Intelligent formwork erecting robot

Abstract

The invention discloses an intelligent formwork erecting robot which comprises a mechanical claw, a vehicle body, steering wheels, an obstacle avoidance camera and a mechanical arm. The plurality of steering wheels are respectively mounted at the bottom of the vehicle body at intervals, so that the vehicle body can move on a formwork erection site through the steering wheels; a plurality of mounting storage grooves are formed in the vehicle body, so that the plurality of mechanical arms can be folded and stored in the plurality of mounting storage grooves; each mechanical arm is a folding telescopic mechanical arm, one end of each mechanical arm is rotatably connected into the corresponding mounting storage groove through a rotating shaft, the other end of each mechanical arm can extend to the outside of the vehicle body, and a mechanical claw used for erecting a formwork is mounted at the other end of each mechanical arm; the obstacle avoidance cameras are embedded in the outer wall of the vehicle body, and the multiple obstacle avoidance cameras are arranged in the circumferential direction of the vehicle body at intervals. The invention relates to the technical field of constructional engineering, and can solve the problems of complex structure and high cost of a formwork erection robot in the prior art.

Description

Technical Field

[0001] The invention relates to the technical field of construction engineering, and in particular to an intelligent formwork erecting robot. Background Art

[0002] At present, the construction of basements in construction projects generally adopts the construction method of on-site pouring of reinforced concrete. Among them, the formwork system for the construction of concrete components consists of two parts: one is the formwork that forms the shape and design size of the concrete component; the other is the support system that ensures that the parameters such as the formwork shape, size and spatial position do not deform.

[0003] At present, the formwork system in basement construction is mainly wooden formwork, and its support system is mostly a disc-type steel pipe scaffolding system. Usually, in the construction of the support system of a project, scaffolding needs to be set up in the entire basement construction range, including the installation of discs, crossbars, vertical poles, bases, top supports and other parts. A large number of construction workers are needed on the construction site, and if the basement floor is high, the construction workers need to stand on the lower frame that has been set up to set up the support system at a higher position. There are no safety protection measures throughout the process, which poses a great safety hazard.

[0004] Chinese utility model patent CN219931621U discloses an intelligent mobile mold frame robot, including: a truck; the truck includes a body and a moving part, the moving part is installed on the body, and the moving part includes a steering wheel and a universal wheel; a support mechanism, the support mechanism is installed on the truck; the support mechanism includes a main support mechanism and an auxiliary support mechanism; the main support mechanism includes a plurality of lifting cylinders, and the plurality of lifting cylinders are evenly distributed on the body; and a support template; the support template is detachably installed on the support mechanism and is located on the main support mechanism; the support template is detachably connected to the lifting cylinder; the support template is composed of more than one sub-template spliced ​​together.

[0005] Although the robot can assist in the erection of the formwork support system, it has a complex structure and high cost, and is not suitable for widespread use in low-cost projects. Therefore, it is necessary to provide an intelligent formwork erection robot that can solve the problems of complex structure and high cost of formwork erection robots in the prior art. Summary of the invention

[0006] The purpose of the present invention is to provide an intelligent formwork erection robot, which can solve the problems of complex structure and high cost of the formwork erection robot in the prior art.

[0007] The present invention is achieved in that:

[0008] An intelligent formwork erection robot comprises a mechanical claw, a vehicle body, a steering wheel, an obstacle avoidance camera and a mechanical arm; a plurality of steering wheels are installed at intervals on the bottom of the vehicle body, so that the vehicle body can be moved at a formwork erection site through the steering wheels; a plurality of installation and storage grooves are formed on the vehicle body, so that a plurality of mechanical arms can be folded and stored in the plurality of installation and storage grooves; each mechanical arm is a folding and telescopic mechanical arm, so that one end of the mechanical arm is rotatably connected to the installation and storage groove through a rotating shaft, the other end of the mechanical arm can extend to the outside of the vehicle body, and the other end of the mechanical arm is installed with a mechanical claw for erecting the formwork; the obstacle avoidance camera is embedded on the outer wall of the vehicle body, and the plurality of obstacle avoidance cameras are arranged at intervals along the circumference of the vehicle body.

[0009] The vehicle body includes a vehicle body shell, a supporting plate installed at the bottom of the vehicle body shell, and a control module installed inside the vehicle body shell; a plurality of steering wheels are installed at intervals at the bottom corners of the supporting plate, and the control module is electrically connected to the mechanical claw, steering wheel, obstacle avoidance camera and mechanical arm respectively.

[0010] There are three installation and storage grooves, which are respectively formed inwardly at the top and both sides of the vehicle body shell in a concave manner, so that the three mechanical arms can be folded and stored in the vehicle body shell through the three installation and storage grooves respectively.

[0011] The installation and storage grooves are of a long strip structure, and the length directions of the three installation and storage grooves are consistent, so that the three mechanical claws extend out of the vehicle body shell in the same direction through the three mechanical arms.

[0012] Each of the robotic arms comprises a first telescopic robotic arm, a connecting robotic arm, a second telescopic robotic arm and a universal joint; one end of the first telescopic robotic arm is rotatably connected in the installation storage slot, and the other end of the first telescopic robotic arm is movably connected to one end of the connecting robotic arm through a universal joint; the other end of the connecting robotic arm is movably connected to one end of the second telescopic robotic arm through a universal joint, and the other end of the second telescopic robotic arm is connected to the mechanical claw.

[0013] The middle part of the first telescopic mechanical arm is bent into an L-shaped structure, so that one end of the first telescopic mechanical arm extends out of the vehicle body shell perpendicular to the length direction of the installation storage slot, and the other end of the first telescopic mechanical arm telescopically extends outside the installation storage slot.

[0014] The mechanical claw includes a working claw body and a scanning camera; the working claw body includes a plurality of claw bodies circumferentially arranged at the other end of the second telescopic mechanical arm, and each claw body is electrically connected to the control module; the scanning camera is installed between the plurality of claw bodies, and the scanning camera is arranged facing the mold frame to be erected and is electrically connected to the control module.

[0015] Each of the steering wheels comprises a wheel frame, a reduction motor assembly, a wheel and a transmission gear assembly; the wheel is installed on the bottom corner of the supporting plate through the wheel frame via the wheel axle, the reduction motor assembly is installed on the bottom surface of the supporting plate and is located beside the wheel axle, the transmission gear assembly is transmission-connected between the output shaft of the reduction motor assembly and the wheel axle, and the transmission gear assembly is electrically connected to the control module.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention is provided with a mechanical claw, a vehicle body, a steering wheel and a mechanical arm. The steering wheel can drive the entire robot to move flexibly and accurately to the installation construction station of the formwork node, and the mechanical arm is extended and steered by the control module to drive the mechanical claw to move, so that the control module can control the mechanical claw to grab and install the parts of the formwork, replacing manual erection of the formwork, which is beneficial to improving the construction quality, construction efficiency, construction safety, economic benefits and control intelligence of the formwork erection, and reducing manual working hours and workload; at the same time, the corresponding mechanical claw and mechanical arm can be equipped according to the actual formwork erection requirements, the structure is simple, the cost is low, and it can be widely used in low-cost formwork erection projects.

[0018] 2. The present invention is equipped with obstacle avoidance cameras, and multiple obstacle avoidance cameras are arranged circumferentially on the vehicle body. They can capture the environment around the vehicle body and identify obstacles during the movement of the vehicle body, so that the vehicle body can be braked in time when obstacles are identified, avoiding potential collision risks; at the same time, multiple obstacle avoidance cameras can also be used to collect environmental information of the mold frame erection construction site, which is convenient for autonomous path planning of the movement of the vehicle body and for the robot to sequentially erect the mold frame, with a high degree of intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional diagram of the intelligent formwork erection robot of the present invention;

[0020] Figure 2 It is a top view of the intelligent formwork erection robot of the present invention;

[0021] Figure 3 It is a rear view of the intelligent mold frame erecting robot of the present invention;

[0022] Figure 4 It is a control principle diagram of the intelligent mold frame erecting robot of the present invention.

[0023] In the figure, 1 is a mechanical claw, 101 is a working claw body, 102 is a scanning camera, 2 is a universal joint, 3 is a vehicle body, 301 is an installation storage slot, 302 is a control module, 303 is a support plate, 4 is a steering wheel, 401 is a reduction motor assembly, 5 is an obstacle avoidance camera, 6 is a mechanical arm, 601 is a first telescopic mechanical arm, 602 is a connecting mechanical arm, and 603 is a second telescopic mechanical arm. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0025] Please see attached Figure 1 To Attachment Figure 3 A smart formwork erection robot comprises a mechanical claw 1, a vehicle body 3, a steering wheel 4, an obstacle avoidance camera 5 and a mechanical arm 6; a plurality of steering wheels 4 are installed at intervals at the bottom of the vehicle body 3, so that the vehicle body 3 can be moved at the formwork erection site through the steering wheels 4; a plurality of installation and storage grooves 301 are formed on the vehicle body 3, so that a plurality of mechanical arms 6 can be folded and stored in the plurality of installation and storage grooves 301; each mechanical arm 6 is a foldable and telescopic mechanical arm, so that one end of the mechanical arm 6 is rotatably connected to the installation and storage groove 301 through a rotating shaft, and the other end of the mechanical arm 6 can extend to the outside of the vehicle body 3, and the other end of the mechanical arm 6 is installed with a mechanical claw 1 for erecting the formwork; the obstacle avoidance camera 5 is embedded on the outer wall of the vehicle body 3, and the plurality of obstacle avoidance cameras 5 are arranged at intervals along the circumference of the vehicle body 3.

[0026] Preferably, the outer shell of the vehicle body 3 may adopt a hollow rectangular box structure, and four steering wheels 4 may be provided to control the flexible movement of the vehicle body 3. A GPS positioning module, a route planning module, a communication module, etc. with a radar navigation function of the prior art may be installed in the vehicle body 3, and the communication module may be connected to the background computer by wireless communication technology, so as to be used for remote control of the vehicle body 3. The route planning module is used to accurately plan the path of the vehicle body 3 at the construction site where the formwork is erected according to the structural design and erection requirements of the formwork, and to locate the precise position of the vehicle body 3 at the construction site in combination with the GPS positioning module, so as to ensure that the moving path of the vehicle body 3 is accurately controllable, so that the mechanical claw 1 can gradually erect the formwork in a set order.

[0027] The mechanical claw 1 is used to erect the formwork, and the mechanical arm 6 can adjust the position of the mechanical claw 1 through extension and rotation, so that the mechanical claw 1 can erect formwork nodes at different positions and heights.

[0028] Preferably, an obstacle avoidance camera 5 can be arranged on each of the four sides of the vehicle body 3. The obstacle avoidance camera 5 can adopt a high-definition wide-angle camera of the existing technology, which is used to shoot the environment around the vehicle body 3 during the movement of the vehicle body 3, and combine the image processing technology to identify obstacles in the photographed environment. When an obstacle is identified, the steering wheel 4 can be braked in time, thereby avoiding the collision between the intelligent mold frame erection robot and the obstacle, and effectively protecting the intelligent mold frame erection robot.

[0029] Please see attached Figure 1 , Attachment Figure 3 and attached Figure 4The vehicle body 3 includes a vehicle body shell, a supporting plate 303 installed at the bottom of the vehicle body shell, and a control module 302 installed inside the vehicle body shell; a plurality of steering wheels 4 are installed at intervals at the bottom corners of the supporting plate 303, and the control module 302 is electrically connected to the mechanical claw 1, the steering wheel 4, the obstacle avoidance camera 5 and the mechanical arm 6 respectively.

[0030] The volume of the vehicle body shell can be adaptively selected according to the installation space requirements of the internal components. The supporting plate 303 can be made of steel plate to play a load-bearing role, which is convenient for installing the vehicle body shell and the steering wheel 4.

[0031] Preferably, the control module 302 can use a computer control chip equipped with a control program in the prior art to receive and send data information, and the corresponding control program can be installed on the computer control chip according to actual construction requirements. The vehicle body 3 can use an AGV (Automated Guided Vehicle) vehicle in the prior art, which can respond to the control instructions of the control module 302 in a timely and efficient manner.

[0032] For example: the control module 302 can receive obstacle information from the obstacle avoidance camera 5, and send braking information to the reduction motor assembly 401 of the steering wheel 4 to ensure timely braking of the steering wheel 4; receive the vehicle position information from the GPS positioning module and the path information from the route planning module, confirm whether the position of the vehicle 3 is consistent with the path information, and send movement and steering information to the reduction motor assembly 401 to ensure the movement path of the vehicle 3; receive the control instructions of the background computer, and send movement information to the mechanical arm 6 and the mechanical claw 1 to control the mechanical claw 1 to set up the mold frame node at the specified position. The control instructions of the control module 302 and its control process can be implemented based on the computer technology of the prior art, which will not be repeated here.

[0033] Please see attached Figure 1 There are three installation and storage grooves 301, which are respectively formed inwardly at the top and both sides of the vehicle body shell in a concave manner, so that the three mechanical arms 6 can be folded and stored in the vehicle body shell through the three installation and storage grooves 301 respectively.

[0034] The three mechanical arms 6 located at the top and both sides can control the movement of the mechanical claws 1 in three directions, so that the three mechanical claws 1 can quickly and accurately set up the formwork nodes, which is beneficial to ensuring the quality and efficiency of the formwork erection.

[0035] For mold frame parts such as vertical poles and horizontal poles, two mechanical claws 1 can stably grasp long rod-shaped parts, and the third mechanical claw 1 can install the long rod-shaped parts to ensure the mold frame erection operation requirements. According to different mold frame erection requirements, the number of mechanical claws 1 can also be increased, and the number of mechanical arms 6 and installation storage slots 301 can be increased synchronously.

[0036] Please see attached Figure 1 To Attachment Figure 3 The installation storage groove 301 is a long strip structure, and the length direction of the three installation storage grooves 301 is consistent, so that the three mechanical claws 1 extend out of the vehicle body shell in the same direction through the three mechanical arms 6, ensuring the consistency of the movement direction of the three mechanical claws 1, so that the three mechanical claws 1 can be concentrated on a certain node of the mold frame for erection and installation operations.

[0037] At the same time, the three robotic arms 6 can also move the three robotic claws 1 to different positions through different rotation directions of their rotating shafts to meet the independent use requirements of the three robotic claws 1.

[0038] Please see attached Figure 1 To Attachment Figure 3 Each of the robotic arms 6 includes a first telescopic robotic arm 601, a connecting robotic arm 602, a second telescopic robotic arm 603 and a universal joint 2; one end of the first telescopic robotic arm 601 is rotatably connected to the installation storage groove 301 through a rotating shaft, and the other end of the first telescopic robotic arm 601 is movably connected to one end of the connecting robotic arm 602 through a universal joint 2; the other end of the connecting robotic arm 602 is movably connected to one end of the second telescopic robotic arm 603 through a universal joint 2 to form a foldable telescopic robotic arm, and the other end of the second telescopic robotic arm 603 is connected to the mechanical claw 1.

[0039] Preferably, the first telescopic mechanical arm 601 and the second telescopic mechanical arm 603 can both adopt the electric hydraulic telescopic mechanical arm of the prior art. The second telescopic mechanical arm 603 is a two-section mechanical arm with a diameter of 100 mm, and the first telescopic mechanical arm 601 is a three-section mechanical arm with a diameter of 500 mm. The length of each section of the mechanical arm can be 1 m, and the telescopic length adjustment of 1-5 m can be achieved to meet the installation requirements of the high-altitude mold frame. After power is turned on, the change of hydraulic pressure can be used to achieve the extension and shortening of the mechanical arm, and the telescopic length of the mechanical arm can be controlled by the control module 302. The electric telescopic mechanical arm is a conventional tool in this field, and its working process and working principle are not repeated here.

[0040] Preferably, the universal joint 2 can adopt an electric ball shaft of the prior art, which can be controlled by the control module 302, and the relative rotation function between the first telescopic mechanical arm 601 and the connecting mechanical arm 602, and the connecting mechanical arm 602 and the second telescopic mechanical arm 603 can be realized by the rotation of the ball shaft. The whole mechanical arm 6 has six degrees of freedom, so that the mechanical arm 6 has flexible steering and folding functions, which is convenient for adjusting the position of the mechanical claw 1 and folding and storing the mechanical arm 6. The large rotation angle of the ball shaft makes the adjustment range of the mechanical arm 6 large, which can better meet the use and storage requirements.

[0041] Preferably, the first telescopic mechanical arm 601, the connecting mechanical arm 602, the second telescopic mechanical arm 603 and the universal joint 2 are all made of metal parts, with high structural strength and not easy to deform or damage.

[0042] Please see attached Figure 1 and attached Figure 2 The middle part of the first telescopic mechanical arm 601 is bent into an L-shaped structure, so that one end of the first telescopic mechanical arm 601 extends out of the vehicle body shell perpendicular to the length direction of the installation storage slot 301, and the other end of the first telescopic mechanical arm 601 is telescopically extended outside the installation storage slot 301.

[0043] Since the installation storage groove 301 has a certain depth, in order to avoid the installation storage groove 301 affecting the rotation range of the first telescopic mechanical arm 601, an L-shaped two-section telescopic arm can be used as the first telescopic mechanical arm 601. The two sections of the telescopic arm can be connected by a universal joint controlled by the control module 302, thereby ensuring that the section of the first telescopic mechanical arm 601 located outside the installation storage groove 301 has a larger range of flexible rotation function and no rotation interference will occur, thereby meeting usage requirements.

[0044] Please see attached Figure 4 The mechanical claw 1 includes a working claw body 101 and a scanning camera 102; the working claw body 101 includes a plurality of claw bodies circumferentially arranged at the other end of the second telescopic mechanical arm 603, and each claw body is electrically connected to the control module 302; the scanning camera 102 is installed between the plurality of claw bodies, and the scanning camera 102 is arranged facing the mold frame to be erected and is electrically connected to the control module 302.

[0045] Preferably, the claw body can adopt the electric-controlled anti-biosafety fingers of the existing technology, and the number of the electric-controlled anti-biosafety fingers can be selected according to actual use requirements. Each electric-controlled anti-biosafety finger can be controlled by the control module 302 through an independent port. The electric-controlled anti-biosafety fingers can be used to replace manual erection of formwork nodes, including grasping actions, moving actions, tightening actions, etc., to achieve the grasping and installation of buckles, cross bars, vertical bars, bases, and top supports. The operation is flexible and convenient, the erection is precise and controllable, the manual workload is reduced, and the efficiency and accuracy of formwork erection are improved while ensuring the quality of formwork erection.

[0046] Preferably, the scanning camera 102 can adopt a high-definition camera of existing technology, which is used to collect video and / or images while the working claw body 101 is setting up the mold frame nodes, and send them to the control module 302, so that the control module 302 can better control the movement accuracy of the electrically controlled anti-vibration fingers of the working claw body 101, and ensure that each part is accurately installed in the specified position.

[0047] Please see attached Figure 4Each of the steering wheels 4 includes a wheel frame, a reduction motor assembly 401, a wheel and a transmission gear assembly; the wheel is installed at the bottom corner of the supporting plate 303 through the wheel frame via the wheel axle, the reduction motor assembly 401 is installed on the bottom surface of the supporting plate 303 and is located next to the wheel axle, the transmission gear assembly is transmission-connected between the output shaft of the reduction motor assembly 401 and the wheel axle, and the transmission gear assembly is electrically connected to the control module 302.

[0048] Preferably, the reduction motor assembly includes a driving motor and a reduction gear controlled by the control module 302, the transmission gear assembly includes a driving gear and a driven gear meshing with each other, the output shaft of the driving motor is connected to the input end of the reduction gear, and the output end of the reduction gear is connected to the driving gear, and the driven gear is installed on the axle, so as to transmit the power of the driving motor to the axle, driving the rotation and steering of the wheel. Using a motor to control the movement and steering of the wheel is a conventional mobile control method in the art, and its specific structure and working principle will not be repeated here.

[0049] Please see attached Figure 1 To Attachment Figure 4 , the working process and working principle of the present invention are:

[0050] Before construction begins, the environmental information of the construction site where the formwork is erected can be collected through the obstacle avoidance camera 5, and the collected environmental information can be sent to the background computer. The background computer can perform three-dimensional modeling based on the environmental information to form a coordinate system, so that the path planning module can accurately perform autonomous path planning based on the environmental information on site.

[0051] Under the control of the control module 302, the vehicle body 3 moves along the planned route at the construction site of the formwork erection through the four steering wheels 4, and moves to the erection position of the first formwork node according to the erection sequence. The first telescopic mechanical arm 601 and the second telescopic mechanical arm 602 are controlled to extend and retract, and the ball shaft of the universal joint 2 rotates, so that the working claw body 101 grabs the formwork material and moves it to the designated position for positioning and installation. While the working claw body 101 is in motion, the scanning camera 102 is used to shoot the working process and environment, which is beneficial for the control module 302 to improve the control accuracy of the working claw body 101.

[0052] After the installation of the first mold frame node is completed, the vehicle body 3 moves along the planned route to the second mold frame node, and repeats the above actions to install the second mold frame node. During the movement of the vehicle body 3, the environment around the vehicle body 3 is photographed by four obstacle avoidance cameras 5 located on the four sides of the vehicle body shell, and the surrounding obstacles are identified after image processing. The control module 302 turns off the reduction motor assembly 401 in time according to the obstacle information to avoid collision of the vehicle body 3.

[0053] The control module 302 can send the obstacle information to the background computer, remove the obstacle through manual intervention, and ensure the travel safety of the vehicle body 3. Preferably, it can also cooperate with the sound and light alarm to provide collision warning, and through the setting of the identification object, other abnormal situations can also be identified through the obstacle avoidance camera 5, so as to facilitate timely handling of abnormal situations and eliminate collision risks, and ensure safe and efficient construction.

[0054] The above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent mold frame erection robot, characterized by: The invention comprises a mechanical claw (1), a vehicle body (3), a steering wheel (4), an obstacle avoidance camera (5) and a mechanical arm (6); a plurality of steering wheels (4) are respectively installed at intervals at the bottom of the vehicle body (3), so that the vehicle body (3) can be moved at the mold frame erection site through the steering wheels (4); a plurality of installation and storage grooves (301) are formed on the vehicle body (3), so that a plurality of mechanical arms (6) can be folded and stored in the plurality of installation and storage grooves (301); each mechanical arm (6) is a foldable and telescopic mechanical arm, so that one end of the mechanical arm (6) is rotatably connected to the installation and storage groove (301) through a rotating shaft, and the other end of the mechanical arm (6) can extend to the outside of the vehicle body (3), and the other end of the mechanical arm (6) is installed with a mechanical claw (1) for erecting the mold frame; the obstacle avoidance camera (5) is embedded on the outer wall of the vehicle body (3), and the plurality of obstacle avoidance cameras (5) are arranged at intervals along the circumference of the vehicle body (3).

2. The intelligent formwork erection robot according to claim 1 is characterized in that: The vehicle body (3) comprises a vehicle body shell, a support plate (303) installed at the bottom of the vehicle body shell, and a control module (302) installed inside the vehicle body shell; a plurality of steering wheels (4) are installed at intervals at the bottom corners of the support plate (303), and the control module (302) is electrically connected to the mechanical claw (1), the steering wheel (4), the obstacle avoidance camera (5) and the mechanical arm (6).

3. The intelligent formwork erection robot according to claim 1 is characterized in that: There are three installation and storage grooves (301) in total, which are formed in a concave manner at the top and both sides of the vehicle body shell, so that the three mechanical arms (6) can be folded and stored in the vehicle body shell through the three installation and storage grooves (301) respectively.

4. The intelligent formwork erection robot according to claim 3 is characterized in that: The installation and receiving groove (301) is a long strip structure, and the length directions of the three installation and receiving grooves (301) are consistent, so that the three mechanical claws (1) extend out of the vehicle body shell in the same direction through the three mechanical arms (6).

5. The intelligent formwork erection robot according to any one of claims 1 to 4, characterized in that: Each of the mechanical arms (6) comprises a first telescopic mechanical arm (601), a connecting mechanical arm (602), a second telescopic mechanical arm (603) and a universal joint (2); one end of the first telescopic mechanical arm (601) is rotatably connected to the installation storage groove (301), and the other end of the first telescopic mechanical arm (601) is movably connected to one end of the connecting mechanical arm (602) through the universal joint (2); the other end of the connecting mechanical arm (602) is movably connected to one end of the second telescopic mechanical arm (603) through the universal joint (2), and the other end of the second telescopic mechanical arm (603) is connected to the mechanical claw (1).

6. The intelligent formwork erection robot according to claim 5 is characterized in that: The middle portion of the first telescopic mechanical arm (601) is bent into an L-shaped structure, so that one end of the first telescopic mechanical arm (601) extends out of the vehicle body shell perpendicular to the length direction of the installation storage slot (301), and the other end of the first telescopic mechanical arm (601) is telescopically extended outside the installation storage slot (301).

7. The intelligent formwork erection robot according to claim 5 is characterized in that: The mechanical claw (1) comprises a working claw body (101) and a scanning camera (102); the working claw body (101) comprises a plurality of claw bodies circumferentially arranged at the other end of the second telescopic mechanical arm (603), and each claw body is electrically connected to the control module (302); the scanning camera (102) is installed between the plurality of claw bodies, and the scanning camera (102) is arranged facing the mold frame to be erected and is electrically connected to the control module (302).

8. The intelligent formwork erection robot according to claim 2 is characterized in that: Each of the steering wheels (4) comprises a wheel frame, a reduction motor assembly (401), a wheel and a transmission gear assembly; the wheel is mounted on the bottom corner of the supporting plate (303) via the wheel axle through the wheel frame, the reduction motor assembly (401) is mounted on the bottom surface of the supporting plate (303) and is located beside the wheel axle, the transmission gear assembly is transmission-connected between the output shaft of the reduction motor assembly (401) and the wheel axle, and the transmission gear assembly is electrically connected to the control module (302).

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