A method for using a climbing frame template automatic regulation system

Abstract

The application discloses a kind of automatic regulation and control system of climbing frame template use method, adopt climbing frame platform, climbing frame power system, two-way drive integrated assembly, first range finder, second range finder, intelligent recognition clamping assembly, template system, traction line, template support oil cylinder and PLC controller, climbing frame platform is set to the side of shear wall, intelligent recognition clamping assembly can clamp or loosen template system and can identify template system, intelligent recognition clamping assembly includes assembly frame, clamping mechanism and industrial camera, clamping mechanism, industrial camera and first range finder are respectively installed on assembly frame, first range finder and industrial camera are respectively set to the two sides of the assembly frame, second range finder is set to the bottom of vertical drive assembly, the position of template system can be identified by industrial camera, vertical drive assembly can drive the vertical movement of the intelligent recognition clamping assembly, to effectively improve the degree of automation and safety of climbing frame template construction.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of building construction, and particularly relates to a use method of a climbing frame formwork automatic regulation and control system. BACKGROUND

[0002] In the high-rise building construction process, the construction process of the shear wall is: steel bar binding, formwork system lifting, formwork erection (form closing), concrete pouring, climbing frame platform lifting, steel bar binding, and the cycle is repeated.

[0003] Among them, the construction protection platform equipment used in the high-rise building construction process is the first guarantee for safety, and the safety of the construction process is the top priority. The traditional steel pipe scaffold has been gradually eliminated in the market, and the semi-steel climbing frame has also begun to withdraw from the historical stage. At present, the fully-steel climbing frame with automatic climbing is the trend of future development. Not only residential buildings, but also commercial buildings can use climbing frames. The equipment has a high degree of automation and can provide convenience for construction personnel.

[0004] However, the lifting mode of the climbing frame construction formwork system is still relatively backward, the construction efficiency is relatively low, and mainly relies on construction personnel to complete; the most commonly used lifting climbing formwork in most domestic lifting climbing formwork is to use group lifting electric hoists, and workers manually control the electric hoists to lift the formwork. Compared with the hand-operated hoist mode, the worker's physical labor degree is reduced, but the automation degree of the formwork construction is slightly improved, and most of the formwork construction steps still need to be completed by the operator; however, a part of domestic enterprises still use hand-operated hoists, the cost of the hand-operated hoist is low, and the operator is indispensable, and the construction efficiency is naturally low. Generally, the traditional small projects use this mode. Although the hand-operated hoist can still be operated for the climbing formwork at present, it is slightly backward compared with the obvious advantages of the group lifting electric hoist. In order to improve the safety of the climbing frame construction site and avoid personnel casualty accidents, the formwork system lifting mode should be further improved or improved to form a formwork operation system with self-recognition and control, directly reducing the number of site operators and improving the intelligent level of the climbing frame construction. SUMMARY

[0005] The application aims to provide a use method of a climbing frame formwork automatic regulation and control system, and solve the problems of low automation degree and poor safety of the existing climbing frame formwork system.

[0006] To solve the above technical problems, the application provides the following technical scheme:

[0007] The application discloses a use method of a climbing frame template automatic regulation system, and the climbing frame template automatic regulation system comprises a climbing frame platform, a climbing frame power system, a bidirectional driving integrated assembly, a first range finder, a second range finder, an intelligent recognition clamping assembly, a template system, a traction line, a template support oil cylinder and a PLC controller, the climbing frame platform is arranged on the side of a shear wall, the climbing frame power system can drive the climbing frame platform to move up and down, the climbing frame platform comprises a plurality of working platforms which are sequentially arranged from top to bottom, the bottom of the working platform located at the top is provided with a top platform girder, the top platform girder is horizontally arranged and perpendicular to the wall surface of the shear wall, the bidirectional driving integrated assembly comprises a horizontal driving assembly and a vertical driving assembly, the horizontal driving assembly is installed on the top platform girder and faces the side of the shear wall, the vertical driving assembly is installed on the horizontal driving assembly, the horizontal driving assembly can drive the vertical driving assembly to move horizontally, the vertical driving assembly is connected with the intelligent recognition clamping assembly through the traction line, the intelligent recognition clamping assembly can clamp or release the template system and can recognize the template system, the intelligent recognition clamping assembly comprises an assembly frame, a clamping mechanism and an industrial camera, the clamping mechanism, the industrial camera and the first range finder are respectively installed on the assembly frame, the first range finder and the industrial camera are respectively arranged on the two sides of the assembly frame, the assembly frame is fixedly connected with the lower end of the traction line, the second range finder is arranged at the bottom of the vertical driving assembly, the climbing frame power system, the horizontal driving assembly, the vertical driving assembly, the clamping mechanism, the industrial camera and the template support oil cylinder are respectively connected with the PLC controller in data communication and are controlled by the PLC controller, the distance between the clamping mechanism and the template system can be obtained through the first range finder, the distance between the vertical driving assembly and the template system can be obtained through the second range finder, the vertical driving assembly can drive the intelligent recognition clamping assembly to move vertically, the position of the template system can be recognized through the industrial camera, the template support oil cylinder is arranged on the side of the climbing frame platform, and the movable end of the support oil cylinder can be abutted against the template system and drive the template system to move to realize opening and closing of the template system under the control of the PLC controller, the template system can be clamped or released in the vertical direction through the clamping mechanism, and the use method comprises the following steps.

[0008] Step 1, the reinforcing steel bars used for forming the shear wall are bound, after the binding is completed, the PLC controller controls the horizontal driving assembly to run, the first range finder monitors the distance from the first range finder to the template system in real time as a first real-time monitoring distance s, when the first real-time monitoring distance s is less than a first set distance L, it is indicated that the first range finder and the intelligent recognition clamping assembly are located above the template system, and the horizontal driving assembly stops running.

[0009] Step 2, the PLC controller controls the vertical drive assembly to operate, so that the first real-time monitoring distance s is equal to the second set distance H, and the preliminary positioning of the intelligent recognition clamping assembly is completed;

[0010] Step 3, the PLC controller controls the vertical drive assembly to act, so that the intelligent recognition clamping assembly lands, and the landing distance is set as L1 by default, when s=H-L1, the vertical drive assembly stops running;

[0011] Step 4, the image of the template system is collected by the industrial camera, and it is judged whether the template system is located in the clamping range of the clamping mechanism through image recognition or image observation of the operator. When the template system is not located in the clamping range of the clamping mechanism, the PLC controller controls the horizontal drive assembly to fine-tune, so that the intelligent recognition clamping assembly moves in the horizontal direction-30mm-30mm range until the template system is located in the clamping range of the clamping mechanism, and the PLC controller controls the horizontal drive assembly to stop moving;

[0012] Step 5, the PLC controller starts the intelligent recognition clamping assembly to operate, so that the clamping mechanism opens to the maximum angle and keeps the maximum angle state;

[0013] Step 6, the PLC controller controls the vertical drive assembly to operate, drives the intelligent recognition clamping assembly to land, and the landing distance system is set as M by default. When s=H-L1-M, the intelligent recognition clamping assembly descends to the grabbing position, and the vertical drive assembly stops running.

[0014] Step 7, the PLC controller starts the intelligent recognition clamping assembly, and the clamping mechanism closes to the minimum angle, so that the clamping mechanism clamps the template system and keeps the clamping state;

[0015] Step 8, the PLC controller controls the vertical drive assembly to operate, so that the intelligent recognition clamping assembly drives the template system to be lifted synchronously, and the second distance meter monitors the distance between itself and the template system in real time. The distance between the second distance meter and the template system monitored by the second distance meter is the second monitoring distance x. When the second monitoring distance x is equal to the third set distance Y, the template system is lifted into position, and the vertical drive assembly stops running.

[0016] Step 9, the PLC controller controls the template support oil cylinder to operate, so that the template support oil cylinder drives the template system to be combined;

[0017] Step 10, after the template system is combined, the PLC controller controls the intelligent recognition clamping assembly to operate, so that the clamping mechanism opens to the maximum angle, and the intelligent recognition clamping assembly and the template system are separated;

[0018] Step 11, the PLC controller controls the vertical drive assembly to run, and drives the intelligent recognition and clamping assembly to be pulled up, the pulling-up distance is set as Z, so that the intelligent recognition and clamping assembly completes height resetting;

[0019] Step 12, the PLC controller controls the horizontal drive assembly to run, so that the intelligent recognition and clamping assembly horizontally resets;

[0020] Step 13, concrete is poured to form a shear wall, then the climbing frame platform is lifted, and then steel bars are bound, so as to realize automatic construction of the intelligent climbing formwork system.

[0021] Preferably, in the use method of the automatic control system of the climbing formwork, the horizontal drive assembly comprises a telescopic sleeve, a telescopic rod, a telescopic load-bearing leg, a motor shaft reserved hole, a bottom plate positioning hole and a limiting shoe, the telescopic sleeve and the limiting shoe are fixedly installed on the abdominal side of the top platform girder at intervals, one end of the telescopic rod is arranged in the telescopic sleeve, the other end of the telescopic rod is fixedly connected with one end of the telescopic load-bearing leg, the other end of the telescopic load-bearing leg is connected with the vertical drive assembly after penetrating through the limiting shoe, the telescopic rod is in data communication connection with the PLC control and is controlled thereby, and the telescopic rod can drive the vertical drive assembly to move horizontally along a direction perpendicular to the wall surface of the shear wall by the control of the PLC controller, and the above structure can realize stable horizontal movement of the vertical drive assembly and the intelligent recognition and clamping assembly thereon.

[0022] Preferably, in the use method of the automatic control system of the climbing formwork, the vertical drive assembly comprises a vertical drive motor, a mounting base, a fastening bolt, a transmission shaft and a wire winder, the vertical drive motor and the wire winder are arranged on both sides of the other end of the telescopic load-bearing leg respectively, the other end of the telescopic load-bearing leg is internally provided with a motor shaft reserved hole, the transmission shaft is installed in the motor shaft reserved hole through a bearing, both ends of the transmission shaft are coaxially connected with the vertical drive motor and the wire winder respectively, one end of the traction wire is wound on the wire winder, the vertical drive motor is in data communication connection with the PLC controller and is controlled thereby, the traction wire is retracted or extended by rotating the wire winder through the control of the PLC controller to control the work of the vertical drive motor, so as to realize 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 through the fastening bolt, the lower part of the other end of the telescopic load-bearing leg is provided with a bottom plate positioning hole for arranging the fastening bolt, the vertical drive motor is arranged on the mounting base, and the second distance meter is arranged on the lower bottom surface of the mounting base.

[0023] Preferably, in the use method of the climbing frame formwork automatic regulation system, the clamping mechanism comprises a clamping motor, a first gear, a second gear, a rotating cam, a cam shaft, a transmission chain, a mechanical clamping jaw, two contact rotors and a spring hook, the mechanical clamping jaw comprises two mechanical arms, a traction hole for connecting a traction line is formed in the top of the assembly frame, the clamping motor and the rotating cam are arranged in the interior of the assembly frame respectively, and the clamping motor is located above the rotating cam, the output shaft of the clamping motor is coaxially connected with the first gear, the rotating cam is fixedly sleeved on the cam shaft, the two ends of the cam shaft are respectively mounted on the assembly frame through bearings, the cam shaft is coaxially connected with the second gear, the first gear and the second gear are driven through the transmission chain, the two mechanical arms are symmetrically mounted on the assembly frame, the mechanical arm and the assembly frame are connected through a first pin shaft, the mechanical arm can rotate around the axis of the corresponding first pin shaft, one end of the mechanical arm close to the rotating cam is connected with the corresponding contact rotor through a second pin shaft, the contact rotor can rotate around the axis of the corresponding second pin shaft, the one end of the mechanical arm close to the rotating cam is connected through the spring hook, and the two contact rotors are respectively abutted on the two side surfaces of the rotating cam under the action of the spring hook. The rotating cam is in an elliptical shape, the rotating cam is driven to rotate by the clamping motor, the distance between the two contact rotors is switched between the shortest distance and the longest distance, when the distance between the two contact rotors is the shortest distance, the mechanical clamping jaw is opened to the maximum angle, that is, the end of the two mechanical arms away from the contact rotor is loosened, and when the distance between the two contact rotors is the longest distance, the mechanical clamping jaw is closed to the minimum angle, that is, the end of the two mechanical arms away from the contact rotor is clamped. By adopting the above structure, automatic stable clamping of the formwork system can be realized, and automatic construction of the formwork system is facilitated.

[0024] Preferably, in the use method of the climbing frame formwork automatic regulation system, the formwork system comprises a steel large formwork, a fixed fulcrum, an O-shaped lifting ring and a lifting rod, a plurality of fixed fulcrums are arranged on the upper end face of the steel large formwork, the fixed fulcrum is an internally threaded column-shaped steel body, the O-shaped lifting ring is provided with an externally threaded rod, the externally threaded rod on the O-shaped lifting ring is in threaded connection with the internally threaded column-shaped steel body, and the lifting rod is arranged in the O-shaped lifting ring. The clamping mechanism can clamp or loosen the formwork system by clamping or loosening the lifting rod. By arranging the lifting rod on the steel large formwork and clamping the lifting rod by the clamping mechanism, the intelligent recognition clamping assembly can clamp or loosen the formwork system.

[0025] Compared with the prior art, the climbing frame formwork automatic regulation system has the following beneficial effects:

[0026] This invention provides a method for using an automatic control system for climbing scaffold formwork. The system comprises 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, formwork 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 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. The assembly includes a clamping mechanism and an industrial camera. The clamping mechanism, industrial camera, and a 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. A second rangefinder is located at the bottom of the vertical drive assembly. The first rangefinder can obtain the distance between the clamping mechanism and the template system, and the second rangefinder can obtain the distance between the vertical drive assembly and the template system. The vertical drive assembly can drive the intelligent recognition clamping assembly to move vertically. The industrial camera can identify the position of the template system. A 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, thus opening and closing the mold. The clamping mechanism can clamp or release the template system vertically. The climbing frame platform, horizontal drive assembly, vertical drive assembly, clamping mechanism, industrial camera, and template support cylinder are all connected to and controlled by the PLC controller via data communication. The intelligent climbing formwork system 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 achieve intelligent identification and clamping component movement in both horizontal and vertical directions, enabling forward and backward movement and vertical lifting of the formwork system. The intelligent identification and clamping component enables the identification, clamping, and release of the formwork system. A formwork support cylinder facilitates formwork system closure, thereby effectively improving the automation level and safety of climbing formwork construction. Attached Figure Description

[0027] Figure 1This is one of the three-dimensional structural diagrams of an intelligent climbing model system.

[0028] Figure 2 This is the second schematic diagram of the three-dimensional structure of an intelligent climbing formwork system.

[0029] Figure 3 yes Figure 1 Enlarged view of part A.

[0030] Figure 4 yes Figure 1 Enlarged view of part B.

[0031] Figure 5 This is a side view of an intelligent climbing formwork system.

[0032] Figure 6 yes Figure 5 Enlarged view of part C.

[0033] Figure 7 This is a schematic diagram of the assembly of the vertical drive integrated component and the top platform beam.

[0034] 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.

[0035] Figure 10 This is a schematic diagram of the intelligent recognition and clamping component.

[0036] Figure 11 yes Figure 10 DD sectional view.

[0037] Figure 12 This is a structural diagram of the assembly frame.

[0038] Figure 13 This is a structural diagram illustrating step 1 of the usage method of an automatic control system for climbing scaffold templates.

[0039] Figure 14 This is a structural diagram of step 2 of the usage method of an automatic control system for climbing scaffold templates.

[0040] Figure 15 This is a structural diagram of step 3 of the usage method of an automatic control system for climbing scaffold templates.

[0041] Figure 16 This is a structural diagram of step 6 in the usage method of an automatic control system for climbing scaffold templates.

[0042] Figure 17 This is a structural diagram of step 8 of the usage method of an automatic control system for climbing scaffold templates.

[0043] Figure 18 This is a structural diagram of step 10 of the usage method of an automatic control system for climbing scaffold formwork.

[0044] 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

[0045] 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.

[0046] Please continue reading. Figures 1 to 18This embodiment discloses a method for using an automatic control system for climbing scaffold formwork. The automatic control system includes: 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 located 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 arranged sequentially from top to bottom. The work platforms 120 (2F), 130 (3F), 140 (4F), 150 (5F), and 160 (6F) are located on the top platform, namely the 1F work platform 110. A top platform beam 170 is provided at the bottom of the top platform 110. 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, and 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. The vertical drive component 220 is connected to the intelligent recognition and clamping component 300 via the traction line 226. The intelligent recognition and clamping component 300 can clamp or release the template system 400 and can recognize the template system 400. The intelligent recognition and clamping component 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 component 220. The climbing scaffold 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 instrument 350 (i.e., the intelligent identification clamping assembly 300) and the template system 400 can be obtained through the first distance measuring instrument 350. The distance between the second distance measuring instrument 227 (i.e., the vertical drive assembly 220) and the template system 400 can be obtained through the second distance measuring instrument 227. The vertical drive assembly 220 can drive the intelligent identification clamping assembly 300 to move vertically. The industrial camera 360 can identify the position of the template system 400. The template support cylinder is located on the side of the climbing scaffold 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.

[0047] The method of use includes the following steps:

[0048] 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 rangefinder 350 monitors the distance from itself to 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 from the clamping mechanism to 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 rangefinder 350 and the intelligent identification clamping component 300 are above the formwork system 400, and the horizontal drive component 210 stops running.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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;

[0053] 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.

[0054] 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.

[0055] 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.

[0056] Step 9: The PLC controller controls the operation of the template support cylinder, which drives the template system 400 to close the mold.

[0057] 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.

[0058] 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.

[0059] Step 12: The PLC controller controls the horizontal drive component 210 to operate, so that the intelligent recognition clamping component 300 is horizontally reset.

[0060] 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 intelligent climbing formwork system.

[0061] Preferably, in the above-mentioned method of using the automatic control system for climbing formwork, the horizontal drive assembly 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.

[0062] Preferably, in the above-mentioned method of using the automatic 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 pre-drilled hole for the motor shaft. The drive shaft 224 is installed 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 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.

[0063] Preferably, in the above-mentioned method of using the automatic 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. 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. 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. 41 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 two contact rotors 342 abut against the rotating cam 321 under the action of the spring hook 345. On both sides of the 21, the rotating cam 321 is elliptical. 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 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.

[0064] Preferably, in the above-mentioned method of using the automatic 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 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 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 achieve intelligent recognition that the clamping assembly 300 can clamp or release the formwork system 400.

[0065] In summary, the automatic control system for climbing 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). The PLC controls 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. The PLC controls the intelligent identification and clamping component 300 to achieve positioning and control of the formwork system 400. The PLC controls the formwork support cylinder to achieve formwork closing of the formwork system 400. This improves the safety and automation level of climbing formwork construction.

[0066] 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. A method of using an automatic control system for climbing scaffold formwork, characterized in that, The automatic control system for climbing scaffold formwork 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, formwork support cylinders, and a PLC controller. The climbing scaffold platform is located on the side of the 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, a clamping mechanism, and... 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. A 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 a PLC controller. The first rangefinder can obtain the distance between the clamping mechanism and the template system, and the second rangefinder can obtain the distance between the vertical drive assembly and the template system. The vertical drive assembly can drive the intelligent recognition clamping assembly to move vertically. The industrial camera can identify the position of the template system. 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 achieve mold opening and closing. The clamping mechanism can clamp or release the template system in the vertical direction. The usage method includes the following steps: Step 1: Tie the steel bars used to form the shear wall. After the tying is completed, the PLC controller controls the horizontal drive component to run. The first distance measuring instrument monitors the distance from the clamping mechanism to the template system in real time as the first real-time monitoring distance s. When the first real-time monitoring distance s is less than the first set distance L, it indicates that the first distance measuring instrument and the intelligent identification clamping component are above the template system, and the horizontal drive component stops running. Step 2: The PLC controller controls the vertical drive component 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. Step 3: The PLC controller controls the vertical drive component to descend, causing the intelligent recognition clamping component to descend. The descent distance is set to L1 by default. When s = H - L1, the vertical drive component stops running. Step 4: Acquire images of the template system using an industrial camera. Determine whether the template system is within the clamping range of the clamping mechanism through image recognition or operator image observation. If the template system is not within the clamping range of the clamping mechanism, the PLC controller controls the horizontal drive component to make fine adjustments, so that the intelligent recognition clamping component moves within a horizontal range of -30mm to 30mm until the template system is within the clamping range of the clamping mechanism. Then, the PLC controls the horizontal drive component to stop moving. Step 5: The PLC controller starts the intelligent recognition clamping component to operate, so that the clamping mechanism opens to the maximum angle and maintains the maximum angle state; Step 6: The PLC controller controls the vertical drive component to operate, causing the intelligent recognition and gripping component to descend. The descent distance is set to M by default. When s = H - L1 - M, the intelligent recognition and gripping component descends to the gripping position, and the vertical drive component stops operating. Step 7: The PLC controller activates the intelligent identification clamping component, and the clamping mechanism closes to the minimum angle, so that the clamping mechanism clamps the template system and maintains the clamping state; Step 8: The PLC controller controls the vertical drive component to operate, so that the intelligent recognition clamping component drives the template system to lift synchronously. The second rangefinder monitors the distance between itself and the template system in real time. The distance between itself and the template system monitored by the second rangefinder is the second monitoring distance x. When the second monitoring distance x is equal to the third set distance Y, the template system is lifted into place and the vertical drive component stops running. Step 9: The PLC controller controls the operation of the template support cylinder, which in turn drives the template system to close the mold. Step 10: After the template system completes mold closing, the PLC controller controls the intelligent identification clamping component to operate, so that the clamping mechanism opens to the maximum angle, completing the separation of the intelligent identification clamping component from the template system; Step 11: The PLC controller controls the vertical drive component to operate, driving the intelligent recognition clamping component to lift upwards. The lifting distance is set to Z, so that the intelligent recognition clamping component completes the height reset. Step 12: The PLC controller controls the horizontal drive component to operate, so that the intelligent recognition clamping component is horizontally reset. 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 intelligent climbing formwork system.

2. The method of using the automatic 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 method of using the automatic 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 method of using the automatic 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 method of using the automatic 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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