Wall formwork assisted installation robot

Abstract

The present invention discloses an auxiliary installation robot for wall formwork, which guides the installation of the wall formwork through a pair of brackets and plug-in grooves, and the walking wheel group limits the entire device to move only along the extension direction of the wall without offsetting in the thickness direction of the wall, thereby ensuring the accuracy of guiding the installation of the wall formwork, the base structures on both sides are symmetrically arranged, and the upper ends are flexibly connected as one through a portal frame, and the supporting cylinders arranged on the portal frame control the lower pressure cover of the support member to be inserted into the top of the wall formwork, thereby temporarily fixing the wall formwork and realizing auxiliary installation of the wall formwork, after the wall formwork is completely anchored and supported to the construction site, the supporting member is recovered by the supporting cylinder, and the supporting bracket is recovered by the pushing cylinder, and the walking wheel group is synchronously moved forward to reach the next guiding point, which significantly improves the efficiency and accuracy of the lifting and installation of the wall formwork, and the position and spacing of the limit supports can be adjusted according to the size and spacing of the wall formwork, with high flexibility and a wide range of adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of building manufacturing, and more particularly to a wall formwork auxiliary installation robot. Background Art

[0002] In the existing technology, the wall construction of low floors is mainly carried out by tying the wall reinforcement, then arranging wall formwork on both sides of the wall reinforcement, closing a section of the wall formwork into a ring in the horizontal direction, forming a pouring space for the wall, and then pouring concrete. With the development of technology, assembled wall formwork is more often used for construction. The assembled wall formwork can be prefabricated in advance to improve the efficiency of wall construction. However, the wall formwork currently relies mainly on lifting equipment to move and manual assistance to adjust the position. The entire lifting efficiency is low, the labor required is high, and there are major safety hazards. Summary of the Invention

[0003] An object of the present invention is to solve at least the above problems and to provide at least the advantages which will be described hereinafter.

[0004] Another object of the present invention is to provide a wall formwork auxiliary installation robot to solve the technical problem of low efficiency in wall formwork installation in the prior art.

[0005] In order to achieve these purposes and other advantages of the present invention, a wall formwork auxiliary installation robot is provided, including a pair of bases arranged at intervals, the length direction of the bases is arranged along the horizontal extension direction of the wall, and the installation area of ​​the wall formwork arranged opposite to each other is left between the pair of bases, and a walking wheel group is provided at the bottom of the base along the length direction. The upper surface of the base is symmetrically provided with a formwork system at both ends in the length direction. The formwork system includes a bracket arranged on a side close to the installation area and a pushing cylinder on the side facing away from the installation area. The bottom of the bracket is slidably connected to the upper surface of the base, and the bracket is provided with a vertical plate at the end facing the installation area, and abutment grooves are provided on the vertical plate along the vertical intervals. The abutment grooves are used to slide with the vertical ribs on the back of the wall formwork. The pushing cylinder is connected to the base by setting a fixed seat, and the telescopic direction of the pushing cylinder is set toward the installation area and the telescopic end is connected to the bracket. The top ends of the two brackets are commonly connected to a portal frame, and the portal frame includes a pair of The top end of the supporting cam is fixedly provided with a toothed connecting strip which is cooperatively connected with the toothed connecting strip, and the toothed connecting strip is connected with the toothed connecting strip on the toothed connecting strip.

[0006] Preferably, a gantry crane is provided on the base, and the gantry crane is used to lift and move the wall template to a designated position in the installation area.

[0007] Preferably, the gantry crane includes a gantry frame and a mobile overhead crane, the gantry frame includes a top frame and a pair of side frames downwardly connected to both ends of the top frame, in the length direction of the base, a pair of side frames are arranged on the outside of a pair of formwork systems, a sliding track is provided on the top frame, the mobile overhead crane is slidably connected to the sliding track, and an electric hoist is provided at the bottom of the mobile overhead crane for connecting the wall formwork to be hoisted.

[0008] Preferably, a jack is symmetrically arranged downward at the bottom of the base, and a friction plate is arranged at the bottom of the jack.

[0009] Preferably, it further includes a pair of limiting side rails arranged on the ground, and the walking wheel group located in the length direction of the same base is arranged inside a pair of limiting side rails and moves along the extension direction of the limiting side rails.

[0010] Preferably, an electric control cabinet, a control terminal and a display screen that are electrically connected to each other are provided on the base, an infrared rangefinder is provided on the vertical plates of a pair of the brackets, the control terminal is respectively communicated with the pushing cylinder, the telescopic cylinder, the supporting cylinder and the infrared rangefinder, and the electric control cabinet is respectively electrically connected with the pushing cylinder, the telescopic cylinder and the supporting cylinder.

[0011] The present invention has at least the following beneficial effects: the wall formwork auxiliary installation robot of the present invention is provided with a pair of brackets and insertion grooves for guiding the installation of the wall formwork. The provided walking wheel group limits the entire device to move only along the extension direction of the wall without offsetting in the wall thickness direction, thereby ensuring the accuracy of guiding the installation of the wall formwork. The base structures on both sides are symmetrically arranged, and the upper ends are flexibly connected to form a whole through a portal frame. The portal frame can rotate around a vertical plane to change its position state. The supporting cylinder provided on the portal frame controls the downward movement of the support member, so that the support member cover is inserted into the top of the wall formwork and exerts a certain downward pressure, thereby temporarily fixing the wall formwork and realizing the auxiliary lifting operation of the wall formwork. After the wall formwork is completely anchored and supported to the construction site, the supporting member is recovered by the supporting cylinder, and the supporting member is recovered by the pushing cylinder. The walking wheel group moves forward synchronously to reach the next guiding point. The wall formwork auxiliary installation robot of the present invention significantly improves the efficiency and accuracy of the wall formwork lifting and installation, and can adjust the position and support spacing of the limit support according to the size and spacing of the wall formwork. It has high flexibility and a wide range of adaptability.

[0012] Other advantages, objectives and features of the present invention will be reflected in part from the following description and will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a main structural diagram of the present invention arranged on both sides of the wall template;

[0014] Figure 2 This is a main structural diagram of an embodiment of the present invention provided with a gantry crane;

[0015] Figure 3 for Figure 2 Side view of the structure;

[0016] Figure markings in the specification: 1. base, 2. walking wheel group, 3. bracket, 4. pushing cylinder, 5. vertical plate, 6. abutment groove, 7. fixed seat, 8. portal frame, 9. vertical pole, 10. sleeve rod, 11. rotating motor, 12. telescopic cylinder, 13. sleeve ring, 14. supporting cylinder, 15. support, 16. slot, 17. gantry crane, 18. side frame, 19. top frame, 20. mobile overhead crane, 21. jack, 22. limit side rail, 23. electric control cabinet, 24. infrared rangefinder, 100. wall template. DETAILED DESCRIPTION

[0017] The present invention will be described in further detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0018] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials are commercially available unless otherwise specified; in the description of the present invention, the terms "horizontal", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0019] like Figure 1-3As shown, the present invention provides a wall formwork auxiliary installation robot, comprising a pair of bases 1 arranged at intervals, the length direction of the base 1 is arranged along the horizontal extension direction of the wall, and an installation area of ​​the wall formwork 100 arranged opposite to each other is left between the pair of bases 1, the bottom of the base 1 is provided with a walking wheel group 2 along the length direction, and the upper surface of the base 1 is symmetrically provided with a formwork system at both ends in the length direction, the formwork system comprises a bracket 3 arranged on the side close to the installation area and a pushing oil cylinder 4 on the side facing away from the installation area, the bottom of the bracket 3 is slidably connected to the upper surface of the base 1, the bracket 3 is provided with a vertical plate 5 at one end facing the installation area, and abutment grooves 6 are arranged on the vertical plate 5 at vertical intervals, and the abutment grooves 6 are used to be slidably connected to the vertical ribs on the back of the wall formwork 100, the pushing oil cylinder 4 is connected to the base 1 by providing a fixing seat 7, the telescopic direction of the pushing oil cylinder 4 is set toward the installation area and the telescopic end is connected to the bracket 3, and the top ends of the two brackets 3 are commonly connected to a portal frame 8, which comprises a pair of parallel vertical poles 9 and a sleeve rod 1 arranged perpendicular to the vertical pole 9 0, the lower end of each vertical rod 9 is hinged to the upper end of the bracket 3 on one side so as to rotate around the bracket 3 in the vertical plane. A rotating motor 11 is provided at the upper end of the bracket 3 on one side. The output end of the rotating motor 11 is fixedly connected to the hinge shaft at the lower end of the vertical rod 9 on the corresponding side and is used to drive the vertical rod 9 to rotate. A sleeve hole is provided at the upper end of the vertical rod 9 on the side where the rotating motor 11 is provided. One end of the sleeve rod 10 is inserted into the sleeve hole and is slidably connected to the sleeve hole, and the other end is fixedly connected to the upper end of the vertical rod 9 on the corresponding side. The top of the vertical rod 9 with the sleeve hole is rotated along the sleeve rod. 10 is connected with a telescopic cylinder 12 in the length direction, and a ring 13 is slidingly connected on the sleeve rod 10. The telescopic end of the telescopic cylinder 12 is fixedly connected to the ring 13, and the lower end of the ring 13 is fixed with a supporting cylinder 14 downward along the length direction of the vertical pole 9. The telescopic end of the supporting cylinder 14 is connected with a support member 15. The bottom of the support member 15 corresponds to the wall template 100 set opposite to each other and is symmetrically provided with two slots 16 that pass through along the length direction of the base 1. The slot 16 is used to be plugged into the top of the wall template 100 on the corresponding side.

[0020] The wall formwork 100 auxiliary installation robot of the present invention is mainly suitable for the installation of assembled wall formwork 100. The back of the wall formwork 100 is provided with multiple vertical ribs, and horizontal ribs are provided at the upper and lower ends of the back to improve the structural strength of the wall formwork 100 itself. The position and size of the abutment groove 6 are set according to the back of the wall and the vertical ribs to adapt to the structure of the wall formwork 100. Of course, through the setting of the pushing cylinder 4, the bracket 3 and the abutment groove 6 of this scheme, the position and size can be adjusted according to the different structural forms of the back of the wall formwork 100. After the wall reinforcement is tied, the wall formwork 100 is hoisted to both sides of the wall reinforcement. The wall formwork 100 of a section of the wall is continuously spliced. For the convenience of explanation, Figure 1The front-to-back direction shown is the length direction of the base 1, and the left-right horizontal direction is the direction toward the installation area. Each pair of brackets 3 on a pair of bases 1 is used to abut against the back of the left and right wall templates 100 respectively. The abutment grooves 6 are used to limit and guide the vertical ribs or other vertical protruding structures located on the outside of the wall template 100 near the edge, thereby realizing vertical guidance of the wall template 100. Before preparing to erect the wall template 100, the base 1 of the device with the bracket 3 installed is placed on the left and right sides of the wall reinforcement to ensure that the moving path of the action wheel group is straight and consistent with the extension direction of the wall. Then, the portal frame 8 is correspondingly hinged and installed with the upper end of the bracket 3. When the portal frame 8 is rotated to a position above the bracket 3, the portal frame 8 and The slot 16 on the portal frame 8 can be located above the wall reinforcement, which is convenient for the base 1 to move along the extension direction of the wall. The horizontal thickness of the slot 16 is set to be smaller than the reinforcement spacing at the corresponding position. According to the preset outer clearance of the wall formwork 100, the telescopic length of a pair of jacking cylinders 4 and the telescopic length of the telescopic cylinder 12 are set to make the spacing between the vertical plates 5 of the two brackets 3 appropriate. The abutment groove 6 on the vertical plate 5 can just abut the outer vertical ribs of the wall formwork 100 when it is in the in-plane installation position, and the support member 15 connected to the telescopic end of the supporting cylinder 14 is located in the middle of the left and right wall formworks 100. When the jacking cylinder 4 is extended and retracted, the telescopic cylinder 12 is driven to extend and retract synchronously. Under the action of the sleeve rod 10 and the sleeve hole, the spacing between the vertical poles 9 on both sides can be controlled.

[0021] A pair of bases 1 are symmetrically arranged on both sides of the wall reinforcement and are moved to the desired position by the walking wheel group 2. The pushing cylinder 4 pushes the bracket 3 to move so that the abutment groove 6 is Figure 1 The front and rear directions are consistent with the protruding structure position of the back of the wall template 100 after installation. At this time, the distance between the abutting grooves 6 on the opposite sides and the wall reinforcement is greater than the thickness of the wall template 100 itself, which is convenient for adjusting the position of the wall template 100. The two door frames 8 are rotated by the rotating motor 11. Figure 1 The left and right sides of the wall template 100 are separated from each other to leave a larger space between the two door frames 8 for lifting the wall template 100 to the installation area. Then the lifting equipment is used to lower and move the wall template 100 in accordance with the position of the installation area. During the lowering and moving process, the wall template 100 is first moved horizontally close until the vertical ribs on the back abut and enter the abutment groove 6. Then the wall template 100 can be lowered vertically to the ground. While lowering it vertically, the pushing cylinder 4 pushes the bracket 3 to cooperate with the lifting equipment to make the wall template 100 Figure 1The gantry 8 is rotated by the rotating motor 11 to make it vertical. The support member 15 under the supporting cylinder 14 is ensured to be located in the middle of the left and right wall formworks 100 by the extension and contraction of the telescopic cylinder 12. The supporting cylinder 14 is then driven to push the supporting member 15 downward until the two slots 16 of the supporting member 15 are just embedded in the top of the two wall formworks 100, thereby completing the auxiliary installation and temporary fixation of the wall formwork 100 at the current position. A fixing member is then set on the back side of the placed wall formwork 100 to fix it to the ground. After that, the supporting cylinder 14 is retracted upward, and the pushing cylinder 4 is synchronously driven to retract and the telescopic cylinder 12 is extended, so that the two opposing brackets 3 move away from each other and the abutment groove 6 leaves the contact with the pre-built wall formwork 100. The walking wheel group 2 drives the entire base 1 to move forward one unit in the direction of wall construction. The above-mentioned actions are repeated until the hoisting of the wall formwork 100 on the continuous straight line is completed.

[0022] The wall formwork 100 auxiliary installation robot of the present invention is provided with a pair of brackets 3 and plug-in grooves for guiding the installation of the wall formwork 100. The travel wheel group 2 is provided to limit the entire device to move only along the extension direction of the wall without offsetting in the thickness direction of the wall, thereby ensuring the accuracy of guiding the installation of the wall formwork 100. The bases 1 on both sides are symmetrically arranged, and the upper ends are flexibly connected as a whole through the portal frame 8. They are synchronously moved through the corresponding travel wheel group 2. The portal frame 8 is rotated to a vertical state after the wall formwork 100 is installed in place, so that the direction of the slot 16 on the support member 15 is consistent with the state direction required for the top of the wall formwork 100, and then the top cylinder 1 is used to support the top of the wall formwork 100. 4 controls the support member 15 to move downward, and the cover is inserted into the top of the wall template 100 with a certain downward pressure, thereby temporarily limiting and fixing the wall template 100, realizing the auxiliary lifting operation of the wall template 100. After the wall template 100 is completely anchored and supported to the construction site, the support member 15 is recovered by the supporting cylinder 14, and the pushing cylinder 4 recovers the bracket 3, and the walking wheel group 2 moves forward synchronously to reach the next guide point. The wall template 100 auxiliary installation robot of the present invention significantly improves the efficiency and accuracy of the lifting and installation of the wall template 100, and can adjust the position and support interval of the limit support according to the size and interval of the wall template 100, with high flexibility and a wide range of adaptability.

[0023] In another technical solution, Figure 1-3 As shown, a gantry crane 17 is mounted on the base 1. The gantry crane 17 is used to lift and move the wall formwork 100 to a designated location within the installation area. By directly mounting the gantry crane 17 on the base 1, the lifting function is integrated, eliminating the need for additional equipment to lift and move the wall formwork 100. This reduces space usage and improves installation efficiency.

[0024] In another technical solution, Figure 2-3 As shown, the gantry crane 17 includes a gantry frame and a mobile crane 20. The gantry frame includes a top frame 19 and a pair of side frames 18 connected downwardly to the ends of the top frame 19. In the longitudinal direction of the base 1, the pair of side frames 18 are arranged on the outside of the pair of formwork systems. The top frame 19 is provided with a sliding track, and the mobile crane 20 is slidably connected to the sliding track. The bottom of the mobile crane 20 is provided with an electric hoist for connecting to the wall form 100 to be hoisted. After the hook is connected to the wall form 100, the mobile crane 20 travels along the sliding track to achieve the purpose of lifting and moving the wall form 100. Multiple mobile cranes 20 can be arranged to move synchronously according to the lifting requirements. The side frames 18 can be arranged in a segmented form connected in sequence to facilitate connection and setting as needed, and flexibly change the height of the gantry.

[0025] In another technical solution, Figure 1-3 As shown, a jack 21 is symmetrically arranged downward at the bottom of the base 1, and a friction plate is arranged at the bottom of the jack 21. By providing the jack 21, it can be extended downward when the base 1 reaches the desired position, so that the height of the entire base 1 can be adjusted as needed, or only the friction surface can be made to contact the ground below the base 1 to prevent the walking wheel set 2 from deflecting.

[0026] In another technical solution, Figure 1 As shown, the base 1 further includes a pair of limiting side rails 22 disposed on the ground. The running wheel assembly 2 located along the same longitudinal direction of the base 1 is disposed inside the pair of limiting side rails 22 and moves along the extension direction of the limiting side rails 22. The limiting side rails 22 are disposed on the left and right sides of the running wheel assembly 2 to limit the path of the running wheel assembly 2, preventing the running wheel assembly 2 from deviating during travel. This helps ensure the accuracy of the movement of the running wheel assembly 2, thereby ensuring the accuracy of the abutment groove 6 in guiding the wall template 100.

[0027] In another technical solution, Figure 3 As shown, the base 1 is provided with an electric control cabinet 23, a control terminal, and a display screen that are electrically connected to each other, and an infrared rangefinder 24 is provided on the vertical plate 5 of a pair of the brackets 3. The control terminal is respectively communicated with the pushing cylinder 4, the telescopic cylinder 12, the supporting cylinder 14, and the infrared rangefinder 24, and the electric control cabinet 23 is respectively electrically connected with the pushing cylinder 4, the telescopic cylinder 12, and the supporting cylinder 14.

[0028] By setting up an electric control cabinet 23, power can be supplied to the pushing cylinder 4, telescopic cylinder 12, designated cylinder, infrared rangefinder 24, display screen and other equipment. Through the set control terminal, intelligent control of the pushing cylinder 4, telescopic cylinder 12 and supporting cylinder 14 can be achieved. The pushing cylinder 4, telescopic cylinder 12, supporting cylinder 14 and infrared rangefinder 24 transmit data to the display screen, so that construction personnel can understand the equipment operation status in real time, and ensure the consistency of the setting of the bracket 3 interval and the position of the support 15 before and after repeated adjustments.

[0029] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A wall formwork auxiliary installation robot, characterized in that: The jacking frame is a pair of bases arranged at intervals, the length direction of the base is arranged along the horizontal extension direction of the wall, and the installation area of ​​the wall formwork arranged opposite to each other is left between the pair of bases. A walking wheel group is provided at the bottom of the base along the length direction, and a formwork system is symmetrically provided at both ends of the upper surface of the base in the length direction. The formwork system includes a bracket arranged on a side close to the installation area and a pushing oil cylinder on the side facing away from the installation area. The bottom of the bracket is slidably connected to the upper surface of the base, and the bracket is provided with a vertical plate at one end facing the installation area, and abutment grooves are provided on the vertical plate along the vertical intervals. The abutment grooves are used for sliding connection with the vertical ribs on the back of the wall formwork, and the pushing oil cylinder is connected to the base by setting a fixed seat. The telescopic direction of the pushing oil cylinder is set toward the installation area and the telescopic end is connected to the bracket. The top ends of the two brackets are commonly connected to a portal frame, and the portal frame includes a pair of parallel vertical poles and a sleeve rod arranged perpendicular to the vertical poles. The lower end of each upright is hinged to the upper end of the bracket on one side so as to rotate around the bracket in a vertical plane. A rotating motor is provided at the upper end of the bracket on one side, and the output end of the rotating motor is fixedly connected to the hinge shaft at the lower end of the upright on the corresponding side for driving the upright to rotate. A sleeve hole is provided at the upper end of the upright on the side where the rotating motor is provided, one end of the sleeve rod is inserted into the sleeve hole and slidably connected with the sleeve hole, and the other end is fixedly connected to the upper end of the upright on the corresponding side. A telescopic oil cylinder is connected to the top of the upright with the sleeve hole along the length direction of the sleeve rod, and a sleeve ring is slidably connected on the sleeve rod, the telescopic end of the telescopic oil cylinder is fixedly connected to the sleeve ring, and a supporting oil cylinder is fixed downwardly fixed at the lower end of the sleeve along the length direction of the upright, and the telescopic end of the supporting oil cylinder is connected to a support member, and the bottom of the support member is symmetrically provided with two slots that pass through along the length direction of the base corresponding to the wall templates arranged opposite to each other, and the slots are used to be plugged into the top of the wall template on the corresponding side.

2. The wall formwork auxiliary installation robot according to claim 1, characterized in that: A gantry crane is provided on the base, and the gantry crane is used to lift and move the wall template to a designated position in the installation area.

3. The wall formwork auxiliary installation robot according to claim 2, characterized in that: The gantry crane includes a gantry frame and a mobile overhead crane. The gantry frame includes a top frame and a pair of side frames downwardly connected to the two ends of the top frame. In the length direction of the base, a pair of side frames are arranged on the outside of a pair of formwork systems. A sliding track is provided on the top frame, and the mobile overhead crane is slidably connected to the sliding track. An electric hoist is provided at the bottom of the mobile overhead crane for connecting the wall formwork to be hoisted.

4. The wall formwork auxiliary installation robot according to claim 1, characterized in that: A jack is symmetrically arranged downward at the bottom of the base, and a friction plate is arranged at the bottom of the jack.

5. The wall formwork auxiliary installation robot according to claim 1, characterized in that: It also includes a pair of limiting side rails arranged on the ground, and the walking wheel group located in the length direction of the same base is arranged on the inner side of a pair of limiting side rails and moves along the extension direction of the limiting side rails.

6. The wall formwork auxiliary installation robot according to claim 1, characterized in that: An electric control cabinet, a control terminal and a display screen that are electrically connected to each other are provided on the base. An infrared rangefinder is provided on the vertical plates of a pair of the brackets. The control terminal is respectively communicated with the pushing cylinder, the telescopic cylinder, the supporting cylinder and the infrared rangefinder, and the electric control cabinet is respectively electrically connected with the pushing cylinder, the telescopic cylinder and the supporting cylinder.

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