Automatic assembling construction method of AGV carrying type modular template

Abstract

The present application relates to a kind of AGV carrying type modular template automatic assembly construction methods, comprising: precast beam template module, roof template module and side wall template module;AGV trolley carries each template module to design position, establishes detachable power and control connection, drives the drive mechanism on template module by the power provided by AGV, so that forming panel is automatically positioned;Adjacent template module is mutually rigidly locked to form integral template support system;Pouring concrete;After concrete reaches the strength of form removal, AGV trolley is connected with each template module again, and reverse drive makes forming panel separate from concrete surface, and each template module is transferred.The present application realizes the automatic transport, butt joint, positioning and form removal of template module by AGV as mobile intelligent power source, replaces traditional full-frame scaffold, with high construction efficiency, less labor input, strong versatility, high adaptability.

Description

Technical Field

[0001] This invention relates to the field of intelligent construction technology in building engineering, and more specifically, to an AGV-based modular formwork automatic assembly construction method. Background Technology

[0002] Currently, in the cast-in-place construction of large-span, large-area reinforced concrete slabs, supporting beams, and sidewall structures, the widely used formwork system is full-span scaffolding combined with loose wooden or steel formwork, which is then manually assembled on-site. This traditional formwork method has many technical defects and pain points. First, the assembly workload is large, requiring a large amount of manpower for moving formwork, erecting support frames, and fixing formwork, resulting in extremely low construction efficiency. Second, there are many high-altitude operations, requiring construction workers to frequently operate on an unstable support system, posing a high safety risk. Third, loose formwork has poor versatility and is not adaptable to different structural dimensions, often requiring on-site cutting, resulting in high material waste and low turnover rate. Finally, the entire construction process lacks sufficient intelligence, relying on manual experience and skills, making it difficult to guarantee quality stability and failing to meet the development needs of modern engineering for green, efficient, safe, and intelligent construction.

[0003] Therefore, developing a template construction method that can systematically solve the above problems and achieve high efficiency, safety, universality and intelligence is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide an AGV-based modular formwork automatic assembly construction method, which aims to solve the problems existing in the prior art.

[0005] According to the present invention, an automated assembly construction method for modular formwork transported by AGV is provided, which includes the following steps: Step 1: Precast the beam formwork modules, roof slab formwork modules, and side wall formwork modules separately; Step 2: The AGV trolley carries each template module to the designed construction position and establishes a detachable power and control connection with each template module. The AGV trolley provides power to drive the drive mechanism on each template module, so that the forming panel of each template module is automatically positioned at the designed elevation or designed position. Step 3: Rigidly lock adjacent template modules together to form an overall template support system; Step 4: Pour concrete within the formed formwork support system; Step 5: After the concrete reaches the demolding strength, the AGV trolley reconnects to each template module, reverses the drive mechanism on each template module, causes the formed panel to detach from the concrete surface, and transfers each template module to the next construction area or storage area.

[0006] Preferably, the beam formwork module includes a beam formwork support frame, a U-shaped beam forming panel, a beam top plate filling panel, and a first lifting drive mechanism. The U-shaped beam forming panel has a groove-shaped structure. Both the U-shaped beam forming panel and the beam top plate filling panel are fixed to the top of the beam formwork support frame, and the beam top plate filling panel is located on both sides of the width direction of the U-shaped beam forming panel. The first lifting drive mechanism is fixed to the lower end of the beam formwork support frame. The top plate template module includes a top plate template support frame, a flat top plate panel, and a second lifting drive mechanism. The flat top plate panel is fixed to the top of the top plate template support frame, and the second lifting drive mechanism is fixed to the lower end of the top plate template support frame. The side wall formwork module includes a side wall formwork support frame, a vertical side wall panel, a side wall top panel, a horizontal drive mechanism, and a third lifting drive mechanism. The side wall top panel is fixed to the top of the side wall formwork support frame, the horizontal drive mechanism is located in the middle of the side wall formwork support frame, the vertical side wall panel is located on the side of the side wall formwork support frame and is fixedly connected to the drive end of the horizontal drive mechanism, and the third lifting drive mechanism is fixed to the lower end of the side wall formwork support frame.

[0007] Preferably, the beam formwork support frame, the top slab formwork support frame, and the side wall formwork support frame are all four-column frame structures. The four columns in the beam formwork support frame, the top slab formwork support frame, and the side wall formwork support frame are arranged in a rectangular array. The spacing between the two columns in the width direction of the beam formwork support frame, the top slab formwork support frame, and the side wall formwork support frame is consistent.

[0008] Preferably, the side wall top plate supplementary panel of the side wall template module adopts a single-sided outward cantilever structure, and the end of the side wall top plate supplementary panel extends horizontally to the outside of the side wall template support frame.

[0009] Preferably, the first lifting drive mechanism, the second lifting drive mechanism, the third lifting drive mechanism, and the lateral drive mechanism are all electric push rods.

[0010] Preferably, the beam top plate filling panel and the U-shaped beam forming panel in the beam template module are integrally formed structures.

[0011] Preferably, the beam formwork module and the top slab formwork module have the same length, and the length of the side wall formwork module is customized according to the remaining dimensions of the structural edge measured on the construction site.

[0012] Preferably, in step three, adjacent template modules are locked together by a transverse connecting buckle; the transverse connecting buckle includes a hook rotatably disposed on one side of each template module and a plate fixed on the other side of each template module, the plate having a snap-fit ​​hole for use with the hook; when adjacent template modules are locked together, the hook on one template module rotates and snaps into the snap-fit ​​hole on the plate of the adjacent template module, thereby rigidly connecting the two adjacent template modules into one unit.

[0013] Preferably, the AGV is a mobile intelligent transport device, and the AGV has a built-in power supply and control system; the AGV is provided with a power output interface, and each module's drive mechanism is provided with a power receiving interface. The power output interface is used to electrically connect with the power receiving interface to realize the power supply and control of the drive mechanism on each module through the AGV.

[0014] Preferably, in step two, the installation sequence of each template module is as follows: first install the beam template module, then install the top slab template module, and finally install the side wall template module.

[0015] The AGV-based modular formwork automatic assembly construction method provided by this invention modularizes the formwork system into three major formwork modules: beams, top slabs, and side walls. Using AGVs as mobile intelligent power sources, it enables automatic transportation, docking, leveling, dismantling, and transfer of formwork modules, greatly reducing manual labor and reliance on tower cranes, and significantly improving construction efficiency and safety. The modular prefabrication and overall locking spatial frame support system replaces traditional full-span scaffolding, offering significant advantages such as being green, efficient, fast, economical, labor-saving, highly versatile, and adaptable, fully aligning with the development direction of modern intelligent construction and green construction. Attached Figure Description

[0016] The above and other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings.

[0017] Figure 1 A three-dimensional structural schematic diagram of a beam template module according to an embodiment of the present invention is shown.

[0018] Figure 2 A three-dimensional structural schematic diagram of a top plate template module according to an embodiment of the present invention is shown.

[0019] Figure 3 A three-dimensional structural schematic diagram of a sidewall template module according to an embodiment of the present invention is shown.

[0020] Figure 4 A three-dimensional structural schematic diagram of an AGV (Automated Guided Vehicle) according to an embodiment of the present invention is shown.

[0021] Figure 5 A schematic diagram of the beam formwork module after installation according to an embodiment of the present invention is shown.

[0022] Figure 6 A schematic diagram of the structure of the top plate template module after installation according to an embodiment of the present invention is shown.

[0023] Figure 7 A schematic diagram of the structure of the side wall template module after installation according to an embodiment of the present invention is shown.

[0024] In the diagram: 1. Beam formwork module; 11. Beam formwork support frame; 12. U-shaped beam forming panel; 13. Beam top plate completion panel; 14. First lifting drive mechanism; 2. Top plate formwork module; 21. Top plate formwork support frame; 22. Flat top plate panel; 23. Second lifting drive mechanism; 3. Side wall formwork module; 31. Side wall formwork support frame; 32. Vertical side wall panel; 33. Side wall top plate completion panel; 34. Third lifting drive mechanism; 35. Horizontal drive mechanism; 4. AGV trolley; 51. Hook; 52. Plate; 521. Snap-fit ​​hole. Detailed Implementation

[0025] Various embodiments of the invention will now be described in more detail with reference to the accompanying drawings. In the various drawings, the same elements are indicated by the same or similar reference numerals. For clarity, the various parts in the drawings are not drawn to scale.

[0026] This invention provides an AGV-based modular formwork automatic assembly construction method, which includes the following steps: Step 1: Precast beam formwork module 1, top slab formwork module 2, and side wall formwork module 3 respectively.

[0027] Specifically, such as Figure 1As shown, the beam formwork module 1 is used to form the template for cast-in-place concrete beams. Its specific structure includes a beam formwork support frame 11, a U-shaped beam forming panel 12, a beam top plate filling panel 13, and a first lifting drive mechanism 14. The forming panels of the beam formwork module 1 are the U-shaped beam forming panel 12 and the beam top plate filling panel 13. The beam formwork support frame 11 is preferably a four-column frame structure, consisting of four square steel pipe columns welded or bolted together by horizontal bracing (diagonal bracing can also be used to increase stability), possessing extremely high rigidity and stability. The four columns are arranged in a rectangular array, and the distance between the two columns in the width direction is a core reference for subsequent design. The U-shaped beam forming panel 12 has a channel-shaped structure, fixed to the top of the beam formwork support frame 11, and its internal contour is consistent with the designed beam cross-sectional shape, used for forming the beam concrete. The beam top plate filling panel 13 is also fixed to the top of the beam formwork support frame 11 and is located on both sides of the width direction of the U-shaped beam forming panel 12, that is, beam top plate filling panels 13 are provided on both the left and right sides of the U-shaped beam forming panel 12. The function of the beam top plate filling panel 13 is to automatically fill the gap between the beam module and the subsequently installed top plate formwork module 2 after the beam module is in place. As a preferred embodiment, the beam top plate filling panel 13 and the U-shaped beam forming panel 12 are integrally formed, that is, they are integrally processed by bending steel plates to ensure their connection strength and dimensional accuracy. The first lifting drive mechanism 14 is fixed to the lower end of the beam formwork support frame 11, specifically installed at the lower end of each column (that is, one first lifting drive mechanism 14 is installed at the lower end of each of the four columns). The first lifting drive mechanism 14 is preferably an electric push rod or an electric screw lifting mechanism, used to drive the lifting and leveling of the entire beam formwork module 1. In other alternative embodiments, the first lifting drive mechanism 14 can also be a hydraulic cylinder, in which case a miniature hydraulic station needs to be integrated on the AGV trolley 4 and powered through a quick connector.

[0028] like Figure 2 As shown, the top slab template module 2 is used to form the template for cast-in-place concrete top slabs. Its specific structure includes a top slab template support frame 21, a flat top slab panel 22, and a second lifting drive mechanism 23. The forming panel of the top slab template module 2 is the flat top slab panel 22. The top slab template support frame 21 also adopts a four-column frame structure, and its structure is exactly the same as that of the beam template support frame 11, i.e., the number of columns, the column spacing, and the overall outline dimensions are all consistent. This design ensures the versatility and interchangeability of the frame. The flat top slab panel 22 is fixed to the top of the top slab template support frame 21 and is a flat steel or aluminum plate used for forming the top slab concrete. The second lifting drive mechanism 23 is fixed to the lower end of the top slab template support frame 21, specifically installed at the lower end of each column. Its structure and function are the same as the first lifting drive mechanism 14, used to drive the lifting and leveling of the top slab template module 2.

[0029] like Figure 3 As shown, the side wall formwork module 3 is used to form the formwork for cast-in-place concrete side walls. Its specific structure includes a side wall formwork support frame 31, a vertical side wall panel 32, a side wall top plate supplementary panel 33, a horizontal drive mechanism 35, and a third lifting drive mechanism 34. The forming panels of the side wall formwork module 3 are the vertical side wall panel 32 and the side wall top plate supplementary panel 33. The side wall formwork support frame 31 also adopts a four-column frame structure. The number of columns and the column spacing (limited to the width direction) are consistent with the beam formwork support frame 11 and the top plate formwork support frame 21, ensuring power connection with the AGV trolley 4 and locking compatibility between modules. Unlike the beam formwork support frame 11 and the top plate formwork support frame 21, in order to stably support the vertical side wall panel 32 and facilitate the installation of the horizontal drive mechanism 35, the upper part of the side wall formwork support frame 31 is provided with multiple diagonal supports and additional horizontal supports to improve support strength and stability. The side wall top panel 33 is fixed to the top of the side wall formwork support frame 31. Unlike the beam formwork module 1 and the top slab formwork module 2, the side wall top panel 33 adopts a unique single-sided cantilever structure, that is, its end extends horizontally to the outside of the side wall formwork support frame 31 and cantilevered towards the side where the vertical side wall panel 32 is located. The horizontal drive mechanism 35 is located in the middle of the side wall formwork support frame 31, preferably an electric push rod, which is fixed inside the column near the side wall. The vertical side wall panel 32 is located on the side of the side wall formwork support frame 31 and is fixedly connected to the drive end of the horizontal drive mechanism 35. The horizontal drive mechanism 35 can drive the vertical side wall panel 32 to move laterally to adapt to different wall thicknesses and achieve automatic demolding. The third lifting drive mechanism 34 is fixed at the lower end of the side wall formwork support frame 31, specifically installed at the lower end of each column. Its structure and function are the same as the first lifting drive mechanism 14 and the second lifting drive mechanism 23, and it is used to drive the overall lifting and leveling of the side wall formwork module 3.

[0030] Preferably, the beam formwork module 1 and the roof slab formwork module 2 use the same length, i.e., the standard segment length. This length is usually determined comprehensively based on transportation conditions, construction modules, and factory production efficiency; for example, a standard length of 2m to 3m can be selected. The length of the side wall formwork module 3 differs from that of the beam formwork module 1 and the roof slab formwork module 2. Its length is not limited to the standard segment but is customized based on the remaining dimensions of the structural edge measured on-site. Specifically, the total length between the side walls is accurately measured before construction. After deducting the length occupied by the standard roof slab formwork module 2 and the beam formwork module 1, the remaining space is the customized length of the side wall formwork module 3. This ensures that the side wall formwork module 3 can perfectly fit the structural edge and achieve full coverage of the entire area.

[0031] Step 2: The AGV trolley 4 carries each template module to the designed construction position and establishes a detachable power and control connection with each template module. The power provided by the AGV trolley 4 drives the drive mechanism on each template module, so that the forming panel of each template module is automatically positioned at the designed elevation or designed position.

[0032] Specifically, such as Figure 4 As shown, the AGV (Automated Guided Vehicle) intelligent transport vehicle is the "intelligent transporter" and "mobile power source" of this system. AGV 4 is a mobile intelligent transport device with a built-in rechargeable power supply (such as a high-capacity lithium iron phosphate battery pack) and control system (including an autonomous navigation control system and control unit modules). AGV 4 has autonomous navigation, obstacle avoidance, and precise positioning capabilities.

[0033] The AGV trolley 4 is equipped with a power output interface, and each module's drive mechanism (including the first lifting drive mechanism 14, the second lifting drive mechanism 23, the third lifting drive mechanism 34, and the lateral drive mechanism 35) is equipped with a power receiving interface (specifically located at the lower end of the columns of each support frame). The power output interface and the power receiving interface are compatible to achieve electrical connection. The power output interface is a floating connector, with a connector at the front end and a flexible wire connected at the rear end. The AGV trolley 4 can be equipped with a small, simple robotic arm (such as a telescopic arm driven by a gear and rack mechanism or an electric push rod mechanism, with an electric gripper at the front end of the telescopic arm, which grips the connector of the power output interface to achieve connection with the power receiving interface), to achieve automatic connection between the power output interface and the power receiving interface; of course, the power output interface can also be manually connected to the power receiving interface. The power output interface of the AGV trolley 4 is electrically connected to the power receiving interface on each module, enabling "plug-and-play" simultaneous high-current power transmission and low-level control signal / data communication. Through this connection, the AGV 4 can supply power and control the drive mechanisms on each template module.

[0034] In this step, before moving each template module to its designed construction position, the foundation hardening and surveying of the construction area are completed first. The installation positions of each beam, roof slab, and side wall are precisely marked on the ground, and the travel path and stopping points of the AGV trolley 4 are planned. The installation sequence of each template module in this step is as follows: first install the beam template module 1, then the roof slab template module 2, and finally the side wall template module 3. This fixing process ensures that the beams serve as the positioning reference, allowing for gradual assembly and avoiding accumulated assembly errors.

[0035] Specifically, the AGV trolley 4 receives control commands and automatically travels to the template module storage area, precisely parking below a beam template module 1. The power output interface on the AGV trolley 4 connects to the power receiving interface at the lower end of the beam template module 1, establishing a power supply and control connection. After the control system detects a normal connection, the AGV trolley 4 lifts the beam template module 1 and drives towards the first designed beam position according to the planned path. The AGV trolley 4 stops at the first designed beam position, and the control system sends a command to the first lifting drive mechanism 14 of the beam template module 1. The first lifting drive mechanisms 14 at the lower end of each column start synchronously, smoothly lifting the entire template module. When the preset beam bottom design elevation is reached, the system automatically stops. The AGV trolley 4 detaches from the beam template module 1 and returns to carry the next beam template module 1. This process is repeated until all beam template modules 1 are installed according to the design spacing. At this point, the beam top plate supplementary panel 13 of all beam template modules 1 has automatically risen to the top plate design bottom elevation position, preparing for the installation of subsequent top plate modules. (e.g.) Figure 5 As shown, in this embodiment, only one beam is set in the middle position, that is, only one beam template module 1 is set in the middle position; in other embodiments, multiple beams can also be set, and one or more top plate template modules 2 are set between two adjacent beam template modules 1.

[0036] AGV trolley 4 carries a top slab template module 2 and travels to the top slab installation area between the two beams (e.g., Figure 6 As shown, in this embodiment, only one beam is set in the middle position, and the top plate template module 2 is installed in the top plate installation areas on both sides of the beam. After the AGV trolley 4 docks with the top plate template module 2, the system drives its second lifting drive mechanism 23 to lift the top plate template module 2 to the designed bottom elevation of the top plate. During the lifting process, the flat top plate panel 22 of the top plate template module 2 will gradually approach and eventually become flush with the beam top plate supplement panel 13 of the beam template module 1 on one side, forming a continuous flat support surface. The AGV trolley 4 detaches from the top plate template module 2 and returns to transport the next top plate template module 2. This process is repeated until all top plate areas are covered by top plate template modules 2.

[0037] The AGV trolley 4, carrying a customized length sidewall template module 3, travels to the designated position at the edge of the sidewall. The AGV trolley 4 docks with the sidewall template module 3. The control system first sends a command to the lateral drive mechanism 35 of the sidewall template module 3, which pushes the vertical sidewall panel 32 outward until it reaches the designed wall thickness. The control system then sends a command to the third lifting drive mechanism 34 of the sidewall template module 3, lifting the entire sidewall template module 3 to the designed elevation. During the lifting process, the top sidewall top plate supplementary panel 33 gradually approaches and aligns with the installed top plate template module 2, eventually becoming flush. Because the sidewall top plate supplementary panel 33 adopts a single-sided cantilever structure, its end extends horizontally to the outside of the sidewall template support frame 31 and cantilevered towards the side where the vertical sidewall panel 32 is located. This design creates a certain gap between the sidewall template support frame 31 and the sidewall, facilitating the installation and demolding of the vertical sidewall panel 32. At this point, the vertical sidewall panel 32 of the sidewall formwork module 3 forms the wall formwork, and its top panel 33 seamlessly fills the last area at the junction of the top panel and the sidewall. The entire formwork system is now complete and closed (e.g., Figure 7 As shown, this is the complete template system after assembly.

[0038] Step 3: Rigidly lock adjacent template modules together to form an overall template support system.

[0039] Specifically, after all the template modules are in place, adjacent template modules are locked together using horizontal connecting buckles. Each horizontal connecting buckle includes a hook 51 rotatably mounted on one side of each template module and a locking plate 52 fixed to the other side of each template module. The locking plate 52 has a locking hole 521 that engages with the hook 51. In this embodiment, both the hook 51 and the locking plate 52 are located on the outer sides of the two columns in the width direction of each support frame. Since the spacing between the two columns in the width direction of the beam template support frame 11, the top slab template support frame 21, and the side wall template support frame 31 is consistent, the columns can be arranged in a straight line, facilitating the locking between the support frames using the hook 51 and the locking plate 52. When adjacent template modules are locked together, the hook 51 on one template module rotates and engages with the locking hole 521 on the locking plate 52 of the adjacent template module, thereby rigidly connecting the two adjacent template modules into one unit. Figures 1 to 3As shown, the rear end of the hook 51 is rotatably connected to a horizontally placed pivot on the outside of the column. The front end of the hook 51 is a hook body for connecting with the locking hole 521. The locking plate 52 is horizontally connected to the outside of the column, and the locking hole 521 is vertically locked onto the locking plate 52. The hook body at the front end of the hook 51 is locked into the locking hole 521 on the locking plate 52, thus achieving locking between adjacent template modules. After locking one by one with the horizontal connecting buckles, the scattered individual template modules are connected into a stable overall spatial frame support system, completely replacing traditional full-span scaffolding. Subsequently, the overall elevation, flatness, verticality, and splicing gaps of the template are comprehensively checked to ensure compliance with construction acceptance specifications. The hook 51 can be manually rotated to connect with the locking plate 52. In other embodiments, the hook 51 can also be electrically driven to rotate and insert into the locking hole 521 of the locking plate 52 of the adjacent template module, achieving automated locking.

[0040] Step 4: Pour concrete into the formed template support system.

[0041] Specifically, after the overall spatial frame support system formed by the connection of each template module passes the acceptance inspection, steel reinforcement is tied and pipelines are pre-embedded in the concrete pouring space formed by each template module. After the acceptance inspection is passed, concrete is poured and cured in accordance with the specifications.

[0042] Step 5: After the concrete reaches the demolding strength, the AGV trolley 4 reconnects to each template module, reverses the drive mechanism on each template module, causes the formed panel to detach from the concrete surface, and transfers each template module to the next construction area or storage area.

[0043] Specifically, once the concrete strength reaches the designed demolding strength, the demolding process is initiated. The AGV trolley 4 sequentially drives under each formwork module and connects with the power receiving interface at the bottom of each module to supply power. The control system sends control commands: the lifting drive mechanisms of beam formwork module 1 and top slab formwork module 2 reverse their movements, causing the formed panels to descend and detach from the concrete surface; the side wall formwork module 3 first controls the horizontal drive mechanism 35 to retract, causing the vertical side wall panel 32 to detach from the side wall concrete surface, and then controls the third lifting drive mechanism 34 to descend to complete the overall demolding. The AGV trolley 4 transports the disassembled formwork modules to the formwork module storage area or the next construction area for cleaning and maintenance before reuse.

[0044] In summary, the AGV-based modular formwork automatic assembly construction method provided by this invention modularizes the formwork system into three major formwork modules: beams, top slabs, and side walls. Using AGV trolleys as mobile intelligent power sources, it enables automatic transportation, docking, leveling, demolding, and transfer of formwork modules, greatly reducing manual labor and reliance on tower cranes, and significantly improving construction efficiency and safety. The modular prefabrication and overall locking form a spatial frame support system that replaces traditional full-span scaffolding, offering significant advantages such as being green, efficient, fast, economical, labor-saving, highly versatile, and adaptable, fully aligning with the development direction of modern intelligent construction and green construction.

[0045] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0046] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A method for automatic assembly and construction of modular formwork using AGV transport, characterized in that, Includes the following steps: Step 1: Precast the beam formwork modules, roof slab formwork modules, and side wall formwork modules separately; Step 2: The AGV trolley carries each template module to the designed construction position and establishes a detachable power and control connection with each template module. The AGV trolley provides power to drive the drive mechanism on each template module, so that the forming panel of each template module is automatically positioned at the designed elevation or designed position. Step 3: Rigidly lock adjacent template modules together to form an overall template support system; Step 4: Pour concrete within the formed formwork support system; Step 5: After the concrete reaches the demolding strength, the AGV trolley reconnects to each template module, reverses the drive mechanism on each template module, causes the formed panel to detach from the concrete surface, and transfers each template module to the next construction area or storage area.

2. The AGV-based modular formwork automatic assembly construction method according to claim 1, characterized in that, The beam formwork module includes a beam formwork support frame, a U-shaped beam forming panel, a beam top plate filling panel, and a first lifting drive mechanism. The U-shaped beam forming panel has a groove-shaped structure. Both the U-shaped beam forming panel and the beam top plate filling panel are fixed to the top of the beam formwork support frame, and the beam top plate filling panel is located on both sides of the width direction of the U-shaped beam forming panel. The first lifting drive mechanism is fixed to the lower end of the beam formwork support frame. The top plate template module includes a top plate template support frame, a flat top plate panel, and a second lifting drive mechanism. The flat top plate panel is fixed to the top of the top plate template support frame, and the second lifting drive mechanism is fixed to the lower end of the top plate template support frame. The side wall formwork module includes a side wall formwork support frame, a vertical side wall panel, a side wall top panel, a horizontal drive mechanism, and a third lifting drive mechanism. The side wall top panel is fixed to the top of the side wall formwork support frame, the horizontal drive mechanism is located in the middle of the side wall formwork support frame, the vertical side wall panel is located on the side of the side wall formwork support frame and is fixedly connected to the drive end of the horizontal drive mechanism, and the third lifting drive mechanism is fixed to the lower end of the side wall formwork support frame.

3. The AGV-based modular formwork automatic assembly construction method according to claim 2, characterized in that, The beam formwork support frame, the roof slab formwork support frame, and the side wall formwork support frame are all four-column frame structures. The four columns in the beam formwork support frame, the roof slab formwork support frame, and the side wall formwork support frame are arranged in a rectangular array. The spacing between the two columns in the width direction of the beam formwork support frame, the roof slab formwork support frame, and the side wall formwork support frame is consistent.

4. The AGV-based modular formwork automatic assembly construction method according to claim 2, characterized in that, The side wall top plate of the side wall template module adopts a single-sided outward cantilever structure, and the end of the side wall top plate filler panel extends horizontally to the outside of the side wall template support frame.

5. The AGV-based modular formwork automatic assembly construction method according to claim 2, characterized in that, The first lifting drive mechanism, the second lifting drive mechanism, the third lifting drive mechanism, and the lateral drive mechanism are all electric push rods.

6. The AGV-based modular formwork automatic assembly construction method according to claim 2, characterized in that, The beam top plate filling panel and the U-shaped beam forming panel in the beam template module are integrally formed structures.

7. The AGV-based modular formwork automatic assembly construction method according to claim 1, characterized in that, The beam formwork module and the top slab formwork module have the same length, and the length of the side wall formwork module is customized according to the remaining dimensions of the structural edge measured on the construction site.

8. The AGV-based modular formwork automatic assembly construction method according to claim 1, characterized in that, In step three, adjacent template modules are locked together by a horizontal connecting buckle. The horizontal connecting buckle includes a hook rotatably disposed on one side of each template module and a plate fixed on the other side of each template module. The plate has a snap-fit ​​hole for use with the hook. When adjacent template modules are locked together, the hook on one template module rotates and snaps into the snap-fit ​​hole on the plate of the adjacent template module, thereby rigidly connecting the two adjacent template modules into one unit.

9. The AGV-based modular formwork automatic assembly construction method according to claim 1, characterized in that, The AGV is a mobile intelligent transport device with a built-in power supply and control system. The AGV is equipped with a power output interface, and each module's drive mechanism is equipped with a power receiving interface. The power output interface is used to electrically connect with the power receiving interface to enable the AGV to supply power and control the drive mechanism on each module.

10. The AGV-based modular formwork automatic assembly construction method according to claim 1, characterized in that, In step two, the installation sequence of each template module is as follows: first install the beam template module, then install the top slab template module, and finally install the side wall template module.

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