A secondary structure one-time construction formwork robot system

Abstract

The present invention discloses a secondary structure disposable construction formwork robot system, which includes a formwork transporting robot and multiple formwork fixing robots. 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 formwork 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 formwork of the secondary structure formwork; on both sides of the secondary structure formwork, formwork knocking mechanisms are installed on the sides of the first formwork transporting inner plate and the second formwork transporting inner plate away from the primary structure; an attached vibrator is installed on the secondary structure formwork. The present invention uses the cooperation of the formwork transporting robot and multiple formwork fixing robots to install all the formworks required for the secondary structure steel reinforcement cage, construct the secondary structure at one time, and then remove all the formworks one by one, greatly reducing the construction period, with high automation, small volume, flexible operation and high efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of formwork robots, and particularly relates to a formwork robot system for one-time construction of secondary structures. Background Art

[0002] In the existing construction method of pouring secondary structures on the primary structure, it is generally common to first implant steel bars, support the formwork with wooden boards, and then pour. It is difficult to vibrate, and the wooden formwork is easy to loosen when knocked. After the concrete of the secondary structure lacking vibration solidifies, there are certain quality problems. Therefore, there is a method of using upper hoops, lower hoops and positioning guide rods, setting a winch on the ground, installing a fixed pulley outside the steel bar cage limiting plate, and using the steel wire rope of the winch to bypass the fixed pulley to lift the steel formwork, and pouring the secondary structure in sections. This method not only occupies a large area, relies on upper hoops, lower hoops and guide rods, and requires manual adjustment of the components around the formwork every time the formwork is lifted, which is troublesome to operate, but also needs to wait about 7 days for the concrete to solidify to the design strength after each pouring, 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 formwork robot system for one-time construction of secondary structures in view of the deficiencies in the above-mentioned prior art. The design is novel and reasonable. By using a formwork transportation robot and multiple formwork fixing robots in cooperation, all the formworks required for the secondary structure steel bar cage are installed, and the secondary structure is constructed at one time, and then all the formworks are removed one by one, greatly reducing the construction period, with high automation, small volume, flexible operation, high efficiency, good quality of secondary structure construction, and being convenient for popularization and use.

[0004] To solve the above technical problem, the technical solution adopted by the present invention is: a formwork robot system for one-time construction of secondary structures, characterized in that: it includes a formwork transportation robot and a plurality of formwork fixing robots all cooperating with the formwork transportation robot;

[0005] The mold-carrying robot includes a plurality of mold-carrying attachments arranged circumferentially along the outer side of the primary structure. Two adjacent mold-carrying attachments are connected by a first screw. The mold-carrying attachment includes a mold-carrying clamping plate that fits with the outer surface of the primary structure. The mold-carrying clamping plate is an angle plate structure composed of two mold-carrying support plates. On the outer sides of the two mold-carrying support plates of the mold-carrying clamping plate, there are a first mold-carrying mounting plate and a second mold-carrying mounting plate. On the side of the first mold-carrying mounting plate facing the corresponding mold-carrying support plate, there are a first mold-carrying inner plate and a first mold-carrying outer plate. A mold-carrying motor is installed on the outer side of the first mold-carrying outer plate. A driving gear is installed on the output shaft of the mold-carrying motor. A driven gear that meshes with the driving gear is arranged on the first screw. On the side of the second mold-carrying mounting plate facing the corresponding mold-carrying support plate, there are a second mold-carrying inner plate and a second mold-carrying outer plate. On the side of the first mold-carrying inner plate and the second mold-carrying inner plate facing the primary structure, there is a first electric spring driving wheel that abuts against the outer surface of the primary structure. On the side of the first mold-carrying mounting plate and the second mold-carrying mounting plate away from the corresponding mold-carrying support plate, there is a locking nut that cooperates with the first screw. One end of the first screw is in threaded cooperation with the locking nut outside the first mold-carrying mounting plate of one of the two adjacent mold-carrying attachments, and the other end of the first screw is in threaded cooperation with the locking nut outside the second mold-carrying mounting plate of the other of the two adjacent mold-carrying attachments;

[0006] 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 with 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 that abuts against 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 that cooperates 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 that meshes with the two driven bevel gears at the corresponding positions is installed on the output shaft of the fixed mold motor;

[0007] 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;

[0008] 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;

[0009] An attached vibrator is installed on the secondary structure formwork.

[0010] For the above-mentioned secondary structure one-time construction formwork robot system, it is characterized in that: the formwork transportation robot is located below the fixed formwork robot.

[0011] For the above-mentioned secondary structure one-time construction formwork robot system, it is characterized in that: the limiting member is an arc-shaped limiting member with an opening facing downwards.

[0012] For the above-mentioned secondary structure one-time construction formwork robot system, it 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 connected in sequence.

[0013] For the above-mentioned secondary structure one-time construction formwork robot system, it is characterized in that: the thread directions at both ends of the first screw rod are opposite.

[0014] The beneficial effects of the present invention are as follows: The design is novel and reasonable. By using the cooperation of the formwork transportation robot and multiple fixed formwork robots, all the formworks required for the secondary structure steel reinforcement cage are installed, and the secondary structure is constructed at one time. Then, all the formworks are removed one by one, greatly shortening 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 members 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.

[0015] Next, through the drawings and embodiments, the technical solutions of the present invention will be further described in detail. Description of the Drawings

[0016] 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.

[0017] Figure 2 It is Figure 1 View A of

[0018] Figure 3 This is the effect diagram after the installation of a secondary structure formwork of the present invention.

[0019] Figure 4 This is the effect diagram after the installation of two secondary structure formworks of the present invention.

[0020] Explanation of reference numerals:

[0021] 1 - Mold transporting pallet; 2 - First mold transporting mounting plate; 3 - Second mold transporting mounting plate;

[0022] 4 - First inner mold transporting plate; 5 - Second inner mold transporting plate; 6 - First outer mold transporting plate;

[0023] 7 - Second outer mold transporting plate; 8 - Mold transporting motor; 9 - Driving gear;

[0024] 10 - Driven gear; 11 - First screw; 12 - Locking nut;

[0025] 13 - First electric spring driving wheel; 14 - Fixed mold robot;

[0026] 15 - Electric ball hinge support; 16 - Secondary structure formwork; 17 - Limiting member;

[0027] 18 - Mold transporting robot; 19 - First connecting rod; 20 - Hinge shaft;

[0028] 21 - Second connecting rod; 22 - Hammer; 23 - Primary structure;

[0029] 24 - Fixed mold pallet; 25 - First fixed mold mounting plate; 26 - Second fixed mold mounting plate;

[0030] 27 - First inner fixed mold plate; 28 - Second inner fixed mold plate; 29 - Driven bevel gear;

[0031] 30 - Fixed mold motor; 31 - Driving bevel gear; 32 - Second screw;

[0032] 32-1 - First segment of the second screw; 32-2 - Second segment of the second screw;

[0033] 33 - Second electric spring driving wheel. Detailed implementation manners

[0034] As Figures 1 to 4 shown, a secondary structure one-time construction formwork robot system of the present invention includes a mold transporting robot 18 and a plurality of fixed mold robots 14 all cooperating with the mold transporting robot 18;

[0035] The mold-transfer robot 18 includes a plurality of mold-transfer attachment members arranged circumferentially along the outer side of the primary structure 23. Two adjacent mold-transfer attachment members are connected by a first screw 11. The mold-transfer attachment member includes a mold-transfer clamping plate 1 that fits with the outer surface of the primary structure 23. The mold-transfer clamping plate 1 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 1, there are a mold-transfer first mounting plate 2 and a mold-transfer second mounting plate 3. On the side of the mold-transfer first mounting plate 2 facing the corresponding mold-transfer support plate, there are a mold-transfer first inner plate 4 and a mold-transfer first outer plate 6. An outer side of the mold-transfer first outer plate 6 is equipped with a mold-transfer motor 8. An output shaft of the mold-transfer motor 8 is equipped with a driving gear 9. On the first screw 11, there is a driven gear 10 that meshes with the driving gear 9. On the side of the mold-transfer second mounting plate 3 facing the corresponding mold-transfer support plate, there are a mold-transfer second inner plate 5 and a mold-transfer second outer plate 7. On the sides of the mold-transfer first inner plate 4 and the mold-transfer second inner plate 5 facing the primary structure 23, there are both first electric spring-driven wheels 13 that abut against the outer surface of the primary structure 23. On the sides of the mold-transfer first mounting plate 2 and the mold-transfer second mounting plate 3 away from the corresponding mold-transfer support plates, there are both locking nuts 12 that cooperate with the first screw 11. One end of the first screw 11 is in threaded cooperation with the locking nut 12 outside the mold-transfer first mounting plate 2 of one of the two adjacent mold-transfer attachment members, and the other end of the first screw 11 is in threaded cooperation with the locking nut 12 outside the mold-transfer second mounting plate 3 of the other of the two adjacent mold-transfer attachment members;

[0036] The fixed mold robot 14 includes a plurality of fixed mold attachment members arranged circumferentially along the outer side of the primary structure 23. Two adjacent fixed mold attachment members are connected by a second screw 32. The fixed mold attachment 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 fixed mold first mounting plate 25 and a fixed mold second mounting plate 26. On the side of the fixed mold first mounting plate 25 facing the corresponding fixed mold support plate, there is a fixed mold first inner plate 27. On the side of the fixed mold second mounting plate 26 facing the corresponding fixed mold support plate, there is a fixed mold second inner plate 28. On the side of the fixed mold first inner plate 27 and the fixed mold second 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 fixed mold first mounting plate 25 and the fixed mold second mounting plate 26 away from the corresponding fixed mold support plate, there is a driven bevel gear 29 that cooperates with the second screw 32. One end of the second screw 32 is threadedly engaged with the driven bevel gear 29 outside the fixed mold first mounting plate 25 of one of the two adjacent fixed mold attachment members, and the other end of the second screw 32 is threadedly engaged with the driven bevel gear 29 outside the fixed mold second mounting plate 26 of the other of the two adjacent fixed mold attachment members. On the side of the fixed mold first mounting plate 25 and the fixed mold second 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 of the driven bevel gears 29 at the corresponding positions;

[0037] The second screw 32 at the corresponding position of the secondary structure template 16 is truncated into a second screw segment one 32-1 and a second screw segment two 32-2. One end of the second screw segment one 32-1 away from the driven bevel gear 29 is fixedly connected to a side mold of the secondary structure template 16, and one end of the second screw segment two 32-2 away from the driven bevel gear 29 is fixedly connected to the other side mold of the secondary structure template 16;

[0038] 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 transport mold first inner plate 4 and the transport mold second 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;

[0039] An attached vibrator is installed on the secondary structure template 16.

[0040] It should be noted that by cooperating the moving formwork robot and multiple fixed formwork robots, all the formworks required for the secondary structure steel reinforcement cage are installed, the secondary structure is constructed at one time, and then all the formworks 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 moving formwork robot and the fixed formwork robot are automatically realized, avoiding manual operation. The moving formwork 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, with small volume, flexible operation and high efficiency.

[0041] In this embodiment, the moving formwork robot 18 is located below the fixed formwork robot 14.

[0042] It should be noted that the synchronous movement of the moving formwork robot 18 and the fixed formwork robot 14 can improve the load-carrying capacity of the robot.

[0043] In this embodiment, the limiting member 17 is an arc-shaped limiting member with an opening facing downwards.

[0044] In this embodiment, 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.

[0045] In this embodiment, the thread directions at both ends of the first screw rod 11 are opposite.

[0046] During actual use, it includes the following steps:

[0047] Step 1: Fix the secondary structure steel reinforcement cage;

[0048] Step 2: Using the cooperation of the moving formwork robot 18 and multiple fixed formwork robots 14, install multiple secondary structure formworks 16 from top to bottom in sequence. Among them, the 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 formwork robot 14;

[0049] Step 3: Construct the secondary structure at one time: Pour concrete into the multiple secondary structure formworks 16 from the top of the topmost secondary structure formwork 16, and use the attached vibrator to vibrate the concrete evenly. After the concrete reaches the preset strength, the secondary structure construction is completed at one time;

[0050] Step 4: Using the cooperation of the moving formwork robot 18 and multiple fixed formwork robots 14, remove the multiple secondary structure formworks 16 from bottom to top in sequence. Among them, when removing a secondary structure formwork 16, a corresponding fixed formwork robot 14 is removed at the same time, and finally the moving formwork robot 18 is removed.

[0051] In this embodiment, the implementation process of Step 2 is as follows:

[0052] 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;

[0053] Step 202: Install a fixed formwork robot 14 carrying the secondary structure formwork 16 above the formwork transporting robot 18. A first screw rod 11 in the formwork transporting robot 18 abuts against the limiting member 17 on the secondary structure formwork 16;

[0054] 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 from bottom to top. 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 from bottom to top 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 the fixed formwork motor 30 forward to clamp the primary structure 23. At this time, the secondary structure formwork 16 is closely attached to the primary structure 23;

[0055] Step 204: Install the next fixed formwork robot 14 carrying the secondary structure formwork 16 above the formwork transporting robot 18. A first screw rod 11 in the formwork transporting robot 18 abuts against the limiting member 17 on the secondary structure formwork 16;

[0056] 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 from bottom to top. 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 from bottom to top 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 the fixed formwork motor 30 forward to clamp the primary structure 23. At this time, the current secondary structure formwork 16 is closely attached to the primary structure 23;

[0057] Step 206: Repeat steps 204 to 205 multiple times until all the secondary structure formworks 16 of the secondary structure steel reinforcement cage are installed.

[0058] In this embodiment, the implementation process of step four is as follows:

[0059] 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;

[0060] Step 402: The mold clamping robot 14 corresponding to the secondary structure formwork 16 at the lowest position reverses the mold clamping motor 30 to loosen the mold clamping robot 14, and removes the secondary structure formwork 16 at the lowest position and the corresponding mold clamping robot 14.

[0061] 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.

[0062] Step 404: The mold clamping robot 14 corresponding to the secondary structure formwork 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 formwork 16 at the lowest position in the current state and the corresponding mold clamping robot 14.

[0063] Step 405: Repeat steps 403 to 404 multiple times until all the secondary structure formworks 16 of the secondary structure steel cage are removed, and finally remove the mold transporting robot 18.

[0064] In this embodiment, 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 around the primary structure 23 by controlling the mold transporting motor 8, and the mold transporting robot 18 works after it is stable.

[0065] The above are only the preferred embodiments of the present invention, and do 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 one-time construction formwork robot system for secondary structures, characterized in that: It includes a mold-carrying robot (18) and a plurality of fixed mold robots (14) all cooperating with the mold-carrying robot (18); The mold-carrying robot (18) includes a plurality of mold-carrying attachment members circumferentially arranged on the outer side of the primary structure (23). Two adjacent mold-carrying attachment members are connected by a first screw (11). The mold-carrying attachment member includes a mold-carrying clamping plate (1) that fits with the outer surface of the primary structure (23). The mold-carrying clamping plate (1) is an angle plate structure composed of two mold-carrying support plates. On the outer sides of the two mold-carrying support plates of the mold-carrying clamping plate (1), there are a mold-carrying first mounting plate (2) and a mold-carrying second mounting plate (3). On the side of the mold-carrying first mounting plate (2) facing the corresponding mold-carrying support plate, there are a mold-carrying first inner plate (4) and a mold-carrying first outer plate (6). On the outer side of the mold-carrying first outer plate (6), a mold-carrying motor (8) is installed. On the output shaft of the mold-carrying motor (8), a driving gear (9) is installed. On the first screw (11), there is a driven gear (10) meshing with the driving gear (9). On the side of the mold-carrying second mounting plate (3) facing the corresponding mold-carrying support plate, there are a mold-carrying second inner plate (5) and a mold-carrying second outer plate (7). On the sides of the mold-carrying first inner plate (4) and the mold-carrying second inner plate (5) facing the primary structure (23), first electric spring driving wheels (13) in contact with the outer surface of the primary structure (23) are installed. On the sides of the mold-carrying first mounting plate (2) and the mold-carrying second mounting plate (3) away from the corresponding mold-carrying support plates, locking nuts (12) cooperating with the first screw (11) are fixed. One end of the first screw (11) is in threaded cooperation with the locking nut (12) outside the mold-carrying first mounting plate (2) of one of the two adjacent mold-carrying attachment members, and the other end of the first screw (11) is in threaded cooperation with the locking nut (12) outside the mold-carrying second mounting plate (3) of the other of the two adjacent mold-carrying attachment members; 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 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) far from the corresponding fixed mold support plates, there are both driven bevel gears (29) that cooperate with the second screw rod (32). One end of the second screw rod (32) is in threaded cooperation 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 in threaded cooperation 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 sides of the first fixed mold mounting plate (25) and the second fixed mold mounting plate (26) far 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; 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) far 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) far 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) far 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).

2. The one-time construction template robot system for secondary structures according to claim 1, characterized in that: The moving mold robot (18) is located below the fixed mold robot (14).

3. A secondary structure one-time construction formwork robot system according to claim 1, characterized in that: The limiting member (17) is an arc-shaped limiting member with an opening facing downwards.

4. A secondary structure one-time construction template robot system according to claim 1, characterized in that: 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) connected in sequence.

5. A secondary structure one-time construction formwork robot system according to claim 1, characterized in that: The thread directions of the threads at both ends of the first screw rod (11) are opposite.

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