Self-balancing integral hoisting system and method for concrete formwork

Abstract

The invention relates to the technical field of building construction, in particular to a self-balancing integral hoisting system and method for a concrete formwork, and the hoisting system comprises a sensor module which comprises an acceleration sensor and a tilt angle sensor; the automatic control module is used for processing data, controlling algorithm operation and controlling instruction output, and the automatic control module is connected to the acceleration sensor and the tilt angle sensor; the mechanical fastener device comprises a lifting frame, a driving mechanism and at least two clamping assemblies, and each clamping assembly comprises a linkage mechanism, a sliding mechanism and a rotating mechanism. According to the invention, the problems of dangerous operation of manual hoisting and large installation error are avoided, so that the technical problem that the installation precision is difficult to control in the template hoisting process in the prior art is solved.

Description

Technical Field

[0001] The invention relates to the technical field of building construction, and in particular to a self-balancing integral hoisting system and method for a concrete formwork. Background Art

[0002] Concrete components are usually large in size, which results in large and heavy formwork during pouring. Therefore, the positioning and posture of the formwork need to be precisely controlled during the hoisting process to ensure installation accuracy, structural safety, and the quality of the concrete components after pouring. Traditional concrete formwork hoisting operations mainly rely on cranes and manual labor. During this process, operators need to manually adjust the hoisting equipment or formwork to keep the balance of the formwork, which is not only inefficient but also poses safety risks. In particular, unbalanced hoisting may cause the formwork to rotate or swing in the air, increasing the difficulty of the operation and the potential risk of safety accidents, which in turn makes it difficult to control the installation accuracy of the formwork. Summary of the invention

[0003] The purpose of the present invention is to provide a self-balancing integral hoisting system and method for concrete formwork, so as to solve the technical problem that the installation accuracy is difficult to control during the hoisting process of the formwork in the prior art. The specific technical solution is as follows:

[0004] The present invention provides a self-balancing integral hoisting system for a concrete formwork, comprising: a sensor module, the sensor module comprising an acceleration sensor and an inclination sensor; an automatic control module, the automatic control module being used for data processing, control algorithm operation and control instruction output, the automatic control module being connected to the acceleration sensor and the inclination sensor; a mechanical fastener device, the mechanical fastener device comprising a hoisting frame, a drive mechanism and at least two clamping assemblies, the clamping assemblies comprising a linkage mechanism, a sliding mechanism and a rotating mechanism, the hoisting frame comprising a top frame and a frame, the automatic control module being fixed to the bottom of the top frame, and the drive mechanism being connected to the bottom of the frame. The automatic control module is connected to the automatic control module, the driving mechanism is fixed to the top of the frame, the automatic control module is fixed to the driving mechanism, the linkage mechanism, the sliding mechanism and the rotating mechanism are all located in the frame, the rotating mechanism is movably connected to the driving mechanism, and the driving mechanism drives the linkage mechanism, the sliding mechanism and the rotating mechanism to move, the sliding mechanism is slidably connected to the rotating mechanism, the linkage mechanism is slidably connected to the sliding mechanism, the linkage mechanism includes a slider for clamping the template, the inclination sensor is installed in the slider, and the acceleration sensor is fixed on the driving mechanism.

[0005] A further improvement of the self-balancing integral hoisting system of concrete formwork of the present invention is that the rotating mechanism is a rotating column, the driving mechanism is drivingly connected to the rotating column, and the sliding mechanism is slidingly connected to the rotating column along the length direction of the rotating column.

[0006] A further improvement of the self-balancing integral lifting system of the concrete formwork of the present invention is that the sliding mechanism includes a first sliding member, a second sliding member and a third sliding member, the first sliding member is slidably connected to the rotating column along the length direction of the rotating column, the second sliding member is slidably connected to the first sliding member along the length direction of the first sliding member, the third sliding member is slidably connected to the second sliding member along the length direction of the first sliding member, and the linkage mechanism is slidably connected to the third sliding member along the length direction of the third sliding member.

[0007] A further improvement of the self-balancing integral hoisting system of the concrete formwork of the present invention is that the linkage mechanism also includes a fourth sliding member, the fourth sliding member is slidably connected to the third sliding member along the length direction of the third sliding member, and the slider is fixed to the fourth sliding member.

[0008] A further improvement of the self-balancing integral lifting system of the concrete formwork of the present invention is that the top frame includes a fixed ball and at least three retractable connecting rods, the first ends of the at least three retractable connecting rods are fixed on the fixed ball, and the second ends of at least three of the retractable connecting rods are fixed at intervals on the automatic control module.

[0009] A further improvement of the self-balancing integral hoisting system of concrete formwork of the present invention is that the frame includes a base plate and at least three vertical poles, the base plate is located below the mechanical fastener device, and at least three vertical poles are fixed at intervals between the driving mechanism and the base plate.

[0010] A further improvement of the self-balancing integral lifting system of the concrete formwork of the present invention is that the automatic control module includes a central processing unit, a digital-to-analog converter and a power amplifier, the central processing unit is connected to the acceleration sensor and the inclination sensor, the digital-to-analog converter is connected between the central processing unit and the power amplifier, and the power amplifier is connected to the driving mechanism.

[0011] The present invention also provides a hoisting method using the above-mentioned concrete formwork self-balancing integral hoisting system, comprising the following steps:

[0012] Fix the top frame to the external lifting mechanical arm, and move the mechanical fastener device to the starting point of template lifting through the external lifting mechanical arm;

[0013] The template is placed in the frame, and the data of the template is input into the automatic control module, which processes the input data and runs the control algorithm, and outputs the control instructions to the driving mechanism;

[0014] The driving mechanism drives the linkage mechanism, the sliding mechanism and the rotating mechanism to move so that the slider is clamped on the template;

[0015] Move the mechanical fastener device to the template lifting end point by the external lifting mechanical arm;

[0016] The automatic control module calculates the current position of the template, and controls the driving mechanism to drive the linkage mechanism, the sliding mechanism and the rotating mechanism to move and fine-tune the position of the template until the template is installed;

[0017] The template is installed, the slider is released, and the mechanical fastener device is moved to the template hoisting starting point by the external hoisting mechanical arm to hoist the next template.

[0018] The application of the technical solution of the present invention has the following beneficial effects:

[0019] The self-balancing integral hoisting system of the concrete formwork of the present invention clamps the formwork and hoists it as a whole through a clamping assembly. When installing the formwork, the clamping assembly is controlled by an automatic control module to perform fine adjustments, thereby avoiding the dangerous operation of manual hoisting and the problem of large installation errors, thereby solving the technical problem of difficult control of installation accuracy during formwork hoisting in the prior art. The present invention can automatically adjust and maintain the balance state of the formwork through the automatic control module based on the data monitored by the sensor module, reduce manual operations, and improve hoisting efficiency and safety. The self-balancing characteristics of the present invention can significantly reduce the swing and rotation of the formwork during the hoisting process, can adapt to formworks of different sizes and shapes, and increase the breadth and flexibility of application.

[0020] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 It is a flow chart of the self-balancing integral hoisting system of concrete formwork of the present invention;

[0023] Figure 2 It is a schematic diagram of a sensor module of a self-balancing integral hoisting system for a concrete formwork according to the present invention;

[0024] Figure 3 It is a schematic diagram of an automatic control module of a self-balancing integral hoisting system for concrete formwork of the present invention;

[0025] Figure 4 It is a three-dimensional diagram of the mechanical fastener device of the self-balancing integral hoisting system of the concrete formwork of the present invention;

[0026] Figure 5 It is a schematic diagram of the overall structure of the clamping assembly of the self-balancing integral hoisting system of the concrete formwork of the present invention;

[0027] Figure 6 It is a schematic diagram of a single structure of a clamping assembly of a self-balancing integral hoisting system for a concrete formwork according to the present invention;

[0028] Figure 7 The side view of the mechanical fastener device of the self-balancing integral hoisting system of the concrete formwork of the present invention Figure 1 ;

[0029] Figure 8 The side view of the mechanical fastener device of the self-balancing integral hoisting system of the concrete formwork of the present invention Figure 2 ;

[0030] Fig. 9 It is a transmission structure diagram of the rotating mechanism of the self-balancing integral hoisting system of the concrete formwork of the present invention.

[0031] Among them, 1. sensor module; 11. acceleration sensor; 111. silicon wafer; 12. tilt sensor; 121. liquid conductive material; 2. automatic control module; 21. central processing unit; 211. infrared signal receiver; 212. digital filter; 22. digital-to-analog converter; 23. power amplifier; 3. mechanical fastener device; 31. driving mechanism; 312. limiter; 313. fixed ball; 32. clamping assembly; 321. linkage mechanism; 3211. fourth sliding member; 3212. slider; 322. sliding mechanism; 3221. first sliding member; 3222. second sliding member; 3223. third sliding member; 323. rotating mechanism; 3231. main gear; 3232. main gear output shaft; 3233. sub-gear; 3234. sub-gear output shaft; 3235. electric-controlled automatic telescopic device; 4. template. DETAILED DESCRIPTION

[0032] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0033] See also Figures 1 to 9 As shown, a self-balancing integral hoisting system for concrete formwork comprises:

[0034] A sensor module 1, wherein the sensor module 1 includes an acceleration sensor 11 and an inclination sensor 12; an automatic control module 2, wherein the automatic control module 2 is used for data processing, control algorithm operation and control instruction output, and the automatic control module 2 is connected to the acceleration sensor 11 and the inclination sensor 12; a mechanical fastener device 3, wherein the mechanical fastener device 3 includes a hanging frame, a driving mechanism 31 and at least two clamping components 32, wherein the clamping component 32 includes a linkage mechanism 321, a sliding mechanism 322 and a rotating mechanism 323, wherein the hanging frame includes a top frame and a frame, wherein the automatic control module 2 is fixed to the bottom of the top frame, and the driving mechanism 31 is data-connected to the automatic control module 2, and the driving mechanism 3 1 is fixed on the top of the frame, the automatic control module 2 is fixed to the driving mechanism 31, the linkage mechanism 321, the sliding mechanism 322 and the rotating mechanism 323 are all located in the frame, the rotating mechanism 323 is movably connected to the driving mechanism 31, and the driving mechanism 31 drives the linkage mechanism 321, the sliding mechanism 322 and the rotating mechanism 323 to move, the sliding mechanism 322 is slidably connected to the rotating mechanism 323, the linkage mechanism 321 is slidably connected to the sliding mechanism 322, the linkage mechanism 321 includes a slider 3212 for clamping the template 4, after the slider 3212 slides to the specified position, the self-locking safety device automatically locks the slider 3212. The inclination sensor 12 is installed in the slider 3212, and the acceleration sensor 11 is fixed on the driving mechanism 31.

[0035] Specifically, the number of the clamping assemblies 32 is four, and the four clamping assemblies 32 are arranged in a field shape. The acceleration sensor 11 and the inclination sensor 12 monitor the movement and tilt state of the template 4 in real time. The data of these sensors are sent to the central processing unit 21 through a high-speed data transmission line. The automatic control module 2 is responsible for receiving the sensor data, processing the data, and adjusting the state of the hoisting fastener according to the preset algorithm to maintain the balance of the template 4. The mechanical structure design of the mechanical fastener device 3 needs to ensure sufficient strength and flexibility. High-strength lightweight materials such as aluminum-lithium alloy, titanium-aluminum alloy, magnesium alloy, beryllium alloy and titanium alloy can be used to adapt to templates 4 of different sizes and weights. In this embodiment, by selecting and designing the parameters of the mechanical fastener device 3, the main body of the mechanical fastener device 3 can provide a stable and safe connection in all situations. The working efficiency of the mechanical fastener device 3 is likely to be affected by dynamic factors. During the movement of the hoisting equipment, the mechanical fastener device 3 may be subjected to vibration and impact. By using appropriate damping and buffering equipment, as well as appropriate maintenance and inspection, the long-term stability and safety of the fastener are guaranteed.

[0036] In this embodiment, Figure 2As shown, the driving mechanism 31 includes a motor and a servo mechanism. The acceleration sensor 11 adopts MEMS (Micro-Electro-Mechanical System) technology. There is a tiny silicon chip 111 inside the acceleration sensor 11. When the sensor is subjected to acceleration, the mass block will be displaced due to inertia. This acceleration sensor 11 is installed below the driving mechanism 31. When the mechanical fastener device 3 and the template 4 are displaced, the capacitance or resistance inside the sensor will be changed, thereby changing the current or voltage. The change in this current or voltage can be detected by the circuit and converted into an acceleration reading, and it has good anti-vibration and anti-temperature drift performance. In addition, the sensor also has a high degree of integration and a small size, and is used to measure the acceleration changes of the mechanical fastener device 3 and the template 4 in real time. The acceleration sensor 11 has sufficient accuracy to accurately measure the acceleration of the lifting equipment and the template 4; it has sufficient stability to provide stable output under various environmental conditions. In addition, the acceleration sensor 11 has sufficient durability and can work for a long time in harsh construction environments. The data of the acceleration sensor 11 is sent to the automatic control module 2 in real time. When the acceleration of the hoisting equipment and the template 4 changes, the automatic control module 2 will immediately receive these changes, and then adjust the working state of the hoisting equipment by running the control algorithm to achieve self-balancing adjustment of the template 4.

[0037] The inclination sensor 12 is a device that can sense and measure the inclination angle of an object. The working principle is based on gravity sensing. It can accurately measure the inclination angle and has good anti-vibration and anti-temperature drift performance. In addition, the sensor is highly integrated and compact. The four inclination sensors 12 are respectively installed inside the four sliders 3212 of the linkage mechanism 321 to measure the inclination angle of the lifting equipment and the template 4 in real time. Since the template 4 is finally clamped and fixed by the slider 3212 of the linkage mechanism 321, when the template 4 is tilted, the slider 3212 will detect that the direction of the gravity of the template 4 will change. This change can be detected by the sensor and converted into an angle reading. There is usually a liquid conductive material 121 inside the inclination sensor 12. When the sensor is tilted, the position of the conductive material will change. This change will affect the resistance or capacitance of the conductive material, thereby changing the current or voltage. The change in current or voltage can be detected by the circuit and converted into an angle reading, and a data packet is transmitted through an infrared signal, such as Figure 3As shown, it is received by the infrared receiver 211. In this embodiment, a micro-electromechanical system (MEMS) tilt sensor 12 is used. This sensor is small, light, durable and has high precision. There is a liquid conductive material 121 inside the MEMS tilt sensor 12. When the sensor is tilted, the flow of the liquid conductive material 121 will change, thereby affecting the capacitance, and then changing the current. The change in this current can be detected by the circuit and converted into an angle reading. The tilt sensor 12 has sufficient accuracy to accurately measure the tilt angle of the mechanical fastener device 3 and the template 4; it has sufficient stability to provide stable output under various environmental conditions; and it has sufficient durability to work for a long time in a harsh construction environment. The tilt sensor 12 is installed on the slider 3212, and the data of the tilt sensor 12 is sent to the automatic control module 2 in real time. When the tilt angle of the hoisting equipment and the template 4 changes, the automatic control module 2 will immediately receive these changes, and then adjust the height, force direction and size of the hoisting equipment traction rope by running the control algorithm to achieve self-balancing adjustment of the template 4.

[0038] Traditional lifting equipment often lacks flexibility and is not suitable for templates 4 of various sizes or shapes, which requires replacement or adjustment of the lifting equipment during the construction process, further reducing construction efficiency. The slider 3212 of the present application can clamp templates 4 of various shapes, which improves flexibility. The clamping assembly 32 is made of high-strength alloy material to ensure safety and durability under heavy loads. The sensor module 1 and the central control module can detect the lifting status in real time and automatically adjust the position of the template 4 to ensure balance during the lifting process. The mechanism is driven by a precision servo motor to achieve fast and accurate position adjustment. And by detecting the lifting status in real time and automatically adjusting the position of the template 4 to ensure balance during the lifting process, the construction process is simplified and construction efficiency and safety are improved.

[0039] The self-locking safety device is designed to automatically lock the lifting fastener when an abnormal state is detected. It is specifically composed of a high-altitude operation speed differential anti-fall device, a sensor and an infrared transmitter to prevent the template 4 from accidentally falling off and improve the safety of the operation. The self-locking safety device has a remote monitoring function, which collects data through sensors and sends the data to the mobile devices of relevant staff through infrared transmitters to monitor the lifting status in real time and deal with any problems that may arise in a timely manner.

[0040] Preferably, Figures 4 to 8As shown, the rotating mechanism 323 is a rotating column, the driving mechanism 31 is drivingly connected to the rotating column, and the sliding mechanism 322 is slidingly connected to the rotating column along the length direction of the rotating column. The rotating column can rotate around its own axis and roll along the driving mechanism 31, and can also slide along the driving mechanism 31, so that the driving mechanism 31 can be extended outward. The rotating mechanism 323 is responsible for controlling the rotation of the template 4 so that the template 4 can rotate on a vertical axis. When the direction of the template 4 needs to be changed, the rotating mechanism 323 realizes the rotation of the template 4 by changing the relative position of the gear and the shaft. Specifically, as Fig. 9 As shown, the bottom of the slider 3212 does not contact the bottom plate. By designing a suspension mechanism, when the rotating column rotates, the suspension mechanism suspends the slider 3212 to ensure its free rotation. After the rotation is completed, the suspension mechanism performs a reverse operation to return the slider 3212 to its original position. The slider 3212 cooperates with the guide rail to enable the rotating column to move linearly along the driving mechanism. The design of the slider 3212 ensures that it can remain stable even when power is transmitted. In the rotating mechanism 323, a gear system is included. The driving mechanism 31 is a motor. The motor is connected to the rotating column through the gear system. The motor transmits power to the main gear output shaft 3232 of the gear system to drive the main gear 3231 to rotate. The sub-gear 3233 is adjusted by the electric control automatic telescopic device 3235 on the sub-gear output shaft 3234. The end of the sub-gear output shaft 3234 is connected to the axis of the rotating column. When rotation is required, the sub-gear output shaft 3234 is extended to mesh with the main gear 3231. When rotation is not required, the sub-gear output shaft 3234 is shortened to separate from the main gear 3231. The secondary gear 3233 is connected to the output shaft, which is then connected to the rotating template 4. The fixed plate and the template 4 are synchronously rotated and adjusted, and the gear transmission system thereon ensures the synchronous rotation with the template 4 through its precise mechanical connection. Through the control system of the motor, the rotation angle and speed can be accurately set, usually through programming, and adjusted according to the required application scenario. The direction and angle of rotation are adjusted according to the shape of the template 4 and the corresponding position of the structure below to ensure the coordination of the overall mechanical action.

[0041] Preferably, the sliding mechanism 322 includes a first sliding member 3221, a second sliding member 3222 and a third sliding member 3223, wherein the first sliding member 3221 is slidably connected to the rotating column along the length direction of the rotating column, the second sliding member 3222 is slidably connected to the first sliding member 3221 along the length direction of the first sliding member 3221, the third sliding member 3223 is slidably connected to the second sliding member 3222 along the length direction of the first sliding member 3221, and the linkage mechanism 321 is slidably connected to the third sliding member 3223 along the length direction of the third sliding member 3223. Specifically, a track for the first sliding member 3221 to be slidably connected is provided on the rotating column, a track for the second sliding member 3222 to be connected is provided on the first sliding member 3221, and a track for the third sliding member 3223 to be connected is provided on the second sliding member 3222, and the above tracks can be tracks with T-shaped slots, and corresponding sliding members are provided with T-shaped blocks adapted to the T-shaped slots. Specifically, the driving devices for the sliding of each sliding member are linear stepper motors. The linear stepper motor directly converts rotational motion into linear motion without the use of a screw or a belt. The rotor of the motor is designed to be in a straight line shape, which can directly push the sliding member to slide along the track with a T-slot. The sliding mechanism 322 is responsible for controlling the horizontal position of the template 4 so that the template 4 can move smoothly in the horizontal direction. When the horizontal position of the template 4 needs to be changed, the sliding mechanism 322 realizes the horizontal movement of the template 4 by changing the position of the sliding member on the track. The first sliding member 3221, the second sliding member 3222 and the third sliding member 3223 sliding in different directions in the sliding mechanism 322 realize the movement of multiple degrees of freedom of the linkage mechanism 321, thereby realizing the multi-degree-of-freedom movement of the template 4 clamped by the linkage mechanism 321, and then realizing the fine adjustment of the template 4.

[0042] Preferably, the linkage mechanism 321 further comprises a fourth sliding member 3211, the fourth sliding member 3211 is slidably connected to the third sliding member 3223 along the length direction of the third sliding member 3223, and the slider 3212 is fixed to the fourth sliding member 3211. A track for the fourth sliding member 3211 to be slidably connected is provided on the third sliding member 3223, and the track can be a track with a T-shaped slot, and a T-shaped block adapted to the T-shaped slot is provided on the corresponding sliding member. The template 4 can be finely adjusted by the movement of the fourth sliding member 3211.

[0043] When the template 4 is hoisted, the rotating mechanism 323, the sliding mechanism 322 and the linkage mechanism 321 will work together. First, the template 4 is lifted to the required height through the entire hoisting system. Then, the linkage mechanism 321 moves the template 4 to the required height. At the same time, the sliding mechanism 322 and the rotating mechanism 323 will adjust the horizontal position and rotation direction of the template 4 as needed, and each sliding member will slide and adjust. Finally, the slider 3212 will clamp and fix the template 4 on both sides and move the template 4 to the specified position. The coordinated work of these three mechanisms enables the template 4 to be quickly and accurately moved to the required position and direction. The sensor module 1 and the automatic control module 2 of this system work closely with the above three mechanisms.

[0044] Preferably, the top frame includes a fixed ball 313 and at least three retractable connecting rods, the first ends of the at least three retractable connecting rods are fixed to the fixed ball 313, and the second ends of the at least three retractable connecting rods are fixed to the automatic control module 2 at intervals. Furthermore, the retractable connecting rod adopts an electrically controlled automatic retractable rod, which is provided with a limiter 312 for limiting the length. The limiter 312 is connected to the automatic control module 2, and the control command is also transmitted to the limiter 312. In combination with the control command, the height and vertical angle of the entire hoisting system can be adjusted by controlling the extension and shortening of the electrically controlled automatic retractable rod.

[0045] Preferably, the frame includes a bottom plate and at least three vertical poles, the bottom plate is located below the mechanical fastener device 3, and at least three vertical poles are fixed between the driving mechanism 31 and the bottom plate at intervals. The bottom plate can be used to support the weight of the template 4. In this embodiment, the number of the vertical poles is four, and the four vertical poles are arranged in a rectangular shape to ensure the stability of the bottom plate and the template 4.

[0046] Preferably, the automatic control module 2 includes a central processing unit 21, a digital analog converter 22 and a power amplifier 23, wherein the central processing unit 21 is connected to the acceleration sensor 11 and the inclination sensor 12, the digital analog converter 22 is connected between the central processing unit 21 and the power amplifier 23, and the power amplifier 23 is connected to the driving mechanism 31. The acceleration sensor 11 and the inclination sensor 12 of the sensor module 1 can monitor the state of the template 4 in real time, including position, direction and speed. This information will be sent to the automatic control module 2, which will calculate the parameters that need to be adjusted based on this information, and then send control signals to the linkage mechanism 321, the sliding mechanism 322 and the rotating mechanism 323 to perform corresponding actions to adjust the position of the template 4 to maintain balance.

[0047] The central processing unit 21 is the core part of the automatic control module 2, which is responsible for performing all calculation and control tasks. In this embodiment, a high-performance embedded CPU is selected as the central processing unit 21 of the automatic control module 2, which has good computing power, can quickly process a large amount of sensor data, and run complex control algorithms in real time. This central processing unit 21 has a high degree of integration and a compact size, which is easy to install on the mechanical fastener device 3. It has good anti-vibration and anti-temperature drift performance and can work stably in harsh construction environments. A control algorithm is provided in the central processing unit 21, which calculates the actions that the lifting equipment should take according to the sensor data, including the length of the telescopic rod, the lifting height, the direction and size of the force, so as to realize the self-balancing adjustment of the template 4. In the embodiment, the algorithm adopts fuzzy logic and neural network technology, which can handle nonlinear and uncertainty problems and is suitable for the dynamic control of the mechanical fastener device 3. The design and implementation of the control algorithm need to consider many factors, including the stability, response speed, robustness, etc. of the system.

[0048] Data reception and processing are the first step of the working mechanism of the automatic control module 2. The automatic control module 2 is provided with a communication interface, which is responsible for transmitting all data. It is preferred to use an infrared receiver 211, which can transmit a large amount of data in real time. In addition, the data is transmitted using MQTT (Message Queuing Telemetry Transport). MQTT is a lightweight message transmission protocol designed for low-bandwidth and unstable network environments, and supports asynchronous communication between devices. It is based on a publish / subscribe model and is very suitable for IoT devices and real-time data transmission scenarios. It can ensure the accuracy and integrity of data while reducing the demand for network bandwidth. The automatic control module 2 needs to perform necessary preprocessing on the received data to facilitate the subsequent control algorithm operation. When processing data, the automatic control module 2 adopts an efficient data processing strategy, which can quickly process a large amount of sensor data and send the processed data to the central processing unit 21 and the control algorithm for processing. In this embodiment, an acceleration sensor 11 and an inclination sensor 12 are used to provide real-time motion and tilt data of the hoisting equipment. These data are transmitted in the form of infrared signals, received by an infrared receiver 211, and sent to the microprocessor or microcontroller of the data processing unit for processing. The data processing unit first cleans the data, that is, removes noise and outliers in the data, which is achieved through the digital filter 212. Then, the data needs to be standardized, that is, the data is converted to a standard range, such as 0 to 1 or -1 to 1, so as to facilitate the subsequent control algorithm to run. Finally, the data needs to be feature extracted, that is, features useful for the control algorithm, such as peak value, mean value, variance, etc., are extracted from the data. The useful features are then sent to the central processing unit 21.

[0049] The operation of the control algorithm is the second step of the working mechanism of the automatic control module 2. The central processing unit 21 is provided with a control algorithm, which involves running the control algorithm and generating control instructions according to the received data. In this embodiment, the PID (proportional-integral-differential) control algorithm is used to control the output of the system by adjusting the three parameters of proportion, integration and differentiation, so that the actual output of the system can be close to the expected output. The operation of the PID control algorithm first needs to set the expected output, that is, the target state. In this embodiment, the target state is the horizontal state of the template 4. Then, the algorithm needs to calculate the error between the actual output and the expected output, that is, the deviation. Then, the algorithm needs to calculate the control instruction based on the deviation. This calculation process includes three parts: the proportional part, that is, the direct relationship between the deviation and the control instruction; the integral part, that is, the relationship between the cumulative value of the deviation and the control instruction; the differential part, that is, the relationship between the rate of change of the deviation and the control instruction.

[0050] The output of control instructions is the third step of the working mechanism of the automatic control module 2, which involves sending the generated control instructions to the drive mechanism 31 of the mechanical fastener device 3 by setting a hardware interface on the automatic control module 2 to adjust the working state of the mechanical fastener device 3. In the embodiment, a digital-to-analog converter 22 and a power amplifier 23 are used to convert the control instructions into signals that can be accepted by the drive mechanism 31. The digital-to-analog converter 22 converts the digital control instructions into analog voltage or current signals, and the power amplifier 23 amplifies this signal to a sufficient voltage or current to control the drive mechanism 31. The output of the control instructions needs to consider many factors, including the accuracy, speed, stability, etc. of the output. In this embodiment, by selecting and adjusting the parameters of the output device, the output of the control instructions can accurately, quickly and stably control the drive mechanism 31 under various circumstances.

[0051] The present invention also provides a hoisting method using the above-mentioned concrete formwork self-balancing integral hoisting system, comprising the following steps:

[0052] Fix the top frame on the external lifting mechanical arm, and move the mechanical fastener device 3 to the lifting starting point of the template 4 through the external lifting mechanical arm;

[0053] The template 4 is placed in the frame, and the data of the template 4 is input into the automatic control module 2, the automatic control module 2 processes the input data and runs the control algorithm, and outputs the control instruction to the driving mechanism 31;

[0054] The driving mechanism 31 drives the linkage mechanism 321, the sliding mechanism 322 and the rotating mechanism 323 to move, so that the slider 3212 is clamped on the template 4;

[0055] Move the mechanical fastener device 3 to the end point of the template 4 hoisting by the external hoisting mechanical arm;

[0056] The automatic control module 2 calculates the current position of the template 4, and controls the driving mechanism 31 to drive the linkage mechanism 321, the sliding mechanism 322 and the rotating mechanism 323 to move and fine-tune the position of the template 4 until the template 4 is installed;

[0057] The template 4 is installed, the slider 3212 is loosened, and the mechanical fastener device 3 is moved to the template 4 hoisting starting point by the external hoisting mechanical arm to hoist the next template 4.

[0058] Before fixing the top frame to the external lifting robot arm, the selection of parameters such as shape, size, material, etc. of the lifting template 4 required for the actual project should be evaluated first, and based on the selection of these parameters, the strength and rigidity of the entire lifting system should be determined to withstand the force and deformation limit between the lifting equipment and the template 4.

[0059] The mechanical fastener device 3 is installed in the chute below the boom through the fixing ball 313, and is tightened and fixed at a suitable position when adjusting and installing the equipment before hoisting. Its main function is to provide a stable connection point to connect the hoisting equipment with the template 4.

[0060] When hoisting, first, the operator inputs the size and shape information of the template 4 through the operation panel; the automatic control module 2 calculates the adjustment amount required for each mechanism based on the input information; the control system sends a signal to each mechanism to guide them to make corresponding adjustments. For example, assuming that a rectangular template 4 needs to be hoisted, first, the length and width of the template 4 need to be input into the operation panel; then, the automatic control module 2 calculates the distance that the linkage mechanism 321 and the sliding mechanism 322 need to move, and the angle that the rotating mechanism 323 needs to rotate based on the input information, and each slider 3212 performs sliding adjustment, and finally the slider 3212 of the linkage mechanism 321 clamps and fixes on both sides of the template 4, and moves the template 4 to the specified position. Finally, the automatic control module 2 sends a signal to the sliding mechanism 322 and the rotating mechanism 323, and the moving path of the slider 3212 is determined by the shape of the track, thereby changing the position of the template 4. After receiving the signal from the automatic control module 2, the driving mechanism 31 starts to move. This signal contains the distance and direction information that the slider 3212 needs to move. The movement of the driving mechanism 31 is transmitted to the slider 3212 through the transmission device, so that the slider 3212 moves on the guide rail according to the instruction in the signal. Since there is a fixed connection between the slider 3212 and the template 4, the movement of the slider 3212 will cause the template 4 to move, so as to realize the lifting and positioning of the template 4.

[0061] The clamping assembly 32 is composed of four identical parts, each of which includes the three mechanisms mentioned above. Figure 6 It is shown as one of the four parts. It can be seen that when the linkage mechanism 321 is hoisting the template 4, the slider 3212 part clamps the template 4, and at this time, the fourth sliding member 3211 and the slider 3212 can move in the vertical direction indicated by the arrow along the side wall slide rail of the third sliding member 3223, and the fourth sliding member 3211 and the slider 3212 part are tightly connected to ensure the stable movement of the template 4; the sliding mechanism 322 automatically adjusts according to the shape and size of the template 4, including the fourth sliding member 3211 and the slider 3212 moving in the vertical direction indicated by the arrow along the side wall of the third sliding member 3223, the slider 3212 of the third sliding member 3223 moving in the horizontal direction indicated by the arrow along the side wall of the second sliding member 3222, the second sliding member 3222 moving in the horizontal direction indicated by the arrow along the side wall of the first sliding member 3221, and the slide rail of the first sliding member 3221 moving in the horizontal direction indicated by the arrow along the axial direction of the rotating mechanism 323;

[0062] The rotating mechanism 323 is fixed on the fixed plate where the motor or servo mechanism is located. The rotation angle is calculated by combining the specific shape of the template 4, and the relative motion relationship between the gear and the shaft is changed by planetary gear transmission to rotate. Fig. 9 As shown, in the rotating mechanism 323, the motor transmits power to the main gear output shaft 3232 of the gear system to drive the main gear 3231 to rotate, and the sub-gear 3233 is adjusted by the electric control automatic telescopic device 3235 on the sub-gear output shaft 3234, and the end of the sub-gear output shaft 3234 is connected to the axis of the rotating column. When rotation is required, the sub-gear output shaft 3234 is extended to mesh with the main gear 3231, and when rotation is not required, the sub-gear output shaft 3234 is shortened to separate from the main gear 3231. The sub-gear 3233 is connected to the output shaft, and the output shaft rotates the template 4 through a transmission connection. The synchronous rotation adjustment of the fixed plate and the template 4, the gear transmission system thereon ensures the synchronous rotation with the template 4 through its precise mechanical connection. Through the control system of the motor, the rotation angle and speed can be accurately set, usually through programming, and adjusted according to the required application scenario. The direction and angle of rotation are adjusted according to the shape of the template 4 and the corresponding position of the lower structure to ensure the coordination of the overall mechanical action. The rotating mechanism 4 rotates in the plane along the direction indicated by the arrow, and the four parts are all rotated and adjusted within each quarter position in the plate to ensure that the lower structure and the template 4 are rotated and adjusted synchronously. Each slider 3212 is slidably adjusted, and finally the slider 3212 of the linkage mechanism 321 is clamped and fixed on both sides of the template 4, and the template 4 is moved to the specified position.

[0063] The self-balancing integral hoisting system of the concrete formwork of the present invention clamps the formwork 4 and hoists it as a whole through the clamping assembly 32. When installing the formwork 4, the clamping assembly 32 is controlled by the automatic control module 2 to perform fine adjustments, thereby avoiding the dangerous operation of manual hoisting and the problem of large installation errors, thereby solving the technical problem of difficult control of installation accuracy during the hoisting process of the formwork 4 in the prior art. The present invention can automatically adjust and maintain the balance state of the formwork 4 through the automatic control module 2 based on the data monitored by the sensor module 1, reduce manual operations, and improve hoisting efficiency and safety. The self-balancing characteristics of the present invention can significantly reduce the swing and rotation of the formwork 4 during the hoisting process, can adapt to formworks 4 of different sizes and shapes, and increase the breadth and flexibility of application.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A self-balancing integral hoisting system for concrete formwork, characterized in that: include: A sensor module (1), the sensor module (1) comprising an acceleration sensor (11) and an inclination sensor (12); An automatic control module (2), the automatic control module (2) being used for data processing, control algorithm operation and control instruction output, the automatic control module (2) being connected to the acceleration sensor (11) and the inclination sensor (12); A mechanical fastener device (3), the mechanical fastener device (3) comprising a hanging frame, a driving mechanism (31) and at least two clamping assemblies (32), the clamping assembly (32) comprising a linkage mechanism (321), a sliding mechanism (322) and a rotating mechanism (323), the hanging frame comprising a top frame and a frame, the automatic control module (2) being fixed to the bottom of the top frame, and the driving mechanism (31) being data-connected to the automatic control module (2), the driving mechanism (31) being fixed to the top of the frame, the automatic control module (2) being fixed to the driving mechanism (31), the linkage mechanism (321), the sliding mechanism (322) and the rotating mechanism (323) 23) are both located in the frame, the rotating mechanism (323) is movably connected to the driving mechanism (31), and the driving mechanism (31) drives the linkage mechanism (321), the sliding mechanism (322) and the rotating mechanism (323) to move, the sliding mechanism (322) is slidably connected to the rotating mechanism (323), the linkage mechanism (321) is slidably connected to the sliding mechanism (322), the linkage mechanism (321) includes a slider (3212) for clamping the template (4), the inclination sensor (12) is installed in the slider (3212), and the acceleration sensor (11) is fixed on the driving mechanism (31).

2. The self-balancing integral hoisting system for concrete formwork according to claim 1 is characterized in that: The rotating mechanism (323) is a rotating column, the driving mechanism (31) is drivingly connected to the rotating column, and the sliding mechanism (322) is slidingly connected to the rotating column along the length direction of the rotating column.

3. The self-balancing integral hoisting system of concrete formwork according to claim 2 is characterized in that: The sliding mechanism (322) includes a first sliding member (3221), a second sliding member (3222) and a third sliding member (3223), wherein the first sliding member (3221) is slidably connected to the rotating column along the length direction of the rotating column, the second sliding member (3222) is slidably connected to the first sliding member (3221) along the length direction of the first sliding member (3221), the third sliding member (3223) is slidably connected to the second sliding member (3222) along the length direction of the first sliding member (3221), and the linkage mechanism (321) is slidably connected to the third sliding member (3223) along the length direction of the third sliding member (3223).

4. The self-balancing integral hoisting system for concrete formwork according to claim 3 is characterized in that: The linkage mechanism (321) further comprises a fourth sliding member (3211), wherein the fourth sliding member (3211) is slidably connected to the third sliding member (3223) along the length direction of the third sliding member (3223), and the sliding block (3212) is fixed to the fourth sliding member (3211).

5. The self-balancing integral hoisting system for concrete formwork according to claim 1 is characterized in that: The top frame comprises a fixed ball (313) and at least three telescopic connecting rods, wherein the first ends of the at least three telescopic connecting rods are fixed to the fixed ball (313), and the second ends of the at least three telescopic connecting rods are fixed to the automatic control module (2) at intervals.

6. The self-balancing integral hoisting system for concrete formwork according to claim 1 is characterized in that: The frame comprises a bottom plate and at least three vertical poles, the bottom plate is located below the mechanical fastener device (3), and the at least three vertical poles are fixed at intervals between the driving mechanism (31) and the bottom plate.

7. The self-balancing integral hoisting system for concrete formwork according to claim 1 is characterized in that: The automatic control module (2) comprises a central processing unit (21), a digital-to-analog converter (22) and a power amplifier (23); the central processing unit (21) is connected to the acceleration sensor (11) and the inclination sensor (12); the digital-to-analog converter (22) is connected between the central processing unit (21) and the power amplifier (23); and the power amplifier (23) is connected to the driving mechanism (31).

8. A method for hoisting a concrete formwork self-balancing integral hoisting system according to claim 1, characterized in that: The steps include: The top frame is fixed to the external lifting mechanical arm, and the mechanical fastener device (3) is moved to the lifting starting point of the template (4) by the external lifting mechanical arm; The template (4) is placed in the frame, and the data of the template (4) is input into the automatic control module (2). The automatic control module (2) processes the input data and runs the control algorithm, and outputs the control instruction to the driving mechanism (31); The driving mechanism (31) drives the linkage mechanism (321), the sliding mechanism (322) and the rotating mechanism (323) to move, so that the slider (3212) is clamped on the template (4); The mechanical fastener device (3) is moved to the end point of the template (4) hoisting by the external hoisting mechanical arm; The automatic control module (2) calculates the current position of the template (4), and controls the driving mechanism (31) to drive the linkage mechanism (321), the sliding mechanism (322) and the rotating mechanism (323) to move and fine-tune the position of the template (4) until the template (4) is installed; The template (4) is installed, the slider (3212) is loosened, and the mechanical fastener device (3) is moved to the template (4) lifting starting point through the external lifting mechanical arm to lift the next template (4).

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