A form carriage based on a mechanical arm device around column formwork and a construction method thereof

Abstract

The application discloses a formwork trolley capable of passing around a column formwork and a construction method thereof based on a mechanical arm device, and relates to the field of tunnel construction. The formwork trolley comprises a main framework, a support system, a formwork and a walking system. The main framework comprises a core tube and a mechanical arm device arranged inside the core tube. The support system is used for supporting the main framework and is connected with the walking system. The formwork is installed on the inner wall of the tunnel through the mechanical arm device. The walking system is located at the bottom of the tunnel. The core tube is a cylindrical tube. The mechanical arm device in the core tube is composed of a plurality of bearing seats and mechanical arms. One mechanical arm is connected to each bearing seat. The mechanical arms are telescopic. The bearing seats rotate by 360 degrees to drive the mechanical arms to rotate. The mechanical arms are used for supporting the formwork in any direction and installing the formwork around the lattice column. The technical scheme of the application realizes the partial installation of the tunnel formwork by rotating the mechanical arm device to pass around the lattice column, and additional construction work is not needed due to the obstruction of the lattice column.

Description

Technical Field

[0001] This invention relates to the field of engineering construction, specifically to a formwork trolley based on a robotic arm device capable of constructing formwork around columns and its construction method. Background Technology

[0002] Formwork trolleys are large steel structure formwork systems widely used in tunnel construction for highways, railways, hydropower, and urban railways. Using formwork trolleys not only avoids construction interference and improves construction efficiency, but more importantly, it greatly improves the quality of formwork construction within tunnels and also increases the level of mechanization in tunnel construction.

[0003] Common formwork trolleys are all large steel structure systems, utilizing a large amount of steel to complete tunnel formwork, which is extremely costly. Optimizing the use of steel structure in formwork trolleys can save money. However, large-scale steel structure formwork trolleys are too bulky and not lightweight or simple enough. In large-scale deep foundation pit projects and similar projects such as subway station projects, lattice columns are often arranged in the tunnel to enhance tunnel stability. However, scaffolding projects and conventional formwork trolleys cannot install formwork in one go due to the obstruction of the lattice columns, resulting in long construction cycles and high costs. Summary of the Invention

[0004] Purpose of the invention: The purpose of this invention is to provide a template trolley based on a robotic arm device that can be used for column-mounted formwork and its construction method, so as to realize the one-time installation of templates around lattice columns, and the installation process is simple.

[0005] Technical Solution: The present invention provides a template trolley for column-mounted formwork based on a robotic arm device, comprising a main frame, a support system, templates, and a walking system. The main frame includes a core tube and a robotic arm device disposed inside the core tube. The support system supports the main frame and is connected to the walking system. The templates are installed on the inner wall of the tunnel via the robotic arm device, and the walking system is located at the bottom of the tunnel. The core tube is a cylindrical tube, and the robotic arm device inside the core tube consists of several bearing seats and robotic arms. Each bearing seat is connected to a robotic arm, which is telescopic. The bearing seats can rotate 360° to drive the robotic arms to rotate. The robotic arms are used to support templates in any direction during template installation and to install templates around lattice columns.

[0006] The support system includes a main support truss, vertical support rods, and connecting rods. The two ends of the main support truss are connected to the walking system located below the main support truss through connecting rods. A pair of vertical support rods are installed above the main support truss to support the core tube.

[0007] The length of the main support truss is equal to the track gauge of the template trolley.

[0008] The process for determining the track gauge of the template trolley is as follows:

[0009] Let the total weight of the core tube be G1, the diameter of the tube be D, the distance from the core tube to the tires at both ends be a, the track gauge of the template trolley be D+2a, the bending section modulus of the main support truss be W1, and the allowable bending stress be [σ].

[0010] Without the formwork installed, the vertical support rods, main support truss, and two connecting members are equivalent to a simply supported beam subjected to two concentrated loads. At this point, the maximum bending moment The maximum bending normal stress σ on the main support truss is then...

[0011]

[0012] When installing the furthest template, the trolley's stability is at its worst. Let the straight-line distance from the core tube center to the template center be L, the template weight be G2, the weight of the extended robotic arm be G3, and the bending moment on the core tube be... The vertical support rod, the main support truss, and the two connecting members are equivalent to two concentrated loads. and bending moments at two sections At this time, the maximum bending moment is

[0013]

[0014] a≤A

[0015] The range of values ​​for a is 0 ≤ a ≤ A, where A is determined by... Substituting the data, we obtain the value of A in the practical problem.

[0016] Therefore, the template trolley track gauge L 轨 The range of values ​​for should be: D≤L 轨 ≤D+2A.

[0017] The process for determining the cross-sectional area of ​​the vertical support rod is as follows:

[0018] Let the cross-sectional area of ​​the vertical support rod be S, and the pressure on one vertical support rod be... The allowable bending stress is [σ]. Based on the stability condition, it is set...

[0019]

[0020] In the formula, G1 represents the total weight of the core tube, and G2 represents the weight of the template.

[0021] This invention also includes a construction method for a formwork trolley based on a robotic arm device capable of constructing formwork around a column. This construction method, applied to the aforementioned formwork trolley based on a robotic arm device capable of constructing formwork around a column, includes the following steps:

[0022] When installing side molds, top molds, and corner molds, the required number of robotic arms in the robotic arm device and the included angle between the two robotic arms when installing each mold are determined based on the mold size and the distance from the robotic arm device to each mold. When installing the right end mold of the lattice column, the mold trolley stops when the distance from the lattice column is the core tube diameter D, and the robotic arm device inside the core tube rotates by an angle θ in the vertical plane so that the mold avoids the lattice column to complete the installation of the side mold.

[0023] The process of determining the included angle between the two robotic arms when installing each template is as follows:

[0024]

[0025] In the formula, l1 and l2 are the lengths of the robotic arms at both ends of the template, which are obtained by the Pythagorean theorem; B represents the template length; θ represents the angle between two adjacent robotic arms.

[0026] When installing the top formwork, it is necessary to calculate the maximum allowable deflection [ω] of the formwork during installation, and determine the formwork length B based on the maximum allowable deflection [ω].

[0027] When installing the top formwork, it is necessary to calculate the maximum allowable deflection [ω] of the formwork during installation, and determine the formwork length B based on the maximum allowable deflection [ω]. Specifically, this includes the following:

[0028] Assume the maximum allowable deflection of the formwork during installation is [ω]. Considering only the vertical support of the formwork by the robotic arm, the load on the formwork itself and its upper part is approximately q (N / m), the formwork length is B, and the bending stiffness is EI. This structure is approximately a simply supported beam under a uniformly distributed load, with the deflection at the center of the formwork being...

[0029] When using small-sized templates to install the top formwork, multiple templates serve as transitional top formwork.

[0030]

[0031] Therefore, the template length B only needs to be

[0032] When installing the top formwork using large-size templates, an additional robotic arm is added between two adjacent robotic arms.

[0033]

[0034] In the formula, l1 and l2 represent the lengths of the robotic arm; a1 and a2 are the distances from the center of the robotic arm device to both ends of the template; and H represents the vertical distance from the center of the robotic arm device to the template.

[0035] When installing the right end formwork of the lattice column, the formwork trolley stops at a distance D from the lattice column. The robotic arm device inside the core tube rotates by an angle θ in the vertical plane to ensure the formwork avoids the lattice column and completes the installation of the side formwork. The specific calculation is as follows:

[0036] Let l be the distance from the end of the lattice column near the central partition wall to the central partition wall, L be the distance from the center of the robotic arm device to the central partition wall, c be the side length of the lattice column, and B be the side template length; during the installation process, when the template is near the end of the lattice column near the central partition wall, the distance from the center of the robotic arm device to the center of the template is d, and when the template is installed on the central partition wall, the distance from the center of the robotic arm device to the center of the template is D, where D is the distance between the trolley and the lattice column at this time;

[0037] According to the similarity of triangles, have to To allow the formwork to bypass the lattice columns, it is necessary to make D should be greater than at this time Right now

[0038] Beneficial effects: Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0039] (1) In this scheme, the installation of the tunnel formwork is completed by bypassing the lattice column through the rotating robotic arm device, without the need for additional construction work due to the obstruction of the lattice column.

[0040] (2) The template trolley in this scheme has a simple structure and saves steel structure resources; and fully considers the stability problem of the trolley structure caused by the eccentric load generated during template installation, and designs the common square main structure as a circular core tube, which is more conducive to template installation.

[0041] (3) Based on the tunnel size, trolley height and template size, the optimal number of robotic arms and the angle between the robotic arms were determined, thus optimizing the use of steel structure resources. Attached Figure Description

[0042] Figure 1 A schematic diagram of the formwork trolley inside the tunnel;

[0043] Figure 2 This is a simplified side view of the core tube.

[0044] Figure 3 A simplified structural diagram of the core tube and the robotic arm device;

[0045] Figure 4 This is a simplified cylindrical view of the robotic arm device;

[0046] Figure 5 This is a simplified radial view of the robotic arm device;

[0047] Figure 6 A simplified diagram showing the forces acting on the main support truss under concentrated loads and moments when determining the track gauge;

[0048] Figure 7 A schematic diagram for determining the included angle of the robotic arm;

[0049] Figure 8 A simplified diagram illustrating the number of robotic arms required to install the top mold for the small template.

[0050] Figure 9 A simplified diagram illustrating the number of robotic arms required to install the top formwork for a large template.

[0051] Figure 10 A top view of the formwork installed around the lattice column. Detailed Implementation

[0052] The technical solution of the present invention will now be described in detail with reference to specific embodiments and accompanying drawings.

[0053] like Figure 1 As shown, the template trolley of the present invention, which is capable of constructing around a column based on a robotic arm device, includes a main frame, a support system, a template 3, and a walking system 4. The main frame includes a core tube 11 and a robotic arm device 12. The robotic arm device 12 is located inside the core tube 11. The number of robotic arm devices 12 can be determined according to actual needs. In this solution, one robotic arm device 12 is provided, and the robotic arm device 12 is located in the middle of the core tube 11.

[0054] like Figure 2-5 As shown, considering the structural stability issues of the trolley itself and the eccentric load generated during template installation, the core tube 11 is designed as a cylindrical tube. The robotic arm device 12 in the middle of the core tube 11 consists of several bearing seats A14 and robotic arms 13. Each bearing seat A14 is connected to a robotic arm 13. The robotic arm 13 can extend and retract arbitrarily, and the bearing seat can rotate 360° to drive the robotic arm 13 to rotate. The robotic arm 13 is used to support the template 3 in any direction during template installation. The robotic arm device 12 is fixed to the bearing seats B16 on the upper and lower parts of the core tube by support rods 15. Figure 5 In the diagram, the left end represents the area below the core tube, and the right end represents the area above the core tube. Bearing seat B16 can rotate 360° to allow for the installation of template 3 around the lattice column 5. The support system supports the main frame and is connected to the walking system 4. The specific structure of the support system is as follows: The support system includes a main support truss 21, vertical support rods 22, and connecting rods. Both ends of the main support truss 21 are connected to the walking system 4 located below the main support truss 21 via connecting rods. A pair of vertical support rods 22 are installed above the main support truss 21 to support the core tube 11. Template 3 is installed on the tunnel wall via a robotic arm device 12, and the walking system 4 is located at the bottom of the tunnel. The length of the main support truss 21 is equal to the track gauge of the template trolley.

[0055] The track gauge and the cross-sectional area of ​​the vertical support rods are determined by the trolley stability method, as follows:

[0056] (1) Determination of the track gauge of the template trolley

[0057] Let the total weight of the core tube be G1, the diameter of the core tube be D, the distance from the core tube to the tires at both ends be a, the track gauge of the formwork trolley be D+2a, the section modulus of the main support truss be W1, and the allowable bending stress be [σ]. The concentrated load on the main support truss is F (F1 when no formwork is installed, F2 when the farthest formwork is installed), and the concentrated moment on the main support truss is M (M1 when no formwork is installed, M2 when the farthest formwork is installed).

[0058] like Figure 6 As shown.

[0059] 1) Without installing formwork, the vertical support rods, main support truss, and two connecting rods are equivalent to simply supported beams subjected to two concentrated loads. At this point, the maximum bending moment The maximum bending normal stress σ on the main support truss is then...

[0060]

[0061] 2) When installing the furthest template, the trolley's stability is at its worst. Let the straight-line distance from the core tube center to the template center be L, the template weight be G2, the weight of the extended robotic arm be G3, and the bending moment on the core tube be...

[0062] The vertical support rod, the main support truss, and the two connecting members are equivalent to two concentrated loads.

[0063] and bending moments at two sections At this time, the maximum bending moment is

[0064]

[0065] a≤A

[0066] The range of values ​​for a is 0 ≤ a ≤ A, where A is determined by... Substituting the data, we obtain the value of A in the practical problem.

[0067] Therefore, the template trolley track gauge L 轨 The range of values ​​for should be: D≤L 轨 ≤D+2A.

[0068] (2) Determination of the cross-sectional area of ​​the vertical support rod

[0069] Let the cross-sectional area of ​​the vertical support rod be S, and the pressure on one vertical support rod be... The allowable bending stress is [σ]. Based on the stability condition, it is set...

[0070]

[0071] In the formula, G1 represents the total weight of the core tube, and G2 represents the weight of the template.

[0072] This invention also includes a construction method for a formwork trolley based on a robotic arm device capable of constructing formwork around a column. This construction method, applied to such a formwork trolley, includes the following steps:

[0073] S1: When installing the side mold, top mold, and corner mold, the required number of robotic arms in the robotic arm device and the included angle between the two robotic arms when installing each mold are determined based on the mold size and the distance from the robotic arm device to each mold. The specific process is as follows:

[0074] (1) As Figure 7 As shown, the angle between the two robotic arms is determined when installing each template.

[0075]

[0076] In the formula, l1 and l2 are the lengths of the robotic arms at both ends of the template, obtained by the Pythagorean theorem; B is the length of the template; θ is the angle between the two robotic arms; where, a1 and a2 are the horizontal distance (top mold) and vertical distance (side mold) from the center of the robotic arm device to both ends of the template; H is the vertical distance from the center of the robotic arm device to the template.

[0077] (2) Determining the number of robotic arms

[0078] 1) When installing the side mold, since the mold is installed vertically, the mold itself will not deform. Under the condition that the robotic arm is rigid, only two robotic arms are needed to install one mold.

[0079] 2) When installing the top formwork, if only two robotic arms are used and the formwork is too long, a large displacement deformation will occur at the center of the formwork. In this case, it is necessary to calculate the maximum allowable deflection [ω] of the formwork during installation, and determine the formwork length B based on the maximum allowable deflection [ω], as follows:

[0080] Assume the maximum allowable deflection of the formwork during installation is [ω]. Considering only the vertical support of the formwork by the robotic arm, the load on the formwork itself and its upper part is approximately q (N / m), the formwork length is B, and the bending stiffness is EI. This structure is approximately a simply supported beam under a uniformly distributed load, with the deflection at the center of the formwork being...

[0081] ①For example Figure 8 As shown, when using small-sized templates to install the top formwork, multiple templates serve as transitional top formwork. At this time,

[0082]

[0083] Therefore, the template length B only needs to be

[0084] The number of templates required to install the top mold using small templates is determined based on the template length B, and the number of robotic arms is determined based on this number of templates.

[0085] ②For example Figure 9 As shown, when installing the top mold using a large-size template, if the center of the template undergoes significant displacement and deformation, an additional robotic arm is added between the two robotic arms to provide an upward force to the center of the template, thereby reducing the maximum deflection of the template.

[0086] 3) When installing the corner molds, since the template lengths are all relatively small, the installation can be completed by two robotic arms;

[0087] S2: As Figure 10 As shown, when installing the right end formwork of the lattice column, at a distance D from the lattice column, the formwork trolley stops, and the robotic arm device inside the core tube rotates a certain angle θ in the vertical plane, so that the formwork avoids the lattice column to complete the installation of the side formwork. The specific calculations are as follows:

[0088] Let l be the distance from the end of the lattice column near the central partition wall to the central partition wall, L be the distance from the center of the robotic arm device to the central partition wall, c be the side length of the lattice column, and B be the length of the side formwork. During installation, when the formwork is at the end of the lattice column near the central partition wall, the distance from the center of the robotic arm device to the center of the formwork is d. When the formwork is installed on the central partition wall, the distance from the center of the robotic arm device to the center of the formwork is D, where D is the distance between the trolley and the lattice column at this time.

[0089] According to the similarity of triangles, have to To allow the formwork to bypass the lattice columns, it is necessary to make D should be greater than at this time Right now

[0090] Example:

[0091] 1. Determination of track gauge

[0092] Assume the total weight of the core tube is 6.4 kN, the diameter of the core tube is 2 m, the distance from the core tube to the tires at both ends is 'a', the track gauge is D+2a, and the bending section modulus of the main supporting truss is 4×10⁻⁶. 4 mm 3 The allowable bending stress is 160 MPa.

[0093] 1) Without the template installed, the maximum bending moment M is... max =3.2a,

[0094]

[0095] a≤2m

[0096] 2) The trolley's stability is worst when installing the furthest end formwork. Assume the straight-line distance from the core tube center to the formwork center is 5.8m, the formwork weight is 1.6kN, the extended robotic arm weight is 0.4kN, and the bending moment on the core tube is 10.44kN·m. The maximum bending moment at this point is...

[0097]

[0098] 0≤a≤0.9605m

[0099] The value of 'a' ranges from 0 to 0.9605m, and the track gauge of the template trolley should be 2m to L. 轨 ≤3.921m.

[0100] 2. Determination of the cross-sectional area of ​​the vertical support rod

[0101] Let the cross-sectional area of ​​the vertical support rod be S, and the allowable compressive stress be 160 MPa. According to the stability condition,

[0102]

[0103] S≥0.25×10 -4 m 2

[0104] The cross-sectional area of ​​the vertical support rod should not be less than 0.25 × 10⁻⁶. -4 m 2 .

[0105] 3. Assume the tunnel is a 10m×5m box-section tunnel with a bottom chamfer of 0.5m×0.5m and a top chamfer of 1.2m×0.5m.

[0106] 1) When installing the side formwork, since the formwork is installed vertically, the formwork itself will not deform. Under the condition that the robotic arm is rigid, only two robotic arms are needed to install one formwork. Divide the side formwork into two 2m high formworks. At this time, the included angles of the robotic arm device when installing the left formwork should be 23.98° and 26.44° respectively, and the included angles when installing the right formwork should be 18.40° and 19.41° respectively.

[0107] 2) When installing the top formwork, if only two robotic arms are used and the formwork is too long, the center of the formwork will undergo significant displacement and deformation.

[0108] Let the maximum allowable deflection of the template during installation be... Considering only the vertical support of the formwork by the robotic arm, the load on the formwork itself and its upper part is approximately 2 kN·m, the formwork length is B, and the bending stiffness is 1.6 × 10⁻⁶.6 pa, the structure is approximately a simply supported beam subjected to a uniformly distributed load, and the deflection at the center of the formwork is

[0109] ① When using small-sized templates to install the top formwork, multiple templates are used to transition the top formwork.

[0110] The template length B only needs to be B≤0.296m. Assuming the top mold lengths are 2.6m, 2.5m, and 2.5m respectively, and the center distance of the robotic arm device from the top mold is 3m, then the included angles when the robotic arm device installs the top mold should be 35.54°, 43.16°, and 32.50° respectively.

[0111] ② When using large-size templates to install the top formwork, if the template length B ≥ 0.296m, the template center experiences significant displacement and deformation. To mitigate this, an additional robotic arm is added between the two existing robotic arms to provide an upward force to the template center, reducing the maximum deflection. Assuming the top formwork consists of two 3.8m long templates, with the robotic arms at their ends forming angles of 60.44° and 41.96° respectively, another robotic arm is added at the midpoint of the included angle.

[0112] 3) When installing the corner molds, since the template lengths are all relatively small, they can be installed by two robotic arms. The included angles of the robotic arms for the left and right top corner molds are 14.23° and 10.49°, respectively, and the included angles of the robotic arms for the left and right bottom corner molds are 8.62° and 6.12°, respectively.

[0113] 4. When installing the right end formwork of the lattice column, the formwork trolley stops, and the robotic arm device inside the core tube rotates a certain angle θ in the vertical plane to ensure the formwork avoids the lattice column, thus completing the installation of the side formwork. The specific calculations are as follows:

[0114] Assume the distance from the end of the lattice column near the central partition wall to the central partition wall is 1.6m, the distance from the center of the robotic arm device to the central partition wall is 5.8m, the side length of the lattice column is 400mm, and the length of the side formwork is 1m. During installation, when the formwork is at the end of the lattice column near the central partition wall, the distance from the center of the robotic arm device to the center of the formwork is d; when the formwork is installed on the central partition wall, the distance from the center of the robotic arm device to the center of the formwork is D, where D is the distance between the trolley and the lattice column at this time.

[0115] According to the similarity of triangles, have to To allow the formwork to bypass the lattice columns, it is necessary to make D should be greater than Substituting the data, we get D ≥ 2.5375m. Right now Substituting the data, we get θ = 23.63°.

Claims

1. A form carriage based on a mechanical arm device that can be rotated around a column formwork, comprising a main body frame, a support system, a formwork (3) and a walking system (4), characterized in that: The main body frame comprises a core barrel (11) and a mechanical arm device (12) connected inside the core barrel (11), a support system for supporting the main body frame and connected with the walking system (4), and a formwork (3) installed on the inner wall of the tunnel through the mechanical arm device (12), and the walking system (4) is located at the bottom of the tunnel; The core barrel (11) is a cylindrical barrel, and the mechanical arm device (12) is fixed on the upper and lower bearing seats B (16) of the core barrel (11) through support rods (15); the mechanical arm device (12) in the core barrel (11) is composed of a plurality of bearing seats A (14) and mechanical arms (13), one mechanical arm (13) is connected to each bearing seat A (14), the mechanical arm (13) is telescopic, the bearing seat rotates 360° to drive the mechanical arm (13) to rotate, and the mechanical arm (13) is used to support the formwork (3) in any direction when the formwork (3) is installed and to install the formwork (3) around the lattice column (5); The support system comprises a main support girder (21), vertical support rods (22) and connecting rods, the two ends of the main support girder (21) are connected with the walking system (4) located below the main support girder (21) through the connecting rods, and a pair of vertical support rods (22) are arranged above the main support girder (21) to support the core barrel (11); The length of the main support girder (21) is equal to the track gauge of the formwork trolley.

2. The form traveler based on a mechanical arm device according to claim 1, wherein: The track gauge of the formwork trolley is determined as follows: Let the total weight of the core tube be , the tube diameter be , the distance from the core tube to the two ends of the tire be , the track gauge of the formwork trolley be , the bending section modulus coefficient of the main support girder be , and the bending allowable stress be ; When the formwork is not installed, the vertical support rods, the main support truss and the two connecting rods are equivalent to a simply supported beam subjected to two concentrated loads F1 At this time, the maximum bending moment M1 The maximum bending normal stress of the main support truss is ​ ； ； When installing the farthest formwork, the trolley is most unstable. The distance between the center of the core tube and the straight line from the center of the formwork is , the weight of the formwork is , the weight of the extended mechanical arm is , and the bending moment of the core tube is ; The vertical support rod, the main support truss and the two connecting rods are equivalent to two concentrated loads F2= and two cross-sectional bending moments M2= , at which the maximum bending moment is = ； ； ； the range of values of A where A is given by A is obtained by substituting the data into the equation; Therefore, the template trolley gauge The value range should be: .

3. The form traveler of claim 1, wherein: The cross-sectional area of the vertical support rod is determined as follows: Let the cross-sectional area of the vertical support rod be , the pressure on one vertical support rod be , the bending allowable stress be , and the stability condition be set as ； ； In the formula, represents the total weight of the core tube, represents the weight of the formwork.

4. A construction method based on a mechanical arm device that can rotate a formwork platform truck of a column formwork, characterized by, The construction method is applied to the formwork trolley capable of building a form around a column based on the mechanical arm device according to claim 1, and comprises the following steps: When installing side forms, top forms and corner forms, the number of mechanical arms required in the mechanical arm device and the included angle between two mechanical arms when installing each formwork are determined based on the size of the formwork and the distance from the mechanical arm device to each formwork; and When installing the formwork at the right end of the lattice column, the distance from the lattice column is the core tube diameter When the formwork trolley stops, the mechanical arm device in the core tube rotates an angle in the vertical plane to make the formwork avoid the lattice column and complete the installation of the opposite side form.

5. The construction method of claim 4, wherein the mechanical arm device is a robot. The included angle between two mechanical arms when installing each formwork is determined as follows: ； wherein, , are the lengths of the two arms at the ends of the template, respectively, as determined by the Pythagorean theorem; denotes the length of the template; denotes the angle between the two adjacent arms.

6. The construction method of a form traveler of a column formwork based on a mechanical arm device according to claim 4, wherein When installing the top formwork, it is necessary to calculate the maximum allowable deflection of the formwork during installation. And based on the maximum allowable deflection Determine template length .

7. The construction method of a form traveler of a column formwork based on a mechanical arm device according to claim 4, wherein When installing the top die, the maximum allowable deflection of the die plate during installation of the die plate is calculated , and the length of the die plate is determined based on the maximum allowable deflection , and specifically includes the following:​ The maximum allowable deflection of the formwork when installed is , the formwork itself and its upper load are approximated as , the formwork length is , the bending stiffness is , the vertical support rods, the main support truss and the two connecting rods are approximated as simply supported beams under uniform load, and the central deflection of the formwork is ; When small-size formworks are used to install top forms, a plurality of formworks are used as transition top forms, at this time, ； So, template length Just ; When large-size formworks are used to install top forms, an additional mechanical arm is arranged between two adjacent mechanical arms ； ； wherein , represents the length of the robot arm; is the distance from the center of the robot arm device to the ends of the template; represents the perpendicular distance from the center of the robot arm device to the template.

8. The construction method of claim 4, wherein the mechanical arm device is a robot. When installing the formwork at the right end of the lattice column, the distance from the lattice column is When the formwork trolley stops, the core tube mechanical arm device rotates an angle in the vertical plane to make the formwork avoid the lattice column and complete the installation of the opposite side form, which is calculated as follows: The distance from the lattice column to the middle partition wall is , the distance from the center of the mechanical arm device to the middle partition wall is , the side length of the lattice column is , and the length of the side template is ; During installation, the distance between the center of the mechanical arm device and the center of the template is when the template reaches one end of the lattice column near the middle partition wall, and the distance between the center of the mechanical arm device and the center of the template is when the template is installed on the middle partition wall. At this time, the distance between the trolley and the lattice column is According to the similarity of triangles, , we have ; to bypass the lattice columns, must be made obtained should be greater than at this time that is ​

Images