Scaffold erecting device and construction method

Abstract

The application discloses a scaffold erecting device and a construction method, and belongs to the technical field of building construction, which comprises a base, a main arm, an auxiliary arm and a mechanical claw. The main arm is rotatably arranged on the base, the auxiliary arm is connected to the main arm, and the mechanical claw is rotatably connected to the auxiliary arm. The mechanical claw is used for clamping a rod piece and actively driving the rod piece to form a vertical, transverse, longitudinal or inclined state required for erecting a scaffold. The main arm and the auxiliary arm cooperate to feed the clamped rod piece to a scaffold erecting construction position. The application can reduce manpower and improve efficiency by controlling the conveying and erecting operation of the steel pipe rod piece through the mechanical arm.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, and more specifically, to a scaffolding erection device and construction method. Background Technology

[0002] Scaffolding for building construction consists of multiple uprights, horizontal bars, vertical bars, and diagonal bars, connected and fixed by corresponding fasteners. During construction, each bar needs to be erected manually, resulting in high manpower consumption, significant safety hazards, and low work efficiency. Chinese Patent Publication No. CN107268973A discloses a scaffolding erection device and method, comprising a fishing rod, connecting ring, fishing hook, short rope, binding strap, pin, pull rope, and short pipe socket. One end of the fishing rod is inserted into the short pipe socket from top to bottom, and the other end of the fishing rod is fixedly equipped with a hanging ring. The upper end of the connecting ring is connected to the hanging ring, and the lower end of the connecting ring is connected to the fishing hook. The binding strap is a loop rope with its ends connected. The binding strap wraps around the steel pipe of the scaffolding to be erected once and is then secured by the pin. The lower end of the fishing hook is connected to the upper end of the binding strap. One end of the pin is fixedly equipped with a ring, and one end of the pull rope is connected to the ring. The two ends of the short rope are connected to the ring and the connecting ring, respectively. The patented solution uses a fishing rod structure design to hoist the scaffolding steel pipes, but it requires manual adjustment of the steel pipes, which consumes a lot of manpower and affects the erection efficiency. Summary of the Invention

[0003] One object of the present invention is to address at least the aforementioned deficiencies and to provide at least the advantages that will be described later.

[0004] Another objective of this invention is to provide a scaffolding erection device that uses a robotic arm to control and transport steel pipe members, and to conveniently and efficiently adjust the state of the steel pipes to complete the erection operation, thereby reducing manpower and improving efficiency.

[0005] The scaffolding erection device provided by the present invention includes: a base, a main arm, a secondary arm, and a mechanical claw;

[0006] The main arm is rotatably mounted on the base, the auxiliary arm is connected to the main arm, and the mechanical claw is rotatably connected to the auxiliary arm. The mechanical claw is used to clamp the rods and actively drive the rods to form the vertical, horizontal, longitudinal, or inclined state required for erecting the scaffold. The main arm and the auxiliary arm work together to feed the clamped rods to the scaffold erection position.

[0007] Preferably, in the scaffolding erection device, the mechanical claw is configured to engage or release the rods through opening and closing actions, and has an active stroke along the length of the rods for performing a connecting action.

[0008] Preferably, in the scaffolding erection device, the mechanical claw is configured to have telescopic space in the length direction, for performing forward and backward movements to locally adjust the position of the rod and accurately position it.

[0009] Preferably, in the scaffolding erection device, the telescopic space is specifically an elastic telescopic space.

[0010] Preferably, in the scaffolding erection device, the mechanical claw is provided with a swing space, so that the clamped rod can be locally adjusted in position within the swing space to achieve accurate positioning.

[0011] Preferably, the swing space is an elastic swing space.

[0012] Preferably, in the scaffolding erection device, the mechanical claw includes: a claw base, a slide, claw arms, and claws; the slide is slidably disposed on the claw base, several claw arms are connected to the slide, and the claws are connected to the claw arms. The claws are used to clamp the rods, and the slide is driven to move linearly by a driver, thereby driving the rods to perform a connecting action through the claw arms and claws.

[0013] Preferably, in the scaffolding erection device, the claw arm is a telescopic rod structure or a scissor structure, so that the clamped rod has room to move forward and backward to complete local position fine adjustment.

[0014] Preferably, the claw is pivotally connected to the front end of the claw arm, and the clamped rod has a limited swing space;

[0015] Preferably, the advance / retreat space and the swing space are used individually or together to complete the local position adjustment of the rod.

[0016] Preferably, the claw arm is a freely telescopic arm used to provide local forward and backward movement space.

[0017] Preferably, the claw arm is an elastic telescopic arm used to provide elastic telescopic space.

[0018] Preferably, in the scaffolding erection device, the claw seat has a sliding groove, the sliding seat is provided with a slider, the slider cooperates with the sliding groove, and the driver drives the slider to move along the sliding groove to drive the sliding seat to move.

[0019] Preferably, the actuator is an electric telescopic cylinder or a hydraulic cylinder.

[0020] Preferably, the claw is a single-degree-of-freedom mechanical claw.

[0021] Preferably, in the scaffolding erection device, a pump body is provided at the front end of the auxiliary arm, and the pump body is connected to the claw seat to drive the claw seat to rotate and change the state of the clamped rod.

[0022] Preferably, the pump body can drive the claw seat to rotate 360°.

[0023] The present invention provides a construction method for the aforementioned scaffolding erection device, comprising:

[0024] The base moves to below the scaffolding erection position, drives the mechanical claw to pick up the poles from the material pile, and controls the mechanical claw to rotate and adjust the poles into horizontal, vertical, longitudinal or diagonal positions according to the erection needs. The main boom and auxiliary boom are also controlled to feed the poles to the erection position. Workers make local adjustments to align the poles with the fasteners, perform the pole splicing action, push the steel pipe straight into the fastener, and the workers use tools to tighten the fastener bolts.

[0025] Preferably, positioning and alignment are achieved using visible light such as infrared or green light, which helps control the rods to be fed to the installation location quickly and accurately.

[0026] Preferably, the methods for local adjustment include: adjustment by telescopic space, adjustment by swing space, or adjustment by a combination of telescopic space and swing space.

[0027] The present invention has at least the following beneficial effects:

[0028] This invention addresses the problems of difficult steel pipe hoisting, inflexible adjustment, high manpower consumption, and low efficiency in scaffolding construction. It designs a scaffolding erection device comprising a base, a main arm, a secondary arm, and a mechanical claw. The base can be moved below the erection position, and the mechanical claw can clamp and rotate the steel pipe to quickly adjust its state, accommodating the erection of uprights, horizontal bars, longitudinal bars, and diagonal braces. Furthermore, the main arm and secondary arm work together to supply steel pipes to the erection position, accelerating the material supply and adjustment speed, and improving scaffolding erection efficiency.

[0029] This invention addresses the problem of difficult steel pipe positioning during scaffolding erection by ingeniously designing a material supply structure consisting of a main boom, a secondary boom, and a mechanical claw with a certain degree of freedom of movement. The main boom and secondary boom lift the steel pipe to the construction position, and then drive the mechanical claw to adjust the local position, thus achieving accurate positioning of the steel pipe and fasteners. It does not require complex positioning algorithms, is simple, convenient, quick, and highly practical.

[0030] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the scaffolding erection device described in this invention;

[0032] Figure 2 This is a schematic diagram of the mechanical gripper described in this invention;

[0033] Figure 3 for Figure 2 A partially enlarged structural diagram of the first embodiment at position A;

[0034] Figure 4 for Figure 2 A partially enlarged structural diagram of the second implementation method at position A;

[0035] Figure 5 This is a schematic diagram illustrating the principle and structure of the claw described in this invention. Detailed Implementation

[0036] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, so that those skilled in the art can implement it based on the description.

[0037] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0038] It should be noted that, unless otherwise specified, the experimental methods described in the following implementation plan are all conventional methods, and the reagents and materials described are all commercially available unless otherwise specified.

[0039] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection or setting, a detachable connection or setting, or an integral connection or setting. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The terms "lateral," "longitudinal," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0040] like Figures 1-5 As shown, the scaffolding erection device provided by the present invention includes: a base 1, a main arm 4, a secondary arm 5, and a mechanical claw 7;

[0041] The main arm 4 is rotatably mounted on the base 1, the auxiliary arm 5 is connected to the main arm 4, and the mechanical claw 7 is rotatably connected to the auxiliary arm 5. The mechanical claw 7 is used to clamp the rods and actively drive the rods to form the vertical, horizontal, longitudinal, or inclined state required for erecting the scaffold. The main arm 4 and the auxiliary arm 5 work together to supply the clamped rods to the scaffold erection position.

[0042] refer to Figure 1The base 1 is preferably a movable and walkable base equipped with wheels or tracks, facilitating movement to the area below the scaffolding erection site. A rotatable turntable 2 is mounted on the base 1, and a mounting base 3 is mounted on the turntable 2. The lower end of the main boom 4 is rotatably mounted to the mounting base 3. The main boom can adjust its tilt angle and rotate with the turntable 2 to accommodate construction work in different orientations. Preferably, the main boom is a multi-section telescopic boom, allowing for length adjustment and erection work at different heights. Preferably, the auxiliary boom 5 is a folding boom, foldable relative to the main boom 4. When the auxiliary boom is multi-section, the sections can also fold together, suitable for adjusting the state of the mechanical gripper and adapting to different construction angles. To enable the mechanical gripper 7 to rotate, a rotary drive component 6 is provided at the front end of the auxiliary boom. The rotary drive component 6 is rotatably connected to the mechanical gripper 7, actively driving the mechanical gripper 7 to rotate and change the state of the member. Preferably, the rotary drive component 6 is a hydraulic pump or a motor. Preferably, the mechanical grippers 7 are a pair, simultaneously clamping the steel pipe member.

[0043] When implementing the above solution, the drive base moves below the scaffolding erection position, the drive mechanical claw picks up the steel pipe members, and the control rotation drive component adjusts the steel pipe members to the required vertical, horizontal, longitudinal, or inclined state. The control of the main boom and auxiliary boom feeds the steel pipe members to the erection position, where workers use tools and fasteners to secure them. This implementation method can easily complete the transportation and splicing of steel pipe members, truly solving the problems of high manpower consumption, low efficiency, and high safety hazards in hoisting steel pipes during scaffolding erection.

[0044] Furthermore, the difficulty in scaffolding erection lies in the hoisting of steel pipes and the coordination between the steel pipes and fasteners. Traditional hoisting ropes and hooks are difficult to control the steel pipes and are also difficult to apply force during splicing. In another embodiment of the present invention, the mechanical claw is configured to engage or release the rods through opening and closing actions, which can efficiently grab the steel pipes and effectively control them. It also has an active stroke along the length of the rod. After the steel pipe rods are positioned and aligned with the fasteners, the force is applied to perform the splicing action, allowing the steel pipes to be directly sleeved into the fasteners. This makes it convenient for workers to directly use tools to tighten the fastener bolts, effectively improving the erection efficiency.

[0045] Furthermore, another challenge in scaffolding erection is the positioning and alignment of steel pipes and fasteners. In another embodiment of the present invention, the mechanical claw is designed with a telescopic space in the length direction. When the steel pipe members are fed to the erection position by the main arm and auxiliary arm, the workers use this telescopic space to adjust the steel pipe members to accurately align with the fasteners. When the steel pipe members have not reached the alignment position, they are pulled forward to align with the fasteners. When the steel pipe members have exceeded the alignment position, they are pushed backward to align with the fasteners. The telescopic space design of the mechanical claw provides local adjustment space for the members, enabling efficient and accurate positioning in cooperation with on-site workers. Compared with complex modeling and positioning algorithms, this method is simpler and easier to use. It eliminates the need for the main arm and auxiliary arm to achieve precise positioning, and local precise alignment is completed manually, effectively reducing difficulty, improving efficiency, and adapting to various complex on-site environments. Therefore, it is highly efficient and practical.

[0046] Furthermore, in another embodiment, the telescopic space is specifically an elastic telescopic space, which can provide damping to prevent the clamped steel pipe from colliding hard with the scaffolding.

[0047] Furthermore, to make the positioning of the steel pipe members more convenient and accurate, in another embodiment of the invention, the mechanical gripper is provided with a swing space, allowing the clamped member to locally adjust its position within the swing space to achieve accurate positioning. Compared to the aforementioned telescopic space, the swing space can adjust the position of the member vertically, and in conjunction with the telescopic space, it enables adjustment of the member in multiple spatial dimensions (up, down, left, and right), achieving accuracy and efficiency.

[0048] Furthermore, in another embodiment, the swing space is an elastic swing space, which provides damping to prevent hard collisions caused by excessive swinging.

[0049] Furthermore, such as Figures 2-5 As shown, the present invention provides a mechanical gripper 7 capable of performing a locking action, comprising: a gripper base 70, a slide 9, gripper arms 10, and grippers 11; the slide 9 is slidably disposed on the gripper base 70, a plurality of gripper arms 10 are connected to the slide 9, and the grippers 11 are connected to the gripper arms 10. The grippers 11 are used to clamp the rod, and the slide 9 is driven to linear motion by a driver, thereby driving the clamped rod to perform a locking action through the gripper arms 10 and the grippers 11.

[0050] Figure 2 In the figure, the claw base 70 is provided with a mounting part 16 connected to the rotary drive component 6. Preferably, the claw arms are provided as a pair, and the claws 11 are provided with an opening and closing structure for clamping and releasing the steel pipe rod. The drive is preferably a hydraulic cylinder or an electric telescopic cylinder for linearly driving the slide 9 to move. In the figure, one end of the claw arm 10 is fixed to the slide, and the other end extends outward and is equipped with the claw 11.

[0051] Furthermore, in another embodiment, the claw arm is a telescopic rod structure or a scissor structure, allowing the clamped rod to have room to move forward and backward, thus enabling fine-tuning of its local position. For example... Figure 2 The diagram shows a telescopic rod structure. Alternatively, the two claw arms can be configured as a scissor structure to allow for fine-tuning of the front and rear positions of the clamped steel pipe.

[0052] Furthermore, in another implementation, such as Figure 2 As shown, the claw arm is a freely telescopic arm used to provide localized forward and backward movement. In the illustration, the claw arm is composed of multiple sleeved arm sections, which can easily complete sliding extension and retraction, making operation more convenient for workers.

[0053] Furthermore, in another embodiment, the claw arm is an elastic telescopic arm, which provides elastic telescopic space so that the extension and retraction of the claw arm is damped, thereby playing a buffering role and reducing the risk of hard collision.

[0054] Furthermore, in another implementation, such as Figure 3 As shown, the claw 11 is a non-swinging structure, comprising a top plate 19, a telescopic cylinder 20, a housing 21, and claw teeth 22. The top plate 19 is fixedly mounted on the top of the housing 21 and is connected and fixed to the end plate 18 at one end of the claw arm. The telescopic cylinder 20 is installed inside the housing 21, with its telescopic end 27 extending downwards and a movable block 26 at its lower end. The claw teeth 22 are rotatably connected to the lower end of the housing 21 and are hinged to the movable block 26 via a hinge plate 25. The claw teeth 22 are provided with a fitting part 23, which is adapted to the steel pipe rod. When the telescopic cylinder 20 extends, it drives the movable block 26 to move downwards, thereby pushing the claw teeth 22 to open via the hinge plate 25. When the telescopic cylinder 20 retracts, it drives the movable block 26 to move upwards, causing the claw teeth 22 to engage via the hinge plate 25. Figure 5 The diagram shown illustrates the opening and closing principle of the claw.

[0055] Furthermore, in another embodiment, to allow the claw to swing and adjust its position locally, such as... Figure 4 As shown, with Figure 3 Unlike the non-swinging structure, the claw 11 is swingably connected to the front end of the claw arm 10, and the clamped rod has a limited swinging space; the forward and backward space and the swinging space are used to complete the local position adjustment of the rod.

[0056] Figure 4In the claw arm 10, there is a gap 28 between the end plate 18 and the top plate. The size of the gap 28 is set according to the size of the swing space. The end plate 18 is welded with a plate 30, and the top plate is welded with a plate 32. The plate and plate are rotatably connected together by a pivot 31, allowing the claw 11 to swing within a limited space. When the swing reaches the point where the top plate contacts the end plate, it is restricted. Preferably, springs 29 are also provided on both sides of the pivot 31. The springs 29 are supported between the top plate and the end plate, making the up-and-down swing of the claw elastic and damped.

[0057] Furthermore, in another implementation, such as Figure 2 As shown, the claw seat 70 has a sliding groove 15, and the slide seat 9 is provided with a slider, which includes a first slider 14 and a second slider 17. The slider engages with the sliding groove 15, and the driver 13 drives the first slider 14 to move along the sliding groove 15, thereby driving the slide seat 9 to move. In the illustration, the slide seat 9 slides in contact with a channel 12 located at the bottom of the claw seat 70, and the slider passes upward through the sliding groove 15. When the driver 13 extends or retracts, it drives the slider to move. Preferably, an elastic member 8 is also supported between the second slider 17 and the claw seat 70. Preferably, the driver 13 is an electric telescopic cylinder or a hydraulic cylinder.

[0058] Furthermore, in another embodiment, the claw can also be a conventional single-degree-of-freedom mechanical claw.

[0059] Furthermore, in another implementation, such as Figure 1 As shown, a pump body is provided at the front end of the auxiliary arm as a rotation drive component 6. The pump body is connected to the claw seat 70 and is used to drive the claw seat to rotate, thereby changing the state of the clamped rod. Preferably, the pump body can drive the claw seat to rotate 360°.

[0060] The present invention provides a construction method for the aforementioned scaffolding erection device, comprising:

[0061] like Figure 1 As shown, the base 1 moves flexibly to the position below the scaffolding erection site, and drives the mechanical claw 7 to pick up the poles from the material pile. According to the erection needs, the rotation drive component 6 is controlled to rotate, and the mechanical claw 7 is operated to adjust the poles to the state of horizontal, vertical, longitudinal or diagonal poles. The main arm and auxiliary arm are also controlled to supply the poles to the erection site. The worker makes local adjustments to align the poles with the fasteners, and then the driver 13 is started to perform the pole fitting action, pushing the steel pipe straight into the fastener. The worker uses tools to tighten the fastener bolts.

[0062] Furthermore, in another embodiment, by controlling the extension and retraction of the main boom to adjust the height, the swing of the auxiliary boom to adjust the angle, and the rotation of the mechanical claw to adjust the state, the rod and the fastener are initially aligned. Then, the worker controls the rod to move within the extension space to align with the fastener, or the worker controls the rod to move within the swing space to align with the fastener, or the worker controls the rod to move within both the extension and swing spaces to align with the fastener, and then the coupling action is performed.

[0063] Preferably, the worker controls the movement of the rod within the telescopic and swinging spaces, which together form a multi-dimensional adjustment space, allowing the worker to quickly adjust the rod to accurately align with the fastener.

[0064] Furthermore, in another implementation, visible light is used to assist in the positioning of the rods. Commonly used methods include infrared and green light. Taking infrared as an example, several infrared emitters (two are sufficient) emit infrared light to aim at the installation position of the rod. The infrared emitters can be installed in the robotic gripper or other locations. Then, guided by the infrared light, the main arm, auxiliary arm, and robotic gripper are controlled and adjusted to supply the rod to the installation position. Infrared light makes it easier to align the rod with the installation position, improving installation speed and accuracy. Taking the erection and installation of a crossbar as an example, the installation position is aimed at with infrared light, the auxiliary arm is adjusted to be level with the installation position, and then the rod is pushed horizontally to supply it to the installation position. Local alignment is then achieved through extension and retraction mechanisms, making it very convenient and quick, effectively accelerating the feeding speed and improving efficiency. Other diagonal rods, vertical rods, and longitudinal rods can also be accurately and quickly fed after infrared aiming.

[0065] Furthermore, in another embodiment, a remote control is also provided. The control module and corresponding buttons for controlling the movement of the base 1, adjusting the rotation and extension of the main arm 4, adjusting the swing of the auxiliary arm 5, adjusting the rotation of the rotation drive component 6, the action of the driver 13, and the extension and retraction of the telescopic cylinder 20 are all set on the remote control. The remote control is connected to the controlled component through a wireless communication module. The remote control is carried by the worker and operated on-site.

[0066] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Further modifications can be readily implemented by those skilled in the art.

Claims

1. A scaffolding erection device, characterized in that, include: Base, main arm, auxiliary arm, and robotic gripper; The main arm is rotatably mounted on the base, the auxiliary arm is connected to the main arm, and the mechanical claw is rotatably connected to the auxiliary arm. The mechanical claw is used to clamp the rods and actively drive the rods to form the vertical, horizontal, longitudinal, or inclined state required for erecting the scaffold. The main arm and the auxiliary arm work together to feed the clamped rods to the scaffold erection position. The mechanical gripper is configured to engage or release the rod through an opening and closing action, and has an active stroke along the length of the rod for performing a socketing action; The mechanical gripper includes: a gripper base, a slide, gripper arms, and grippers; the slide is slidably mounted on the gripper base, several gripper arms are connected to the slide, and grippers are connected to the gripper arms. The grippers are used to clamp the rods. The slide is driven to move linearly by a driver, and then the gripper arms and grippers drive the rods to perform a sleeve action. The mechanical gripper is configured to have an elastic telescopic space in the length direction, which is used to perform forward and backward movements to locally adjust the position of the rod for accurate positioning; The mechanical gripper is equipped with a swing space, which allows the clamped rod to be locally adjusted within the swing space to achieve accurate positioning. The claw arm is a telescopic rod structure or a scissor structure, which allows the clamped rod to have a forward and backward movement space; and / or, the claw is swayably connected to the front end of the claw arm, and the clamped rod has a restricted swing space; the forward and backward movement space and the swing space are used to complete the local position adjustment of the rod; The claw seat has a sliding groove, and the sliding seat is equipped with a slider. The slider cooperates with the sliding groove, and the driver drives the slider to move along the sliding groove, thereby driving the sliding seat to move. The front end of the auxiliary arm is equipped with a pump body, which is connected to the claw seat and is used to drive the claw seat to rotate and change the state of the clamped rod.

2. The scaffolding erection device as described in claim 1, characterized in that, The telescopic space is specifically an elastic telescopic space, used to provide damping to prevent the clamped rods from colliding hard with the scaffolding; The swing space is specifically an elastic swing space, which is used to provide damping to prevent hard collisions caused by excessive swinging. The claw arm is an elastic telescopic arm, which provides elastic telescopic space, so that the extension and retraction of the claw arm is damped, which plays a buffering role and reduces the risk of hard collision. The claw is swayably connected to the front end of the claw arm, and the clamping rod has a limited swing space; and springs are provided on the left and right sides of the rotating shaft, with the springs supporting between the top plate and the end plate, so that the up and down swing of the claw is elastic and subject to damping.

3. The scaffolding erection device as described in claim 1, characterized in that, The claw arm is a telescopic rod structure, which allows the clamped rod to have room to move forward and backward to complete local position fine adjustment; the claw arm is a free telescopic arm used to provide local forward and backward space; the claw arm is composed of multiple arm segments connected together, which can complete sliding extension and retraction; or the claw arm is a scissor structure.

4. The scaffolding erection device as described in claim 1, characterized in that, The claw includes a top plate, a telescopic cylinder, a housing, and claw teeth. The top plate is fixedly mounted on the top of the housing and is connected and fixed to the end plate at one end of the claw arm. The telescopic cylinder is installed inside the housing, with its telescopic end extending downwards and a movable block at its lower end. The claw teeth are rotatably connected to the lower end of the housing and are hinged to the movable block via a hinge plate. The claw teeth are provided with an engaging part that is adapted to the rod. When the telescopic cylinder extends, it drives the movable block to move downwards, pushing the claw teeth open via the hinge plate. When the telescopic cylinder retracts, it drives the movable block to move upwards, causing the claw teeth to engage via the hinge plate.

5. The scaffolding erection device as described in claim 1, characterized in that, The claw is a single-degree-of-freedom mechanical claw.

6. The scaffolding erection device as described in claim 1, characterized in that, There is a gap between the end plate and the top plate of the claw arm. The size of the gap is set according to the size of the swing space. The end plate is welded with a plate, and the top plate is welded with a plate. The plate and plate are connected together by a rotating shaft, so that the claw can swing in a limited space. When the swing reaches the point where the top plate contacts the end plate, it is restricted.

7. The scaffolding erection device as described in claim 1, characterized in that, The slide block slides into a groove located at the bottom of the claw base, and the slider passes upward through the groove. The slide includes a first slider and a second slider, and an elastic element is also supported between the second slider and the claw seat; The actuator is an electric telescopic cylinder or a hydraulic cylinder.

8. The scaffolding erection device as described in claim 1, characterized in that, The front end of the auxiliary arm is equipped with a pump body, which is connected to the claw seat and is used to drive the claw seat to rotate and change the state of the clamped rod; the pump body is a hydraulic pump or a motor; the pump body drives the claw seat to rotate 360 ​​degrees.

9. A construction method for a scaffolding erection device according to any one of claims 1 to 8, characterized in that, include: The base moves to below the scaffolding erection site, drives the mechanical claw to pick up the poles from the material pile, and controls the mechanical claw to rotate and adjust the poles into horizontal, vertical, longitudinal or diagonal positions according to the erection needs. The main boom and auxiliary boom are also controlled to feed the poles to the erection site. Workers make local adjustments to align the poles with the fasteners, perform the pole splicing action, push the steel pipe straight into the fastener, and the workers use tools to tighten the fastener bolts. The construction method also includes: positioning and aligning the rods using infrared or green visible light to assist in quickly and accurately feeding the rods to the installation location; The construction method also includes: using several infrared transmitters to emit infrared rays to aim at the installation position of the rod, and using the infrared rays as guidance, controlling and adjusting the main boom, auxiliary boom and mechanical claw to supply the rod to the installation position; The construction method further includes: workers aligning the rods with the fasteners by controlling the rods to move within the telescopic space, or workers aligning the rods with the fasteners by controlling the rods to move within the swing space, or workers aligning the rods with the fasteners by controlling the rods to move and adjust within both the telescopic and swing spaces, and then performing the splicing action; the telescopic and swing spaces constitute a multi-dimensional adjustment space.

10. The construction method of the scaffolding erection device as described in claim 9, characterized in that, The construction method also includes: setting up a remote control, and the control modules and corresponding buttons for controlling the movement of the base, adjusting the rotation and extension of the main boom, adjusting the swing of the auxiliary boom, adjusting the rotation of the rotation drive component, the action of the drive unit, and the extension and retraction of the telescopic cylinder are all set on the remote control. The remote control is connected to the above-mentioned controlled components through a wireless communication module, and the remote control is carried by the worker on site for operation.

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