Hydraulic climbing formwork installation control system and control method thereof

Abstract

The present invention relates to a hydraulic climbing formwork template installation control system and a control method thereof. The hydraulic climbing formwork template installation control system comprises a stand, a main controller and a template installation device. The template installation device comprises a lower crossbeam, a mold transfer trolley, a horizontal displacement motor, a vertical back rib, and a template inclination adjustment mechanism. A displacement detection component is provided between the lower crossbeam and the mold transfer trolley, a locking component is provided on the lower crossbeam, the template inclination adjustment mechanism can drive the vertical back rib to rotate, a vertical inclination detection component is provided on the vertical back rib, and the horizontal displacement motor, the template inclination adjustment mechanism, the vertical inclination detection component, and the displacement detection component are all electrically connected to the main controller. The beneficial effects of the present invention are: the template posture during the template installation process is detected, and according to the detection results combined with the design slope data of the slope of the construction building or the bridge pier, the template posture is automatically adjusted to realize the intelligent installation and real-time posture detection of the template, and the installation efficiency and construction safety are significantly improved.

Description

Technical Field

[0001] The invention relates to the technical field, and in particular to a hydraulic climbing formwork installation control system and a control method thereof. Background Art

[0002] Climbing formwork is the abbreviation of climbing formwork. Hydraulic climbing formwork technology uses its own hydraulic power device to lift the formwork and working platform as a whole. Due to its reliable working performance and safety performance, it is widely used in high-rise and super-high-rise construction projects, bridge high pier construction, etc. In the process of bridge construction, the linear control of the slope of the high pier is particularly important, which is not only related to the construction quality of the outer surface of the pier body, but also to the force safety of the overall pier column. Therefore, in the process of split and close mold construction, the positioning and posture adjustment of the formwork are very critical operation links.

[0003] During the template positioning process, positioning measurement is usually carried out through a theodolite or a total station. The measurement process is completely dependent on manual labor, the measurement time is long, and it is greatly affected by external factors, making it impossible to achieve all-weather real-time monitoring of the construction process. The existing template splitting and closing operations, whether horizontal movement or template vertical tilt angle adjustment, are all achieved by manually turning the operating handle. This template movement method not only has poor synchronization performance, but also has problems such as inconvenient operation, long time consumption, large labor waste, low construction efficiency, and great safety hazards. In addition, there is no relevant detection device in the existing mold moving device, which basically relies on the operator's naked eye observation, and cannot achieve real-time detection and intelligent operation. There are great safety hazards in the construction process. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a hydraulic climbing formwork installation control system and a control method thereof, which can detect the formwork posture during the formwork installation process and automatically adjust the formwork posture according to the detection result, thereby realizing intelligent installation of the formwork and real-time posture detection, and improving installation efficiency and construction safety.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A hydraulic climbing formwork template installation control system comprises a platform, a main controller and a template installation device, wherein the template installation device is provided with multiple groups and the multiple groups of template installation devices are arranged in parallel on the platform, the template installation device comprises a lower crossbeam, a mold transfer trolley, a horizontal displacement motor, a vertical back rib, and a template inclination adjustment mechanism, the lower crossbeam is fixed on the platform, the mold transfer trolley is supported on the lower crossbeam by rollers, the horizontal displacement motor is arranged on the lower crossbeam and the horizontal displacement motor can drive the mold transfer trolley to move horizontally along the lower crossbeam through a transmission component, and a device for measuring the angle of the mold transfer trolley is arranged between the lower crossbeam and the mold transfer trolley. A displacement detection component for measuring the horizontal displacement of the mold shifting trolley, a locking component acting on the mold shifting trolley is provided on the lower crossbeam, the vertical back ribs are rotatably arranged at one end of the mold shifting trolley, the vertical back ribs in multiple sets of template installation devices are fixedly connected through horizontal back ribs, the template inclination adjustment mechanism is rotatably connected to the end of the mold shifting trolley away from the vertical back ribs and the upper end of the vertical back ribs, the template inclination adjustment mechanism can drive the vertical back ribs to rotate, a vertical inclination detection component is provided on the vertical back ribs, the horizontal displacement motor, the template inclination adjustment mechanism, the vertical inclination detection component, and the displacement detection component are all electrically connected to the main controller.

[0007] Furthermore, the transmission assembly includes a first reducer, a first rack, and a first gear. The first reducer is arranged on the lower beam, the output shaft of the horizontal displacement motor is connected to the input shaft of the first reducer, the first rack is arranged at the bottom of the mold moving trolley, and the first gear is arranged on the output shaft of the first reducer and meshes with the first rack.

[0008] Furthermore, the displacement detection component includes a first laser displacement sensor and a detection baffle. The first laser displacement sensor is arranged on the side wall of the lower beam and is arranged close to the first reducer. The detection baffle is arranged at one end of the mold moving trolley and is opposite to the first laser displacement sensor. The first laser displacement sensor is electrically connected to the main controller.

[0009] Furthermore, a mounting seat is provided at one end of the mold transfer trolley, and the lower end of the vertical back rib is rotatably connected to the mounting seat. The locking assembly includes a fixed shaft, a locking buckle, a locking screw, a washer, and a locking nut. The fixed shaft is arranged at the end of the lower cross beam, and the locking buckle is rotatably connected to the fixed shaft. One end of the locking screw is fixedly connected to the locking buckle, and the other end of the locking screw passes through the mounting seat and the washer in sequence. The locking nut is threadedly connected to the locking screw and can tighten the washer onto the mounting seat.

[0010] Furthermore, the template inclination angle adjustment mechanism includes a diagonal support cylinder, a first diagonal support sleeve, and a first diagonal support rod. The telescopic end and the fixed end of the diagonal support cylinder are fixedly connected to the first diagonal support sleeve. The first diagonal support sleeve is internally threaded with the first diagonal support rod. The threads of the two first diagonal support rods have opposite rotation directions. The two first diagonal support rods are respectively rotatably connected to one end of the mold moving trolley away from the vertical back rib and the upper end of the vertical back rib. The diagonal support cylinder is electrically connected to the main controller.

[0011] Furthermore, the vertical inclination angle detection component includes an angle sensor, which is arranged at the upper end and the lower end of the vertical back rib, and the angle sensor is electrically connected to the main controller.

[0012] Furthermore, the template inclination angle adjustment mechanism includes a moving seat, a second diagonal support sleeve, a second diagonal support rod, a second rack, a second reducer, an adjusting motor, a second laser displacement sensor, and a second gear. The moving seat is arranged on the vertical back rib through a roller and can move along the vertical back rib. The second diagonal support rod is threadedly sleeved on both ends of the second diagonal support sleeve. The threads of the two second diagonal support rods are in opposite directions. The two second diagonal support rods are respectively rotatably connected to the end of the mold moving trolley away from the vertical back rib and the moving seat. The second rack is arranged on the vertical back rib. The moving seat is provided with a second reducer. The output end of the adjusting motor is connected to the input end of the second reducer. The adjusting motor is electrically connected to the main controller. The output end of the second reducer is provided with a second gear meshing with the second rack. The second laser displacement sensor is arranged on the vertical back rib above the moving seat and opposite to the moving seat. The second laser displacement sensor is electrically connected to the main controller.

[0013] Furthermore, based on the above hydraulic climbing formwork template installation control system, the present invention also provides a control method for the hydraulic climbing formwork template installation control system, comprising the following steps:

[0014] S1. Using a total station on the floor to locate the vertical reference surface of the templates on each side of the pier column, pre-install the templates on the transverse back ribs (5) and place the templates within the vertical reference surface, and perform an initial detection of the vertical inclination of the templates by a vertical inclination detection component. The controller calculates a plurality of initial detection values ​​of vertical inclinations corresponding to the plurality of template installation devices one by one based on the initial detection results of the vertical inclination detection component.

[0015] S2, the main controller calculates the vertical inclination synchronization error Δα according to the initial detection values ​​of the multiple vertical inclinations, and then controls the template inclination adjustment mechanism to drive the template to rotate with the vertical back rib (5) according to the Δα value, and performs initial adjustment on the template posture until the Δα value is within the allowable synchronization error range;

[0016] S3. After the initial adjustment of the template posture is completed, the vertical inclination of the template is secondary detected by the vertical inclination detection component. The main controller calculates multiple secondary detection values ​​of vertical inclinations according to the secondary detection results of the vertical inclination detection component, and calculates the average value of the secondary detection values ​​of the multiple vertical inclinations as the template initial inclination error α. 0 ;

[0017] S4, the main controller controls the template inclination adjustment mechanism to drive the template to rotate with the vertical back rib (5) and tilt back to a preset angle β 1, then controlling the horizontal displacement motor (4) to drive the mold transfer trolley (3) to move horizontally toward the pier column working surface, during which the displacement detection component measures the horizontal displacement of the mold transfer trolley (3), and when the horizontal displacement reaches a set value, the main controller controls the horizontal displacement motor (4) to stop, and then locks the mold transfer trolley (3) through the locking component;

[0018] S5. Assuming that the slope angle of the pier column is θ, after the mold transfer trolley (3) is locked, the main controller synchronously controls multiple template inclination adjustment mechanisms to drive the template to rotate and tilt forward along with the vertical back rib (5) to close the mold. During the closing process, the vertical inclination of the template is detected in real time by the vertical inclination detection component. The main controller calculates multiple real-time detection values ​​of vertical inclinations based on the real-time detection results of the vertical inclination detection component, and calculates the average value of the real-time detection values ​​of the multiple vertical inclinations as the real-time vertical inclination α of the template. Then, according to the formula γ=θ+α-α 0 The mold closing angle γ of the template during mold closing is calculated, and the mold closing operation is completed when the mold closing angle γ reaches the slope closing requirement;

[0019] S6. After the mold is closed, concrete pouring and curing are carried out. After the curing is completed, the main controller controls the template inclination adjustment mechanism to drive the template to rotate with the vertical back rib (5) and tilt back to a preset angle β 2 , unlock the mold transfer trolley (3), and then the main controller controls the horizontal displacement motor (4) to drive the mold transfer trolley (3) to move away from the pier, so that the template is separated from the working surface, and the mold separation operation is completed.

[0020] Furthermore, the multiple sets of template installation devices are numbered in sequence according to 1, 2, 3, ..., m, and the vertical inclination angle corresponding to each template installation device is α m The angles detected by the two angle sensors (8) in each vertical inclination detection assembly are α and m ′、α m ″, then α m =(α m ′+α m ″) / 2.

[0021] Further, in step S2, let α 1 , α 2 , α 3 ...α m The minimum value in is α mim , then Δα=((α 1 -α mim )+(α 2 -α mim )+……+(α m -α mim )) / (m-1).

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The present invention can measure the horizontal displacement of the mold moving trolley and the vertical inclination of the template during the installation of the template through the arrangement of the lower crossbeam, the mold moving trolley, the horizontal displacement motor, the vertical back rib, the horizontal back rib, the template inclination adjustment mechanism, the angle sensor, the displacement detection component, and the main controller, and control the horizontal movement of the mold moving trolley and adjust the vertical inclination of the template according to the measurement results, so as to achieve the consistency of the vertical inclination of each position of the same template during the mold separation and mold closing process, thereby ensuring the quality of the later concrete pouring and the slope quality of the pier or building surface.

[0024] 2. The present invention can detect the template posture during the template installation process, and automatically adjust the template posture according to the detection result, thereby realizing intelligent installation and real-time posture detection of the template, and improving installation efficiency and construction safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional schematic diagram of the first overall structure of the present invention;

[0026] Figure 2 for Figure 1 A schematic diagram of the structure at position E in FIG.

[0027] Figure 3 It is a side view schematic diagram of a first overall structure of the present invention;

[0028] Figure 4 It is a schematic diagram of the arrangement of the angle sensor in the present invention;

[0029] Figure 5 This is a schematic diagram of the installation of the template in the present invention;

[0030] Figure 6 It is a block diagram of the overall installation control system of multiple templates in the present invention;

[0031] Figure 7 It is a side view schematic diagram of a second overall structure of the present invention;

[0032] Figure 8 for Figure 7 A magnified schematic diagram of the structure at F in FIG.

[0033] Fig. 9 for Figure 7 Structural schematic diagram of the middle template inclination angle adjustment mechanism;

[0034] Fig.10 It is a schematic diagram of vertical inclination angle calculation based on the cosine theorem in the present invention.

[0035] In the figure: 1. stand; 2. lower crossbeam; 3. mold transfer trolley; 4. horizontal displacement motor; 5. vertical back rib; 6. horizontal back rib; 7. roller; 8. angle sensor; 9. first reducer; 10. diagonal support cylinder; 11. first diagonal support sleeve; 12. first diagonal support rod; 13. mounting seat; 14. fixed shaft; 15. lock; 16. locking screw; 17. washer; 18. locking nut; 19. first laser displacement sensor; 20. detection baffle; 21. first rack; 22. moving seat; 23. second diagonal support sleeve; 24. second diagonal support rod; 25. second rack; 26. second reducer; 27. adjusting motor; 28. second laser displacement sensor. DETAILED DESCRIPTION

[0036] The present invention is further described below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description. Example

[0037] like Figure 1 As shown, a hydraulic climbing formwork template installation control system includes a stand 1, a main controller and multiple sets of formwork installation devices, which are mainly used in high pier construction. During construction, the stand 1 is erected around the high pier, and multiple sets of formwork installation devices are installed in parallel on the stand 1. The same formwork is installed and positioned through the cooperation of multiple sets of formwork installation devices.

[0038] like Figure 1 , Figure 3 As shown, the template installation device includes a lower crossbeam 2, a mold transfer trolley 3, a horizontal displacement motor 4, a vertical back rib 5, and a template inclination adjustment mechanism. The lower crossbeam 2 is fixed on the stand 1, the mold transfer trolley 3 is supported on the lower crossbeam 2 by rollers 7, the horizontal displacement motor 4 is installed on the lower crossbeam 2 and the horizontal displacement motor 4 can drive the mold transfer trolley 3 to move horizontally along the lower crossbeam 2 through a transmission component, and a locking component for locking the mold transfer trolley 3 is provided on the lower crossbeam 2. The vertical back rib 5 is rotatably installed at one end of the mold transfer trolley 3 by means of hinges, etc., and the vertical back ribs 5 in the multiple sets of template installation devices are fixedly connected by horizontal back ribs 6. The template inclination adjustment mechanism is rotatably connected to the end of the mold transfer trolley 3 away from the vertical back rib 5 and the upper end of the vertical back rib 5, and the template inclination adjustment mechanism can drive the vertical back rib 5 to rotate.

[0039] The installation of the template includes two operation processes: mold closing and mold separation. During the installation process, the template is fixed on the horizontal back rib 6. The templates on each side of the high pier are installed in the same way, and the main controller controls multiple sets of template installation devices to work together to complete the construction. When closing the mold, first adjust the template posture through the template inclination adjustment mechanism to keep the template at a certain backward tilt angle, then drive the mold transfer trolley 3 to move horizontally through the horizontal displacement motor 4, move the template to the pier column working surface, and lock the mold transfer trolley 3 through the locking component after moving into place, and then adjust the template posture through the template inclination adjustment mechanism again to make the template tilt forward for mold closing, until the mold closing angle of the template reaches the slope closing requirement, and the mold closing is completed; after the templates on each side of the pier column are molded, concrete pouring and curing are carried out, and mold separation is carried out after the curing is completed. When splitting the mold, first adjust the template posture through the template inclination adjustment mechanism to make the template tilt back to a preset angle, then unlock the mold transfer trolley 3, and drive the mold transfer trolley 3 to move horizontally through the horizontal displacement motor 4 to separate the template from the pier column working surface, and complete the mold separation.

[0040] like Figure 1 , Figure 2 As shown, the transmission assembly includes a first reducer 9, a first rack 21, and a first gear. The first reducer 9 is mounted on the lower beam 2, the output shaft of the horizontal displacement motor 4 is connected to the input shaft of the first reducer 9, the first rack 21 is fixed to the bottom of the mold transfer trolley 3, and the first gear is mounted on the output shaft of the first reducer 9 and meshes with the first rack 21. The horizontal displacement motor 4 is electrically connected to the main controller, which controls the operation of the horizontal displacement motor 4. The output end of the horizontal displacement motor 4 is regulated by the first reducer 9, and then drives the mold transfer trolley 3 to move horizontally along the lower beam 2 through the meshing of the first gear and the first rack 21.

[0041] like Figure 1 , Figure 3 As shown, the template inclination angle adjustment mechanism includes a diagonal support cylinder 10, a first diagonal support sleeve 11, and a first diagonal support rod 12. The telescopic end and the fixed end of the diagonal support cylinder 10 are both fixedly connected with the first diagonal support sleeve 11, and the first diagonal support sleeve 11 is internally threaded with the first diagonal support rod 12. The threads of the two first diagonal support rods 12 are in opposite directions. The two first diagonal support rods 12 are respectively rotatably connected to the end of the mold transfer trolley 3 away from the vertical back rib 5 and the upper end of the vertical back rib 5 by means of hinges, etc. The diagonal support cylinder 10 is electrically connected to the main controller. The main controller controls the diagonal support cylinder 10 to work, so that the first diagonal support sleeve 11 is telescopic, and then the template is driven to rotate with the vertical back rib 5 through the first diagonal support rod 12, so that the template is tilted forward or backward, and then the template posture is adjusted. A manual adjustment hole is reserved on the first diagonal support sleeve 11. In case of power outage or other abnormal circumstances, since the threads of the two first diagonal support rods 12 are in opposite directions, the first diagonal support sleeve 11 can be rotated by inserting a manual tool into the manual adjustment hole, and the overall length of the first diagonal support sleeve 11 and the first diagonal support rod 12 can be manually adjusted, thereby manually adjusting the template posture.

[0042] like Figure 1 , Figure 2 As shown, a mounting seat 13 is fixed at one end of the mold transfer trolley 3, and the lower end of the vertical back rib 5 is rotatably connected to the mounting seat 13 by means of hinges or the like. The locking assembly includes a fixed shaft 14, a lock buckle 15, a locking screw 16, a washer 17, and a locking nut 18. The fixed shaft 14 is fixed to the end of the lower cross beam 2, the lock buckle 15 is rotatably sleeved on the fixed shaft 14, one end of the locking screw 16 is fixed to the lock buckle 15, and the other end of the locking screw 16 passes through the mounting seat 13 and the washer 17 in sequence, and the locking nut 18 is threadedly connected to the locking screw 16. When driving the mold-shifting trolley 3 to move horizontally, the washer 17 and the locking nut 18 are removed. During the horizontal movement of the mold-shifting trolley 3, the screw rod and the mounting seat 13 slide relative to each other. After the mold-shifting trolley 3 is moved into place, the washer 17 is put on the screw rod, and then the locking nut 18 is connected to the locking screw 16 and tightened, so that the locking bolt tightens the washer 17 on the mounting seat 13, and at the same time, the screw rod and the mounting seat 13 are relatively fixed, completing the locking of the mold-shifting trolley 3, and the washer 17 and the locking nut 18 are removed again to complete the unlocking.

[0043] In order to facilitate real-time detection and adjustment of the template's posture during construction and to ensure that the template is installed in place, a vertical inclination detection component for detecting the vertical inclination of the template is installed on the vertical back rib, and a displacement detection component for measuring the horizontal displacement of the mold moving trolley 3 is provided between the lower crossbeam 2 and the mold moving trolley 3.

[0044] like Figure 4 As shown, the vertical inclination angle detection assembly includes an angle sensor 8, which is installed at the upper end and the lower end of the vertical back rib, and is electrically connected to the main controller. The angle sensor is used to measure the vertical inclination angle of the template forward or backward, and transmit the measured vertical inclination angle data to the main controller. In this embodiment, the angle sensor can be an inclinometer.

[0045] like Figure 3 As shown, the displacement detection component includes a first laser displacement sensor 19 and a detection baffle 20. The first laser displacement sensor 19 is installed on the side wall of the lower beam 2 and is arranged close to the first reducer 9. The detection baffle 20 is fixed at one end of the mold moving carriage 3 and is opposite to the first laser displacement sensor 19. The first laser displacement sensor 19 is electrically connected to the main controller. During the horizontal movement of the mold moving carriage 3, the first laser displacement sensor 19 transmits laser light to the detection baffle 20 and receives laser light reflected by the detection baffle 20 to achieve horizontal displacement measurement, and transmits the measured horizontal displacement data to the main controller. The displacement detection component has two functions in measuring horizontal displacement. One is to make the moving distance of the template meet the construction requirements, and the other is to prevent the horizontal displacement of the mold moving carriage 3 from exceeding the moving range through distance detection, thereby limiting the movement of the mold moving carriage 3 and ensuring construction safety.

[0046] The vertical inclination data measured by the angle sensor 8 and the horizontal displacement data measured by the first laser displacement sensor 19 are transmitted to the main controller, which then controls the horizontal displacement motor 4 and the diagonal support cylinder 10 according to the received data information, and further adjusts and controls the horizontal displacement of the mold moving trolley 3 and the posture of the mold.

[0047] like Figure 5 As shown, based on the above hydraulic climbing formwork installation control system, the present invention includes the following installation control steps when installing the formwork:

[0048] S1. Use a total station to locate the vertical reference plane of the templates on each side of the pier on the floor, pre-install the template on the transverse back rib 6 and place the template in the vertical reference plane, perform an initial detection of the vertical inclination of the template through a vertical inclination detection component, and calculate the initial detection values ​​of multiple vertical inclinations corresponding to multiple groups of template installation devices based on the initial detection results of the vertical inclination detection component by the controller.

[0049] Specifically, the multiple sets of template installation devices are numbered in sequence according to 1, 2, 3, ..., m, and the vertical inclination detection value corresponding to each template installation device is set to be α m The angles detected by the two angle sensors 8 in each vertical inclination detection assembly are α m ′、α m ″, then α m =(α m ′+α m ″) / 2.

[0050] S2. The main controller calculates the vertical inclination synchronization error Δα based on the initial detection values ​​of multiple vertical inclinations, and then controls the template inclination adjustment mechanism to drive the template to rotate with the vertical back rib 5 according to the Δα value, and performs initial adjustment on the template posture until the Δα value is within the allowable synchronization error range. Specifically, let α 1 , α 2 , α 3 ...α m The minimum value in is α mim , then Δα=((α 1 -α mim )+(α 2 -α mim )+……+(α m -α mim )) / (m-1), so that Δα is within the allowable synchronization error range to ensure that the template posture is normal and no horizontal twisting occurs. If Δα exceeds the allowable synchronization error, the template posture is adjusted by controlling a single template inclination adjustment mechanism to meet the requirements.

[0051] S3. After the initial adjustment of the template posture is completed, the vertical inclination of the template is secondary detected by the vertical inclination detection component. The main controller calculates multiple secondary detection values ​​of vertical inclinations according to the secondary detection results of the vertical inclination detection component, and calculates the average value of the secondary detection values ​​of the multiple vertical inclinations as the template initial inclination error α. 0 .

[0052] S4, the main controller controls the template inclination adjustment mechanism to drive the template to rotate with the vertical back rib 5 and tilt back to the preset angle β 1 , and then control the horizontal displacement motor 4 to drive the mold moving trolley 3 to move horizontally toward the pier working surface. During the movement, the displacement detection component measures the horizontal displacement of the mold moving trolley 3. When the horizontal displacement reaches the set value, the main controller controls the horizontal displacement motor 4 to stop, and then locks the mold moving trolley 3 through the locking component.

[0053] S5. Assuming that the slope angle of the pier column is θ, after the mold moving trolley 3 is locked, the main controller synchronously controls multiple template inclination adjustment mechanisms to drive the template to rotate and tilt forward with the vertical back rib 5 to close the mold. During the mold closing process, the vertical inclination of the template is detected in real time by the vertical inclination detection component. The main controller calculates multiple real-time detection values ​​of vertical inclinations according to the real-time detection results of the vertical inclination detection component, and determines the average value of the real-time detection values ​​of the multiple vertical inclinations as the real-time vertical inclination α of the template by calculation, and then according to the formula γ=θ+α-α 0 The mold closing angle γ of the template during mold closing is calculated, and the mold closing operation is completed when the mold closing angle γ reaches the slope closing requirement.

[0054] S6. After the mold is closed, concrete pouring and curing are carried out. After the curing is completed, the main controller controls the template inclination adjustment mechanism to drive the template to rotate with the vertical back rib 5 and tilt back to the preset angle β 2 , unlock the mold moving trolley 3, and then the main controller controls the horizontal displacement motor 4 to drive the mold moving trolley 3 to move away from the pier, so that the template is separated from the working surface and the mold separation is completed.

[0055] like Figure 4 As shown, in this embodiment, two sets of template installation devices are used to install the same template, wherein four angle sensors 8 are installed at four points A, B, C, and D, and the vertical inclination detection values ​​corresponding to the two sets of template installation devices are α 1 , α 2 The vertical inclination angles measured by the angle sensors 8 at the four points A, B, C, and D are α 1 ′、α 1 ″、α 2 ′、α 2 ″, then α 1 =(α 1 ′+α 1″) / 2,α 2 =(α 2 ′+α 2 ″) / 2,Δα=|α 1 -α 2 |≤ε, where ε is the allowable synchronization error.

[0056] like Figure 6 As shown, for the overall installation control of all templates around the pier column, during the process of template closing and splitting, the present invention adopts distributed PID control for multiple template control nodes as a whole, the main controller adopts a microcomputer or industrial computer, the field bus adopts daisy chain communication, and each template control node includes vertical inclination detection, horizontal displacement control, and vertical inclination synchronization control. The main controller can monitor the environmental information (temperature, wind speed, etc.) of the construction site based on real-time data acquisition, synchronous PID control and safety control logic; configure a safety control system and an alarm system, when the environmental information, the vertical inclination of the template, the horizontal displacement of the mold moving trolley and other parameters reach the warning value, an alarm prompt information and an audible and visual alarm signal can be issued, and corresponding shutdown operations can be taken; combined with a cloud server, the on-site operation data can be stored and traced.

[0057] The installation control of a single template adopts a synchronous PID motion control algorithm, including vertical inclination servo control and horizontal displacement control. The main controller adjusts the horizontal displacement of the template trolley 3 and the vertical inclination of the template based on the detection results of the angle sensor 8 and the first laser displacement sensor 19 to achieve synchronous control of multiple sets of template installation devices, ensuring that the vertical inclination value error of each detection point of the same template is within the allowable range, thereby ensuring that the template posture does not undergo horizontal twisting or vertical displacement, ensuring that the slope angle during mold closing reaches the expected index, and ensuring the construction quality of the working surface. Example

[0058] Based on the hydraulic climbing formwork installation control system of the first embodiment, this embodiment adopts another formwork inclination angle adjustment mechanism.

[0059] like Figure 7-Figure 9As shown, the template inclination angle adjustment mechanism includes a moving seat 22, a second diagonal support sleeve 23, a second diagonal support rod 24, a second rack 25, a second reducer 26, an adjustment motor 27, a second laser displacement sensor 28, and a second gear. The moving seat 22 is installed on the vertical back rib 5 through the roller 7 and can move along the vertical back rib 5. The second diagonal support rods 24 are threadedly sleeved at both ends of the second diagonal support sleeve 23. The threads of the two second diagonal support rods 24 are opposite. The two second diagonal support rods 24 are respectively connected to the end of the mold transfer trolley 3 away from the vertical back rib 5 and the moving seat 22 through hinges and other methods. The second rack 25 is fixed on the vertical back rib 5. The moving seat 22 is equipped with a second reducer 26. The output end of the adjustment motor 27 is connected to the input end of the second reducer 26. The adjustment motor 27 is electrically connected to the main controller. The output end of the second reducer 26 is fixed with a second gear meshing with the second rack 25. The main controller controls the adjustment motor 27 to work. After the output end of the adjustment motor 27 is adjusted in speed by the second reducer 26, the second gear and the second rack 25 are engaged to drive the moving seat 22 to move along the vertical back rib 5, thereby driving the vertical back rib 5 to rotate, thereby adjusting the vertical inclination of the template. Similarly, a manual adjustment hole for manually adjusting the template posture is also reserved on the second diagonal support sleeve 23.

[0060] like Figure 8 As shown, the second laser displacement sensor 28 is installed on the vertical back rib above the moving seat and opposite to the moving seat, and the second laser displacement sensor 28 is electrically connected to the main controller. The second laser displacement sensor 28 measures the displacement of the moving seat by emitting laser light to the moving seat 22 and receiving the laser light reflected by the moving seat 22, and transmits the measured displacement data to the main controller. At the same time, the second laser displacement sensor 28 prevents the displacement of the moving seat 22 from exceeding the moving range through detection, thereby limiting the movement of the moving seat 22 and ensuring construction safety.

[0061] like Figure 5 , Fig.10 As shown, based on the control principle in the first embodiment, combined with the template inclination adjustment mechanism of this embodiment, each template control node also includes a diagonal brace displacement detection performed by a second laser displacement sensor 28. Assume that in each template installation device, the distance between the end of the template inclination adjustment mechanism on the mold transfer trolley 3 and the end of the vertical back rib 5 is L 1m , the length of the template inclination adjustment mechanism is L 2m The distance between the moving seat 22 and the lower end of the vertical back rib 5 is L 3m , then based on the cosine theorem we can get α m =90-(L 1m 2 + L 2m 2 + L 3m 2 ) / 2 L 1m L 3mIn this way, in the process of adjusting the template posture, the vertical inclination angle required by the template installation device when the template posture adjustment is completed can be calculated by reverse calculation to obtain L 3m , and then subtract the distance between the initial position of the moving seat 22 and the lower end of the vertical back rib 5 to obtain the distance that the moving seat 22 needs to move when reaching the corresponding vertical inclination angle. Then, in the process of controlling the adjusting motor 27 to drive the moving seat 22 to move, when the second laser displacement sensor 28 detects that the moving distance of the moving seat 22 reaches the required distance, the adjusting motor 27 can be controlled to stop to complete the adjustment work.

[0062] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A control method for a hydraulic climbing formwork installation control system, characterized in that: The hydraulic climbing formwork template installation control system comprises a platform (1), a main controller and a template installation device, wherein the template installation device is provided with a plurality of groups and the plurality of groups of template installation devices are arranged in parallel on the platform (1), and the characteristics are as follows: the template installation device comprises a lower crossbeam (2), a mold transfer trolley (3), a horizontal displacement motor (4), a vertical back rib (5), and a template inclination adjustment mechanism, the lower crossbeam (2) is fixed on the platform (1), the mold transfer trolley (3) is supported on the lower crossbeam (2) through rollers (7), the horizontal displacement motor (4) is arranged on the lower crossbeam (2) and the horizontal displacement motor (4) can drive the mold transfer trolley (3) to move horizontally along the lower crossbeam (2) through a transmission component, and the lower crossbeam (2) and the mold transfer trolley ( 3) is provided between the upper and lower crossbeams (2) for measuring the horizontal displacement of the mold transfer trolley (3), a locking assembly acting on the mold transfer trolley (3) is provided on the lower crossbeam (2), the vertical back ribs (5) are rotatably provided at one end of the mold transfer trolley (3), the vertical back ribs (5) in the plurality of template installation devices are fixedly connected through the horizontal back ribs (6), the template inclination adjustment mechanism is rotatably connected to the end of the mold transfer trolley (3) away from the vertical back ribs (5) and the upper end of the vertical back ribs (5), the template inclination adjustment mechanism can drive the vertical back ribs (5) to rotate, a vertical inclination detection assembly is provided on the vertical back ribs (5), and the horizontal displacement motor (4), the template inclination adjustment mechanism, the vertical inclination detection assembly, and the displacement detection assembly are all electrically connected to the main controller; The control method of the hydraulic climbing formwork installation control system includes the following steps: S1. Using a total station on the floor to locate the vertical reference surface of the templates on each side of the pier column, pre-install the templates on the transverse back ribs (6) and place the templates within the vertical reference surface, and perform an initial detection of the vertical inclination of the templates by a vertical inclination detection component. The controller calculates a plurality of initial detection values ​​of vertical inclinations corresponding to the plurality of template installation devices one by one based on the initial detection results of the vertical inclination detection component. S2, the main controller calculates the vertical inclination synchronization error Δα according to the initial detection values ​​of the multiple vertical inclinations, and then controls the template inclination adjustment mechanism to drive the template to rotate with the vertical back rib (5) according to the Δα value, and performs initial adjustment on the template posture until the Δα value is within the allowable synchronization error range; S3, after the initial adjustment of the template posture is completed, the vertical inclination of the template is secondary detected by the vertical inclination detection component, and the main controller calculates multiple secondary detection values ​​of the vertical inclination according to the secondary detection result of the vertical inclination detection component, and determines the average value of the secondary detection values ​​of the multiple vertical inclinations as the template initial inclination error α0 by calculation; S4, the main controller controls the template inclination adjustment mechanism to drive the template to rotate with the vertical back rib (5) and tilt back to a preset angle β1, and then controls the horizontal displacement motor (4) to drive the mold transfer trolley (3) to move horizontally toward the pier column working surface. During the movement, the displacement detection component measures the horizontal displacement of the mold transfer trolley (3). When the horizontal displacement reaches the set value, the main controller controls the horizontal displacement motor (4) to stop, and then locks the mold transfer trolley (3) through the locking component; S5, assuming that the slope reduction angle of the pier column is θ, after the mold transfer trolley (3) is locked, the main controller synchronously controls multiple template inclination adjustment mechanisms to drive the template to rotate and tilt forward along with the vertical back rib (5) to close the mold. During the closing process, the vertical inclination of the template is detected in real time by the vertical inclination detection component. The main controller calculates multiple real-time detection values ​​of the vertical inclination according to the real-time detection result of the vertical inclination detection component, and determines the average value of the real-time detection values ​​of the multiple vertical inclinations as the real-time vertical inclination α of the template by calculation. Then, the closing angle γ of the template during closing the mold is calculated according to the formula γ=θ+α-α0. When the closing angle γ reaches the slope reduction requirement, the closing operation is completed. S6. After the mold is closed, concrete pouring and curing are carried out. After the curing is completed, the main controller controls the template inclination adjustment mechanism to drive the template to rotate along with the vertical back rib (5) and tilt back to a preset angle β2, unlocking the mold transfer trolley (3). Then, the main controller controls the horizontal displacement motor (4) to drive the mold transfer trolley (3) to move away from the pier column, so that the template is separated from the working surface, and the mold separation operation is completed.

2. The control method of the hydraulic climbing formwork installation control system according to claim 1 is characterized in that: The transmission assembly comprises a first reducer (9), a first rack (21), and a first gear. The first reducer (9) is arranged on the lower crossbeam (2). The output shaft of the horizontal displacement motor (4) is connected to the input shaft of the first reducer (9). The first rack (21) is arranged at the bottom of the mold transfer trolley (3). The first gear is arranged on the output shaft of the first reducer (9) and meshes with the first rack (21).

3. The control method of the hydraulic climbing formwork installation control system according to claim 2 is characterized in that: The displacement detection assembly comprises a first laser displacement sensor (19) and a detection baffle (20); the first laser displacement sensor (19) is arranged on the side wall of the lower cross beam (2) and is arranged close to the first reducer (9); the detection baffle (20) is arranged at one end of the mold transfer trolley (3) and is opposite to the first laser displacement sensor (19); and the first laser displacement sensor (19) is electrically connected to the main controller.

4. The control method of the hydraulic climbing formwork installation control system according to claim 1 is characterized in that: A mounting seat (13) is provided at one end of the mold transfer trolley (3), and the lower end of the vertical back rib (5) is rotatably connected to the mounting seat (13). The locking assembly comprises a fixed shaft (14), a lock buckle (15), a locking screw (16), a washer (17), and a locking nut (18). The fixed shaft (14) is provided at the end of the lower cross beam (2), the lock buckle (15) is rotatably connected to the fixed shaft (14), one end of the locking screw (16) is fixedly connected to the lock buckle (15), and the other end of the locking screw (16) passes through the mounting seat (13) and the washer (17) in sequence. The locking nut (18) is threadedly connected to the locking screw (16) and can tighten the washer (17) on the mounting seat (13).

5. The control method of the hydraulic climbing formwork installation control system according to claim 1 is characterized in that: The template inclination angle adjustment mechanism comprises an inclined support cylinder (10), a first inclined support sleeve (11), and a first inclined support rod (12). The telescopic end and the fixed end of the inclined support cylinder (10) are both fixedly connected to the first inclined support sleeve (11). The first inclined support sleeve (11) is internally threadedly connected to the first inclined support rod (12). The threads of the two first inclined support rods (12) are in opposite directions. The two first inclined support rods (12) are rotatably connected to one end of the template transfer trolley (3) away from the vertical back rib (5) and the upper end of the vertical back rib (5), respectively. The inclined support cylinder (10) is electrically connected to a main controller.

6. The control method of the hydraulic climbing formwork installation control system according to claim 1 is characterized in that: The template inclination angle adjustment mechanism comprises a moving seat (22), a second diagonal support sleeve (23), a second diagonal support rod (24), a second rack (25), a second reducer (26), an adjustment motor (27), a second laser displacement sensor (28), and a second gear. The moving seat (22) is arranged on the vertical back rib (5) through a roller (7) and can move along the vertical back rib (5). The second diagonal support sleeve (23) is threadedly sleeved with the second diagonal support rod (24) at both ends. The threads of the two second diagonal support rods (24) are in opposite directions. The two second diagonal support rods (24) are respectively connected to the mold transfer trolley (3) away from the vertical back rib (5). The movable seat (22) is rotatably connected to one end of the movable seat (22), the second rack (25) is arranged on the vertical back rib (5), the movable seat (22) is provided with a second reducer (26), the output end of the regulating motor (27) is connected to the input end of the second reducer (26), the regulating motor (27) is electrically connected to the main controller, the output end of the second reducer (26) is provided with a second gear meshing with the second rack (25), the second laser displacement sensor (28) is arranged on the vertical back rib (5) above the movable seat (22) and is opposite to the movable seat (22), and the second laser displacement sensor (28) is electrically connected to the main controller.

7. The control method of the hydraulic climbing formwork installation control system according to claim 5 or 6, characterized in that: The vertical inclination angle detection component comprises an angle sensor (8), the angle sensor (8) being arranged at the upper end of the vertical back rib (5) and the lower end of the vertical back rib (5), and the angle sensor (8) being electrically connected to the main controller.

8. The control method of the control method of the hydraulic climbing formwork installation control system according to claim 7 is characterized by: The multiple sets of template installation devices are numbered in sequence according to 1, 2, 3...m, and the vertical inclination angle corresponding to each template installation device is α m The angles detected by the two angle sensors (8) in each vertical inclination detection assembly are α m ′、α m ″, then α m =(α m ′+α m ″) / 2.

9. The control method of the control method of the hydraulic climbing formwork installation control system according to claim 8 is characterized by: In step S2, let α1, α2, α3, ... m The minimum value in is α mim , then Δα=((α1-α mim )+(α2-α mim )+……+(α m -α mim )) / (m-1).

Images