A secondary structure formwork robot

Abstract

The present invention discloses a secondary structure formwork robot, which includes a plurality of attachment members and a plurality of screw rods. Connection rings are arranged on the secondary structure formwork and are in penetration fit with the screw rods at corresponding positions. Electric telescopic rods that abut against the primary structure are installed on the sides of the first inner plate and the second inner plate on both sides of the secondary structure formwork facing the primary structure. Formwork knocking mechanisms for knocking the secondary structure formwork are installed on the sides of the first inner plate and the second inner plate on both sides of the secondary structure formwork away from the primary structure. An attached vibrator is installed on the secondary structure formwork. In the present invention, a plurality of attachment members automatically contract and expand, and demoulding is carried out by using the electric telescopic rods and the formwork knocking mechanisms. An electric spring drive wheel with an elastic margin is used to climb up and down along the height direction of the primary structure to realize the rising of the secondary structure formwork, and the degree of automation is high.

Description

Technical Field

[0001] The invention belongs to the technical field of formwork robots, and particularly relates to a secondary structure formwork robot. Background Art

[0002] In the existing construction method of casting the secondary structure 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, an upper hoop and a lower hoop positioning guide rod are adopted, a winch is set on the ground, a fixed pulley is installed outside the steel bar cage limiting plate, and the steel formwork is lifted by the steel wire rope of the winch passing around the fixed pulley. This method occupies a large area and relies on the upper hoop, the lower hoop and the guide rod, and it is difficult to be used in the irregular primary structure. Moreover, each time the formwork is lifted, the components around the formwork need to be manually adjusted, and the operation is troublesome. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a secondary structure formwork robot aiming at the deficiencies in the above-mentioned prior art. The design of the formwork robot is novel and reasonable. The formwork robot is assembled and installed on the primary structure once. The motor is used to drive the driving gear to rotate. The driving gear meshes with the driven gear to adjust the contraction and expansion of multiple attachment members. The electric telescopic rod and the formwork knocking mechanism are used for demoulding. The electric spring driving wheels with elastic allowance are used to climb up and down along the height direction of the primary structure to realize the rise of the secondary structure formwork. It has high automation, small volume, flexible operation, high efficiency and is convenient for popularization and use.

[0004] To solve the above technical problem, the technical solution adopted by the present invention is: a secondary structure formwork robot, characterized in that: it includes a formwork-carrying mechanism that clamps the outside of the primary structure. The formwork-carrying mechanism includes a plurality of attachment members arranged circumferentially along the outside of the primary structure. Two adjacent attachment members are connected by a screw rod. The attachment member includes a clamping plate that fits the outer surface of the primary structure. The clamping plate is an angle plate structure composed of two support plates. On the outer sides of the two support plates of the clamping plate, a first mounting plate and a second mounting plate are provided. On the side of the first mounting plate facing the corresponding support plate, a first inner plate and a first outer plate are provided. A motor is installed on the outer side of the first outer plate. The output shaft of the motor is installed with a driving gear. A driven gear meshing with the driving gear is provided on the screw rod. On the side of the second mounting plate facing the corresponding support plate, a second inner plate and a second outer plate are provided. Electric spring driving wheels abutted against the outer surface of the primary structure are installed on the sides of the first inner plate and the second inner plate facing the primary structure. Locking nuts cooperating with the screw rod are fixed on the sides of the first mounting plate and the second mounting plate away from the corresponding support plates. One end of the screw rod is in threaded cooperation with the locking nut outside the first mounting plate of one of the two adjacent attachment members, and the other end of the screw rod is in threaded cooperation with the locking nut outside the second mounting plate of the other of the two adjacent attachment members;

[0005] A connecting ring that is matched with the screw passing through at the corresponding position is arranged on the secondary structure formwork. Electric telescopic rods that abut against the primary structure are installed on one side of the first inner plate and the second inner plate on both sides of the secondary structure formwork facing the primary structure. Formwork knocking mechanisms for knocking the secondary structure formwork are installed on the sides of the first inner plate and the second inner plate on both sides of the secondary structure formwork away from the primary structure.

[0006] An attached vibrator is installed on the secondary structure formwork.

[0007] For the above-mentioned secondary structure formwork robot, it is characterized in that: the number of formwork carrying mechanisms is multiple, and the multiple formwork carrying mechanisms are arranged in a vertically parallel structure on the outside of the primary structure.

[0008] For the above-mentioned secondary structure formwork robot, 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 that are connected in sequence.

[0009] For the above-mentioned secondary structure formwork robot, it is characterized in that: the helix directions of the threads at both ends of the screw are opposite.

[0010] For the above-mentioned secondary structure formwork robot, it is characterized in that: the included angle between the two support plates of the clamping plate is greater than 0° and less than 180°.

[0011] For the above-mentioned secondary structure formwork robot, it is characterized in that: when the first mounting plate is not perpendicular to the first outer plate, a triangular cushion block is fixed on the outside of the first mounting plate, the locking nut is fixed on the outside of the triangular cushion block, and internal threads matched with the corresponding screw are arranged in the triangular cushion block;

[0012] When the second mounting plate is not perpendicular to the second outer plate, a triangular cushion block is fixed on the outside of the second mounting plate, the locking nut is fixed on the outside of the triangular cushion block, and internal threads matched with the corresponding screw are arranged in the triangular cushion block.

[0013] A secondary structure formwork robot as described above is characterized in that: the primary structure has an internal corner, and an internal corner auxiliary member is fixedly arranged at the position of the internal corner. The internal corner auxiliary member includes two auxiliary flat plates adapted to the internal corner. One end of the auxiliary flat plate away from the internal corner is provided with a track plate perpendicular to the auxiliary flat plate. One end of the track plate away from the auxiliary flat plate and on the side facing the internal corner is provided with a limiting plate perpendicular to the track plate. The formwork mechanism further includes an accessory that cooperates with the internal corner of the primary structure. The accessory is connected to two adjacent attaching members through a screw. The accessory includes a first connecting plate and a second connecting plate connected to each other. One end of the first connecting plate away from the second connecting plate and one end of the second connecting plate away from the first connecting plate respectively extend into the internal corner auxiliary member. Electric spring driving wheels in contact with the track plate are respectively installed at positions of the first connecting plate and the second connecting plate facing the track plate. Locking nuts cooperating with the screw are installed on the sides of the first connecting plate and the second connecting plate facing the internal corner. A motor is installed on the outer side of the second outer plate adjacent to the accessory. A driving gear installed on the output shaft of the motor meshes with a driven gear on the screw.

[0014] The beneficial effects of the present invention are that the formwork robot is assembled and installed on the primary structure once. The motor drives the driving gear to rotate, the driving gear meshes with the driven gear, the contraction and expansion of multiple attaching members are adjusted, the electric telescopic rod and the formwork knocking mechanism are used for demoulding, and the electric spring driving wheels with elastic allowance climb up and down along the height direction of the primary structure to realize the rise of the secondary structure formwork. It has a high degree of automation, a small volume, flexible operation, high efficiency, and is convenient for popularization and use.

[0015] The technical solution of the present invention will be further described in detail below through the drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the use state of the formwork robot when there is no internal corner in the primary structure of the present invention.

[0017] Figure 2 is Figure 1 a perspective view of the formwork robot in

[0018] Figure 3 It is a schematic diagram of the connection relationship between the secondary structure formwork and the formwork robot of the present invention.

[0019] Figure 4 It is a schematic diagram of the use state of the formwork robot when the primary structure has an internal corner in the present invention.

[0020] Figure 5 is Figure 4 a schematic diagram of the use state of the formwork robot at the position of the internal corner in

[0021] Explanation of the reference numerals:

[0022] 1 - Cardboard; 2 - First mounting plate; 3 - Second mounting plate;

[0023] 4 - First inner plate; 5 - Second inner plate; 6 - First outer plate;

[0024] 7 - Second outer plate; 8 - Motor; 9 - Driving gear;

[0025] 10 - Driven gear; 11 - Screw; 12 - Locking nut;

[0026] 13 - Electric spring drive wheel; 14 - Electric telescopic rod; 15 - Electric ball hinge support;

[0027] 16 - Secondary structure formwork; 17 - Connecting ring; 18 - Triangular cushion block;

[0028] 19 - First connecting rod; 20 - Hinge shaft; 21 - Second connecting rod;

[0029] 22 - Hammer; 23 - Primary structure; 24 - Auxiliary flat plate;

[0030] 25 - Track plate; 26 - Limiting plate; 27 - First connecting plate;

[0031] 28 - Second connecting plate. Detailed implementation mode

[0032] As Figures 1 to 5 shown, a secondary structure formwork robot of the present invention includes a formwork - carrying mechanism that clamps around the outside of the primary structure 23. The formwork - carrying mechanism includes a plurality of attachment members arranged circumferentially along the outside of the primary structure 23. Adjacent two attachment members are connected by a screw 11. The attachment member includes a cardboard 1 that fits with the outer surface of the primary structure 23. The cardboard 1 is an angle - plate structure composed of two support plates. On the outer sides of the two support plates of the cardboard 1, there are a first mounting plate 2 and a second mounting plate 3. On the side of the first mounting plate 2 facing the corresponding support plate, there are a first inner plate 4 and a first outer plate 6. An electric motor 8 is installed on the outside of the first outer plate 6. A driving gear 9 is installed on the output shaft of the electric motor 8. A driven gear 10 meshing with the driving gear 9 is arranged on the screw 11. On the side of the second mounting plate 3 facing the corresponding support plate, there are a second inner plate 5 and a second outer plate 7. Electric spring drive wheels 13 that abut against the outer surface of the primary structure 23 are installed on the sides of the first inner plate 4 and the second inner plate 5 facing the primary structure 23. Locking nuts 12 cooperating with the screw 11 are fixed on the sides of the first mounting plate 2 and the second mounting plate 3 away from the corresponding support plates. One end of the screw 11 is in threaded cooperation with the locking nut 12 outside the first mounting plate 2 of one of the adjacent two attachment members, and the other end of the screw 11 is in threaded cooperation with the locking nut 12 outside the second mounting plate 3 of the other of the adjacent two attachment members;

[0033] A connecting ring 17 through which the screw rod 11 at the corresponding position is inserted is arranged on the secondary structure formwork 16. Electric telescopic rods 14 abutted against the primary structure 23 are installed on the sides of the first inner plate 4 and the second inner plate 5 on both sides of the secondary structure formwork 16 facing the primary structure 23. Formwork knocking mechanisms for knocking the secondary structure formwork 16 are installed on the sides of the first inner plate 4 and the second inner plate 5 on both sides of the secondary structure formwork 16 away from the primary structure 23.

[0034] An attached vibrator is installed on the secondary structure formwork 16.

[0035] It should be noted that the formwork robot is assembled and installed on the primary structure at one time. The motor drives the driving gear to rotate. The driving gear meshes with the driven gear to adjust the contraction and expansion of multiple attachment parts. The electric telescopic rod and the formwork knocking mechanism are used for demoulding. The electric spring driving wheel with elastic allowance is used to climb up and down along the height direction of the primary structure to realize the rise of the secondary structure formwork. It has high automation, small volume, flexible operation and high efficiency.

[0036] In this embodiment, the number of formwork carrying mechanisms is multiple, and the multiple formwork carrying mechanisms are arranged in a vertically parallel structure on the outer side of the primary structure 23.

[0037] It should be noted that the multiple formwork carrying mechanisms can improve the load-carrying capacity of the formwork robot.

[0038] 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 which are connected in sequence. The hinge structure can expand the knocking range of the knocking hammer 22.

[0039] In this embodiment, the helix directions of the threads at both ends of the screw rod 11 are opposite.

[0040] In this embodiment, the included angle between the two support plates of the clamping plate 1 is greater than 0° and less than 180°, which can meet the construction of the secondary structure on the special-shaped primary structure.

[0041] In this embodiment, when the first mounting plate 2 is not perpendicular to the first outer plate 6, a triangular cushion block 18 is fixed on the outside of the first mounting plate 2, the locking nut 12 is fixed on the outside of the triangular cushion block 18, and an internal thread matched with the corresponding screw rod is arranged in the triangular cushion block 18;

[0042] When the second mounting plate 3 is not perpendicular to the second outer plate 7, a triangular cushion block 18 is fixed on the outside of the second mounting plate 3, the locking nut 12 is fixed on the outside of the triangular cushion block 18, and an internal thread matched with the corresponding screw rod is arranged in the triangular cushion block 18.

[0043] The primary structure 23 has an internal corner, and an internal corner auxiliary member is fixedly arranged at the position of the internal corner. The internal corner auxiliary member includes two auxiliary flat plates 24 adapted to the internal corner. One end of each auxiliary flat plate 24 away from the internal corner is provided with a track plate 25 perpendicular to the auxiliary flat plate 24. One end of the track plate 25 away from the auxiliary flat plate 24 and on the side facing the internal corner is provided with a limiting plate 26 perpendicular to the track plate 25. The formwork mechanism further includes an accessory that cooperates with the internal corner of the primary structure 23. The accessory is connected to two adjacent attaching members through a screw 11. The accessory includes a first connecting plate 27 and a second connecting plate 28 connected to each other. One end of the first connecting plate 27 away from the second connecting plate 28 and one end of the second connecting plate 28 away from the first connecting plate 27 respectively extend into the internal corner auxiliary member. Electric spring drive wheels 13 abutted against the track plate 25 are respectively installed at positions of the first connecting plate 27 and the second connecting plate 28 facing the track plate 25. Locking nuts 12 cooperating with the screw 11 are respectively installed on the sides of the first connecting plate 27 and the second connecting plate 28 facing the internal corner. A motor 8 is installed on the outer side of the second outer plate 7 adjacent to the accessory. A driving gear 9 installed on the output shaft of the motor 8 meshes with a driven gear 10 on the screw 11. The cooperation between the internal corner auxiliary member and the accessory meets the construction of the secondary structure in the special-shaped primary structure with an internal corner.

[0044] In actual use, it includes the following steps:

[0045] Step 1: Fix the reinforcement cage of the secondary structure;

[0046] In actual operation, the reinforcement cage of the secondary structure can be pre-tied to the primary structure, and the tying members are gradually removed as the pouring height at the bottom increases.

[0047] Step 2: Install the secondary structure formwork robot. Among them, the secondary structure formwork 16 is located outside the lower part of the reinforcement cage of the secondary structure;

[0048] Step 3: The motor 8 rotates forward to tighten the secondary structure formwork robot on the primary structure 23. At this time, the electric telescopic rod 14 is in the retracted state, and the secondary structure formwork 16 is in close contact with the primary structure 23;

[0049] Step 4: Construct one section of the secondary structure: Pour concrete into the secondary structure formwork 16 from the top of the secondary structure formwork 16, and use the surface vibrator to vibrate the concrete evenly. After the concrete reaches the preset strength, obtain one section of the secondary structure;

[0050] Step 5: Pre-demold the secondary structure formwork 16: Use the formwork knocking mechanisms on both sides of the secondary structure formwork 16 to knock the secondary structure formwork 16 multiple times to realize the pre-demolding of the secondary structure formwork 16;

[0051] Step Six, Demolding of the Secondary Structure Formwork 16: Control the electric telescopic rods 14 on both sides of the secondary structure formwork 16 to extend, push the secondary structure formwork 16, and at the same time, reverse the motor 8 for demolding. Among them, the pushing distance of the electric telescopic rod 14 is 1 mm to 2 mm, and the distance between the two locking nuts 12 at both ends of the screw 11 increases by 1 mm to 2 mm to ensure the stability of the secondary structure formwork robot on the primary structure 23;

[0052] Step Seven, The secondary structure formwork robot climbs the primary structure once: While the electric telescopic rod 14 retracts, the secondary structure formwork robot uses multiple electric spring drive wheels 13 to climb the outer surface of the primary structure 23 from bottom to top once. The climbing height of the secondary structure formwork robot once is less than the height of the secondary structure formwork 16;

[0053] Step Eight, Repeat Steps Three to Seven multiple times until the secondary structure construction is completed.

[0054] When the primary structure 23 has an internal corner, in Step Seven, while the electric telescopic rod 14 retracts, the attachment in the secondary structure formwork robot uses multiple electric spring drive wheels 13 to climb the outer surface of the primary structure 23 from bottom to top once, and the accessory in the secondary structure formwork robot uses the electric spring drive wheel 13 to climb the inner surface of the track board 25 from bottom to top once. The climbing height of the secondary structure formwork robot once is less than the height of the secondary structure formwork 16.

[0055] The above is only a preferred embodiment of the present invention, and does not impose any limitation on the present invention. Any simple modification, change, and equivalent structural change 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 secondary structure formwork robot, characterized in that: It includes a formwork mechanism clamped outside the primary structure (23). The formwork mechanism includes a plurality of attachment members circumferentially arranged outside the primary structure (23) and all cooperating with the external corners of the primary structure (23). Two adjacent attachment members are connected by a screw rod (11). The attachment member includes a clamping plate (1) cooperating with the outer surface of the primary structure (23). The clamping plate (1) is an angle plate structure composed of two support plates. On the outer sides of the two support plates of the clamping plate (1), a first mounting plate (2) and a second mounting plate (3) are provided. On one side of the first mounting plate (2) facing the corresponding support plate, a first inner plate (4) and a first outer plate (6) are provided. An electric motor (8) is mounted on the outer side of the first outer plate (6). A driving gear (9) is mounted on the output shaft of the electric motor (8). A driven gear (10) meshing with the driving gear (9) is provided on the screw rod (11). On one side of the second mounting plate (3) facing the corresponding support plate, a second inner plate (5) and a second outer plate (7) are provided. Electric spring-driven wheels (13) abutting against the outer surface of the primary structure (23) are mounted on one side of the first inner plate (4) and the second inner plate (5) facing the primary structure (23). Locking nuts (12) cooperating with the screw rod (11) are fixed on the sides of the first mounting plate (2) and the second mounting plate (3) away from the corresponding support plates. One end of the screw rod (11) is in threaded cooperation with the locking nut (12) outside the first mounting plate (2) of one of the two adjacent attachment members, and the other end of the screw rod (11) is in threaded cooperation with the locking nut (12) outside the second mounting plate (3) of the other of the two adjacent attachment members. On the secondary structure formwork (16), a connecting ring (17) through which the screw rod (11) at the corresponding position passes is provided. Electric telescopic rods (14) abutting against the primary structure (23) are mounted on one side of the first inner plate (4) and the second inner plate (5) on both sides of the secondary structure formwork (16) facing the primary structure (23). Formwork knocking mechanisms for knocking the secondary structure formwork (16) are mounted on the sides of the first inner plate (4) and the second inner plate (5) on both sides of the secondary structure formwork (16) away from the primary structure (23). An attached vibrator is mounted on the secondary structure formwork (16).

2. The secondary structure formwork robot according to claim 1, characterized in that: The number of the formwork mechanisms is multiple, and the multiple formwork mechanisms are arranged in a parallel up-and-down structure outside the primary structure (23).

3. A secondary structure formwork robot 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.

4. A secondary structure formwork robot according to claim 1, characterized in that: The thread directions at both ends of the screw rod (11) are opposite.

5. A secondary structure formwork robot according to claim 1, characterized in that: The included angle between the two support plates of the clamping plate (1) is greater than 0° and less than 180°.

6. A secondary structure formwork robot according to claim 1, characterized in that: When the first mounting plate (2) is not perpendicular to the first outer plate (6), a triangular cushion block (18) is fixed on the outside of the first mounting plate (2). The locking nut (12) is fixed on the outside of the triangular cushion block (18), and internal threads cooperating with the corresponding screw rod are provided in the triangular cushion block (18). When the second mounting plate (3) is not perpendicular to the second outer plate (7), a triangular cushion block (18) is fixed on the outside of the second mounting plate (3), a locking nut (12) is fixed on the outside of the triangular cushion block (18), and an internal thread matching the corresponding screw is provided in the triangular cushion block (18).

7. A secondary structure formwork robot according to claim 1, characterized in that: The primary structure (23) has an internal corner, and an internal corner auxiliary member is fixedly arranged at the position of the internal corner. The internal corner auxiliary member includes two auxiliary flat plates (24) adapted to the internal corner. A track plate (25) perpendicular to the auxiliary flat plate (24) is arranged at one end of the auxiliary flat plate (24) away from the internal corner. A limiting plate (26) perpendicular to the track plate (25) is arranged at one end of the track plate (25) away from the auxiliary flat plate (24) and on the side facing the internal corner. The formwork-carrying mechanism further includes an accessory adapted to the internal corner of the primary structure (23). The accessory is connected to two adjacent attaching members through a screw (11). The accessory includes a first connecting plate (27) and a second connecting plate (28) connected to each other. One end of the first connecting plate (27) away from the second connecting plate (28) and one end of the second connecting plate (28) away from the first connecting plate (27) respectively extend into the internal corner auxiliary member. Electric spring-driven wheels (13) abutting against the track plate (25) are respectively installed at positions of the first connecting plate (27) and the second connecting plate (28) facing the track plate (25). Locking nuts (12) matching the screw (11) are installed on the side surfaces of the first connecting plate (27) and the second connecting plate (28) facing the internal corner. A motor (8) is installed on the outside of the second outer plate (7) adjacent to the accessory. A driving gear (9) installed on the output shaft of the motor (8) meshes with a driven gear (10) on the screw (11).

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