Integrated intelligent tower building machine for industrialized construction of bridge tower

Abstract

The application discloses an integrated intelligent tower building machine for industrialized construction of a bridge tower, which comprises a frame body, an automatic climbing mechanism, a formwork system, a vibrating system, a material distribution system, an opening and closing mechanism, a maintenance system and a formwork automatic cleaning robot; the opening and closing mechanism comprises a tripod, an opening and closing oil cylinder, a pull plate and an opening and closing beam; the tripod is welded below a walkway beam of an outer form support, one end of the opening and closing oil cylinder is hingedly fixed on a vertical rod of the tripod, the other end of the opening and closing oil cylinder is hingedly fixed on the opening and closing beam, the opening and closing beam is hingedly connected with a back bar of an outer formwork, the other end of the opening and closing beam is hingedly connected with the lower end of the vertical rod of the tripod, one end of the pull plate is hingedly connected with the side surface of the walkway beam, and the other end of the pull plate is hingedly connected with a platform beam at the back of the formwork. The application realizes the improvement of the automation and intelligent level of equipment in each process of main tower construction.

Description

Technical Field

[0001] The present invention relates to the field of bridge main tower construction in the civil engineering field, and in particular to a cast-in-place main tower installation and construction equipment. By realizing the automation, standardization and collaborative operation of each main tower construction process, and carrying an integrated online management and monitoring platform, an industrialized construction environment for the cast-in-place construction of the main tower is created, thereby improving the efficiency, quality and management level of the main tower construction. Background Art

[0002] At present, the construction of bridge main towers is mostly carried out using climbing formwork or tower-building cranes. However, the existing equipment has a low level of automation and intelligence in the various processes of main tower construction. The main problems are reflected in the following three aspects: First, the construction of bridge main towers is generally carried out using climbing formwork or tower-building cranes. The main tower formwork is an important component of it. The current formwork is mainly opened and closed by using a tripod to withdraw the formwork or a hanging formwork to open and close it through a horizontal cylinder. In the tripod withdrawing formwork method, the tripod is placed on the frame walkway. When the formwork is open, the tripod occupies most of the construction platform, affecting the convenience of construction. When using a hanging formwork for opening and closing, the top platform is equipped with a horizontal opening and closing cylinder and a hanging beam, and the walkway fluctuates, which is also inconvenient for operation. Furthermore, both the use of tripod formwork removal and hanging formwork opening and closing methods require the flipping of the walkway slab between the frame and the formwork before removing or closing the formwork. The formwork retraction requires on-site cutting, which poses significant construction risks and is labor-intensive. Secondly, the vibration process requires manual inspection and vibration, which creates a complex and harsh environment during the pylon concrete pouring and vibration, posing a high workload for workers. Thirdly, the formwork cleaning and release agent application processes require manual operation. Currently, high-rise concrete bridge pylon construction mostly utilizes hydraulic climbing formwork. After formwork removal, high-altitude operations are required within a confined space to clean the formwork surface and apply release agent to meet the requirements for the next pour. Currently, pylon formwork cleaning and release agent application are primarily performed manually. Given the complex construction environment and the haphazard nature of worker operation, the formwork surface condition cannot be fully guaranteed to meet concrete pouring requirements. Furthermore, due to both objective environmental factors and worker subjective factors, the efficiency of formwork surface quality control cannot be guaranteed, potentially impacting the overall construction progress. Summary of the Invention

[0003] The purpose of the present invention is to solve the deficiencies of the above-mentioned background technology and provide an integrated intelligent tower-building machine for the industrialized construction of bridge towers.

[0004] The technical solution adopted by the present invention to solve this technical problem is: an integrated intelligent tower building machine for industrialized construction of bridge towers, including: a frame, an automatic climbing mechanism, a template system, a vibration system, a material distribution system, an opening and closing mechanism, a maintenance system and an automatic template cleaning robot;

[0005] The opening and closing mechanism includes: a tripod, an opening and closing oil cylinder, a pull plate and an opening and closing beam;

[0006] The tripod is welded to the underside of the walkway beam of the outer formwork support. One end of the opening and closing cylinder is hingedly fixed to the vertical rod of the tripod, and the other end is hinged to the opening and closing beam. The opening and closing beam is hinged to the back rib of the outer formwork, and the other end is hinged to the lower end of the vertical rod of the tripod. One end of the pull plate is hinged to the side of the walkway beam, and the other end is hinged to the platform beam at the back of the formwork. The extension and retraction of the opening and closing cylinder drives the rotation of the opening and closing beam, thereby driving the opening and closing of the outer formwork. As the formwork opens and closes, the platform beam drives the walkway board to flip simultaneously.

[0007] Preferably, the vibration system 22 is located on the inner formwork support 2 of the frame body and is used to vibrate the concrete after the concrete is laid. The vibration system 22 includes a vibrator and a high-definition laser radar recognition system arranged on the inner formwork support 2. Considering the complex and harsh environment during the pouring and vibration of the bridge tower concrete and the high workload of the workers, an intelligent vibration path real-time planning method is proposed. In order to make the vibration path as short as possible, the vibration overlap area as small as possible, and the vibration leakage area as small as possible, a vibration visualization control system is combined.

[0008] The multi-objective intelligent vibration path real-time planning method based on IMAOA of the vibration system includes the following steps:

[0009] Step S1, sub-goal model establishment includes:

[0010] Sub-goal 1 vibration path:

[0011]

[0012] Among them, the nodes are vibration points, the starting vibration point is known by default, and the next vibration point is the vibration point around the previous vibration point; M is the number of all nodes passed by the vibration path, including the starting point and the end point, x i ,y i The horizontal and vertical coordinates represent the number of nodes passed through, and L(i, i+1) represents the Euclidean distance between two nodes;

[0013] Sub-goal 2 assumes that the effective range of the vibrating rod is a circle with a radius of r. The effective ranges of two adjacent vibration points will inevitably overlap. Determining the minimum area of ​​vibration overlap can effectively avoid the occurrence of over-vibration. Among them, A(i, i+1) is the overlapping area of ​​the two vibration areas, θ i is the central angle of the i-th node;

[0014]

[0015] Sub-goal 3: Determine the leakage area f3 = SM*πr 2 , where S is the area of ​​any cross section of the bridge tower;

[0016] Step S2: establishing a multi-objective vibration path planning model, including:

[0017] The quality of the vibration path is judged by judging the "closeness" between the sub-goal value and the ideal value of the sub-goal. The ideal value is the minimum value of each sub-goal.

[0018]

[0019] A multi-objective intelligent vibration path real-time planning model is established through the Manhattan distance calculation formula;

[0020]

[0021] Among them, Y is the total goal of path planning, ω1, ω2, ω3 are weight coefficients, and

[0022] Considering the different impacts of each sub-goal on the overall goal, it is not possible to simply distribute the weights equally. Therefore, the CRITIC weight method is used to calculate the weights, which includes:

[0023] S21. Construct the original data matrix R, which consists of m paths to be evaluated and s sub-goals;

[0024]

[0025] Among them, s∈[1, 2, 3], r ij is the jth sub-goal value of the i-th path to be evaluated;

[0026] S22. Data standardization: To eliminate the impact of data dimension, the path, overlap area, and leakage area are all negative indicators, and the smaller the better. Therefore, the standardization calculation formula is:

[0027]

[0028] S23. Calculate information carrying capacity, including:

[0029] Volatility: in, is the mean of each column;

[0030] Compute the correlation matrix:

[0031] Conflict:

[0032] Information carrying capacity: C j =A j *B j

[0033] S24, determine the weight of each sub-goal,

[0034] Step S3: Improve the intelligent real-time planning of the vibration path using the arithmetic optimization algorithm. The arithmetic optimization algorithm is a new meta-heuristic optimization algorithm proposed in 2021. This algorithm uses mathematical multiplication and division operations to improve the global dispersion of position updates and uses addition and subtraction operations to improve the accuracy of position updates in local areas. It has fast convergence speed and high accuracy. Specifically, it includes:

[0035] S31. The mathematical optimizer acceleration function (MOA) determines the stage selection in the algorithm optimization process. When r1>MOA, global search is performed, and when r1<MOA, local development is performed. The original MOA is linearly growing, resulting in a continuous weakening of global search capabilities. Therefore, the MOA is improved so that it fully performs global thinking in the early stage and performs local search in the later stage, dynamically adjusting the balance between global search and local search, which is closer to the actual process. The improved MOA formula is:

[0036]

[0037] Where r1 is a random number between 0 and 1, t is the number of iterations, Max_iter is the maximum number of iterations, and max and min represent the maximum and minimum values ​​of the corresponding IMOA function, respectively;

[0038] S32, exploration phase, IAOA realizes global search through multiplication and division operations, and its position update formula is:

[0039]

[0040] Among them, r2∈[0,1],X b (t) is the optimal value in the iterative process, δ is the minimum constant to prevent the denominator from being 0, u is the adjustment control parameter, which is 0.5, UB is the upper limit of the optimal value, LB is the lower limit of the optimal value, and δ is the minimum mathematical optimizer probability MOP, which is calculated as follows:

[0041]

[0042] Among them, α is a sensitive parameter with a value of 5;

[0043] S33, Development phase, IAOA realizes local development through addition and subtraction operations, and its position update formula is:

[0044]

[0045] Where r2∈[0,1];

[0046] Step S4, the multi-objective intelligent vibration path real-time planning method based on IAOA, specifically includes the following steps:

[0047] S41, initializing algorithm-related parameters and the optimal path set Q, where Q is used to store the optimal path points;

[0048] S42, determining a fitness function, randomly generating an initial solution and calculating a fitness function value;

[0049] S43, updating the parameter values ​​of IMOA according to Formula 1, so as to achieve dynamic conversion and nonlinear adaptation between the exploration and exploitation phases;

[0050] S44. If r1>IMOA, perform global exploration and update the position according to formula 2; if r1≤IMOA, perform local exploration and update the position according to formula 4;

[0051] S45. Calculate the fitness function value, record the optimal position, and update the optimal path set Q;

[0052] S46, determine whether the end condition is met, if so, end the program, if not, go to step 2;

[0053] S47, weight calculation, output the optimal path set Q, use the CRITIC weight method to calculate the weights of the three sub-goals, and output the final path.

[0054] Preferably, the template automatic cleaning robot comprises: an overall moving mechanism, a cleaning moving mechanism and a cleaning mechanism;

[0055] Overall moving mechanism, used for moving the device;

[0056] The cleaning mechanism includes: a frame; an adsorption module, which is used for adsorbing the template; a cleaning module, which is used for cleaning the template / brushing the release agent; the cleaning module includes a water tank, two groups of spray units and a spray transmission unit; the water tank supplies water to the two groups of spray units, and the two groups of spray units are symmetrically arranged on the frame, and the spray unit located above includes a high-pressure nozzle, a first scraper and a roller brush assembly from top to bottom; the roller brush assembly includes a roller brush and a spray pipe, and the spray pipe is connected to the water tank and the release agent container through a pipeline; the spray transmission unit includes: a synchronous belt, a motor and a tensioning pulley; the roller brushes of the two groups of spray units are driven by a synchronous belt, the motor drives the synchronous belt, and the tension of the synchronous belt is adjusted by the tensioning pulley; a cleaning moving mechanism is installed on the overall moving mechanism, and is used to drive the cleaning mechanism to move in three dimensions.

[0057] Preferably, the overall moving mechanism includes a moving trolley and a supporting device, wherein the supporting device is retractably arranged on the chassis of the moving trolley for supporting the moving trolley;

[0058] The cleaning movement mechanism comprises:

[0059] A screw lifting platform, an X-axis linear module, a Y-axis linear guide module and a connecting piece. The Y-axis linear guide module is arranged on the screw lifting platform. The X-axis linear module is slidably arranged on the Y-axis linear guide module. The connecting piece is connected to the X-axis linear module through a slider. The connecting piece is connected to the cleaning mechanism to drive the cleaning mechanism to move up and down on the template.

[0060] Preferably, the adsorption module includes a front plate, an intermediate plate, a rear plate, a servo, a cam, an electromagnet and a vacuum suction cup; the front plate and the rear plate are connected by an optical axis, the intermediate plate is movably arranged between the front plate and the rear plate by the optical axis, the intermediate plate is installed with an electromagnet, the vacuum suction cup is installed on the front plate, a spring is provided between the front plate and the intermediate plate, the servo is installed on the rear plate, the servo drives the cam to rotate, and controls the intermediate plate to approach or move away from the front plate through the cam; the electromagnet realizes the adsorption and detachment of the front plate by turning on and off the power and the action of the cam; the frame is fixed to the intermediate plate, and the frame is driven to move relative to the template through the intermediate plate.

[0061] Preferably, the frame includes: an outer mold support 1 located outside the bridge tower 3 and an inner mold support 2 located inside the inner cavity of the bridge tower 3;

[0062] The automatic climbing mechanism includes an outer mold climbing system 11 and an inner mold climbing system 21; the outer mold climbing system 11 is fixed to the inner side of the outer mold support 1 and is used to drive the outer mold support 1 to move vertically along the outer side of the bridge tower 3; the inner mold climbing system 21 is movably connected to the outer side of the inner mold support 2 and is used to drive the inner mold support 2 to move vertically along the inner side of the bridge tower 3;

[0063] The curing system 12 is located inside the outer formwork support 1 and is used to maintain the moisture of the poured concrete of the bridge tower 3;

[0064] The template system includes an inner template and an outer template;

[0065] The shielding system 25 is fixed to the top of the inner formwork support 2 and is located directly above the pouring space of the bridge tower 3 .

[0066] The present invention has at least the following beneficial effects:

[0067] 1. The improvement of the opening and closing mechanism has a compact structure and is set under the walkway board, which does not occupy the construction platform space. At the same time, during the opening and closing process of the template, the walkway board is driven to automatically flip synchronously. The simple structure solves the problem of template opening and closing occupying construction space and the complex problem of walkway flipping.

[0068] 2. The use of intelligent vibration path planning method can effectively improve the vibration efficiency, provide the shortest vibration path, and reduce the overlapping area and missed vibration area of ​​vibration.

[0069] 3. The tower construction machine is equipped with an automatic template cleaning robot, which can be used for template surface cleaning and coating processes in narrow spaces such as bridge towers, making construction more convenient.

[0070] 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

[0071] Figure 1 : A schematic structural diagram of the multifunctional integrated intelligent tower-building device of the present invention;

[0072] Figure 2 : Schematic diagram of the opening and closing mechanism of the present invention;

[0073] Figure 3 : Schematic diagram of the mold closing state of the template of the present invention;

[0074] Figure 4 : Schematic diagram of the template in the mold opening state of the present invention;

[0075] Figure 5 : Schematic diagram of vibration overlap of the present invention;

[0076] Figure 6 : Flowchart of the multi-objective intelligent vibration path real-time planning method based on IAOA of the present invention;

[0077] Figure 7 : is a structural schematic diagram of the concrete bridge tower formwork adaptive cleaning robot of the present invention;

[0078] Figure 8 : It is a structural diagram of the cleaning mechanism of the present invention;

[0079] Figure 9 : is a schematic diagram of the transmission unit of the present invention;

[0080] Figure 10 : It is a schematic diagram of the overall moving mechanism and the cleaning moving mechanism of the present invention;

[0081] Figure 11 : is a schematic diagram of the second guide module of the present invention;

[0082] Figure 12 : is a schematic structural diagram of the adsorption module of the present invention;

[0083] Figure 13 : It is a schematic diagram of the fine-tuning module structure of the present invention.

[0084] Among them: 1 - outer mold support; 2 - inner mold support; 21 - inner mold climbing system; 22 - vibrating system; 3 - bridge tower; 4 - placing boom; 13 - opening and closing mechanism; 131 - tripod; 132 - opening and closing cylinder; 133 - pull plate; 134 - opening and closing beam; 14 - automatic template cleaning robot; 141 - overall moving mechanism; 1411 - moving trolley; 1412 - supporting device; 142 - cleaning moving mechanism; 1421 - screw lifting platform Table; 1422 X-axis linear module; 1423 Y-axis linear guide module; 1424 electric cylinder; 1425 guide column; 1426 guide wheel; 1427 limit rail; 143 cleaning mechanism; 1431 frame; 1432 adsorption module; 14321 front plate; 14322 middle plate; 14323 rear plate; 14324 steering gear; 14325 cam; 14326 electromagnet; 14327 vacuum suction cup; 14328 Optical axis; 14329 spring; 1433 cleaning module; 1433a recovery chamber; 1433b1 high-pressure nozzle; 1433b2 first scraper; 1433b3 roller brush; 1433b4 spray pipe; 1434 spray transmission unit; 14341 synchronous belt; 14342 tensioning pulley; 14343 roller; 144 template; 145 fine-tuning module; 1451 upper adjustment module; 14511 first frame; 14512 First guide rail; 14513 first spring adjuster; 14514 first slider; 1452 middle adjustment module; 14521 second frame; 14522 third frame; 14523 spring buffer hinge; 14524 first limiting screw; 14525 second spring adjuster; 1453 lower adjustment module; 14531 fourth frame; 14532 fifth frame; 14533 bearing; 14534 second limiting screw. DETAILED DESCRIPTION

[0085] The present invention is described in detail and completely below with reference to the accompanying drawings. Those skilled in the art will be able to implement the present invention based on this description. Before describing the present invention with reference to the accompanying drawings, it should be noted that the technical solutions and technical features provided in various parts of the present invention, including those described below, may be combined with each other unless they conflict.

[0086] In addition, the embodiments of the present invention described below are generally only part of the embodiments of the present invention, rather than all of the embodiments. Therefore, based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making any creative efforts should fall within the scope of protection of the present invention.

[0087] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The specific implementation process is as follows:

[0088] like Figure 1This embodiment is used for casting the bridge tower 3, and includes an outer formwork support 1 located outside the casting space of the bridge tower 3 and an inner formwork support 2 located inside the casting space of the bridge tower 3. The outer formwork support 1 and the inner formwork support 2 cooperate with each other in construction to complete the casting construction of the bridge tower 3. The main structure of the tower construction machine has been disclosed in the patent application number 201910973857.4, and this application is improved on its basis. Among them, the outer formwork support 1 is provided with an outer formwork climbing system 11, a maintenance system 12, an opening and closing mechanism and a distribution system. The outer formwork climbing system 11 is fixed to the inner side of the outer formwork support 1 for driving the outer formwork support 1 to move vertically along the outer side of the bridge tower 3. The maintenance system 12 is located on the inner side of the outer formwork support 1 for moisturizing and maintaining the concrete of the cast bridge tower 3. The distribution system is located at the top of the outer formwork support 1 for distributing and pouring concrete into the casting space of the bridge tower 3.

[0089] like Figure 2-4 As shown, the opening and closing mechanism 13 comprises a tripod 131, an opening and closing cylinder 132, a pull plate 133, and an opening and closing beam 134. The tripod 131 is welded to the underside of the walkway beam of the outer formwork support. One end of the opening and closing cylinder 132 is hingedly fixed to the vertical rod of the tripod 131, and the other end is hingedly connected to the opening and closing beam 134. The opening and closing beam 134 is hinged to the back rib of the outer formwork, and the other end is hinged to the lower end of the vertical rod of the tripod 131. One end of the pull plate 133 is hinged to the side of the walkway beam, and the other end is hinged to the platform beam at the back of the formwork. The extension and retraction of the opening and closing cylinder 132 drives the rotation of the opening and closing beam 134, thereby driving the opening and closing of the outer formwork. When the formwork opens and closes, the platform beam drives the walkway plate to flip simultaneously.

[0090] This technical solution may also include the following technical details to better achieve the technical effect: Figure 1 As shown, the frame includes: an outer mold support 1 located outside the bridge tower 3 and an inner mold support 2 located inside the inner cavity of the bridge tower 3;

[0091] The automatic climbing mechanism includes an outer mold climbing system 11 and an inner mold climbing system 21; the outer mold climbing system 11 is fixed to the inner side of the outer mold support 1 and is used to drive the outer mold support 1 to move vertically along the outer side of the bridge tower 3; the inner mold climbing system 21 is movably connected to the outer side of the inner mold support 2 and is used to drive the inner mold support 2 to move vertically along the inner side of the bridge tower 3;

[0092] The curing system 12 is located inside the outer formwork support 1 and is used to maintain the moisture of the poured concrete of the bridge tower 3;

[0093] The template system includes an inner template and an outer template;

[0094] The shielding system is fixed to the top of the inner formwork support 2 and is located directly above the pouring space of the bridge tower 3.

[0095] This technical solution can also include the following technical details to better achieve the technical effect: the inner formwork bracket 2 is provided with an inner formwork climbing system 21, a vibration system 22 and a shielding system. The inner formwork climbing system 21 is movably connected to the outer side of the inner formwork bracket 2 to drive the inner formwork bracket 2 to move vertically along the inner side of the bridge tower 3. The vibration system 22 is located on the inner formwork bracket 2 to vibrate the concrete after the laying is completed. The shielding system is fixed at the top of the inner formwork bracket 2 and is located directly above the casting space of the bridge tower 3 to isolate the influence of the climate environment on the casting construction.

[0096] In this embodiment, the vibration system 22 is located on the inner formwork support 2 of the frame body and is used to vibrate the concrete after the concrete is laid. The vibration system 22 includes a vibrator and a high-definition laser radar recognition system arranged on the inner formwork support 2. Considering the complex and harsh environment during the pouring and vibration of the bridge tower concrete and the high workload of the workers, an intelligent vibration path real-time planning method is proposed. In order to make the vibration path as short as possible, the vibration overlap area as small as possible, and the vibration leakage area as small as possible, a vibration visualization control system is combined.

[0097] The multi-objective intelligent vibration path real-time planning method based on IMAOA of the vibration system includes the following steps:

[0098] Step S1, sub-goal model establishment includes:

[0099] Sub-goal 1 vibration path:

[0100]

[0101] Among them, the nodes are vibration points, the starting vibration point is known by default, and the next vibration point is the vibration point around the previous vibration point; M is the number of all nodes passed by the vibration path, including the starting point and the end point, x i ,y i The horizontal and vertical coordinates represent the number of nodes passed through, and L(i, i+1) represents the Euclidean distance between two nodes;

[0102] Sub-goal 2 assumes that the effective range of the vibrator is a circle with a radius of r, such as Figure 5 As shown in the figure, the effective vibration ranges of two adjacent vibration points will inevitably overlap. Determining the minimum area of ​​vibration overlap can effectively avoid the occurrence of over-vibration. Among them, A(i, i+1) is the overlapping area of ​​the two vibration areas, θ i is the central angle of the i-th node;

[0103]

[0104] Sub-goal 3: Determine the leakage area f3 = SM*πR 2 , where S is the area of ​​any cross section of the bridge tower;

[0105] Step S2: establishing a multi-objective vibration path planning model, including:

[0106] The quality of the vibration path is judged by judging the "closeness" between the sub-goal value and the ideal value of the sub-goal. The ideal value is the minimum value of each sub-goal.

[0107]

[0108] A multi-objective intelligent vibration path real-time planning model is established through the Manhattan distance calculation formula;

[0109]

[0110] Among them, Y is the total goal of path planning, ω1, ω2, ω3 are weight coefficients, and

[0111] Considering the different impacts of each sub-goal on the overall goal, it is not possible to simply distribute the weights equally. Therefore, the CRITIC weight method is used to calculate the weights, which includes:

[0112] S21. Construct the original data matrix R, which consists of m paths to be evaluated and s sub-goals;

[0113]

[0114] Among them, s∈[1, 2, 3], r ij is the jth sub-goal value of the i-th path to be evaluated;

[0115] S22. Data standardization: To eliminate the impact of data dimension, the path, overlap area, and leakage area are all negative indicators, and the smaller the better. Therefore, the standardization calculation formula is:

[0116]

[0117] S23. Calculate information carrying capacity, including:

[0118] Volatility: in, is the mean of each column;

[0119] Compute the correlation matrix:

[0120] Conflict:

[0121] Information carrying capacity: C j =A j *B j

[0122] S24, determine the weight of each sub-goal,

[0123] Step S3: Improve the intelligent real-time planning of the vibration path using the arithmetic optimization algorithm. The arithmetic optimization algorithm is a new meta-heuristic optimization algorithm proposed in 2021. This algorithm uses mathematical multiplication and division operations to improve the global dispersion of position updates and uses addition and subtraction operations to improve the accuracy of position updates in local areas. It has fast convergence speed and high accuracy. Specifically, it includes:

[0124] S31. The mathematical optimizer acceleration function (MOA) determines the stage selection in the algorithm optimization process. When r1>MOA, global search is performed, and when r1<MOA, local development is performed. The original MOA is linearly growing, resulting in a continuous weakening of global search capabilities. Therefore, the MOA is improved so that it fully performs global thinking in the early stage and performs local search in the later stage, dynamically adjusting the balance between global search and local search, which is closer to the actual process. The improved MOA formula is:

[0125]

[0126] Where r1 is a random number between 0 and 1, t is the number of iterations, Max_iter is the maximum number of iterations, and max and min represent the maximum and minimum values ​​of the corresponding IMOA function, respectively;

[0127] S32, exploration phase, IAOA realizes global search through multiplication and division operations, and its position update formula is:

[0128]

[0129] Among them, r2∈[0,1],X b (t) is the optimal value in the iterative process, δ is the minimum constant to prevent the denominator from being 0, u is the adjustment control parameter, which is 0.5, UB is the upper limit of the optimal value, LB is the lower limit of the optimal value, and δ is the minimum mathematical optimizer probability MOP, which is calculated as follows:

[0130]

[0131] Among them, α is a sensitive parameter with a value of 5;

[0132] S33, Development phase, IAOA realizes local development through addition and subtraction operations, and its position update formula is:

[0133]

[0134] Where r2∈[0,1];

[0135] Step S4: Figure 6As shown in FIG, the multi-objective intelligent vibration path real-time planning method process based on IAOA specifically includes the following steps:

[0136] S41, initializing algorithm-related parameters and the optimal path set Q, where Q is used to store the optimal path points;

[0137] S42, determining a fitness function, randomly generating an initial solution and calculating a fitness function value;

[0138] S43, updating the parameter values ​​of IMOA according to Formula 1, so as to achieve dynamic conversion and nonlinear adaptation between the exploration and exploitation phases;

[0139] S44. If r1>IMOA, perform global exploration and update the position according to formula 2; if r1≤IMOA, perform local exploration and update the position according to formula 4;

[0140] S45. Calculate the fitness function value, record the optimal position, and update the optimal path set Q;

[0141] S46, determine whether the end condition is met, if so, end the program, if not, go to step 2;

[0142] S47, weight calculation, output the optimal path set Q, use the CRITIC weight method to calculate the weights of the three sub-goals, and output the final path.

[0143] In this embodiment, Figure 7 As shown, the present invention provides a concrete bridge tower formwork adaptive cleaning robot, comprising: an overall moving mechanism 141, a cleaning moving mechanism 142 and a cleaning mechanism 143;

[0144] Overall moving mechanism 141, used for moving the device;

[0145] The cleaning mechanism 143 includes: a frame 1431; an adsorption module 1432, which is used for adsorption of the template 144; a cleaning module 1433, which is used for cleaning / applying a release agent to the template 144; Figure 8 As shown, the cleaning module 1433 includes a water tank, two groups of spray units and a spray transmission unit 1434; the water tank supplies water to the two groups of spray units, and the two groups of spray units are symmetrically arranged on the frame 1431 from top to bottom. The spray unit located on the top includes a high-pressure nozzle 1433b1, a first scraper 1433b2 and a roller brush 1433b3 component from top to bottom, and the spray unit located on the bottom is mirror-symmetrically arranged compared to the upper spray unit structure; the roller brush 1433b3 component includes a roller brush 1433b3 and a spray pipe 1433b4, and the spray pipe 1433b4 is connected to the water tank and the release agent container through a pipeline, and its communication with the water tank or the release agent container is controlled by a valve; as shown Figure 9As shown, the spray transmission unit 1434 includes: a synchronous belt 14341, a motor and a tensioning pulley 14342; due to thermal expansion and contraction, the belt is longer in summer and shorter in winter, and the tightness of the belt is adjusted by adjusting the tightness. The roller brushes 1433b3 of the two groups of spray units are driven by the synchronous belt 14341, and the motor drives the synchronous belt 14341, and the tension of the synchronous belt 14341 is adjusted by the tensioning pulley 14342; the transmission of the synchronous belt 14341 is specifically that one end of the shaft of the roller brush 1433b3 is connected to the roller 14343, and the synchronous belt 14341 drives the roller 14343 to rotate, thereby driving the roller brush 1433b3 to rotate. Cleaning steps: Since the template 144 is dry, the dust on it cannot be brushed clean directly with the roller brush 1433b3. The device first sprays water on the template 144 through the high-pressure nozzle 1433b1, then scrapes the template 144 with the first scraper 1433b2, and then uses the spray pipe 1433b4 and the roller brush 1433b3 to clean the template 144 or apply a release agent to the template 144.

[0146] In a preferred embodiment, the upper and lower groups of roller brushes 1433b3 can be set to different structural forms. The two groups of roller brushes 1433b3 are used for cleaning and applying the release agent, respectively. The roller brush 1433b3 for applying the release agent can be an ordinary brush, while the roller brush 1433b3 used for cleaning can be provided with hard bristles and rubber scrapers at intervals along its circumference, which can achieve a better cleaning effect.

[0147] In addition, the first scraper 1433b2 is installed on the frame 1431 in a structure in which the extension distance of the first scraper 1433b2 can be adjusted, and the first scraper 1433b2 can be retracted when only the release agent is applied.

[0148] The cleaning moving mechanism 142 is installed on the overall moving mechanism 141 and is used to drive the cleaning mechanism 143 to move in three dimensions.

[0149] This technical solution may also include the following technical details to better achieve the technical effect: Figure 10 As shown, the overall mobile mechanism 141 includes a mobile cart 1411 and a support device 1412. The support device 1412 is retractably mounted on the chassis of the mobile cart 1411 to support the mobile cart 1411. Due to the relatively complex working environment, the mobile cart 1411 uses a four-wheel chassis and solid tires for strong environmental adaptability. The support device 1412 is mounted on the four-wheel chassis. During continuous operation, the tires can be used to directly touch the ground. When not in operation, the vehicle can be moved to the side and the support device 1412 can be opened to prevent pressure from concentrating on the tires. When in operation, a counterweight must be added to the other side of the chassis to prevent tipping.

[0150] This technical solution may also include the following technical details to better achieve the technical effect: Figure 10 As shown, the cleaning movement mechanism 142 includes:

[0151] The screw lift platform 1421, the X-axis linear module 1422 (parallel to the length of the template 144), the Y-axis linear guide module 1423 and the connector. The Y-axis linear guide module 1423 is arranged on the screw lift platform 1421, and the X-axis linear module 1422 is slidably arranged on the Y-axis linear guide module 1423. The connector is connected to the X-axis linear module 1422 via a slider. The connector can be an electric cylinder 1424, preferably a multi-stage electric cylinder 1424 to adapt to the height of the template 144. The electric cylinder 1424 is connected to the cleaning mechanism 143 to drive the cleaning mechanism 143 to move up and down on the template 144. Specifically, it includes a pair of Y-axis linear guide modules 1423 symmetrically fixed to the platform of the screw lift platform 1421, and the X-axis linear module 1422 is movably arranged on the pair of Y-axis linear guide modules 1423. The screw lifting platform 1421 is started, and the X-axis linear module 1422 and the Y-axis linear guide module 1423 are moved up and down through the screw transmission. The X-axis linear module 1422 moves in the Y-axis direction through the Y-axis linear guide module 1423, and the X-axis linear module 1422 drives the cleaning mechanism 143 to move in the length direction of the template 144.

[0152] This technical solution may also include the following technical details to better achieve the technical effect: Figure 10 As shown, the structure includes at least one pair of first guide modules symmetrically arranged along the X-direction. The first guide modules include guide posts 1425 and guide wheels 1426. The guide posts 1425 are arranged on one side of the screw lift platform 1421 and fixed to the overall moving mechanism 141. When only one pair of first guide modules is provided, the first guide modules are preferably arranged on the side of the screw lift platform 1421 away from the template 144. A pair of guide wheels 1426 are symmetrically slidably arranged on either side of the guide posts 1425 via a shaft. The ends of the shaft are respectively fixed to the screw lift platform 1421 and the connecting member. To improve the stability of the shaft, the shaft is also fixed to the screw lift platform 1421 via a shaft seat. Because the lifting platform is subject to eccentric loads, a set of guide wheels 1426 is added to apply a certain pressure to enable the lifting platform to rise horizontally.

[0153] This technical solution may also include the following technical details to better achieve the technical effect: Figure 11As shown, it also includes a second guide module, which includes a limit rail 1427 and a guide wheel 1426. The limit rail 1427 is arranged on the side of the X-axis linear module 1422 away from the template 144, and the guide wheel 1426 is installed on the slider of the X-axis linear module 1422 through a wheel seat. The guide wheel 1426 is located below the limit rail 1427 and is arranged to roll with the limit rail 1427. Since the weight of the multi-electromechanical cylinder 1424 and the cleaning mechanism 143 will cause the slider of the X-axis linear module 1422 to be overloaded, the problem of overload is solved by pre-pressing the guide wheel 1426 by the limit rail 1427 of the second guide module.

[0154] This technical solution may also include the following technical details to better achieve the technical effect: Figure 12As shown, the adsorption module 1432 includes a front plate 14321, an intermediate plate 14322, a rear plate 14323, a steering gear 14324, a cam 14325, an electromagnet 14326 and a vacuum suction cup 14327; the front plate 14321 and the rear plate 14323 are connected by an optical axis 14328, the intermediate plate 14322 is movably arranged between the front plate 14321 and the rear plate 14323 through the optical axis 14328, and the intermediate plate 14322 is equipped with an electromagnet Iron 14326, the vacuum suction cup 14327 is installed on the front plate 14321, a spring 14329 is provided between the front plate 14321 and the middle plate 14322, the steering gear 14324 is installed on the rear plate 14323, the steering gear 14324 drives the cam 14325 to rotate, and the middle plate 14322 is controlled to move closer to or away from the front plate 14321 by the cam 14325. When the middle plate 14322 is to return to its position away from the front plate 14321, the spring 14329 is provided. The return of 329 is realized by the elastic force and the rotation of the cam 14325; the electromagnet 14326 realizes the adsorption and detachment of the front plate 14321 by the action of the power on and off and the action of the cam 14325; the frame 1431 is fixed to the middle plate 14322, and the middle plate 14322 drives the frame 1431 to move relative to the template 144; the suction cups arranged vertically and horizontally initially adsorb the template 144 through the suction cups. At this time, the template 144 and the cleaning head are not fully pressed together, and the surface roughness of the template 144 is relatively large. The suction cup is large, and nails on the surface may cause air leakage, affecting the suction head's adsorption of the template 144. In addition, impurities such as concrete remaining on the template 144 cannot be tightly adsorbed by the suction cup alone, resulting in the cleaning roller brush 1433b3 being unable to clean the stubborn stains on the template 144. The middle frame of the suction cup drives the middle plate 14322 to move closer to the suction cup through the cam 14325, and the electromagnet 14326 achieves adsorption when it is not energized, thereby achieving close cleaning of the roller brush 1433b3 and the template 144. Preferably, the adsorption module 1432 is arranged between the upper and lower groups of spray units, and two groups of adsorption modules 1432 are symmetrically arranged on the frame 1431, but the number is not limited to two groups, and the number of adsorption modules 1432 can be adjusted according to the actual situation on site.

[0155] The adsorption and detachment process is as follows: vacuum is drawn through the vacuum suction cup 14327, and the adsorption module 1432 achieves preliminary adsorption and fixation of the template 144, and then the servo 14324 drives the cam 14325 to rotate, and the large side of the cam 14325 pushes the middle plate 14322 toward the front plate 14321. The spring is in a compressed state, and the electromagnet 14326 is controlled to be powered off. The electromagnet 14326 drives the middle plate 14322 to be tightly adsorbed on the front plate 14321, and the middle plate 14322 drives the cleaning head to be pressed against the template 144 to ensure the effect of subsequent cleaning. In this application, the electromagnet 14326 has an adsorption force of 80kg, and the adsorption force is strong, which ensures that the adsorption module 1432 cannot be detached from the template 144. It should be noted that the electromagnet 14326 is not limited to having adsorption force when the power is off, and it can also be set to have adsorption force when it is powered on. When disengagement is required, the cam 14325 is driven to rotate by the servo 14324 so that the small side of the cam 14325 faces the middle plate 14322, and the electromagnet 14326 is energized simultaneously. Under the action of the spring's rebound force, the middle plate 14322 returns to its original position, the cleaning head no longer presses the template 144, and the vacuum pump is turned off, so that the adsorption module 1432 can be disengaged.

[0156] This technical solution may also include the following technical details to better achieve the technical effect: each group of adsorption modules 1432 is provided with multiple suction cups, and the multiple suction cups are divided into multiple groups. The suction cups in the same group of several adsorption modules 1432 are controlled by one vacuum pump, and the suction cups in different groups are controlled by different vacuum pumps. In this embodiment, there are two groups of adsorption modules 1432 and two vacuum pumps. Each group of adsorption modules 1432 is provided with four suction cups, wherein the two suction cups of each adsorption module 1432 are controlled by one of the vacuum pumps, and the remaining two suction cups of each adsorption module 1432 are controlled by the other vacuum pump, forming alternating adsorption. If the suction cups leak due to nails or other obstacles, only the operation of some of the suction cups will be affected, and the remaining suction cups can still work normally, forming two independent systems.

[0157] This technical solution may also include the following technical details to better achieve the technical effect: the connecting member is an electric cylinder 1424, and the cleaning mechanism 143 is connected to the electric cylinder 1424 through a fine-tuning module 145;

[0158] like Figure 13 As shown, the fine-tuning module 145 includes:

[0159] The upper adjustment module 1451 is used to solve the spacing problem between the overall moving mechanism 141 and the template 144. The upper adjustment module 1451 includes a first frame 14511, a first guide rail 14512 and a first spring adjuster 14513; the electric cylinder 1424 is connected to the first frame 14511, and the first guide rail 14512 is preferably a double guide rail. The first frame 14511 is provided with a first guide rail 14512 in a direction perpendicular to the template 144. The first spring adjuster 14513 is connected to the first slider 14514 on the first guide rail 14512. The other end of the first guide rail 14512 is connected to the first spring (not shown in the figure). A frame 14511 is connected and is used to adjust the sliding position of the first slider 14514 on the first slide rail. The structure of the first spring adjuster 14513 includes a fixing plate, a bolt, a limiting sleeve, a pair of nuts, a clip and a second spring. The fixing plate is connected to the first frame 14511, the limiting sleeve is fixed to the fixing plate, the bolt is screwed onto the limiting sleeve, and the bolt limits the clip via a pair of nuts. One end of the second spring is connected to the clip, and the other end is connected to the first slider 14514. The tension of the second spring is adjusted by rotating the bolt, thereby driving the first slider 14514 to move back and forth, thereby adjusting the distance between the cleaning mechanism 143 and the template 144;

[0160] The middle adjustment module 1452 includes a second frame 14521, a third frame 14522, and a spring-loaded buffer hinge 14523. The second frame 14521 is connected to the first slider 14514. The third frame 14522 is disposed below the second frame 14521 and is hingedly connected to the second frame 14521 via bolts. The spring-loaded buffer hinge 14523 is connected to the second frame 14521 and the third frame 14522, respectively. The spring-loaded buffer hinge 14523 is configured to allow the cleaning mechanism 143 to rotate a certain angle in a vertical plane perpendicular to the template 144 to adjust the distance between the cleaning mechanism 143 and the template 144.

[0161] The middle adjustment module 1452 also includes a first limiting screw 14524, which is arranged on one side of the second frame 14521. By adjusting the first limiting screw 14524, the angle at which the spring buffer hinge 14523 drives the cleaning mechanism 143 to rotate is adjusted. When the first limiting screw 14524 and the spring buffer hinge 14523 are in contact with each other, the maximum rotation angle is reached. The middle adjustment module 1452 also includes a second spring adjuster 14525, which has the same structure as the first spring adjuster 1 4513 has the same structure. Second spring adjusters 14525 are provided on both sides of the third frame 14522 and connected to the third frame 14522 via springs. The other end of the second spring adjuster 14525 is connected to the second frame 14521 / first frame 14511 (the spring in the second spring adjuster 14525 connected to the first frame 14511 is not shown in the figure). The spring tension of the second spring adjuster 14525 ensures the stability of the rotation of the third frame 14522.

[0162] The lower adjustment module 1453 includes a fourth frame 14531, a fifth frame 14532, and a bearing 14533. The fourth frame 14531 is fixed to the third frame 14522. The fourth frame 14531 and the fifth frame 14532 are connected via the bearing 14533. The fourth frame 14531 and the fifth frame 14532 are connected via the bearing 14533 to enable relative horizontal rotation. The fifth frame 14532 is connected to the frame 1431.

[0163] The lower adjustment module 1453 further includes a second limiting screw 14534 , which is disposed on the fourth frame 14531 . By rotating the second limiting screw 14534 , the distance between the second limiting screw 14534 and the fifth frame 14532 is adjusted, thereby adjusting the horizontal rotation range of the fourth frame 14531 relative to the fifth frame 14532 .

[0164] Since the distance between the vehicle and the template 144 cannot be precisely adjusted to ensure that the cleaning mechanism 143 can fit precisely with the template 144, in addition, the cleaning mechanism 143 and the template 144 cannot be completely parallel and have a small angle. The fine-tuning module 145 can adapt to the angle to ensure the fit between the cleaning mechanism 143 and the template 144, and can provide the same positive pressure for uneven surfaces, thereby realizing adaptive adjustment of the three degrees of freedom of the cleaning mechanism 143, and at the same time ensuring that the cleaning mechanism 143 is evenly stressed, thereby extending the service life of the cleaning mechanism 143.

[0165] This technical solution can also include the following technical details to better achieve the technical effect: the connecting part is a wire rope winding mechanism, and the cleaning mechanism 143 is pulled by the wire rope of the wire rope winding mechanism, and the length of the wire rope is adjusted to adapt to the inclination of the template 144 in the vertical direction.

[0166] This technical solution may further include the following technical details to better achieve the technical effect: the cleaning module 1433 also includes a recovery bin 1433a, the bottom of the recovery bin 1433a is located below the roller brush 1433b3, and the recovery bin 1433a has a slag discharge hole.

[0167] 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 embodiments shown and described herein.

Claims

1. An integrated intelligent tower-building machine for industrialized construction of bridge towers, characterized in that: include: It consists of a frame, automatic climbing mechanism, formwork system, vibration system, material distribution system, opening and closing mechanism, maintenance system and automatic formwork cleaning robot; The opening and closing mechanism includes: a tripod, an opening and closing oil cylinder, a pull plate and an opening and closing beam; The tripod is welded to the bottom of the walkway beam of the outer formwork support, one end of the opening and closing oil cylinder is hinged and fixed to the vertical rod of the tripod, the other end of the opening and closing oil cylinder is hinged to the opening and closing beam, the opening and closing beam is hinged to the back rib of the outer formwork, the other end of the opening and closing beam is hinged to the lower end of the vertical rod of the tripod, one end of the pull plate is hinged to the side of the walkway beam, and the other end of the pull plate is hinged to the platform beam on the back of the formwork; The vibrating system is located on the inner formwork support of the frame and is used to vibrate the concrete after the concrete is laid. The vibrating system includes a vibrator and a high-definition laser radar recognition system arranged on the inner formwork support. The multi-objective intelligent vibration path real-time planning method based on IMAOA of the vibration system includes the following steps: Step S1, sub-goal model establishment includes: Sub-goal 1 vibration path: Where M is the number of all nodes that the vibration path passes through, including the starting point and the end point. The horizontal and vertical coordinates represent the number of nodes passed, Represents the Euclidean distance between two nodes; Sub-goal 2 determines the minimum area of ​​vibration overlap, where is the overlapping area of ​​the two vibration areas, is the central angle of the i-th node; Sub-goal 3: Determine the leakage area , where S is the area of ​​any cross section of the bridge tower; Step S2: establishing a multi-objective vibration path planning model, including: The quality of the vibration path is judged by judging the "closeness" between the sub-goal value and the ideal value of the sub-goal. The ideal value is the minimum value of each sub-goal. A multi-objective intelligent vibration path real-time planning model is established through the Manhattan distance calculation formula; Among them, Y is the overall goal of path planning, is the weight coefficient, and ; The CRITIC weight method is used to calculate the weight, including: S21. Construct the original data matrix R, which consists of m paths to be evaluated and s sub-goals; in, , is the jth sub-goal value of the i-th path to be evaluated; S22. In order to eliminate the impact of data dimension, the standardized calculation formula is: S23. Calculate information carrying capacity, including: Volatility: ,in, is the mean of each column; Compute the correlation matrix: ; Conflict: ; Information carrying capacity: S24, determine the weight of each sub-goal, ; Step S3, real-time planning of intelligent vibration path, specifically including: S31. The improved MOA formula is: （1） Among them, r1 is a random number between 0 and 1, t is the number of iterations, is the maximum number of iterations, They represent the maximum and minimum values ​​of the corresponding function values ​​of IMOA respectively; S32, exploration phase, IAOA realizes global search through multiplication and division operations, and its position update formula is: in, is the optimal value in the iterative process, is the minimum constant to prevent the denominator from being 0. To adjust the control parameters, is 0.5, UB is the upper limit of the optimal value, and LB is the lower limit of the optimal value. is the minimum mathematical optimizer probability MOP, and its calculation formula is: in, It is a sensitive parameter and its value is 5; S33, Development phase, IAOA realizes local development through addition and subtraction operations, and its position update formula is: in, ; Step S4, the multi-objective intelligent vibration path real-time planning method based on IAOA, specifically includes the following steps: S41, initializing algorithm-related parameters and the optimal path set Q, where Q is used to store the optimal path points; S42, determining a fitness function, randomly generating an initial solution and calculating a fitness function value; S43, updating the parameter values ​​of IMOA according to Formula 1, so as to achieve dynamic conversion and nonlinear adaptation between the exploration and exploitation phases; S44, if , perform global exploration and update the position according to formula 2; if , carry out local development and update the position according to formula 4; S45. Calculate the fitness function value, record the optimal position, and update the optimal path set Q; S46, determine whether the end condition is met, if so, end the program, if not, go to step 2; S47, weight calculation, output the optimal path set Q, use the CRITIC weight method to calculate the weights of the three sub-goals, and output the final path.

2. The integrated intelligent tower-building machine for industrialized construction of bridge towers according to claim 1, characterized in that: The template automatic cleaning robot includes: an overall moving mechanism, a cleaning moving mechanism and a cleaning mechanism; Overall moving mechanism, used for moving the device; The cleaning mechanism includes: a frame; an adsorption module, which is used for adsorbing the template; a cleaning module, which is used for cleaning the template / brushing the release agent; the cleaning module includes a water tank, two groups of spray units and a spray transmission unit; the water tank supplies water to the two groups of spray units, and the two groups of spray units are symmetrically arranged on the frame, and the spray unit located above includes a high-pressure nozzle, a first scraper and a roller brush assembly from top to bottom; the roller brush assembly includes a roller brush and a spray pipe, and the spray pipe is connected to the water tank and the release agent container through a pipeline; the spray transmission unit includes: a synchronous belt, a motor and a tensioning pulley; the roller brushes of the two groups of spray units are driven by a synchronous belt, the motor drives the synchronous belt, and the tension of the synchronous belt is adjusted by the tensioning pulley; a cleaning moving mechanism is installed on the overall moving mechanism, and is used to drive the cleaning mechanism to move in three dimensions.

3. The integrated intelligent tower-building machine for industrialized construction of bridge towers according to claim 2, characterized in that: The overall moving mechanism includes a moving trolley and a supporting device, wherein the supporting device is retractably arranged on the chassis of the moving trolley and is used to support the moving trolley; The cleaning movement mechanism comprises: A screw lifting platform, an X-axis linear module, a Y-axis linear guide module and a connecting piece. The Y-axis linear guide module is arranged on the screw lifting platform. The X-axis linear module is slidably arranged on the Y-axis linear guide module. The connecting piece is connected to the X-axis linear module through a slider. The connecting piece is connected to the cleaning mechanism to drive the cleaning mechanism to move up and down on the template.

4. The integrated intelligent tower-building machine for industrialized construction of bridge towers according to claim 2, characterized in that: The adsorption module includes a front plate, an intermediate plate, a rear plate, a servo, a cam, an electromagnet and a vacuum suction cup; the front plate and the rear plate are connected by an optical axis, the intermediate plate is movably arranged between the front plate and the rear plate by the optical axis, the intermediate plate is installed with an electromagnet, the vacuum suction cup is installed on the front plate, a spring is arranged between the front plate and the intermediate plate, the servo is installed on the rear plate, the servo drives the cam to rotate, and controls the intermediate plate to approach or move away from the front plate through the cam; the electromagnet realizes the adsorption and detachment of the front plate by turning on and off the power and the action of the cam; the frame is fixed to the intermediate plate, and the frame is driven to move relative to the template through the intermediate plate.

5. The integrated intelligent tower-building machine for industrialized construction of bridge towers according to claim 1, characterized in that: The frame includes: an outer mold support located outside the bridge tower and an inner mold support located inside the bridge tower; The automatic climbing mechanism comprises an outer mold climbing system (11) and an inner mold climbing system; the outer mold climbing system is fixed to the inner side of the outer mold support and is used to drive the outer mold support to move vertically along the outer side of the bridge tower; the inner mold climbing system is movably connected to the outer side of the inner mold support and is used to drive the inner mold support to move vertically along the inner side of the bridge tower; The curing system is located inside the outer formwork support and is used to maintain moisture in the poured bridge tower concrete. The template system includes an inner template and an outer template; The shielding system is fixed to the top of the inner formwork support and is located directly above the bridge tower casting space.

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