism, and polishing the steel template;

during polishing, the polishing device moves along the upper rail under the driving of the traveling mechanism, and the polishing and propelling are automatically realized;

and step 3: and withdrawing the polished steel plate after polishing.

And returning to the step 1 to implement the next steel formwork grinding cycle.

In the polishing process, compressed gas is sprayed out by the jet cleaning mechanism to clean a polished surface.

During the polishing process, water mist is sprayed out through the spraying device to reduce dust.

Polishing by adopting a polishing machine comprising a polishing device, wherein the polishing machine is provided with a wireless communication module and a camera; the camera acquires a field image and sends the field image to the control platform through the wireless communication module; and the work of the grinding machine is controlled by the control platform, so that the remote monitoring of the grinding process is realized.

Has the advantages that:

the invention creatively designs an automatic steel formwork grinding machine which mainly comprises a frame, a lower rail, a bearing vehicle, an electric cabinet, a supporting plate, an air compressor, a traveling motor, a transmission chain, a traveling shaft, a traveling wheel, a traveling gear, a rack, an air cylinder, a bearing plate, a grinding motor, a grinding mechanism, an air blower, a cleaning mechanism and the like.

The frame is a bearing body of the whole grinding machine, and other various parts are arranged on the frame; the lower rail is laid at the bottom of the frame; the bearing vehicle consists of wheels and a vehicle plate, the wheels are placed on the lower rail, the steel template to be polished is placed on the vehicle plate, and the bearing vehicle can be pulled by a handle to move along the lower rail and is used for loading and unloading the steel template; the electric cabinet is provided with various control buttons for controlling the actions of components such as an air compressor, a walking motor, a polishing motor, an air blower and the like; the supporting plate is used for mounting components such as an air compressor, a walking motor, an air blower, an air cylinder and the like, is erected and mounted in an upper rail of the rack through a walking shaft and a walking gear, and drives the walking shaft and the walking gear to linearly move back and forth along the rack under the driving of the walking motor and a transmission chain, so that the back and forth movement of the polishing mechanism is realized under the guiding action of the walking wheel and the upper rail of the rack; the bearing plate is used for mounting components such as a polishing motor, a polishing mechanism, a cleaning mechanism and the like, two sides of the bearing plate are connected with the polishing mechanism through bearings, the upper surface of the bearing plate is connected with the supporting plate through a cylinder, and the bearing plate is driven to move up and down through the extension and the shortening of the cylinder, so that the polishing mechanism below is driven to press down on the surface of the steel formwork or lift up from the surface of the steel formwork, and the polishing of the steel formwork is realized; the cleaning mechanism is a steel pipe with a nozzle, and is connected with the air blower through an air pipe, and high-pressure air flow sent out by the air blower enters the cleaning mechanism through the air pipe and is sprayed out from the nozzle at high pressure to blow away concrete residues and iron rust.

The invention has the advantages of novel design, compact structure, simple operation, good grinding effect, high working efficiency and wide application prospect, and can continuously grind and clean the steel templates in batches.

In addition, the first and second substrates are,

(1) the vehicle-mounted platform (carrier) is provided with a spray gun capable of directly adjusting the direction and the angle, so that the field spraying is favorable for reducing field dust and extinguishing fire;

(2) the system is provided with an aircraft, and after the aircraft takes off, the whole operation field can be monitored, and the vehicle-mounted platform is guided to navigate and plan a path for the vehicle-mounted platform; in addition, the navigation and path planning can be carried out on the crawler-type water spraying vehicle; furthermore, because the aircraft is provided with the water tank, independent water spraying fire extinguishing operation can be implemented in places where vehicles do not pass conveniently, and the camera can feed back operation real-time images, so that remote monitoring is facilitated. In addition, the aircraft is a plurality of, can carry out the task by turns, and can charge.

(3) The vehicle-mounted platform can realize automatic driving and realize completely unmanned control or remote control.

(4) The vehicle-mounted platform is a new energy vehicle-mounted platform, has the characteristic of environmental protection, and can realize wireless charging.

(5) Adopt intelligent steel form system of polishing, can realize remote control, need not the operator in the abominable site environment, can show intensity of labour who alleviates operating personnel and improve operating personnel's operational environment.

In a word, the grinding machine and the grinding system are beneficial to realizing full-automatic construction of a grinding site and are suitable for popularization and implementation.

Drawings

FIG. 1 is a schematic view of the overall structure of a sander;

FIG. 2 is a schematic view of a carrier vehicle;

FIG. 3 is a schematic view (one) of the structure of the polishing apparatus;

FIG. 4 is a schematic view (two) of the structure of the polishing device;

FIG. 5 is a schematic structural view of the vehicle-mounted spraying device;

fig. 6 is a schematic general structural view (side view) of the wireless charging system;

fig. 7 is a schematic general structural diagram (top view) of a wireless charging system;

FIG. 8 is a schematic view of the cover plate when closed;

FIG. 9 is a schematic view of the cover plate when raised;

FIG. 10 is a schematic structural view of a press-proof frame;

FIG. 11 is a schematic diagram of a dimming circuit;

FIG. 12 is a schematic diagram of a constant current charging;

fig. 13 is an electrical schematic block diagram of a wireless charging system;

FIG. 14 is a schematic view of the general structure of the multi-purpose aircraft (water tank not shown);

fig. 15 is a schematic structural view (top view) of a quad-rotor telescopic boom and rotors;

fig. 16 is a schematic structural view of an aircraft with a quad-rotor telescopic boom (bottom view, with sub-rotor, pan and tilt head, camera, etc. not shown);

fig. 17 is a schematic view showing the positional relationship of the main rotor and the auxiliary rotor;

FIG. 18 is an exploded view of the telescoping boom;

FIG. 19 is a schematic view of the assembled telescopic boom;

FIG. 20 is a schematic view of the latch;

FIG. 21 is a schematic structural view of a leg;

FIG. 22 is a schematic view of a composite lens and a camera;

FIG. 23 is a schematic view of a hexagram spider and rotor;

FIG. 24 is a circuit diagram of the current detection and relay control of the consumer;

fig. 25 is a schematic diagram of an adjustable amplification amplifier.

Description of reference numerals: 1. a main body frame; 2. a lower rail; 3. a load-bearing vehicle; 4. an electric cabinet; 5. a rack; 6. a traveling gear; 7. a support plate; 8. an air compressor; 9. a polishing mechanism; 10. a carrier plate; 11. a cylinder; 12. a traveling motor; 13. a drive chain; 14. a blower; 15. an air tube; 16. polishing the motor; 17. a cleaning device; 18. and (4) ash blocking strips.

1-1, rail mounting; 3-1, a handle; 3-2, turning a plate; 3-3, fixing holes; 3-4, vehicle wheels; 3-5, a damping device; 3-6. anti-slip baffle; 3-7, steel moulding plate.

6-1. a transmission shaft; 6-2. a driving wheel; 6-3, fixing the bracket and the bearing; 6-4, a movable bracket; 7. a support plate; 7-1, traveling wheels; 7-2. a support seat; 7-3, a walking shaft;

9-1. bearing and bearing cover; 9-2. bolt; 9-3, a belt pulley; 9-4. a transmission belt; 11-1. a gas supply pipe; 11-2, a cylinder support; 17-1. nozzle.

21-outer arm, 22-inner arm, 23-main rotor, 24-jack, 25-lock catch; 26-auxiliary rotor, 27-ducted fan mount, 28-leg, 29-chassis, 30-beam, 31-cross, 32-cradle; 33-a pan-tilt head; 51-shell, 52-pin, 53-barb, 511-shell, 512-pressing block, 513-pressing spring; 70-on-board camera, 71-sub-lens, 72-compound lens, 73-rotating shaft, 74-light reflection sheet, 75-photoelectric emitting and receiving device, 76-CCD sensor, 77-fuselage; 81-upper leg, 82-spring, 83-guide bar, 84-lower leg, 85-sleeve, 86-foot nail, 87-grommet.

108-a main lance; 109-a water pipe, 111-a crawler type travelling mechanism, 112-a supporting platform, 113-an auxiliary water tank; 114-sub camera, 115-auxiliary spray gun, 116-pull rope, 117-spray gun driving motor, 118-rotary platform, 119-driven gear, 120-support seat, 121-rotary platform driving motor and 122-first driving gear.

201-a concave part, 202-a bottom movable platform, 203-a first motor, 204-a limit switch, 205-a guide rail, 206-a first rack rail, 207-a second driving gear, 208-a coded disc, 209-a walking wheel, 210-a lifting platform, 211-a second rack rail, 212-a lead, 213-a power-on plug, 214-a transmitting coil, 215-a scissor type lifting mechanism, 216-an upper movable platform, 217-a push rod, 218-a pressure-proof frame and 219-a movable cover plate.

Detailed Description

The invention will be described in further detail below with reference to the following figures and specific examples:

example 1: as shown in fig. 1, the automatic steel formwork grinding machine mainly comprises a frame 1, a lower rail 2, a bearing vehicle 3, an electric cabinet 4, a rack 5, a traveling gear 6, a supporting plate 7, an air compressor 8, a grinding mechanism 9, a bearing plate 10, an air cylinder 11, a traveling motor 12, a transmission chain 13, an air blower 14, an air pipe 15, a grinding motor 16, a cleaning mechanism 17, an ash blocking strip 18 and the like.

The frame 1 is a bearing body of the whole grinding machine and is welded into a closed square frame by adopting channel steel, the length of the frame is determined according to the length of a steel template to be ground, the principle is to ensure that a bearing vehicle 3 and the steel template can be placed in the frame, two longitudinal channel steel on the upper part of the frame 1 are upper rails 1-1 and are used as guide grooves of travelling wheels 7-1 below a supporting plate 7, racks 5 are welded on the lower parts of the upper rails 1-1 in a long way and are used as guide racks of a travelling gear 6, an ash blocking strip 18 is installed at the front end of the frame 1 and is made of strip-shaped soft plastic and mainly used for blocking dust, scrap iron and the like from splashing forwards; the lower rail 2 is arranged below the frame 1, the front end of the lower rail extends out of the frame 1, the total length of the lower rail is twice that of the bearing vehicle 3, and the bearing vehicle 3 can be completely pulled out of the frame 1, so that a steel template (the length is omitted in the figure) can be conveniently loaded and unloaded; the bearing vehicle 3 comprises wheels, a vehicle plate, a handle and the like, the wheels walk along the lower rail 2, a damping mechanism is arranged above the wheels, the vehicle plate is erected on the damping mechanism, the vehicle body runs stably after the steel template is placed, the handle is arranged at the front end of the vehicle plate and used for pushing the trolley into and pulling the trolley out of the rack, and the width of the vehicle plate is determined according to the width of the steel template to be polished; the electric cabinet 4 is an electric control cabinet box body, various electric control circuits are arranged in the electric control cabinet box body, various control buttons, indicator lamps and the like are arranged on a panel and used for controlling the actions of components such as an air compressor, a walking motor, a polishing motor, an air blower and the like; the supporting plate 7 is a thick steel plate and is horizontally erected above the rack 1, the lower part of the supporting plate is provided with a transmission shaft, a walking gear 6 and two walking shafts parallel to the transmission shaft, the two ends of each walking shaft are provided with walking wheels 7-1, the walking wheels 7-1 are embedded into the upper rails 1-1 of the rack 1 and can roll along the upper rails 1-1, so that the supporting plate 7 is driven to longitudinally move along the rack 1, and the air compressor 8, the air cylinder 11, the walking motor 12, the chain 13, the air blower 14 and other parts are all arranged on the supporting plate 7; the air compressor 8 is mainly used for providing high-pressure air for the cylinder 11 as power of the cylinder 11; the walking motor 12 transmits power to the walking gear 6 through the transmission chain 13, so that the walking gear 6 rotates and moves back and forth along the rack 5, and the supporting plate 7 is driven to move back and forth; the upper end of the air cylinder 11 is arranged on the supporting plate 7 through a triangular air cylinder support, the air cylinder penetrates through an opening of the supporting plate 7, the lower end of the air cylinder is hinged with the upper surface of the bearing plate 10, the bearing plate 10 is driven to move up and down through the extension and shortening of the air cylinder 11, the polishing mechanism 9 is driven to move up and down, when the air cylinder 11 contracts, the bearing plate 10 is lifted upwards, the polishing mechanism 9 below leaves the surface of the steel template, polishing is stopped, when the air cylinder 11 extends, the bearing plate 10 is pressed downwards, the polishing mechanism 9 below compresses the surface of the steel template, and the steel template is polished, and the air cylinder 11 does stepless flexible motion, so that the force of pressing the steel template by the polishing mechanism 9 is softer, and the polishing mechanism 9; the bearing plate 10 is used for installing components such as a grinding motor 16, a cleaning mechanism 17, a grinding mechanism 9 and the like, the grinding mechanism 9 is a roller with a steel wire brush, a rotating shaft and bearings at two ends are fixedly installed on the movable support 6-4 through bolts and are driven by the grinding motor 16 to rotate at a high speed to grind the surface of the steel template; the cleaning mechanism 17 is a steel pipe with a nozzle, and is connected with the air blower 14 through an air pipe 15, and high-pressure air flow sent by the air blower 14 enters the cleaning mechanism 17 through the air pipe 15 and is sprayed out from the nozzle at high pressure to blow away concrete residues and iron rust; the movable supports 6-4 are two connecting pieces arranged at two sides of the bearing plate 10, the upper ends of the connecting pieces are hinged on the fixed supports, the middle parts of the connecting pieces are fixed at two sides of the bearing plate 10 through bolts, and the lower parts of the connecting pieces are connected with the polishing mechanism 9 through bearings.

As shown in fig. 2, which is a schematic view of a load-bearing vehicle, a lower rail 2 is erected at the bottom of a frame 1, wheels 3-4 are placed on the lower rail 2, a damping mechanism 3-5 is installed on an axle, and a vehicle plate 3-2 is lifted above the damping mechanism 3-5; the sweep 3-2 is a rectangular steel plate, the length and the width can be determined according to the size of the steel form 3-7 to be polished, a handle 3-1 is arranged at the front end of the sweep 3-2, the trolley can be pushed into or pulled out of the rack along the lower rail 2 through the handle, and the steel form can be conveniently loaded into or unloaded from the sweep 3-2; the front part of the turning plate 3-2 is drilled with a fixing hole 3-3 which can be used for fixing the steel template when the template is longer so as to prevent the steel template from sliding; the rear part of the turning plate 3-2 is welded with a long-strip-shaped anti-slip baffle 3-6 which is used for clamping the steel template and preventing the steel template from sliding backwards out of the turning plate; the steel template 3-7 is longitudinally arranged on the vehicle template 3-2, the rear end of the steel template is clamped by the anti-slip baffle 3-6, and the front end of the steel template is fixed by the fixing hole 3-3.

As shown in fig. 3-4, which are schematic views of the polishing system, the figures mainly show the structural components and the installation positions of the components of the polishing system. The upper rail 1-1 is two channel steels at the uppermost part of the frame 1, and the openings of the channel steels are inward to form the upper rail; the supporting seat 7-2 is a hanging lug with a flat upper end and a round hole at a lower end, the upper end of the supporting seat is welded with the bottom of the supporting plate 7, the round hole at the lower end is inserted with the traveling shaft 7-3 and is firmly welded with the traveling shaft 7-3, traveling wheels and bearings 7-1 are welded at two ends of the traveling shaft 7-3, the traveling wheels and the bearings 7-1 are clamped in the upper rail 1-1 and can roll back and forth along the upper rail 1-1, and when the traveling wheels and the bearings 7-1 roll back and forth along the upper rail 1-1, the traveling shaft 7-3, the supporting seat 7-2 and the supporting plate 7 are driven to move back and forth, and further, other parts arranged on the.

The rack 5 is welded below the upper rail 1-1, and the length of the rack is the same as that of the upper rail 1-1; two ends of the transmission shaft 6-1 are provided with walking gears 6, and the walking gears 6 can roll along the racks 5 after being meshed with the racks 5; a driving wheel 6-2 is arranged in the middle of the transmission shaft 6-1, and the driving wheel 6-2 is connected with a walking motor 12 through a transmission chain 13; the left side of the transmission shaft 6-1 is inserted into the fixed bracket and the bearing 6-3 and can rotate in the bearing; the upper ends of the fixed support and the bearing 6-3 are welded at the lower part of the supporting plate 7, the lower end is hinged with the movable support 6-4, and the movable support 6-4 can rotate around the hinged point; the middle part of the movable bracket 6-4 is fixedly connected with the two sides of the bearing plate 10 through bolts 9-2, and the lower part is connected with the polishing mechanism 9 through a bearing and a bearing cover 9-1; the polishing mechanism 9 is a roller with a steel wire brush, the length of the roller is slightly longer than the width of the steel template, and the steel template can be completely polished at one time; one end of the polishing mechanism 9 is provided with a belt pulley 9-3, and the polishing mechanism 9 can rotate around the bearing and the bearing cover 9-1 at a high speed under the driving of a transmission belt 9-4 of a polishing motor 16, so that the surface of the steel template is polished; the lower end of the cylinder 11 is hinged with the upper surface of the bearing plate 10, and the bearing plate 10 can rotate around a hinge pin at the lower end of the cylinder 11; the upper end of the cylinder 11 is fixedly arranged on a cross bar of the cylinder support 11-2, and the lower part of the cylinder support 11-2 is firmly welded with the support plate 7; the cylinder 11 is connected to the air compressor 8 through an air supply pipe 11-1.

The working principle and the working principle of the automatic steel formwork grinding machine are that ① pulls a handle 3-1 outwards to pull a carrier vehicle 3 out of a frame 1, a steel formwork 3-7 is placed on the carriage plate 3-2 and fixed, ② pushes the handle 3-1 inwards to push the carrier vehicle 3 into the frame 1, ③ starts an air compressor 8 through a relevant button on an electric cabinet 4, the air compressor 8 sends compressed air into an air cylinder 11 through an air supply pipe 11-1, the air cylinder 11 extends to push a bearing plate 10 downwards, the bearing plate 10 drives a movable support 6-4 to rotate around a fixed support and a bearing 6-3 and drives a grinding mechanism 9 to descend through a relevant button on the electric cabinet 4, air supply to the air cylinder 11 is stopped when the grinding mechanism 9 is tightly attached to the surface of the steel formwork, the grinding mechanism is kept in a close state, ④ starts a grinding motor 16, drives the driving mechanism 9 to rotate at a high speed through a belt and a belt pulley, the grinding mechanism 9 starts to grind the steel formwork 9, the steel formwork traveling mechanism 9 starts to grind the traveling mechanism 12, the traveling mechanism 12 to drive a driving wheel 6-1 to rotate through a driving wheel 13 to enable a driving wheel 6 and a driving mechanism 6 to rotate, the driving rack 6 to rotate, the rack 6 to be smoothly, the rack 6 to be meshed with the rack traveling mechanism 6, the rack traveling mechanism 2, the rack traveling mechanism is driven by a high-7 to move along a high-6, the rack traveling mechanism to clean, the rack traveling mechanism 2, the rack traveling mechanism is driven by a rack traveling mechanism to move, the rack traveling mechanism to move along a rack traveling mechanism to clean, the rack traveling mechanism to move, the rack traveling mechanism 2, the rack traveling mechanism 7, the rack traveling mechanism is driven by a rack traveling mechanism to move, the rack traveling mechanism to clean, the rack traveling mechanism.

Example 2: an intelligent steel formwork polishing system comprises a monitoring platform (an upper computer, a server and the like), a polishing machine, field monitoring equipment and an intelligent carrier for carrying steel formworks;

A spray gun device is arranged on the carrier, and in the spray gun device, a rotating platform driving motor can drive the rotating platform to rotate through a first transmission mechanism; and a spray gun driving motor 117 is arranged on the rotating platform, and the spray gun driving motor can control the elevation angle of the main spray gun through a second transmission mechanism.

The first transmission mechanism is a gear transmission mechanism. Gear drive is including installing in the epaxial first driving gear 122 of rotary platform driving motor, and with first driving gear engaged with driven gear 119, driven gear sets up in rotary platform's outer lane, design as an organic whole, driven gear and rotary platform coaxial line, consequently, rotary platform driving motor can drive rotary platform rotatory.

The second transmission mechanism is a pull rope 116, the upper end of the pull rope is arranged at the rear end of the spray gun, and the lower end of the pull rope is wound on a rotating shaft of the spray gun driving motor (or a belt wheel arranged on the rotating shaft).

Because the spray gun is arranged on the spray gun frame and is hinged with the spray gun frame, the front end of the spray gun is downward under the action of gravity, and the elevation angle of the spray gun is completely controlled by the pull rope.

The vehicle-mounted platform is provided with a main camera. The main camera is preferably arranged on the vehicle platform by means of a camera post, so that a wider field of view is obtained. The main camera monitors the spraying state of the main spray gun, and images collected by the camera are transmitted to the remote platform (monitoring platform), so that an operator can remotely control the water spraying operation.

The charging platform on site is provided with a plurality of aircrafts with cameras, because the working time of each aircraft is limited, such as half an hour, a plurality of aircrafts can be used in turn, and when one aircraft returns to a flight, the other aircraft takes off to realize uninterrupted task execution. And the vehicle-mounted platform is provided with a charging module for charging the aircraft wirelessly or in a wired manner. Furthermore, a water tank and a spray pipe are arranged on the aircraft, and on the vehicle-mounted platform, the water tank of the aircraft can be replenished with water from the main water tank. At this time, the aircraft can perform not only the monitoring task but also the water spraying task, and water can be sprayed in an area where a vehicle or a crawler (crawler type water spraying vehicle) cannot pass.

The vehicle-mounted platform is provided with a crawler-type water spraying vehicle, and the crawler-type water spraying vehicle is provided with a sub-camera and an auxiliary spray gun.

The crawler-type water spraying vehicle is connected with a main water tank on the vehicle-mounted platform through a water pipe; and the crawler-type water spraying vehicle is provided with an auxiliary water tank.

The vehicle-mounted platform is driven by a gasoline engine, a diesel engine or a power battery. The power lithium battery drive of preferred new forms of energy, more environmental protection, as preferred, on-vehicle platform is autopilot platform.

A positioning module (such as a GPS or Beidou module) and a wireless communication module are arranged on the vehicle-mounted platform; the wireless communication module is a PPRS (personal computer system), a 3G, a 4G or a 5G communication module, and the vehicle-mounted platform is in communication connection with a remote control platform or a remote control terminal (such as a PC (personal computer), a notebook computer, a tablet computer and the like) through the wireless communication module. Remote monitoring can be realized, and water spraying can be remotely controlled.

The vehicle-mounted platform is provided with a power lithium battery and a charging module, the charging module is matched with the charging pile, or the charging module is a wireless charging module; the wireless charging module is matched with a wireless charging system arranged on the ground.

The vehicle-mounted platform can realize automatic driving and automatic path planning. The water level state and the like are automatically detected, water is automatically supplemented, and automatic charging is realized.

The vehicle-mounted platform is also provided with a water spray pipe, and an operator can spray on the spot by holding the water spray pipe as a supplement of automatic spraying when necessary.

In addition, a regulator for regulating water quantity is arranged on the spray gun, and the spraying distance can be realized by regulating the water quantity.

A wireless charging module including a support platform disposed in the recess 201 and a transmitting coil 214 disposed on the support platform;

the supporting platform comprises a bottom layer movable platform 202, an upper layer movable platform 216 and a lifting mechanism for connecting the bottom layer movable platform and the upper layer movable platform; a longitudinal translation mechanism is arranged on the bottom layer movable platform; the upper layer movable platform is provided with a transverse translation mechanism.

The lifting mechanism is a cylinder type lifting mechanism or a scissor type lifting mechanism 215. The cylinder type lifting mechanism is a push rod type driving mechanism, such as a pneumatic cylinder or a hydraulic cylinder.

The longitudinal translation mechanism comprises a guide rail 205 and a first rack rail 206 arranged at the bottom of the recess;

the number of the guide rails is 2; the rack rail is one, and the rack rail and the guide rail are arranged in parallel;

a plurality of travelling wheels 209 capable of rolling on the guide rails are arranged at the bottom of the bottom layer movable platform; the number of the walking wheels is 4, and one side of the walking wheels is 2.

The front end of the bottom layer movable platform is provided with a first motor 203; a gear 207 is arranged on a rotating shaft of the first motor, and the gear is meshed with the first rack rail; when the first motor rotates, the bottom layer movable platform can be driven to longitudinally (front and back) translate along the first rack rail.

The transverse translation mechanism comprises a second rack rail 211 and a second motor; the second rack rail is transversely arranged, and the left end or the right end of the upper movable platform of the second motor is arranged; and a gear meshed with the second rack rail is arranged on a rotating shaft of the second motor, and when the second motor rotates, the upper movable platform can be driven to transversely (leftwards and rightwards) translate along the second rack rail.

The rotating shafts of the first motor and the second motor are both provided with a code disc 208. The code wheel is used for detecting the number of turns of the motor rotation, so that the displacement of the platform in advancing can be converted.

An electrically movable cover 219 is provided at the opening of the recess. The electric driving means motor driving or electric signal control hydraulic cylinder or air cylinder driving.

The movable cover plate is 2, a push rod for driving the movable cover plate is arranged in the concave part, and the upper end of the push rod is connected with the movable cover plate ground.

The opening of the depressed part is also provided with a pressure-proof mechanism, and when the movable cover plate is unfolded, the pressure-proof mechanism can support the movable cover plate.

The pressure-proof mechanism is in a square frame shape. Stainless steel or cast iron is adopted, and the strength is high.

The wireless charging system also comprises a control unit, the control unit comprises an MCU, and the transverse translation mechanism and the longitudinal translation mechanism are controlled by the MCU; the MCU is also connected with a communication module.

The wireless charging system is arranged on the parking space, an electric control parking space lock controlled by the MCU is further arranged on the wireless charging system, and the wireless charging system is combined with the shared parking space; the mobile cover plate is provided with an identification code used for interacting with the mobile phone, the identification code is a two-dimensional code or a bar code or a character string, and the intelligent mobile phone can be associated with the parking spot lock and the parking spot by scanning the code or inputting the character string; and the charging data is fed back to the mobile phone, so that the parking and charging are jointly charged.

In addition, the limit switch and the code disc output signals to the MCU; the first motor and the second motor are both stepping motors. The first rack rail is located between the 2 rails. The rear end of the bottom layer movable platform is provided with a limit switch 204; the front end of the motor is provided with a limit switch 204. The limit switch acts to indicate that the front or the rear is in place, and the motor stops rotating, so that the safe operation of the whole equipment is guaranteed. The bottom movable platform is provided with a lead with a connecting plug 213. The wire is used for connecting and obtaining commercial power, thereby supplying power for the transmitting coil.

The bottom layer movable platform is also provided with an MCU and a single-phase bridge type rectification and inversion circuit; the single-phase bridge type rectification and inversion circuit comprises a rectifier bridge and an inverter bridge, wherein the rectifier bridge adopts 4 power diodes, the inverter adopts 4 IGBTs, the connection mode is the existing mature technology, and the G pole of the IGBT is controlled by the pulse sent by the MCU. The input side of the rectifier bridge is connected with the commercial power, and the output side of the rectifier bridge is connected with the transmitting coil through the inverter; the rectifier bridge is used for changing alternating current into direct current, and the inverter is used for changing direct current into alternating current of different frequencies, changes the frequency in order to improve charge efficiency.

The display screen is arranged in the concave part, is connected with the MCU and is used for field debugging and displaying field state data in real time.

And the automobile end is provided with a constant-current charging circuit for efficiently charging the lithium battery.

An inductor for inducing the automobile above is arranged at the opening of the concave part, such as an ultrasonic or photoelectric sensor; and the automatic charging is realized.

As shown in fig. 12, the charging system further includes a brightness adjusting circuit for adjusting the brightness of the display screen (the display screen is located in the cab of the vehicle-mounted platform); the brightness adjusting circuit comprises an MCU, an LED lamp string, a triode, a potentiometer Rx and an A/D converter; the triode is an NPN type triode; a knob switch is arranged above a fixing frame of the display screen and is coaxially connected with the potentiometer Rx;

the potentiometer Rx and the first resistor R1 are connected in series to form a voltage division branch, one end of the voltage division branch is connected with the positive electrode Vcc of the power supply, and the other end of the voltage division branch is grounded; the connection point of the potentiometer Rx and the first resistor R1 is connected with the input end of the A/D converter; the output end of the A/D converter is connected with the data input port of the MCU;

the LED lamp string comprises a plurality of LED lamps which are connected in series; the anode of the LED lamp string is connected with the anode Vcc of the power supply; the negative electrode of the LED lamp string is connected with the C electrode of the triode, and the E electrode of the triode is grounded through a second resistor R2; the B pole of the triode is connected with the output end of the MCU. The power supply positive pole Vcc is 5V, and the A/D converter is an 8-bit serial output type converter.

As shown in fig. 13, the vehicle end charges the lithium battery through the constant current charging circuit, and in the constant current charging circuit, each element or reference number indicates: VIN + -input power supply anode. VIN-input negative pole of power supply.

VOUT + -output power supply anode. VOUT-output power supply cathode. VREF + - - - - -the positive pole of the reference power supply; c1 is the input filter capacitance. C2 is the output filter capacitance. C3 is current sample feedback filtering. R1, R2, R5 and C3 form a current sampling feedback circuit. And R3 and R4 are voltage sampling feedback circuits. D1 is an isolation diode. The constant-current charging circuit comprises a constant-voltage driving chip and a current feedback circuit;

(1) the voltage output end of the constant voltage driving chip is a positive output end VOUT + of the constant current charging circuit; the negative output end of the constant voltage driving chip is grounded;

the constant voltage driving chip is powered by a direct current voltage power supply end VIN + and VIN-; (2) the current feedback circuit comprises resistors R1, R2 and R5 and a reference voltage end VREF +; the reference voltage end VREF + is grounded through resistors R1, R2 and R5 which are sequentially connected in series; the connecting point of the resistor R5 and the resistor R2 is a negative output end VOUT < - >; the connection point of the resistors R1 and R2 is connected with the feedback terminal FB of the constant voltage driving chip. The constant current charging circuit also comprises a voltage feedback circuit; the voltage feedback circuit comprises resistors R3 and R4 and a diode D1; the resistors R3 and R4 are connected in series and then connected between the positive output end VOUT + of the constant current charging circuit and the ground; the connection point of the resistors R3 and R4 is connected with the anode of the diode D1; the cathode of the diode D1 is connected to the feedback terminal FB of the constant voltage driving chip.

Description of the working principle:

the stable reference power supply is used as a reference voltage, and the voltage which is equal to the voltage FB is obtained by dividing the voltage by R1, R2 and R5, so that the internal PWM of the DCDC IC is adjusted by the voltage FB to control the magnitude of the output current. For example, when the output current becomes larger, the voltage across the sampling resistor R5 will increase, and since VRFE + is a fixed value, the FB voltage becomes larger, FB becomes larger, the duty cycle will decrease, and the output current decreases, thereby completing a complete feedback to achieve the purpose of stabilizing the current output.

The scheme introduces fixed VREF +, so that Io becomes an equation which is only in linear relation with R5 sampling resistance, and the Io becomes constant, thereby achieving the purpose of constant current.

The constant current circuit in the scheme has the following characteristics:

1. and the stable fixing of the VREF + voltage is used, so that the precision control and the stability control are facilitated.

2. The current sampling is changed into resistance voltage division feedback, so that the method is simpler and more reliable.

3. The applicability is wide, and any line needing constant current can be used.

Referring to fig. 14-22, a multifunctional aerial vehicle comprises a support frame 32, a rotor, a base plate 29, a pan-tilt 33, legs 28 and a camera 70; the rotor and the holder are arranged on the bracket; the bottom plate is fixed at the bottom of the bracket; the camera is arranged on the holder; the supporting legs are fixed at the bottom of the bottom plate; the camera includes a body 77 and a compound lens 72; a CCD sensor 76 is arranged in the machine body, and a photoelectric transmitting and receiving device 75 for lens alignment is arranged on the machine body; the composite lens is provided with a rotating shaft 73; 4 sub-lenses 71 are integrated in the compound lens; the sub-lenses are uniformly arranged along the circumferential direction of the composite lens; the rear end of the composite lens is also provided with a light reflection sheet 74 matched with the photoelectric transmitting and receiving device; a stepping motor for driving the lens to rotate is further arranged in the machine body. The photoelectric transmitting and receiving device and the light reflection sheet can be a plurality of sets, preferably 2 sets, are axially symmetrical, have better alignment effect, and only after the 2 sets of photoelectric transmitting and receiving device and the light reflection sheet are aligned, the lens is considered to be aligned with the CCD sensor, so that the alignment precision is higher. 4 support legs are vertically arranged, and a horizontal cross beam is arranged between every two adjacent support legs; the legs include an upper leg 81, a lower leg 84 and a foot peg 86; the lower end of the upper leg is provided with a guide groove; the upper end of the lower leg is provided with a guide rod 83; the guide rod is inserted in the guide groove; a spring 82 is arranged in the guide groove; the spring is arranged between the top wall (the inner wall at the innermost end) of the guide groove and the top end of the guide rod; the lower end of the lower leg is provided with a foot peg 86. The outer wall of the lower end part of the lower supporting leg is provided with an external thread; the lower end of the lower supporting leg is sleeved with a sleeve 85 with internal threads, and the lower end of the sleeve is provided with a backing ring 87. The chassis is also provided with a gyroscope and a wireless communication module. The gyroscope is used for navigation, and the wireless communication module is used for receiving an instruction of the remote controller and transmitting shot pictures and video information to the ground receiving end equipment. The bracket is a cross cantilever bracket consisting of 4 telescopic cantilevers with the same structure; each telescopic boom comprises an outer arm 21 and an inner arm 22; the inner end part of the outer arm is connected with the outer end part of the inner arm through a lock catch 25; the lock catch is provided with a pin 52 with a barb 53; the number of the lock catches is multiple; a plurality of groups of jacks 24 for pins to pass through are arranged at the inner end of the outer arm and the outer end of the inner arm; each group of jacks comprises at least 2 jacks; the rotor comprises a main rotor and an auxiliary rotor; the outer end part of the outer arm is provided with a main rotor 23 and an auxiliary cantilever 26; the main rotor and the auxiliary cantilever are coaxially arranged, the main rotor is positioned above the outer arm, and the auxiliary rotor is positioned below the outer arm; the diameter of the main rotor wing is larger than that of the auxiliary rotor wing; the auxiliary rotor wing is a ducted fan and is fixed at the bottom of the outer arm through a ducted fan fixing part 7; the lock catch has a housing 51; the shell comprises an outer shell 511, a pressing block 512 and a pressure spring 513; the number of the pins is 2; the pins are fixed on the outer shell; the pressing block is positioned in the outer shell and sleeved on the 2 pins; the pressing block can move along the pin; a pressure spring is arranged between the pressing block and the pin, and the pressure spring is sleeved at the root of the pin. The inner end of the outer arm is provided with 2 groups of jacks for the pins to pass through; each group of jacks on the outer arm comprises 2 jacks; the number of the lock catches is 2; 4 groups of jacks for the pins to pass through are arranged at the outer end part of the inner arm at equal intervals; each set of jacks on the inner arm includes 2 jacks. The ratio of the diameter of the auxiliary rotor to the diameter of the main rotor is 0.2-0.35; preferred values are 0.25 and 0.3. The backing ring is made of rubber, and the foot nails are made of stainless steel. Another aircraft is shown in fig. 23, in which the support is a hexagonal star-shaped support composed of 6 transverse struts with the same length; each angular position of the hexagonal star-shaped support is provided with a rotor wing. The rotor comprises a main rotor and an auxiliary rotor; the outer end part of the outer arm is provided with a main rotor 23 and an auxiliary cantilever 26; the main rotor and the auxiliary cantilever are coaxially arranged, the main rotor is positioned above the outer arm, and the auxiliary rotor is positioned below the outer arm; the diameter of the main rotor wing is larger than that of the auxiliary rotor wing; the auxiliary rotor is a ducted fan and is fixed to the bottom of the outer arm by a ducted fan fixing member 27. Furthermore, each cross position of the hexagram-shaped support is provided with a rotor wing, and the cross position is a position corresponding to X cross formed by the adjacent transverse struts; such an aircraft would have 12 or 12 sets of rotors. The ratio of the diameter of the auxiliary rotor to the diameter of the main rotor is 0.25 or 0.3. The aircraft has the following outstanding characteristics:

(1) its foot rest adopts the cushion mode of guide way-conductor pole-spring, can provide effectual buffering for the aircraft, simple structure, easy to carry out, in addition, the rigidity of whole foot rest has been strengthened in the adoption of crossbeam, make all stabilizer blades fuse, and further, the bottom of lower stabilizer blade is provided with foot nail and backing ring, and when the sleeve was removed or was screwed on, the foot nail acted on, makes the aircraft be applicable to and takes off and land in soft place (like open-air muddy soil), if the sleeve rotates downwards to the lower position of backing ring than the foot nail, the backing ring acted on, makes the aircraft be applicable to and takes off and land in hard place (like muddy ground), and the suitability is good.

(2) In addition, the camera adopts a switched composite lens of a self-lens, 4 lenses with different focal lengths are integrated in the composite lens and are used for shooting pictures with different visual angles on a target object, and the flexibility is good; the photoelectric transmitting and receiving device arranged on the camera and the light reflection sheet arranged on the lens are used for aligning the sub-lens with the CCD sensor, the combined type lens is driven by the stepping motor, the alignment precision is high, and the sub-lens is convenient to switch. The camera has the excellent quality of a fixed focus head and also has the flexibility of changing the focal length, so the camera has good practicability.

(3) A telescopic cantilever is adopted;

the telescopic cantilever adopts a two-section telescopic structure of an outer arm and an inner arm, and is convenient to stretch; and outer arm and inner arm link to each other through unique hasp, and the hasp has the barb, and the cartridge is convenient, is equipped with pressure spring and briquetting on the hasp in addition, can ensure to lock firmly. In a word, this kind of four shaft rotor craft with telescopic cantilever structure is ingenious, and the flexibility is good, easy dismounting.

(4) Adopting a hexagonal star-shaped rotor wing; the novel hexagram-shaped support is adopted, the stability of the support is good, each rotor wing is located at an angular position, each angular position is located at a vertex of a triangle and is supported by 2 supporting rods, and due to the stability of the triangle, the vertex cannot have any offset or drift in flight, so that the support has great stability advantages relative to a regular hexagon support or a cross-shaped support or other supports. In addition, the arrangement mode of 6 rotors has better aerodynamic configuration than the arrangement mode of 2-4 rotors, and in conclusion, the six-rotor aircraft has ingenious structure and good stability.

When the rotor wing is arranged at the cross position, the lifting force of the aircraft can be further enhanced.

(5) An auxiliary rotor wing is adopted.

Adopt the duct fan as vice rotor, the duct fan is used for providing supplementary lift, and the duct fan has the fast advantage of response, can improve the whole bearing capacity and the stability of aircraft like this.

In conclusion, the multifunctional aerial photography aircraft has high integration level and compact structure, not only has a flight mechanism with excellent performance, but also has the landing legs with unique buffering function, and further has an original camera, so that the multifunctional aerial photography aircraft has the advantages of rich functions, high safety, ingenious structure, high lift force, stable flight and easiness in implementation.

(1) Referring to FIGS. 24-25, the current detection and relay control circuit (also referred to as overcurrent detection and protection circuit) of the electric device (sander)

The intelligent field system can well prevent field safety problems by detecting field electricity, the working voltage of the used current detection circuit is 5V, and the load power can be connected with 220V/40A equipment.

The working principle is as follows: the current transformer generates mutual inductance current by inserting a field alternating current wire into the current transformer (or a coil), the larger the field power consumption is, the larger the mutual inductance current is, the smaller the field power consumption is, and the smaller the mutual inductance current is, so that a signal waveform can be output by using a voltage comparator, and a Main Controller (MCU) can acquire field current size information by self-contained AD acquisition, thereby achieving the detection effect. In the circuit design, alternating current mutual inductance current is converted into direct current through four rectifier diodes, two output signals are provided, one is analog quantity, and the output signals are output by VOUT and output to an MCU; and the other is a TTL high-low level, and the direct control relay is used for switching off and on the power supply of the grinding motor.

Description of the circuit:

vin is obtained from an output signal of the current transformer through a bridge rectifier; the comparator compares Vin with reference voltage Vref, and if Vin is greater than Vref, the comparator outputs low level to control the relay to be disconnected.

In addition, Vin enters an ADC port (namely, a port with an A/D conversion function) of the MCU after being amplified by the amplifier;

because the signal is weak, an amplifier with adjustable amplification factor is designed; the specific circuit connection and working principle are as follows:

the output end Vin of the bridge rectifier is a signal end, the signal end is connected with the inverting input end of the operational amplifier LM393 through a resistor R0, the homodromous input end of the operational amplifier LM393 is grounded through a resistor R0, the homodromous input end of the operational amplifier LM393 is also connected with 4 input channels of the 4-out-of-one selector through 4 resistors R01-R04 respectively, the output channel of the 4-out-of-one selector is connected with the output end Vout of the operational amplifier LM393, and the Vout is connected with the ADC end of the MCU;

in addition, 2 output ports of the MCU are respectively connected with a channel selection end A and a channel selection end B of a 4-selection selector;

calculation formula of Vout and Vin:

vout ═ Vin, (Rx + R0)/R0; wherein Rx ═ R01, R02, R03, or R04; determining which resistance to select based on the gate terminal AB; and R01, R02, R03 and R04 are each different; preferred R04-5-R03-25-R02-100-R01; r01-5 × R0. can conveniently achieve span and precision switching.

Claims

1. An intelligent steel formwork polishing system is characterized by comprising a monitoring platform, a polishing machine, on-site monitoring equipment and an intelligent carrier for carrying steel formworks;

the grinding machine and the field monitoring equipment are in communication connection with the monitoring platform;

the on-site monitoring equipment comprises a camera system and pyroelectric infrared monitoring equipment;

the intelligent transport vehicle is an unmanned electric transport vehicle;

the wireless charging device is used for wirelessly charging the carrier;

the intelligent carrying vehicle and the grinding machine are multiple;

the monitoring platform is in wireless communication connection with the smart phone;

the grinding machine comprises a frame, a bearing vehicle (3) and a movable grinding device;

the upper rail is positioned above the lower rail;

the cylinder type lifting mechanism is used for controlling the lifting and lowering of the supporting plate; when the supporting plate is lifted, the polishing mechanism below the supporting plate is in a stop state, and when the supporting plate is lowered, the polishing mechanism below the supporting plate is in a polishing state;

the polishing device also comprises an air jet type cleaning mechanism; the jet cleaning mechanism comprises a blower (14) fixed on the supporting plate, a steel pipe with a nozzle fixed on the bearing plate and an air pipe (15) connecting the steel pipe and the blower, and air flow output by the blower reaches the steel pipe through the air pipe and is ejected out to clean impurities on the steel template;

the polishing mechanism is a roller with a steel wire brush;

the walking mechanism comprises a walking motor (12) and a walking wheel (7-1); the walking motor is fixed on the supporting plate, the walking wheel is arranged at the bottom of the supporting plate, and the walking motor directly drives the walking wheel to run;

or the walking mechanism comprises a walking motor (12), a walking gear (6) and a walking wheel (7-1); the walking motor is fixed on the supporting plate, the walking wheel is arranged at the bottom of the supporting plate, and the walking motor drives the walking gear to run; a rack (5) matched with the walking gear is fixed below the upper rail;

a handle (3-1) is arranged at the front end of a vehicle plate (3-2) of the vehicle, and a strip-shaped anti-slip baffle (3-6) is welded at the rear part of the vehicle plate;

the rear end of the lower rail is provided with a limiting block for preventing the bearing vehicle from separating from the lower rail;

a damping mechanism (3-5) is arranged between the plate and the wheels of the bearing vehicle;

a fixing hole (3-3) is drilled at the front part of a vehicle plate (3-2) of the bearing vehicle;

the frame is a bearing body of the whole grinding machine and is welded into a closed square frame by adopting channel steel, the length of the steel template is determined according to the length of the steel template to be ground, the principle is to ensure that a bearing vehicle and the steel template can be placed in the frame, two longitudinal channel steel on the upper part of the frame are upper rails and are used as guide grooves of walking wheels below a supporting plate, racks are welded on the lower parts of the upper rails in a long way and are used as guide racks of walking gears, dust blocking strips are arranged at the front end of the frame and are made of strip-shaped soft plastics and mainly used for blocking dust and scrap iron from splashing forwards; the lower rail is arranged below the frame (1), the front end of the lower rail extends out of the frame, the total length of the lower rail is twice that of the bearing vehicle, and the bearing vehicle can be completely pulled out of the frame (1) so as to be convenient for loading and unloading the steel templates; the bearing vehicle consists of wheels, a vehicle plate and a handle, the wheels travel along a lower rail, a damping mechanism is arranged above the wheels, the vehicle plate is erected on the damping mechanism, so that a vehicle body can run stably after the steel template is placed, the handle is arranged at the front end of the vehicle plate and used for pushing the vehicle into and pulling the vehicle out of the rack, and the width of the vehicle plate is determined according to the width of the steel template to be polished; the electric cabinet is an electric control cabinet body, various electric control circuits are installed in the electric cabinet body, and various control buttons and indicator lamps are arranged on a panel and used for controlling the actions of the air compressor, the walking motor, the grinding motor and the air blower component; the supporting plate is a thick steel plate and is horizontally erected above the rack, the lower part of the supporting plate is provided with a transmission shaft, a traveling gear and two traveling shafts parallel to the transmission shaft, traveling wheels are arranged at two ends of each traveling shaft, the traveling wheels are embedded into upper rails of the rack and can roll along the upper rails so as to drive the supporting plate to longitudinally move along the rack, and the air compressor, the air cylinder, the traveling motor, the chain and the air blower are all arranged on the supporting plate; the air compressor is used for providing high-pressure air for the cylinder to be used as power of the cylinder; the walking motor transmits power to the walking gear through the transmission chain, so that the walking gear rotates and moves back and forth along the rack, and the supporting plate (7) is driven to move back and forth; the upper end of the air cylinder is arranged on the supporting plate through a triangular air cylinder support and penetrates through the opening of the supporting plate, the lower end of the air cylinder is hinged with the upper surface of the bearing plate, the bearing plate is driven to move up and down through the extension and shortening of the air cylinder, the polishing mechanism is driven to move up and down, when the air cylinder contracts, the bearing plate is lifted upwards, the polishing mechanism below leaves away from the surface of the steel template, polishing is stopped, when the air cylinder extends, the bearing plate is pressed downwards, the polishing mechanism below presses the surface of the steel template tightly, and the steel template is polished; the bearing plate is used for mounting a polishing motor, a cleaning mechanism and a polishing mechanism component, the polishing mechanism is a roller with a steel wire brush, a rotating shaft and bearings at two ends are fixedly mounted on a movable support through bolts and are driven by the polishing motor to rotate at a high speed to polish the surface of the steel template; the cleaning mechanism is a steel pipe with a nozzle, and is connected with the air blower through an air pipe, and high-pressure air flow sent out by the air blower enters the cleaning mechanism through the air pipe, is sprayed out from the nozzle at high pressure, and blows away concrete residues and iron rust; the movable supports are two connecting pieces arranged on two sides of the bearing plate, the upper ends of the two connecting pieces are hinged on the fixed support, the middle parts of the two connecting pieces are fixed on two sides of the bearing plate through bolts, and the lower parts of the two connecting pieces are connected with the polishing mechanism through bearings;

the lower rail is erected at the bottom of the frame, wheels are placed on the lower rail, the damping mechanism is installed on the axle, and the vehicle plate is lifted above the damping mechanism; the turning plate is a rectangular steel plate, the length and the width of the turning plate can be determined according to the size of the steel die plate to be polished, a handle is arranged at the front end of the turning plate, and the trolley can be pushed into or pulled out of the rack along the lower rail through the handle, so that the steel die plate can be conveniently loaded or unloaded from the turning plate; the front part of the lathing plate is drilled with a fixing hole, and the steel template can be fixed by the hole when the template is longer, so that the steel template is prevented from sliding; the rear part of the turning plate is welded with a long-strip-shaped anti-slip baffle plate which is used for clamping the steel template and preventing the steel template from sliding backwards out of the turning plate; the steel template is longitudinally placed on the vehicle plate, the rear end of the steel template is clamped by the anti-slip baffle, and the front end of the steel template is fixed by the fixing hole;

a spray gun device is arranged on the carrier, and in the spray gun device, a rotating platform driving motor can drive the rotating platform to rotate through a first transmission mechanism; a spray gun driving motor is arranged on the rotary platform and can control the elevation angle of the main spray gun through a second transmission mechanism;

the first transmission mechanism is a gear transmission mechanism; the gear transmission mechanism comprises a first driving gear arranged on a rotating shaft of a driving motor of the rotary platform and a driven gear meshed with the first driving gear, the driven gear is arranged on the outer ring of the rotary platform and is designed in an integrated manner, and the driven gear and the rotary platform are coaxial, so that the rotary platform driving motor can drive the rotary platform to rotate;

the second transmission mechanism is a pull rope, the upper end of the pull rope is arranged at the rear end of the spray gun, and the lower end of the pull rope is wound on a rotating shaft of a drive motor of the spray gun;

because the spray gun is arranged on the spray gun frame and is hinged with the spray gun frame, the front end of the spray gun is downward under the action of gravity, and the elevation angle of the spray gun is completely controlled by the pull rope;

the steel formwork polishing control method comprises the following steps:

step 1: loading a steel template and pushing to a polishing position;

firstly, placing a steel template on a bearing vehicle, and then pushing the bearing vehicle to the lower part of a polishing device along a lower rail;

step 2: polishing the steel template;

and step 3: withdrawing the steel plate after polishing;

returning to the step 1 to implement the next steel formwork polishing cycle;

in the polishing process, compressed gas is ejected by the jet cleaning mechanism to clean a polished surface;

during polishing, water mist is sprayed out through a spraying device to reduce dust;

polishing by adopting a polishing machine comprising a polishing device, wherein the polishing machine is provided with a wireless communication module and a camera; the camera acquires a field image and sends the field image to the control platform through the wireless communication module; the work of the grinding machine is controlled by the control platform, so that the remote monitoring of the grinding process is realized;

the intelligent transport vehicle end charges for the lithium cell through the constant current charging circuit, and in the constant current charging circuit, each component or reference numeral explain: VIN + -input power supply positive; VIN-input power negative pole; VOUT + -output power supply anode; VOUT-output power supply cathode; VREF + - - - - -the positive pole of the reference power supply; c1 is an input filter capacitor; c2 is an output filter capacitor; c3 is current sampling feedback filtering; r1, R2, R5 and C3 form a current sampling feedback circuit; r3 and R4 are voltage sampling feedback circuits; d1 is an isolation diode; the constant-current charging circuit comprises a constant-voltage driving chip and a current feedback circuit; (1) the voltage output end of the constant voltage driving chip is a positive output end VOUT + of the constant current charging circuit; the negative output end of the constant voltage driving chip is grounded; the constant voltage driving chip is powered by a direct current voltage power supply end VIN + and VIN-; (2) the current feedback circuit comprises resistors R1, R2 and R5 and a reference voltage end VREF +; the reference voltage end VREF + is grounded through resistors R1, R2 and R5 which are sequentially connected in series; the connecting point of the resistor R5 and the resistor R2 is a negative output end VOUT < - >; the connection point of the resistors R1 and R2 is connected with the feedback end FB of the constant voltage driving chip; the constant current charging circuit also comprises a voltage feedback circuit; the voltage feedback circuit comprises resistors R3 and R4 and a diode D1; the resistors R3 and R4 are connected in series and then connected between the positive output end VOUT + of the constant current charging circuit and the ground; the connection point of the resistors R3 and R4 is connected with the anode of the diode D1; the cathode of the diode D1 is connected with the feedback end FB of the constant voltage driving chip;

the system is provided with an aircraft, and after the aircraft takes off, the whole operation field can be monitored, and the vehicle-mounted platform is guided to navigate and plan a path for the vehicle-mounted platform; in addition, the navigation and path planning can be carried out on the crawler-type water spraying vehicle; the aircraft is provided with the water tank, so that independent water spraying fire extinguishing operation can be carried out in places where vehicles are inconvenient to pass, and the camera can feed back operation real-time images, so that remote monitoring is facilitated; in addition, the number of the aircrafts is multiple, the aircrafts can perform tasks in turn and can be charged;

the aircraft comprises a bracket, a rotor wing, a bottom plate, a holder, supporting legs and a camera; the rotor and the holder are arranged on the bracket; the bottom plate is fixed at the bottom of the bracket; the camera is arranged on the holder; the supporting legs are fixed at the bottom of the bottom plate; the camera comprises a camera body and a compound lens; a CCD sensor is arranged in the machine body, and a photoelectric transmitting and receiving device for lens alignment is arranged on the machine body; the composite lens is provided with a rotating shaft; 4 sub-lenses are integrated in the composite lens; the sub-lenses are uniformly arranged along the circumferential direction of the composite lens; the rear end of the composite lens is also provided with a light reflection sheet matched with the photoelectric transmitting and receiving device; a stepping motor for driving the lens to rotate is further arranged in the machine body; the photoelectric transmitting and receiving device and the light reflection sheet are 2 sets, are axially symmetrical, have better alignment effect, and only after the 2 sets of the photoelectric transmitting and receiving device and the light reflection sheet are aligned, the lens is considered to be aligned with the CCD sensor, so the alignment precision is higher; 4 support legs are vertically arranged, and a horizontal cross beam is arranged between every two adjacent support legs; the supporting legs comprise upper supporting legs, lower supporting legs and foot nails; the lower end of the upper leg is provided with a guide groove; the upper end of the lower support leg is provided with a guide rod; the guide rod is inserted in the guide groove; a spring is arranged in the guide groove; the spring is arranged between the top wall of the guide groove and the top end of the guide rod; the lower end part of the lower supporting leg is provided with a foot nail; the outer wall of the lower end part of the lower supporting leg is provided with an external thread; the lower end of the lower supporting leg is sleeved with a sleeve with internal threads, and the lower end of the sleeve is provided with a backing ring; the chassis is also provided with a gyroscope and a wireless communication module; the gyroscope is used for navigation, and the wireless communication module is used for receiving an instruction of the remote controller and transmitting shot pictures and video information to ground receiving end equipment; the bracket is a cross cantilever bracket consisting of 4 telescopic cantilevers with the same structure; each telescopic boom comprises an outer arm and an inner arm; the inner end part of the outer arm is connected with the outer end part of the inner arm through a lock catch; the lock catch is provided with a pin with an agnail; the number of the lock catches is multiple; the inner end part of the outer arm and the outer end part of the inner arm are both provided with a plurality of groups of jacks for the pins to pass through; each group of jacks comprises at least 2 jacks; the rotor comprises a main rotor and an auxiliary rotor; the outer end part of the outer arm is provided with a main rotor and an auxiliary cantilever; the main rotor and the auxiliary cantilever are coaxially arranged, the main rotor is positioned above the outer arm, and the auxiliary rotor is positioned below the outer arm; the diameter of the main rotor wing is larger than that of the auxiliary rotor wing; the auxiliary rotor wing is a ducted fan and is fixed at the bottom of the outer arm through a ducted fan fixing piece; the lock catch is provided with a shell; the shell comprises an outer shell, a pressing block and a pressure spring; the number of the pins is 2; the pins are fixed on the outer shell; the pressing block is positioned in the outer shell and sleeved on the 2 pins; the pressing block can move along the pin; a pressure spring is arranged between the pressing block and the pin and sleeved at the root of the pin; the inner end of the outer arm is provided with 2 groups of jacks for the pins to pass through; each group of jacks on the outer arm comprises 2 jacks; the number of the lock catches is 2; 4 groups of jacks for the pins to pass through are arranged at the outer end part of the inner arm at equal intervals; each group of jacks on the inner arm comprises 2 jacks; the ratio of the diameter of the auxiliary rotor to the diameter of the main rotor is 0.2-0.35; the backing ring is made of rubber, and the foot nails are made of stainless steel.