A construction method for one-time construction of secondary structures

Abstract

The present invention discloses a construction method for one-time construction of secondary structures, comprising the steps of: 1. Fixing the steel reinforcement cage of the secondary structure; 2. Using a formwork transportation robot and a plurality of formwork fixing robots to cooperate, and sequentially installing a plurality of secondary structure formworks from top to bottom; 3. One-time construction of the secondary structure; 4. Using a formwork transportation robot and a plurality of formwork fixing robots to cooperate, and sequentially removing a plurality of secondary structure formworks from bottom to top. The present invention uses a formwork transportation robot and a plurality of formwork fixing robots to cooperate to install all the formworks required for the steel reinforcement cage of the secondary structure, construct the secondary structure at one time, and then remove all the formworks one by one, greatly reducing the construction period, having a high degree of automation, a small volume, flexible operation, high efficiency, and good quality of secondary structure construction.

Description

Technical Field

[0001] The invention belongs to the technical field of secondary structure construction, and in particular relates to a one-time construction method for a secondary structure. Background Art

[0002] The existing construction method of pouring the secondary structure on the primary structure generally adopts planting reinforcement first, using wooden boards to support the formwork, and then pouring. Vibration is difficult and the wooden formwork is easy to loosen when knocked. The secondary structure without vibration has certain quality problems after the concrete solidifies. Therefore, there is an upper clamp and a lower clamp to position the guide rod, set up a winch on the ground, install a fixed pulley on the outside of the steel cage limit plate, and use the steel wire rope of the winch to bypass the fixed pulley to form a steel formwork lifting, and pour the secondary structure in sections. This method not only occupies a large area, but also relies on the upper clamp, the lower clamp and the guide rod. Each time the formwork is lifted, it is necessary to manually adjust the parts around the formwork, which is troublesome to operate. In addition, it takes about 7 days to wait for the concrete to solidify to the design strength after pouring once, and the overall construction period is long. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a one-time construction method for a secondary structure in view of the deficiencies in the above-mentioned prior art. The design is novel and reasonable. All the templates required for the secondary structure steel cage are installed by using a mold transport robot and a plurality of fixed mold robots. The secondary structure is constructed at one time, and then all the templates are removed one by one, which greatly shortens the construction period. The method has a high degree of automation, a small size, flexible operation, high efficiency, good secondary structure construction quality, and is easy to promote and use.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a one-time construction method for a secondary structure, characterized in that the method comprises the following steps:

[0005] Step 1: Fix the secondary structure reinforcement cage;

[0006] Step 2: Using a mold transporting robot and multiple mold fixing robots, multiple secondary structure templates are installed from top to bottom, wherein the multiple secondary structure templates are connected seamlessly and continuously in sequence, and each secondary structure template is fixed on the primary structure by a corresponding mold fixing robot;

[0007] The mold transfer robot includes a plurality of mold transfer attachments arranged circumferentially along the outer side of the primary structure. Two adjacent mold transfer attachments are connected by a first screw. The mold transfer attachment includes a mold transfer clamping plate that fits the outer surface of the primary structure. The mold transfer clamping plate is an angle plate structure composed of two mold transfer support plates. On the outer sides of the two mold transfer support plates of the mold transfer clamping plate, there are a first mold transfer mounting plate and a second mold transfer mounting plate. On the side of the first mold transfer mounting plate facing the corresponding mold transfer support plate, there are a first mold transfer inner plate and a first mold transfer outer plate. An outer mold transfer motor is installed on the outer side of the first mold transfer outer plate. A driving gear is installed on the output shaft of the mold transfer motor. A driven gear meshing with the driving gear is arranged on the first screw. On the side of the second mold transfer mounting plate facing the corresponding mold transfer support plate, there are a second mold transfer inner plate and a second mold transfer outer plate. On the side of the first mold transfer inner plate and the second mold transfer inner plate facing the primary structure, there is a first electric spring driving wheel in contact with the outer surface of the primary structure. On the side of the first mold transfer mounting plate and the second mold transfer mounting plate away from the corresponding mold transfer support plate, there is a locking nut cooperating with the first screw. One end of the first screw is in threaded cooperation with the locking nut outside the first mold transfer mounting plate of one of the two adjacent mold transfer attachments, and the other end of the first screw is in threaded cooperation with the locking nut outside the second mold transfer mounting plate of the other of the two adjacent mold transfer attachments;

[0008] The fixed mold robot includes a plurality of fixed mold attachments arranged circumferentially along the outer side of the primary structure. Two adjacent fixed mold attachments are connected by a second screw. The fixed mold attachment includes a fixed mold clamping plate that fits the outer surface of the primary structure. The fixed mold clamping plate is an angle plate structure composed of two fixed mold support plates. On the outer sides of the two fixed mold support plates of the fixed mold clamping plate, there are a first fixed mold mounting plate and a second fixed mold mounting plate. On the side of the first fixed mold mounting plate facing the corresponding fixed mold support plate, there is a first fixed mold inner plate. On the side of the second fixed mold mounting plate facing the corresponding fixed mold support plate, there is a second fixed mold inner plate. On the side of the first fixed mold inner plate and the second fixed mold inner plate facing the primary structure, there is a second electric spring driving wheel in contact with the outer surface of the primary structure. On the side of the first fixed mold mounting plate and the second fixed mold mounting plate away from the corresponding fixed mold support plate, there is a driven bevel gear cooperating with the second screw. One end of the second screw is in threaded cooperation with the driven bevel gear outside the first fixed mold mounting plate of one of the two adjacent fixed mold attachments, and the other end of the second screw is in threaded cooperation with the driven bevel gear outside the second fixed mold mounting plate of the other of the two adjacent fixed mold attachments. A fixed mold motor is installed on the side of the first fixed mold mounting plate and the second fixed mold mounting plate away from the corresponding fixed mold support plate. A driving bevel gear meshing with the two driven bevel gears at the corresponding positions is installed on the output shaft of the fixed mold motor;

[0009] The second screw rod at the corresponding position of the secondary structure formwork is truncated into a first second screw rod segment and a second second screw rod segment. One end of the first second screw rod segment away from the driven bevel gear is fixedly connected to one side form of the secondary structure formwork, and one end of the second second screw rod segment away from the driven bevel gear is fixedly connected to the other side form of the secondary structure formwork;

[0010] The secondary structure formwork is provided with a limiting member that cooperates with the first screw rod at the corresponding position. On the sides of the secondary structure formwork, on the sides of the first inner formwork for formwork transportation and the second inner formwork for formwork transportation away from the primary structure, a formwork knocking mechanism for knocking the secondary structure formwork is installed; An attached vibrator is installed on the secondary structure formwork;

[0011] Step Three: Construct the secondary structure at one time: Pour concrete into multiple secondary structure formworks from the top of the topmost secondary structure formwork, use the attached vibrator to vibrate the concrete evenly. After the concrete reaches the preset strength, the construction of the secondary structure is completed at one time;

[0012] Step Four: Use the formwork transportation robot and multiple fixed formwork robots to cooperate to sequentially remove multiple secondary structure formworks from bottom to top. Among them, when removing one secondary structure formwork, one corresponding fixed formwork robot is removed, and finally the formwork transportation robot is removed.

[0013] The above method for constructing the secondary structure at one time is characterized in that the implementation process of Step Two is as follows:

[0014] Step 201: Install the formwork transportation robot, where the formwork transportation robot is located at the lower position of the secondary structure steel reinforcement cage;

[0015] Step 202: Install a fixed formwork robot carrying the secondary structure formwork above the formwork transportation robot. One of the first screw rods in the formwork transportation robot abuts against the limiting member on the secondary structure formwork;

[0016] Step 203: The formwork transportation robot uses multiple first electric spring drive wheels to climb upward along the outer surface of the primary structure from bottom to top. At the same time, the fixed formwork robot uses multiple second electric spring drive wheels to climb upward along the outer surface of the primary structure from bottom to top until the secondary structure formwork reaches the specified position; Then, the formwork transportation robot uses multiple first electric spring drive wheels to move downward along the outer surface of the primary structure to the initial position, and the fixed formwork robot rotates the fixed formwork motor forward to tighten the primary structure. At this time, the secondary structure formwork is closely attached to the primary structure;

[0017] Step 204: Install the next fixed formwork robot carrying the secondary structure formwork above the formwork transportation robot. One of the first screw rods in the formwork transportation robot abuts against the limiting member on the secondary structure formwork;

[0018] Step 205: The mold transporting robot climbs upward along the outer surface of the primary structure by using multiple first electric spring drive wheels. At the same time, the next fixed mold robot climbs upward along the outer surface of the primary structure by using multiple second electric spring drive wheels until the current secondary structure template is seamlessly and continuously connected to the previous secondary structure template. Then, the mold transporting robot moves downward along the outer surface of the primary structure to the initial position by using multiple first electric spring drive wheels, while the next fixed mold robot tightens the primary structure by rotating the fixed mold motor forward. At this time, the current secondary structure template is closely attached to the primary structure.

[0019] Step 206: Steps 204 to 205 are repeatedly cycled until multiple secondary structure templates of the secondary structure steel reinforcement cage are installed.

[0020] The method for constructing the secondary structure in one go as described above is characterized in that the implementation process of step four is as follows:

[0021] Step 401: Use the template knocking mechanism on the mold transporting robot to knock the secondary structure template at the lowest position to realize the demolding of the secondary structure template.

[0022] Step 402: The fixed mold robot corresponding to the secondary structure template at the lowest position reverses the fixed mold motor to loosen the fixed mold robot, and removes the secondary structure template and the corresponding fixed mold robot at the lowest position.

[0023] Step 403: The mold transporting robot climbs upward along the outer surface of the primary structure by using multiple first electric spring drive wheels, and uses the template knocking mechanism on the mold transporting robot to knock the secondary structure template at the lowest position in the current state to realize the demolding of the secondary structure template.

[0024] Step 404: The fixed mold robot corresponding to the secondary structure template at the lowest position in the current state reverses the fixed mold motor to loosen the fixed mold robot. The current fixed mold robot moves downward along the outer surface of the primary structure from top to bottom to the lower side of the primary structure by using multiple second electric spring drive wheels, and then removes the secondary structure template and the corresponding fixed mold robot at the lowest position in the current state.

[0025] Step 405: Steps 403 to 404 are repeatedly cycled until multiple secondary structure templates of the secondary structure steel reinforcement cage are removed, and finally the mold transporting robot is removed.

[0026] The method for constructing the secondary structure in one go as described above is characterized in that in step 403, when the template knocking mechanism on the mold transporting robot knocks the secondary structure template at the lowest position in the current state, the mold transporting robot tightens the primary structure by controlling the mold transporting motor, and the mold transporting robot works after stabilizing.

[0027] The above-mentioned construction method for one-time construction of secondary structures is characterized in that: the limiting member is an arc-shaped limiting member with an opening facing downward.

[0028] The above-mentioned construction method for one-time construction of secondary structures is characterized in that: the formwork knocking mechanism includes an electric ball hinge support, a first connecting rod, a hinge shaft, a second connecting rod, and a knocking hammer that are connected in sequence.

[0029] The above-mentioned construction method for one-time construction of secondary structures is characterized in that: the threads at both ends of the first screw rod have opposite helix directions.

[0030] The beneficial effects of the present invention are as follows: The design is novel and reasonable. By using a formwork transportation robot and multiple fixed formwork robots in cooperation, all the formworks required for the secondary structure steel cage are installed, and the secondary structure is constructed at one time. Then, all the formworks are removed one by one, greatly reducing the construction period. The automation degree is high, the quality of the secondary structure construction is good, and the contraction and expansion of multiple attachment parts in the formwork transportation robot and the fixed formwork robot are automatically realized, avoiding manual operation. The formwork transportation robot and the fixed formwork robot use electric spring drive wheels with elastic margins to climb up and down along the height direction of the primary structure. They are small in size, flexible in operation, high in efficiency, and convenient for popularization and use.

[0031] The technical solution of the present invention will be further described in detail below through the drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the cooperation relationship between the formwork transportation robot and the fixed formwork robot of the present invention.

[0033] Figure 2 is Figure 1 the view in the direction of A of

[0034] Figure 3 It is an effect diagram after the installation of a secondary structure formwork of the present invention.

[0035] Figure 4 It is an effect diagram after the installation of two secondary structure formworks of the present invention.

[0036] Figure 5 It is a flow chart of the method of the present invention.

[0037] Description of the reference numerals:

[0038] 1 - formwork transportation clamping plate; 2 - first formwork transportation mounting plate; 3 - second formwork transportation mounting plate;

[0039] 4 - first formwork transportation inner plate; 5 - second formwork transportation inner plate; 6 - first formwork transportation outer plate;

[0040] 7 - second formwork transportation outer plate; 8 - formwork transportation motor; 9 - driving gear;

[0041] 10 - Driven gear; 11 - First screw; 12 - Locking nut;

[0042] 13 - First electric spring drive wheel; 14 - Fixed mold robot;

[0043] 15 - Electric ball hinge support; 16 - Secondary structure formwork; 17 - Limiting part;

[0044] 18 - Mold transporting robot; 19 - First connecting rod; 20 - Hinge shaft;

[0045] 21 - Second connecting rod; 22 - Hammer; 23 - Primary structure;

[0046] 24 - Fixed mold clamping plate; 25 - First fixed mold mounting plate; 26 - Second fixed mold mounting plate;

[0047] 27 - First inner fixed mold plate; 28 - Second inner fixed mold plate; 29 - Driven bevel gear;

[0048] 30 - Fixed mold motor; 31 - Driving bevel gear; 32 - Second screw;

[0049] 32 - 1 - First section of the second screw; 32 - 2 - Second section of the second screw;

[0050] 33 - Second electric spring drive wheel. Specific implementation mode

[0051] As Figures 1 to 5 shown, a construction method for one - time construction of secondary structure of the present invention includes the following steps:

[0052] Step 1: Fix the secondary structure steel reinforcement cage;

[0053] Step 2: Use the mold transporting robot 18 and multiple fixed mold robots 14 to cooperate, and install multiple secondary structure formworks 16 from top to bottom in sequence. Among them, multiple secondary structure formworks 16 are seamlessly and continuously connected in sequence, and each secondary structure formwork 16 is fixed on the primary structure 23 through the corresponding fixed mold robot 14;

[0054] The die transporting robot 18 includes a plurality of die transporting attachments arranged circumferentially along the outer side of the primary structure 23. Two adjacent die transporting attachments are connected by a first screw 11. The die transporting attachment includes a die transporting clamping plate 1 that fits with the outer surface of the primary structure 23. The die transporting clamping plate 1 is an angle plate structure composed of two die transporting support plates. On the outer sides of the two die transporting support plates of the die transporting clamping plate 1, there are a first die transporting mounting plate 2 and a second die transporting mounting plate 3. On the side of the first die transporting mounting plate 2 facing the corresponding die transporting support plate, there are a first die transporting inner plate 4 and a first die transporting outer plate 6. An outer side of the first die transporting outer plate 6 is mounted with a die transporting motor 8. An output shaft of the die transporting motor 8 is mounted with a driving gear 9. On the first screw 11, there is a driven gear 10 meshing with the driving gear 9. On the side of the second die transporting mounting plate 3 facing the corresponding die transporting support plate, there are a second die transporting inner plate 5 and a second die transporting outer plate 7. On the sides of the first die transporting inner plate 4 and the second die transporting inner plate 5 facing the primary structure 23, there are both first electric spring driving wheels 13 abutted against the outer surface of the primary structure 23. On the sides of the first die transporting mounting plate 2 and the second die transporting mounting plate 3 away from the corresponding die transporting support plates, there are both locking nuts 12 fitted with the first screw 11. One end of the first screw 11 is in threaded fit with the locking nut 12 outside the first die transporting mounting plate 2 of one of the two adjacent die transporting attachments, and the other end of the first screw 11 is in threaded fit with the locking nut 12 outside the second die transporting mounting plate 3 of the other of the two adjacent die transporting attachments;

[0055] The fixed mold robot 14 includes a plurality of fixed mold attaching members arranged circumferentially along the outer side of the primary structure 23. Two adjacent fixed mold attaching members are connected by a second screw 32. The fixed mold attaching member includes a fixed mold clamping plate 24 that fits with the outer surface of the primary structure 23. The fixed mold clamping plate 24 is an angle plate structure composed of two fixed mold support plates. On the outer sides of the two fixed mold support plates of the fixed mold clamping plate 24, there are a first fixed mold mounting plate 25 and a second fixed mold mounting plate 26. On the side of the first fixed mold mounting plate 25 facing the corresponding fixed mold support plate, there is a first fixed mold inner plate 27. On the side of the second fixed mold mounting plate 26 facing the corresponding fixed mold support plate, there is a second fixed mold inner plate 28. On the side of the first fixed mold inner plate 27 and the second fixed mold inner plate 28 facing the primary structure 23, there are both second electric spring drive wheels 33 that abut against the outer surface of the primary structure 23. On the sides of the first fixed mold mounting plate 25 and the second fixed mold mounting plate 26 away from the corresponding fixed mold support plates, there are both driven bevel gears 29 that cooperate with the second screw 32. One end of the second screw 32 is threadedly engaged with the driven bevel gear 29 outside the first fixed mold mounting plate 25 of one of the two adjacent fixed mold attaching members, and the other end of the second screw 32 is threadedly engaged with the driven bevel gear 29 outside the second fixed mold mounting plate 26 of the other of the two adjacent fixed mold attaching members. On the sides of the first fixed mold mounting plate 25 and the second fixed mold mounting plate 26 away from the corresponding fixed mold support plates, there is a fixed mold motor 30. On the output shaft of the fixed mold motor 30, there is a driving bevel gear 31 that meshes with both driven bevel gears 29 at the corresponding positions;

[0056] The second screw 32 at the corresponding position of the secondary structure template 16 is cut into a first second screw segment 32-1 and a second second screw segment 32-2. One end of the first second screw segment 32-1 away from the driven bevel gear 29 is fixedly connected to one side mold of the secondary structure template 16, and one end of the second second screw segment 32-2 away from the driven bevel gear 29 is fixedly connected to the other side mold of the secondary structure template 16;

[0057] On the secondary structure template 16, there is a limiting member 17 that cooperates with the first screw 11 at the corresponding position. On the sides of the first moving mold inner plate 4 and the second moving mold inner plate 5 on both sides of the secondary structure template 16 away from the primary structure 23, there are both template knocking mechanisms for knocking the secondary structure template 16; An attached vibrator is installed on the secondary structure template 16;

[0058] Step three, constructing the secondary structure at one time: Pour concrete into the multiple secondary structure templates 16 from the top of the topmost secondary structure template 16, and use the attached vibrator to vibrate the concrete evenly. After the concrete reaches the preset strength, the construction of the secondary structure is completed at one time;

[0059] Step 4: Use the mold - transporting robot 18 and multiple fixed - mold robots 14 to cooperate to remove multiple secondary - structure templates 16 from bottom to top. Among them, when removing one secondary - structure template 16, one corresponding fixed - mold robot 14 is removed at the same time, and finally the mold - transporting robot 18 is removed.

[0060] It should be noted that by using the cooperation of the mold - transporting robot and multiple fixed - mold robots, all the templates required for the secondary - structure steel cage are installed, and the secondary structure is constructed at one time. Then, all the templates are removed one by one, which greatly shortens the construction period, has a high degree of automation, good quality of the secondary - structure construction, and the contraction and expansion of multiple attachment parts in the mold - transporting robot and the fixed - mold robot are automatically realized, avoiding manual operation. The mold - transporting robot and the fixed - mold robot use electric spring - driven wheels with elastic margins to climb up and down along the height direction of the primary structure, with small volume, flexible operation and high efficiency.

[0061] In this embodiment, the mold - transporting robot 18 is located below the fixed - mold robot 14.

[0062] It should be noted that the synchronous movement of the mold - transporting robot 18 and the fixed - mold robot 14 can improve the load - carrying capacity of the robot.

[0063] In this embodiment, the limiting member 17 is an arc - shaped limiting member with the opening facing downwards.

[0064] In this embodiment, the template knocking mechanism includes an electric ball - hinge support 15, a first connecting rod 19, a hinge shaft 20, a second connecting rod 21, and a knocking hammer 22 that are connected in sequence.

[0065] In this embodiment, the thread directions at both ends of the first screw rod 11 are opposite.

[0066] In this embodiment, the implementation process of step 2 is as follows:

[0067] Step 201: Install the mold - transporting robot 18, where the mold - transporting robot 18 is located at the lower position of the secondary - structure steel cage;

[0068] Step 202: Install a fixed - mold robot 14 carrying a secondary - structure template 16 above the mold - transporting robot 18, and one of the first screw rods 11 in the mold - transporting robot 18 abuts against the limiting member 17 on the secondary - structure template 16.

[0069] Step 203: The mold transporting robot 18 climbs upward along the outer surface of the primary structure 23 by using multiple first electric spring drive wheels 13. At the same time, the fixed mold robot 14 climbs upward along the outer surface of the primary structure 23 by using multiple second electric spring drive wheels 33 until the secondary structure template 16 reaches the designated position. Then, the mold transporting robot 18 moves downward along the outer surface of the primary structure 23 to the initial position by using multiple first electric spring drive wheels 13, and the fixed mold robot 14 rotates the fixed mold motor 30 forward to clamp the primary structure 23. At this time, the secondary structure template 16 is closely attached to the primary structure 23.

[0070] Step 204: Install the next fixed mold robot 14 carrying the secondary structure template 16 above the mold transporting robot 18, and one of the first screws 11 in the mold transporting robot 18 abuts against the limiting member 17 on the secondary structure template 16.

[0071] Step 205: The mold transporting robot 18 climbs upward along the outer surface of the primary structure 23 by using multiple first electric spring drive wheels 13. At the same time, the next fixed mold robot 14 climbs upward along the outer surface of the primary structure 23 by using multiple second electric spring drive wheels 33 until the current secondary structure template 16 is seamlessly and continuously connected to the previous secondary structure template 16. Then, the mold transporting robot 18 moves downward along the outer surface of the primary structure 23 to the initial position by using multiple first electric spring drive wheels 13, and the next fixed mold robot 14 rotates the fixed mold motor 30 forward to clamp the primary structure 23. At this time, the current secondary structure template 16 is closely attached to the primary structure 23.

[0072] Step 206: Repeat steps 204 to 205 multiple times until all the secondary structure templates 16 of the secondary structure steel cage are installed.

[0073] In this embodiment, the implementation process of step four is as follows:

[0074] Step 401: Use the template knocking mechanism on the mold transporting robot 18 to knock the secondary structure template 16 at the lowest position to realize the demolding of the secondary structure template 16.

[0075] Step 402: The fixed mold robot 14 corresponding to the secondary structure template 16 at the lowest position rotates the fixed mold motor 30 in reverse to loosen the fixed mold robot 14, and removes the secondary structure template 16 at the lowest position and the corresponding fixed mold robot 14.

[0076] Step 403: The mold transporting robot 18 climbs upward along the outer surface of the primary structure 23 by using multiple first electric spring drive wheels 13, and uses the template knocking mechanism on the mold transporting robot 18 to knock the secondary structure template 16 at the lowest position in the current state to realize the demolding of the secondary structure template 16.

[0077] Step 404: The mold clamping robot 14 corresponding to the secondary structure template 16 at the lowest position in the current state reverses the mold clamping motor 30 to loosen the mold clamping robot 14. The current mold clamping robot 14 uses multiple second electric spring drive wheels 33 to move downward along the outer surface of the primary structure 23 to the lower side of the primary structure 23, and then removes the secondary structure template 16 and the corresponding mold clamping robot 14 at the lowest position in the current state.

[0078] Step 405: Repeat steps 403 to 404 multiple times until all the secondary structure templates 16 of the secondary structure steel reinforcement cage are removed, and finally remove the mold transporting robot 18.

[0079] In this embodiment, in step 403, when the template knocking mechanism on the mold transporting robot 18 knocks the secondary structure template 16 at the lowest position in the current state, the mold transporting robot 18 is clamped to the primary structure 23 by controlling the mold transporting motor 8, and the mold transporting robot 18 works after being stabilized.

[0080] The above is only a preferred embodiment of the present invention, and does not impose any limitations on the present invention. Any simple modifications, changes, and equivalent structural changes made to the above embodiments according to the technical essence of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A construction method for one-time construction of secondary structures, characterized in that, The method comprises the following steps: Step 1, fixing the reinforcement cage of the secondary structure; Step 2, using a formwork transporting robot (18) and a plurality of formwork fixing robots (14) to cooperate, and sequentially installing a plurality of secondary structure formworks (16) from top to bottom. Among them, the plurality of secondary structure formworks (16) are seamlessly and continuously connected in sequence, and each secondary structure formwork (16) is fixed on the primary structure (23) through the corresponding formwork fixing robot (14); The formwork transporting robot (18) comprises a plurality of formwork transporting attachments arranged circumferentially on the outer side of the primary structure (23). Two adjacent formwork transporting attachments are connected by a first screw rod (11). The formwork transporting attachment comprises a formwork transporting clamping plate (1) that fits with the outer surface of the primary structure (23). The formwork transporting clamping plate (1) is an angle plate structure composed of two formwork transporting support plates. On the outer sides of the two formwork transporting support plates of the formwork transporting clamping plate (1), there are arranged a formwork transporting first mounting plate (2) and a formwork transporting second mounting plate (3). On the side of the formwork transporting first mounting plate (2) facing the corresponding formwork transporting support plate, there are arranged a formwork transporting first inner plate (4) and a formwork transporting first outer plate (6). On the outer side of the formwork transporting first outer plate (6), there is installed a formwork transporting motor (8). On the output shaft of the formwork transporting motor (8), there is installed a driving gear (9). On the first screw rod (11), there is arranged a driven gear (10) that meshes with the driving gear (9). On the side of the formwork transporting second mounting plate (3) facing the corresponding formwork transporting support plate, there are arranged a formwork transporting second inner plate (5) and a formwork transporting second outer plate (7). On the sides of the formwork transporting first inner plate (4) and the formwork transporting second inner plate (5) facing the primary structure (23), there are both installed first electric spring-driven wheels (13) that abut against the outer surface of the primary structure (23). On the sides of the formwork transporting first mounting plate (2) and the formwork transporting second mounting plate (3) away from the corresponding formwork transporting support plates, there are both fixed locking nuts (12) that cooperate with the first screw rod (11). One end of the first screw rod (11) is in threaded cooperation with the locking nut (12) outside the formwork transporting first mounting plate (2) of one of the two adjacent formwork transporting attachments, and the other end of the first screw rod (11) is in threaded cooperation with the locking nut (12) outside the formwork transporting second mounting plate (3) of the other of the two adjacent formwork transporting attachments; The fixed mold robot (14) includes a plurality of fixed mold attachments circumferentially arranged on the outer side of the primary structure (23). Two adjacent fixed mold attachments are connected by a second screw rod (32). The fixed mold attachment includes a fixed mold clamping plate (24) that fits with the outer surface of the primary structure (23). The fixed mold clamping plate (24) is an angle plate structure composed of two fixed mold support plates. On the outer sides of the two fixed mold support plates of the fixed mold clamping plate (24), there are a first fixed mold mounting plate (25) and a second fixed mold mounting plate (26). On the side of the first fixed mold mounting plate (25) facing the corresponding fixed mold support plate, there is a first fixed mold inner plate (27). On the side of the second fixed mold mounting plate (26) facing the corresponding fixed mold support plate, there is a second fixed mold inner plate (28). On the side of the first fixed mold inner plate (27) and the second fixed mold inner plate (28) facing the primary structure (23), there is a second electric spring drive wheel (33) that abuts against the outer surface of the primary structure (23). On the side of the first fixed mold mounting plate (25) and the second fixed mold mounting plate (26) away from the corresponding fixed mold support plate, there is a driven bevel gear (29) that cooperates with the second screw rod (32). One end of the second screw rod (32) is threadedly engaged with the driven bevel gear (29) outside the first fixed mold mounting plate (25) of one of the two adjacent fixed mold attachments. The other end of the second screw rod (32) is threadedly engaged with the driven bevel gear (29) outside the second fixed mold mounting plate (26) of the other of the two adjacent fixed mold attachments. On the side of the first fixed mold mounting plate (25) and the second fixed mold mounting plate (26) away from the corresponding fixed mold support plate, there is a fixed mold motor (30). On the output shaft of the fixed mold motor (30), there is a driving bevel gear (31) that meshes with both driven bevel gears (29) at the corresponding positions; The second screw rod (32) at the corresponding position of the secondary structure template (16) is truncated into a first second screw rod segment (32-1) and a second second screw rod segment (32-2). One end of the first second screw rod segment (32-1) away from the driven bevel gear (29) is fixedly connected to one side mold of the secondary structure template (16). One end of the second second screw rod segment (32-2) away from the driven bevel gear (29) is fixedly connected to the other side mold of the secondary structure template (16); On the secondary structure template (16), there is a limiting member (17) that cooperates with the first screw rod (11) at the corresponding position. On the sides of the first moving mold inner plate (4) and the second moving mold inner plate (5) on both sides of the secondary structure template (16) away from the primary structure (23), there is a template knocking mechanism for knocking the secondary structure template (16); An attached vibrator is installed on the secondary structure template (16); Step Three: Construct the secondary structure at one time: Pour concrete into the multiple secondary structure templates (16) from the top of the topmost secondary structure template (16), and use the attached vibrator to vibrate the concrete evenly. After the concrete reaches the preset strength, the construction of the secondary structure is completed at one time; Step 4: Use the formwork transporting robot (18) and multiple fixed formwork robots (14) to cooperate to sequentially remove multiple secondary structure formworks (16) from bottom to top. Among them, when removing one secondary structure formwork (16), one corresponding fixed formwork robot (14) is removed at the same time, and finally the formwork transporting robot (18) is removed.

2. The one-time construction method for secondary structures according to claim 1, characterized in that: The implementation process of Step 2 is as follows: Step 201: Install the formwork transporting robot (18), where the formwork transporting robot (18) is located at the lower position of the secondary structure steel reinforcement cage; Step 202: Install a fixed formwork robot (14) carrying a secondary structure formwork (16) above the formwork transporting robot (18). One first screw rod (11) in the formwork transporting robot (18) abuts against the limiting member (17) on the secondary structure formwork (16); Step 203: The formwork transporting robot (18) uses multiple first electric spring drive wheels (13) to climb upward along the outer surface of the primary structure (23). At the same time, the fixed formwork robot (14) uses multiple second electric spring drive wheels (33) to climb upward along the outer surface of the primary structure (23) until the secondary structure formwork (16) reaches the specified position. Then, the formwork transporting robot (18) uses multiple first electric spring drive wheels (13) to move downward along the outer surface of the primary structure (23) to the initial position, and the fixed formwork robot (14) rotates forward through the fixed formwork motor (30) to clamp the primary structure (23). At this time, the secondary structure formwork (16) is in close contact with the primary structure (23); Step 204: Install the next fixed formwork robot (14) carrying a secondary structure formwork (16) above the formwork transporting robot (18). One first screw rod (11) in the formwork transporting robot (18) abuts against the limiting member (17) on the secondary structure formwork (16); Step 205: The formwork transporting robot (18) uses multiple first electric spring drive wheels (13) to climb upward along the outer surface of the primary structure (23). At the same time, the next fixed formwork robot (14) uses multiple second electric spring drive wheels (33) to climb upward along the outer surface of the primary structure (23) until the current secondary structure formwork (16) is seamlessly and continuously connected to the previous secondary structure formwork (16). Then, the formwork transporting robot (18) uses multiple first electric spring drive wheels (13) to move downward along the outer surface of the primary structure (23) to the initial position, and the next fixed formwork robot (14) rotates forward through the fixed formwork motor (30) to clamp the primary structure (23). At this time, the current secondary structure formwork (16) is in close contact with the primary structure (23); Step 206: Repeat Steps 204 to 205 multiple times until multiple secondary structure formworks (16) of the secondary structure steel reinforcement cage are installed.

3. The one-time construction method for secondary structures according to claim 2, characterized in that: The implementation process of Step 4 is as follows: Step 401: Use the formwork knocking mechanism on the formwork transporting robot (18) to knock the secondary structure formwork (16) at the bottommost position to realize the demolding of the secondary structure formwork (16); Step 402: The fixed mold robot (14) corresponding to the secondary structure formwork (16) at the lowest position reverses the fixed mold motor (30) to loosen the fixed mold robot (14), and removes the secondary structure formwork (16) and the corresponding fixed mold robot (14) at the lowest position. Step 403: The mold transporting robot (18) uses multiple first electric spring drive wheels (13) to climb upward along the outer surface of the primary structure (23), and uses the formwork knocking mechanism on the mold transporting robot (18) to knock the secondary structure formwork (16) at the lowest position in the current state, realizing the demolding of the secondary structure formwork (16). Step 404: The fixed mold robot (14) corresponding to the secondary structure formwork (16) at the lowest position in the current state reverses the fixed mold motor (30) to loosen the fixed mold robot (14). The current fixed mold robot (14) uses multiple second electric spring drive wheels (33) to move downward along the outer surface of the primary structure (23) to the lower side of the primary structure (23), and then removes the secondary structure formwork (16) and the corresponding fixed mold robot (14) at the lowest position in the current state. Step 405: Steps 403 to 404 are cycled multiple times until all the secondary structure formworks (16) of the secondary structure steel cage are removed, and finally the mold transporting robot (18) is removed.

4. The one-time construction method of the secondary structure according to claim 3, characterized in that: In Step 403, when the formwork knocking mechanism on the mold transporting robot (18) knocks the secondary structure formwork (16) at the lowest position in the current state, the mold transporting robot (18) is tightened against the primary structure (23) by controlling the mold transporting motor (8), and the mold transporting robot (18) works after being stabilized.

5. A construction method for one-time construction of secondary structures according to claim 1, characterized in that: The limiting member (17) is an arc-shaped limiting member with the opening facing downward.

6. A one-time construction method for secondary structures according to claim 1, characterized in that: The formwork knocking mechanism includes an electric ball hinge support (15), a first connecting rod (19), a hinge shaft (20), a second connecting rod (21), and a knocking hammer (22) connected in sequence.

7. A one-time construction method for secondary structures as claimed in claim 1, characterized in that: The threads at both ends of the first screw rod (11) have opposite helix directions.

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