Intelligent control system for climbing formwork

Abstract

This invention discloses an intelligent control system for climbing scaffold formwork, comprising a climbing scaffold platform, a climbing scaffold power system, a bidirectional drive integrated component, a first rangefinder, a second rangefinder, an intelligent identification and clamping component, a formwork system, traction lines, formwork support cylinders, and a PLC controller. The climbing scaffold platform is positioned on the side of a shear wall. The intelligent identification and clamping component can clamp or release the formwork system and can identify the formwork system. The intelligent identification and clamping component includes an assembly frame, a clamping mechanism, and an industrial camera. The clamping mechanism, the industrial camera, and the first rangefinder are respectively mounted on the assembly frame, with the first rangefinder and the industrial camera respectively positioned on both sides of the assembly frame. The second rangefinder is positioned at the bottom of the vertical drive component. The industrial camera can identify the position of the formwork system, and the vertical drive component can drive the intelligent identification and clamping component to move vertically, thereby effectively improving the automation level and safety of climbing scaffold formwork construction.

Description

Technical Field

[0001] This invention belongs to the field of building construction technology, and specifically relates to an intelligent control system for climbing formwork. Background Technology

[0002] In the construction of high-rise buildings, the construction safety platform equipment used is the first line of defense for safety, and the safety of the construction process is of paramount importance. Traditional steel pipe scaffolding is gradually being phased out of the market, and semi-steel climbing scaffolding is also beginning to disappear. Currently, automatically climbing all-steel climbing scaffolding is the future trend. Climbing scaffolding can be used not only in residential buildings but also in commercial buildings. The equipment has a high degree of automation, providing convenience for construction workers.

[0003] However, the current hoisting methods for climbing scaffolding construction formwork systems are still relatively outdated, resulting in low construction efficiency and reliance primarily on manual labor. In China, the most common method for hoisting climbing scaffolding is using multiple electric hoists, manually controlled by workers. While this reduces manual labor compared to hand-operated hoists, it offers little improvement in automation, as most construction steps still require manual operation. Some companies still use hand-operated hoists, which are cheaper but require operators and thus have low efficiency; this method is typically used for traditional small projects. Although hand-operated hoists are still operational for climbing scaffolding, they are significantly less efficient than the advantages of multiple electric hoists. To improve safety at climbing scaffolding construction sites and prevent accidents, the hoisting method for the formwork system should be further improved to create an autonomous identification and control system, directly reducing the number of on-site operators and increasing the level of intelligence in climbing scaffolding construction. Summary of the Invention

[0004] This invention aims to provide an intelligent control system for climbing scaffold formwork, solving the problems of low automation and poor safety in existing climbing scaffold formwork systems.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0006] A climbing scaffold formwork intelligent control system includes: a climbing scaffold platform, a climbing scaffold power system, a bidirectional drive integrated component, a first distance measuring instrument, a second distance measuring instrument, an intelligent identification and clamping component, a formwork system, a traction line, a formwork support cylinder, and a PLC controller. The climbing scaffold platform is located on the side of a shear wall. The climbing scaffold power system can drive the climbing scaffold platform to move up and down. The climbing scaffold platform includes several working platforms arranged sequentially from top to bottom. A top platform beam is located at the bottom of the top working platform. The top platform beam is horizontally arranged and perpendicular to the shear wall surface. The bidirectional drive integrated component includes a horizontal drive component and a vertical drive component. The horizontal drive component is installed on the side of the top platform beam facing the shear wall. The vertical drive component is installed on the horizontal drive component and can drive the vertical drive component to move horizontally. The vertical drive component is connected to the intelligent identification and clamping component via the traction line. The intelligent identification and clamping component can clamp or release the formwork system and can identify the formwork system. The intelligent identification and clamping component includes an assembly frame and a clamping machine. The assembly includes a clamping mechanism and an industrial camera. The clamping mechanism, the industrial camera, and the first rangefinder are respectively mounted on the assembly frame. The first rangefinder and the industrial camera are respectively located on both sides of the assembly frame. The assembly frame is fixedly connected to the lower end of the traction line. The second rangefinder is located at the bottom of the vertical drive assembly. The distance between the clamping mechanism and the template system can be obtained through the first rangefinder. The climbing frame platform, the horizontal drive assembly, the vertical drive assembly, the clamping mechanism, the industrial camera, and the template support cylinder are respectively connected to the PLC controller for data communication and controlled by it. The distance between the vertical drive assembly and the template system can be obtained through the second rangefinder. The vertical drive assembly can drive the intelligent recognition clamping assembly to move vertically. The position of the template system can be identified through the industrial camera. The template support cylinder is located on the side of the climbing frame platform. Under the control of the PLC controller, the movable end of the support cylinder can press against the template system and drive the template system to move to realize the opening and closing of the mold. The clamping mechanism can realize the clamping or releasing of the template system in the vertical direction. The intelligent control system for climbing scaffold formwork provided by this invention achieves precise positioning of the formwork system through machine vision (i.e., using industrial cameras) and sensor monitoring (i.e., using a first rangefinder and a second rangefinder). A controller controls a bidirectional drive integrated component to intelligently identify the horizontal and vertical movement of the clamping component, enabling forward and backward movement and vertical lifting of the formwork system. The intelligent clamping component identifies, clamps, and releases the formwork system. A formwork support cylinder enables formwork system closure, thereby effectively improving the safety and automation of climbing scaffold formwork construction and significantly increasing construction efficiency.

[0007] Preferably, in the above-mentioned intelligent control system for climbing formwork, the horizontal drive component includes a telescopic sleeve, a telescopic rod, a telescopic load-bearing leg, a pre-drilled hole for the motor shaft, a positioning hole for the base plate, and a limiting shoe. The telescopic sleeve and the limiting shoe are fixedly installed at intervals on the side of the upper platform beam. One end of the telescopic rod is located inside the telescopic sleeve, and the other end of the telescopic rod is fixedly connected to one end of the telescopic load-bearing leg. The other end of the telescopic load-bearing leg passes through the limiting shoe and is connected to the vertical drive component. The telescopic rod communicates with and is controlled by the PLC controller. By controlling the telescopic rod to extend and retract, the vertical drive component can move horizontally along the wall surface perpendicular to the shear wall. With the above structure, the vertical drive component and its intelligent identification and clamping component can move smoothly horizontally.

[0008] Preferably, in the above-mentioned intelligent control system for climbing scaffold formwork, the vertical drive component includes a vertical drive motor, a mounting base, fastening bolts, a drive shaft, and a cable guide. The vertical drive motor and the cable guide are respectively located on both sides of the other end of the telescopic load-bearing leg. The other end of the telescopic load-bearing leg has a pre-drilled hole for the motor shaft. The drive shaft is installed in the pre-drilled hole for the motor shaft through bearings. The two ends of the drive shaft are coaxially connected to the vertical drive motor and the cable guide, respectively. One end of the traction line is wound around the cable guide. The vertical drive motor is connected to and controlled by a PLC controller. The PLC controller controls the vertical drive motor to rotate and retract the traction line, thereby realizing the vertical movement of the intelligent identification and clamping component. One end of the mounting base is fixed to the lower part of the other end of the telescopic load-bearing leg by fastening bolts. The lower part of the other end of the telescopic load-bearing leg has a base plate positioning hole for setting the fastening bolts. The vertical drive motor is mounted on the mounting base, and the second rangefinder is mounted on the lower surface of the mounting base.

[0009] Preferably, in the above-mentioned intelligent control system for climbing scaffold formwork, the clamping mechanism includes a clamping motor, a first gear, a second gear, a rotating cam, a camshaft, a transmission chain, mechanical grippers, two contact rotors, and a spring hook. The mechanical grippers include two robotic arms. A traction hole for connecting the traction line is opened at the top of the assembly frame. The clamping motor and the rotating cam are respectively disposed inside the assembly frame, with the clamping motor located above the rotating cam. The output shaft of the clamping motor is coaxially connected to the first gear. The rotating cam is fixedly sleeved on the camshaft. Both ends of the camshaft are respectively mounted on the assembly frame via bearings. The camshaft is coaxially connected to the second gear. The first gear and the second gear are driven by a transmission chain. The two robotic arms are symmetrically mounted on the assembly frame. The robotic arms and the assembly frame... The robotic arm is connected via a first pin, allowing it to rotate around the axis of the first pin. One end of the robotic arm near the rotating cam is connected to a corresponding contact rotor via a second pin, allowing the contact rotor to rotate around the axis of the corresponding second pin. The other end of the robotic arm near the rotating cam is connected via a spring hook. Under the action of the spring hook, the two contact rotors abut against the two side surfaces of the rotating cam. The rotating cam is elliptical in shape and rotates via a clamping motor, causing the distance between the two contact rotors to switch between its shortest and longest distance. When the distance between the two contact rotors is at its shortest distance, the mechanical grippers open to their maximum angle, meaning the ends of the robotic arm furthest from the contact rotors are released. When the distance between the two contact rotors is at its longest distance, the mechanical grippers close to their minimum angle, meaning the ends of the robotic arm furthest from the contact rotors are clamped. This structure enables automatic and stable clamping of the formwork system, facilitating automated construction of the formwork system.

[0010] Preferably, in the above-mentioned intelligent control system for climbing scaffold formwork, the formwork system includes a large steel formwork, fixed supports, O-rings, and lifting rods. Several fixed supports are provided on the upper surface of the large steel formwork. Each fixed support is a threaded cylindrical steel body. The O-rings have externally threaded rods, which are threadedly connected to the internally threaded cylindrical steel bodies. The lifting rods are located within the O-rings. The clamping mechanism clamps or releases the formwork system by clamping or releasing the lifting rods. By providing lifting rods on the large steel formwork and using a clamping mechanism to hold the lifting rods, it is convenient to achieve intelligent identification of whether the clamping components can clamp or release the formwork system.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0012] This invention provides an intelligent control system for climbing scaffold formwork, comprising a climbing scaffold platform, a climbing scaffold power system, a bidirectional drive integrated component, a first distance measuring instrument, a second distance measuring instrument, an intelligent identification and clamping component, a formwork system, a traction line, a formwork support cylinder, and a PLC controller. The climbing scaffold platform is positioned on the side of a shear wall. The climbing scaffold power system drives the climbing scaffold platform to move up and down. The climbing scaffold platform includes several working platforms arranged sequentially from top to bottom. A top platform beam is located at the bottom of the top working platform. The top platform beam is horizontally positioned and perpendicular to the shear wall surface. The bidirectional drive integrated component includes a horizontal drive component and a vertical drive component. The horizontal drive component is installed on the side of the top platform beam facing the shear wall, and the vertical drive component is installed on the horizontal drive component. The horizontal drive component can drive the vertical drive component to move horizontally. The vertical drive component is connected to the intelligent identification and clamping component via the traction line. The intelligent identification and clamping component can clamp or release the formwork system and can identify the formwork system. The intelligent identification and clamping component includes an assembly frame and clamping components. The assembly includes a clamping mechanism and an industrial camera. The clamping mechanism, industrial camera, and first rangefinder are respectively mounted on the assembly frame. The first rangefinder and industrial camera are respectively located on both sides of the assembly frame. The assembly frame is fixedly connected to the lower end of the traction line. The second rangefinder is located at the bottom of the vertical drive assembly. The distance between the clamping mechanism and the template system can be obtained through the first rangefinder. The distance between the vertical drive assembly and the template system can be obtained through the second rangefinder. The vertical drive assembly can drive the intelligent recognition clamping assembly to move vertically. The position of the template system can be identified through the industrial camera. The template support cylinder is located on the side of the climbing frame platform. Under the control of the PLC controller, the movable end of the support cylinder can press against the template system and drive the template system to move to realize the opening and closing of the mold. The clamping mechanism can realize the clamping or releasing of the template system in the vertical direction. The climbing frame platform, horizontal drive assembly, vertical drive assembly, clamping mechanism, industrial camera, and template support cylinder are respectively connected to the PLC controller for data communication and controlled by it. The intelligent control system for climbing scaffold formwork provided by this invention achieves precise positioning of the formwork system by employing machine vision (i.e., industrial cameras) and sensor monitoring (i.e., first and second rangefinders). A controller controls a bidirectional drive integrated component to intelligently identify and clamp the horizontal and vertical movement of the clamping component, enabling forward and backward movement and vertical lifting of the formwork system. The intelligent clamping component identifies, clamps, and releases the formwork system. A formwork support cylinder enables formwork system closure, thereby effectively improving the automation and safety of climbing scaffold formwork construction. Attached Figure Description

[0013] Figure 1This is a schematic diagram of a three-dimensional structure of an intelligent control system for climbing scaffold formwork.

[0014] Figure 2 This is the second three-dimensional structural diagram of an intelligent control system for climbing scaffold formwork.

[0015] Figure 3 yes Figure 1 Enlarged view of part A.

[0016] Figure 4 yes Figure 1 Enlarged view of part B.

[0017] Figure 5 This is a side view of an intelligent control system for climbing scaffold formwork.

[0018] Figure 6 yes Figure 5 Enlarged view of part C.

[0019] Figure 7 This is a schematic diagram of the assembly of the vertical drive integrated component and the top platform beam.

[0020] Figure 8 This is one of the three-dimensional structural diagrams of the intelligent recognition and clamping component. Figure 9 This is the second schematic diagram of the three-dimensional structure of the intelligent recognition and clamping component.

[0021] Figure 10 This is a schematic diagram of the intelligent recognition and clamping component.

[0022] Figure 11 yes Figure 10 DD sectional view.

[0023] Figure 12 This is a structural diagram of the assembly frame.

[0024] Figure 13 This is a structural diagram of step 1 in the construction method of an intelligent control system for climbing formwork.

[0025] Figure 14 This is a structural diagram of step 2 in the construction method of an intelligent control system for climbing formwork.

[0026] Figure 15 This is a structural diagram of step 3 in the construction method of an intelligent control system for climbing formwork.

[0027] Figure 16 This is a structural diagram of step 6 in the construction method of an intelligent control system for climbing formwork.

[0028] Figure 17This is a structural diagram of step 8 in the construction method of an intelligent control system for climbing formwork.

[0029] Figure 18 This is a structural diagram of step 10 in the construction method of an intelligent control system for climbing formwork.

[0030] In the diagram: Climbing scaffold platform 100, 1F working platform 110, 2F working platform 120, 3F working platform 130, 4F working platform 140, 5F working platform 150, 6F working platform 160, top platform beam 170, bidirectional drive integrated assembly 200, horizontal drive assembly 210, telescopic sleeve 211, telescopic rod 212, telescopic load-bearing leg 213, limit shoe 216, vertical drive assembly 220, vertical drive motor 221, mounting base 222, fastening bolt 223, drive shaft 224, cable guide 225. Traction line 226, second rangefinder 227, intelligent recognition clamping component 300, assembly frame 310, traction opening 302, motor base 301, camshaft hole 303, clamping motor 311, first gear 312, second gear 313, rotating cam 321, camshaft 322, transmission chain 330, robotic arm 341, contact rotor 342, first pin 343, second pin 344, spring hook 345, spring column 346, first rangefinder 350, industrial camera 360, template system 400, shear wall 600. Detailed Implementation

[0031] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The technical content and features of the present invention will be described in detail below with reference to the listed embodiments and the accompanying drawings. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the present invention. For ease of description, the terms "upper" and "lower" used below are consistent with the upper and lower directions in the accompanying drawings, but this should not be construed as a limitation of the technical solution of the present invention.

[0032] Please see Figures 1 to 18This embodiment discloses an intelligent control system for climbing scaffold formwork, including: a climbing scaffold platform 100, a climbing scaffold power system (not shown), a bidirectional drive integrated component 200, a first rangefinder 350, a second rangefinder 227, an intelligent identification and clamping component 300, a formwork system 400, a traction line 226, a formwork support cylinder, and a PLC controller. The climbing scaffold platform 100 is disposed on the side of a shear wall 600. The climbing scaffold power system can drive the climbing scaffold platform 100 to move up and down. The climbing scaffold platform 100 includes several working platforms arranged sequentially from top to bottom. In this embodiment, the climbing scaffold platform 100 includes a 1F working platform 110, a 2F working platform 120, a 3F working platform 120, and a 4F working platform 120 arranged sequentially from top to bottom. The work platform includes a 1F work platform 130, a 4F work platform 140, a 5F work platform 150, and a 6F work platform 160. The bottom of the top work platform, the 1F work platform 110, is equipped with a top platform beam 170. The top platform beam 170 is horizontally positioned and perpendicular to the shear wall 600. The bidirectional drive integrated assembly 200 includes a horizontal drive assembly 210 and a vertical drive assembly 220. The horizontal drive assembly 210 is installed on the side of the top platform beam 170 facing the shear wall 600. The vertical drive assembly 220 is installed on the horizontal drive assembly 210. The horizontal drive assembly 210 can drive the vertical drive assembly 220 to move horizontally. Component 220 is connected to the intelligent identification and clamping assembly 300 via traction line 226. The intelligent identification and clamping assembly 300 can clamp or release the template system 400 and can identify the template system 400. The intelligent identification and clamping assembly 300 includes an assembly frame 310, a clamping mechanism, and an industrial camera 360. The clamping mechanism, the industrial camera 360, and the first rangefinder 350 are respectively mounted on the assembly frame 310. The first rangefinder 350 and the industrial camera 360 are respectively located on both sides of the assembly frame 310. The assembly frame 310 is fixedly connected to the lower end of the traction line 226. The second rangefinder 227 is located at the bottom of the vertical drive assembly 220. The climbing frame is flat. Platform 100, horizontal drive assembly 210, vertical drive assembly 220, clamping mechanism, industrial camera 360, and template support cylinder are all connected to and controlled by a PLC controller. The distance between the first distance measuring device 350 (i.e., the intelligent identification clamping assembly 300) and the template system 400 can be obtained through the first distance measuring device 350. The distance between the second distance measuring device 227 (i.e., the vertical drive assembly 220) and the template system 400 can be obtained through the second distance measuring device 227. The vertical drive assembly 220 can drive the intelligent identification clamping assembly 300 to move vertically. The position of the template system 400 can be identified through the industrial camera 360. The template support cylinder is located on the side of the climbing frame platform.Under the control of the PLC controller, the movable end of the support cylinder can press against the template system 400 and drive the template system 400 to move, thus opening and closing the mold. The clamping mechanism can clamp or release the template system 400 vertically.

[0033] The intelligent control system for climbing scaffold formwork provided by this invention achieves precise positioning of the formwork system 400 by employing machine vision (i.e., an industrial camera 360°) and sensor monitoring (i.e., a first rangefinder 350 and a second rangefinder 227). The controller controls the bidirectional drive integrated component 200 to intelligently identify and move the clamping component 300 horizontally and vertically, enabling the forward and backward movement and vertical lifting of the formwork system 400. The intelligent clamping component 300 identifies, clamps, and releases the formwork system 400. The formwork support cylinder enables the formwork system 400 to close, thereby effectively improving the safety and automation of climbing scaffold formwork construction and significantly increasing construction efficiency.

[0034] Preferably, in the above-mentioned intelligent control system for climbing formwork, the horizontal drive component 210 includes a telescopic sleeve 211, a telescopic rod 212, a telescopic load-bearing leg 213, a motor shaft pre-drilled hole, a base plate positioning hole, and a limiting shoe 216. The telescopic sleeve 211 and the limiting shoe 216 are fixedly installed at intervals on the side of the upper platform beam 170. One end of the telescopic rod 212 is disposed inside the telescopic sleeve 211, and the other end of the telescopic rod 212 is fixedly connected to one end of the telescopic load-bearing leg 213. The other end of the telescopic load-bearing leg 213 passes through the limiting shoe 216 and is connected to the vertical drive component 220. The telescopic rod 212 communicates with and is controlled by the PLC controller. By controlling the telescopic rod 212 to extend and retract, the vertical drive component 220 can be driven to move horizontally along the wall surface perpendicular to the shear wall 600. With the above structure, the vertical drive component 220 and the intelligent recognition and clamping component 300 on it can be moved horizontally smoothly.

[0035] Preferably, in the above-mentioned intelligent control system for climbing scaffold formwork, the vertical drive assembly 220 includes a vertical drive motor 221, a mounting base 222, fastening bolts 223, a drive shaft 224, and a cable guide 225. The vertical drive motor 221 and the cable guide 225 are respectively located on both sides of the other end of the telescopic load-bearing leg 213. The other end of the telescopic load-bearing leg 213 has a pre-drilled hole for the motor shaft. The drive shaft 224 is mounted in the pre-drilled hole for the motor shaft through bearings. The two ends of the drive shaft 224 are coaxially connected to the vertical drive motor 221 and the cable guide 225, respectively. One end of the traction line 226 is wound around the cable guide 225. The drive motor 221 is connected to and controlled by the PLC controller. The PLC controller controls the vertical drive motor 221 to rotate the cable guide 225 to retract and extend the traction cable 226, thereby realizing the vertical movement of the intelligent identification clamping component 300. One end of the mounting base 222 is fixed to the lower part of the other end of the telescopic load-bearing leg 213 by fastening bolts 223. The lower part of the other end of the telescopic load-bearing leg 213 has a bottom plate positioning hole for setting the fastening bolts 223. The vertical drive motor 221 is mounted on the mounting base 222, and the second rangefinder 227 is mounted on the lower surface of the mounting base 222.

[0036] Preferably, in the above-mentioned intelligent control system for climbing formwork, the clamping mechanism includes a clamping motor 311, a first gear 312, a second gear 313, a rotating cam 321, a camshaft 322, a transmission chain 330, mechanical grippers, two contact rotors 342, and a spring hook 345. The assembly frame 310 is provided with a motor base 301 for mounting the clamping motor 311. The mechanical grippers include two mechanical arms 341. The top of the assembly frame 310 has a traction hole 302 for connecting the traction line 226. The clamping motor 311 and the rotating cam 321 are respectively disposed on the assembly frame 311. Inside the 0, the clamping motor 311 is located above the rotating cam 321. The output shaft of the clamping motor 311 is coaxially connected to the first gear 312. The rotating cam 321 is fixedly sleeved on the camshaft 322. The two ends of the camshaft 322 are respectively mounted on the assembly frame 310 through bearings (not shown). The assembly frame 310 is provided with camshaft holes 303 for mounting the clamping camshaft 322. The camshaft 322 is coaxially connected to the second gear 313. The first gear 312 and the second gear 313 are driven by a transmission chain 330. The two robotic arms 341 are symmetrically installed. On the assembly frame 310, the robotic arm 341 is connected to the assembly frame 310 via a first pin 343. The robotic arm 341 can rotate around the axis of the corresponding first pin 343. One end of the robotic arm 341 near the rotating cam 321 is connected to the corresponding contact rotor 342 via a second pin 344. The contact rotor 342 can rotate around the axis of the corresponding second pin 344. The ends of the robotic arm 341 near the rotating cam 321 are connected by a spring hook 345. The robotic arm 341 is provided with a spring post 346 for mounting the spring hook 345. The two contact rotors... Under the action of spring hooks 345, 342 respectively abuts against the two side surfaces of rotating cam 321. Rotating cam 321 is elliptical in shape and is driven to rotate by clamping motor 311, causing the distance between the two contact rotors 342 to switch between its shortest and longest distance. When the distance between the two contact rotors 342 is at its shortest distance, the mechanical grippers open to their maximum angle, i.e., the ends of the two mechanical arms 341 furthest from the contact rotors 342 are released. When the distance between the two contact rotors 342 is at its longest distance, the mechanical grippers close to their minimum angle, i.e., the ends of the two mechanical arms 341 furthest from the contact rotors 342 are clamped. Using this structure, automatic and stable clamping of the template system 400 can be achieved, facilitating the automated construction of the template system 400.

[0037] Preferably, in the above-mentioned intelligent control system for climbing scaffold formwork, the formwork system 400 includes a large steel formwork, fixed supports, O-rings, and lifting rods. Several fixed supports are provided on the upper surface of the large steel formwork. Each fixed support is an internally threaded cylindrical steel body. The O-rings have externally threaded rods, which are threadedly connected to the internally threaded cylindrical steel bodies. The lifting rods are located within the O-rings. The clamping mechanism clamps or releases the formwork system 400 by clamping or releasing the lifting rods. By providing lifting rods on the large steel formwork and using a clamping mechanism to hold the lifting rods, it is convenient to achieve intelligent recognition that the clamping assembly 300 can clamp or release the formwork system 400.

[0038] The construction process for the 600 shear wall is as follows: reinforcement binding → formwork system lifting → formwork erection (formwork assembly) → concrete pouring → climbing scaffold platform lifting → reinforcement binding, and so on.

[0039] Please continue reading. Figures 1 to 18 This embodiment also discloses a construction method for the intelligent control system of climbing formwork as described above, including the following steps:

[0040] Step 1: Tie the reinforcing bars used to form the shear wall 600. After the tying is completed, the PLC controller controls the horizontal drive component 210 to run. The first distance measuring instrument 350 measures the distance between itself and the formwork system 400 in real time as the first real-time monitoring distance s. The first real-time monitoring distance s is equivalent to the distance between the clamping mechanism and the formwork system 400. When the first real-time monitoring distance s is less than the first set distance L, it indicates that the first distance measuring instrument 350 and the intelligent identification clamping component 300 are above the formwork system 400, and the horizontal drive component 210 stops running.

[0041] Step 2: The PLC controller controls the vertical drive component 220 to operate, so that the first real-time monitoring distance s is equal to the second set distance H, thus completing the initial positioning of the intelligent recognition clamping component 300. The second set distance H is less than the first set distance L.

[0042] Step 3: The PLC controller controls the vertical drive component 220 to descend, causing the intelligent recognition clamping component 300 to descend. The descent distance is set to L1 by default. When s = H - L1, the vertical drive component 220 stops running.

[0043] Step 4: The industrial camera 360 captures images of the template system 400. Through image recognition or operator observation, it is determined whether the template system 400 is within the clamping range of the clamping mechanism. When the template system 400 is not within the clamping range of the clamping mechanism, the PLC controller controls the horizontal drive component 210 to make fine adjustments, so that the intelligent recognition clamping component 300 moves within a horizontal range of -30mm to 30mm until the template system 400 is within the clamping range of the clamping mechanism. Then, the PLC controls the horizontal drive component 210 to stop moving.

[0044] Step 5: The PLC controller starts the intelligent recognition clamping component 300 to operate, so that the clamping mechanism opens to the maximum angle and maintains the maximum angle state;

[0045] Step 6: The PLC controller controls the vertical drive component 220 to operate, driving the intelligent recognition and gripping component 300 to descend. The descent distance is set to M by default. When S = H - L1 - M, the intelligent recognition and gripping component 300 descends to the gripping position, and the vertical drive component 220 stops operating.

[0046] Step 7: The PLC controller activates the intelligent identification clamping component 300, and the clamping mechanism closes to the minimum angle, so that the clamping mechanism clamps the template system 400 and maintains the clamped state.

[0047] Step 8: The PLC controller controls the vertical drive component 220 to operate, so that the intelligent recognition clamping component 300 drives the template system 400 to lift synchronously. The second rangefinder 227 monitors the distance between itself and the template system 400 in real time. The distance between itself and the template system 400 monitored by the second rangefinder 227 is the second monitoring distance x. The second monitoring distance x is equivalent to the distance between the vertical drive component 220 and the template system 400. When the second monitoring distance x is equal to the third set distance Y, the template system 400 is lifted into place and the vertical drive component 220 stops operating.

[0048] Step 9: The PLC controller controls the operation of the template support cylinder, which drives the template system 400 to close the mold.

[0049] Step 10: After the template system 400 completes mold closing, the PLC controller controls the intelligent identification clamping component 300 to operate, so that the clamping mechanism opens to the maximum angle, completing the separation of the intelligent identification clamping component 300 from the template system 400.

[0050] Step 11: The PLC controller controls the vertical drive component 220 to run, which drives the intelligent recognition clamping component 300 to lift upward. The lifting distance is set to Z, so that the intelligent recognition clamping component 300 completes the height reset.

[0051] Step 12: The PLC controller controls the horizontal drive component 210 to operate, so that the intelligent recognition clamping component 300 is horizontally reset.

[0052] Step 13: Pour concrete to form a shear wall, then lift the climbing formwork platform, followed by steel reinforcement binding, and repeat this process to achieve automated construction of the climbing formwork intelligent control system.

[0053] Preferably, in the construction method of the above-mentioned intelligent control system for climbing formwork, the horizontal drive component 210 includes a telescopic sleeve 211, a telescopic rod 212, a telescopic load-bearing leg 213, a motor shaft pre-drilled hole, a base plate positioning hole, and a limiting shoe 216. The telescopic sleeve 211 and the limiting shoe 216 are fixedly installed at intervals on the side of the upper platform beam 170. One end of the telescopic rod 212 is disposed inside the telescopic sleeve 211, and the other end of the telescopic rod 212 is connected to one end of the telescopic load-bearing leg 213. The telescopic load-bearing leg 213 is fixedly connected at one end, and the other end of the telescopic load-bearing leg 213 passes through the limiting shoe 216 and is connected to the vertical drive assembly 220. The telescopic rod 212 communicates with and is controlled by the PLC controller. By controlling the telescopic rod 212 to extend and retract, the vertical drive assembly 220 can move horizontally along the wall surface perpendicular to the shear wall 600. With the above structure, the vertical drive assembly 220 and the intelligent recognition clamping assembly 300 on it can move smoothly horizontally.

[0054] Preferably, in the construction method of the above-mentioned intelligent control system for climbing formwork, the vertical drive assembly 220 includes a vertical drive motor 221, a mounting base 222, fastening bolts 223, a drive shaft 224, and a cable guide 225. The vertical drive motor 221 and the cable guide 225 are respectively disposed on both sides of the other end of the telescopic load-bearing leg 213. The other end of the telescopic load-bearing leg 213 has a reserved hole for the motor shaft. The drive shaft 224 is installed in the reserved hole for the motor shaft through bearings. The two ends of the drive shaft 224 are coaxially connected to the vertical drive motor 221 and the cable guide 225, respectively. One end of the traction line 226 is wound around the cable guide 225. The vertical drive motor 221 is connected to and controlled by the PLC controller. The PLC controller controls the vertical drive motor 221 to drive the cable guide 225 to rotate and retract the traction cable 226, thereby realizing the vertical movement of the intelligent identification clamping component 300. One end of the mounting base 222 is fixed to the lower part of the other end of the telescopic load-bearing leg 213 by fastening bolts 223. The lower part of the other end of the telescopic load-bearing leg 213 has a bottom plate positioning hole for setting the fastening bolts 223. The vertical drive motor 221 is mounted on the mounting base 222, and the second rangefinder 227 is mounted on the lower surface of the mounting base 222.

[0055] Preferably, in the construction method of the above-mentioned intelligent control system for climbing formwork, the clamping mechanism includes a clamping motor 311, a first gear 312, a second gear 313, a rotating cam 321, a camshaft 322, a transmission chain 330, mechanical grippers, two contact rotors 342, and a spring hook 345. The mechanical grippers include two mechanical arms 341. The top of the assembly frame 310 has a traction hole 302 for connecting the traction line 226. The clamping motor 311 and the rotating cam 321 are respectively disposed inside the assembly frame 310, and the clamping... The holding motor 311 is located above the rotating cam 321. The output shaft of the holding motor 311 is coaxially connected to the first gear 312. The rotating cam 321 is fixedly sleeved on the camshaft 322. Both ends of the camshaft 322 are respectively mounted on the assembly frame 310 through bearings. The camshaft 322 is coaxially connected to the second gear 313. The first gear 312 and the second gear 313 are driven by a transmission chain 330. The two robotic arms 341 are symmetrically mounted on the assembly frame 310. The robotic arms 341 and the assembly frame 310 are connected. 10 is connected via a first pin 343. The robotic arm 341 can rotate around the axis of the corresponding first pin 343. One end of the robotic arm 341 near the rotating cam 321 is connected to the corresponding contact rotor 342 via a second pin 344. The contact rotor 342 can rotate around the axis of the corresponding second pin 344. The ends of the robotic arm 341 near the rotating cam 321 are connected by a spring hook 345. The two contact rotors 342 abut against each other under the action of the spring hook 345. The rotating cam 321 has an elliptical shape on both sides. Driven by the clamping motor 311, the rotating cam 321 rotates, causing the distance between the two contact rotors 342 to switch between its shortest and longest distances. When the distance between the two contact rotors 342 is at its shortest distance, the mechanical grippers open to their maximum angle, i.e., the ends of the two mechanical arms 341 furthest from the contact rotors 342 are released. When the distance between the two contact rotors 342 is at its longest distance, the mechanical grippers close to their minimum angle, i.e., the ends of the two mechanical arms 341 furthest from the contact rotors 342 are clamped. This structure enables automatic and stable clamping of the template system 400, facilitating automated construction of the template system 400.

[0056] Preferably, in the construction method of the above-mentioned intelligent control system for climbing formwork, the formwork system 400 includes a large steel formwork, fixed supports, O-rings, and lifting rods. Several fixed supports are provided on the upper surface of the large steel formwork. Each fixed support is an internally threaded cylindrical steel body. The O-rings have externally threaded rods, which are threadedly connected to the internally threaded cylindrical steel bodies. The lifting rods are located inside the O-rings. The clamping mechanism clamps or releases the formwork system 400 by clamping or releasing the lifting rods. By providing lifting rods on the large steel formwork and using a clamping mechanism to hold the lifting rods, it is convenient to realize that the intelligent recognition clamping component 300 can clamp or release the formwork system 400.

[0057] In summary, the intelligent control system for climbing scaffold formwork provided by this invention achieves precise positioning of the formwork system 400 through machine vision (i.e., using an industrial camera) and sensor monitoring (i.e., using a second rangefinder and a first rangefinder). It uses a PLC to control the bidirectional drive integrated component 200 to achieve the intelligent identification and clamping component 300's horizontal and vertical movement, enabling the coordinated forward and backward movement and vertical lifting of the formwork system 400. Furthermore, it uses a PLC to control the intelligent identification and clamping component 300 to achieve positioning and control of the formwork system 400. Finally, it uses a PLC to control the formwork support cylinder to achieve formwork closing of the formwork system 400. This improves the safety and automation level of climbing scaffold formwork construction.

[0058] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. An intelligent control system for climbing scaffold formwork, characterized in that, include: The system comprises a climbing scaffold platform, a climbing scaffold power system, a bidirectional drive integrated component, a first rangefinder, a second rangefinder, an intelligent identification and clamping component, a template system, a traction line, template support cylinders, and a PLC controller. The climbing scaffold platform is positioned on the side of a shear wall. The climbing scaffold power system drives the climbing scaffold platform to move up and down. The climbing scaffold platform includes several working platforms arranged sequentially from top to bottom. A top platform beam is located at the bottom of the top working platform. The top platform beam is horizontally positioned and perpendicular to the shear wall surface. The bidirectional drive integrated component includes a horizontal drive component and a vertical drive component. The horizontal drive component is installed on the side of the top platform beam facing the shear wall. The vertical drive component is installed on the horizontal drive component and can drive the vertical drive component to move horizontally. The vertical drive component is connected to the intelligent identification and clamping component via a traction line. The intelligent identification and clamping component can clamp or release the template system and can identify the template system. The intelligent identification and clamping component includes an assembly frame, a clamping mechanism, and a tooling assembly. An industrial camera, a clamping mechanism, and a first rangefinder are respectively mounted on the assembly frame. The first rangefinder and the industrial camera are respectively located on both sides of the assembly frame. The assembly frame is fixedly connected to the lower end of the traction line. The second rangefinder is located at the bottom of the vertical drive assembly. The climbing frame power system, horizontal drive assembly, vertical drive assembly, clamping mechanism, industrial camera, and template support cylinder are respectively connected to and controlled by the PLC controller. The distance between the clamping mechanism and the template system can be obtained through the first rangefinder, and the distance between the vertical drive assembly and the template system can be obtained through the second rangefinder. The vertical drive assembly can drive the intelligent recognition clamping assembly to move vertically. The position of the template system can be identified through the industrial camera. The template support cylinder is located on the side of the climbing frame platform. Under the control of the PLC controller, the movable end of the support cylinder can press against the template system and drive the template system to move to realize the opening and closing of the mold. The clamping mechanism can realize the clamping or releasing of the template system in the vertical direction.

2. The intelligent control system for climbing scaffold formwork as described in claim 1, characterized in that, The horizontal drive assembly includes a telescopic sleeve, a telescopic rod, a telescopic load-bearing leg, a pre-drilled hole for the motor shaft, a positioning hole for the base plate, and a limiting shoe. The telescopic sleeve and the limiting shoe are fixedly installed at intervals on the side of the upper platform beam. One end of the telescopic rod is located inside the telescopic sleeve, and the other end of the telescopic rod is fixedly connected to one end of the telescopic load-bearing leg. The other end of the telescopic load-bearing leg passes through the limiting shoe and is connected to the vertical drive assembly. The telescopic rod can be extended and retracted by a PLC controller, which can drive the vertical drive assembly to move horizontally along the wall surface perpendicular to the shear wall.

3. The intelligent control system for climbing scaffold formwork as described in claim 2, characterized in that, The vertical drive assembly includes a vertical drive motor, a mounting base, fastening bolts, a drive shaft, and a cable guide. The vertical drive motor and the cable guide are respectively located on both sides of the other end of the telescopic load-bearing leg. The other end of the telescopic load-bearing leg has a pre-drilled hole for the motor shaft. The drive shaft is mounted in the pre-drilled hole for the motor shaft via bearings. Both ends of the drive shaft are coaxially connected to the vertical drive motor and the cable guide, respectively. One end of the traction line is wound around the cable guide. The vertical drive motor is controlled by a PLC controller to rotate the cable guide and retract the traction line, thereby realizing the vertical movement of the intelligent recognition and clamping assembly. One end of the mounting base is fixed to the lower part of the other end of the telescopic load-bearing leg by fastening bolts. The lower part of the other end of the telescopic load-bearing leg has a base plate positioning hole for setting the fastening bolts. The vertical drive motor is mounted on the mounting base, and the second rangefinder is mounted on the lower surface of the mounting base.

4. The intelligent control system for climbing scaffold formwork as described in claim 1, characterized in that, The clamping mechanism includes a clamping motor, a first gear, a second gear, a rotating cam, a camshaft, a transmission chain, mechanical grippers, two contact rotors, and a spring hook. The mechanical grippers include two robotic arms. A traction hole for connecting a traction line is provided at the top of the assembly frame. The clamping motor and the rotating cam are respectively disposed inside the assembly frame, with the clamping motor located above the rotating cam. The output shaft of the clamping motor is coaxially connected to the first gear. The rotating cam is fixedly sleeved on the camshaft. Both ends of the camshaft are respectively mounted on the assembly frame via bearings. The camshaft is coaxially connected to the second gear. The first gear and the second gear are driven by a transmission chain. The two robotic arms are symmetrically mounted on the assembly frame. The robotic arm is connected to the assembly frame via a first pin, and can rotate around the axis of the corresponding first pin. One end of the robotic arm near the rotating cam is connected to the corresponding contact rotor via a second pin, and the contact rotor can rotate around the axis of the corresponding second pin. The ends of the robotic arm near the rotating cam are connected by a spring hook. Under the action of the spring hook, the two contact rotors abut against the two side surfaces of the rotating cam respectively. The rotating cam is elliptical in shape. The rotating cam is driven to rotate by a clamping motor, so that the distance between the two contact rotors switches between the shortest distance and the longest distance. When the distance between the two contact rotors is the shortest distance, the mechanical gripper opens to the maximum angle. When the distance between the two contact rotors is the longest distance, the mechanical gripper closes to the minimum angle.

5. The intelligent control system for climbing scaffold formwork as described in claim 1, characterized in that, The template system includes a large steel template, fixed supports, O-rings, and lifting rods. Several fixed supports are provided on the upper surface of the large steel template. The fixed supports are internally threaded cylindrical steel bodies. The O-rings have externally threaded rods, which are threadedly connected to the internally threaded cylindrical steel bodies. The lifting rods are located inside the O-rings. The clamping mechanism clamps or releases the template system by clamping or releasing the lifting rods.

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