Climbing manipulator and automatic climbing formwork device of air cooling tower

Abstract

The invention relates to the technical field of automatic formwork climbing, in particular to a climbing manipulator and an air cooling tower automatic formwork climbing device.The climbing manipulator comprises a bottom plate, a clamping mechanism is installed at the top of the bottom plate, the clamping mechanism comprises a first hydraulic telescopic rod, and the first hydraulic telescopic rod is fixedly installed at the top of the bottom plate; a bottom frame is fixedly installed at the telescopic end of the first hydraulic telescopic rod, the guide rails are fixedly installed at the top of the bottom plate, the number of the guide rails is two, first sliding grooves are formed in the surfaces of the two guide rails, the supports are fixedly installed at the top of the bottom frame, and the number of the supports is two. And an electric track is fixedly mounted between the two brackets. Through the arrangement of the clamping mechanism, small formworks on the formwork climbing device can be clamped and installed, the mechanical arm can rapidly and accurately clamp the formworks, compared with manual carrying and formwork installation, the mechanical arm can complete the same work in a short time, and therefore the construction progress is accelerated.

Description

Technical Field

[0001] The invention relates to the technical field of automatic climbing formwork, in particular to a climbing manipulator and an automatic climbing formwork device for an air cooling tower. Background Art

[0002] Climbing formwork is the abbreviation of climbing formwork, also known as jumping formwork abroad. It consists of three parts: climbing formwork, climbing frame and climbing equipment. It is an effective tool in the construction of high-rise structures such as shear wall systems, cylinder systems and bridge piers. Due to its self-climbing ability, it does not require lifting machinery, which reduces the lifting workload of transportation machinery during construction. Hanging scaffolding on the self-climbing formwork can eliminate the external scaffolding during the construction process.

[0003] During the formwork installation process, large formwork is installed by tower crane, but the installation of small formwork requires manual transportation and installation. The climbing formwork device is usually at a higher position. When manually installing small formwork, construction workers need to operate at a high place and face the risk of falling. In addition, the manual installation is not accurate enough, which can easily lead to deviations in the formwork installation, affecting the dimensional accuracy and surface flatness of the components after concrete pouring. Summary of the invention

[0004] In order to remedy the above deficiencies, the present invention provides a climbing manipulator that overcomes the above technical problems or at least partially solves the above problems.

[0005] The present invention is achieved in that: The present invention provides a climbing manipulator, comprising a base plate, a clamping mechanism is installed on the top of the base plate, and the clamping mechanism comprises: A first hydraulic telescopic rod, wherein the first hydraulic telescopic rod is fixedly mounted on the top of the bottom plate, and a bottom frame is fixedly mounted on the telescopic end of the first hydraulic telescopic rod; A guide rail, the guide rail is fixedly mounted on the top of the bottom plate, two guide rails are provided, and first sliding grooves are provided on the surfaces of the two guide rails; A bracket, wherein the bracket is fixedly mounted on the top of the base frame, two brackets are provided, and an electric track is fixedly mounted between the two brackets; The mounting piece is slidably mounted on the surface of the electric track, a rotating block is rotatably mounted inside the mounting piece, a second hydraulic telescopic rod is mounted at the bottom of the rotating block, and a connecting piece is fixedly mounted at the end of the second hydraulic telescopic rod.

[0006] In one embodiment of the present invention, a first threaded rod is rotatably installed inside the first sliding groove, the base frame is threadedly connected to the first threaded rod, water tanks are fixedly installed on both sides of the base frame, a micro water pump is fixedly installed inside the base frame, a water pipe is installed between the micro water pump and the water tank, the micro water pump is connected to the water tank through the water pipe, a first mounting plate is fixedly installed on both sides of the base frame, a water spray head is fixedly installed on the side of the first mounting plate, a plurality of water spray heads are provided, and the plurality of water spray heads are connected to the micro water pump through the water pipe.

[0007] In an embodiment of the present invention, a first motor is fixedly installed on the side of the mounting member, an output end of the first motor is fixedly connected to the rotating block, a first rotating plate is rotatably installed inside the connecting member, a second rotating plate is rotatably installed on the end of the first rotating plate, a limited telescopic rod is fixedly installed on the bottom of the connecting member, a mounting tube is fixedly installed on the bottom of the limited telescopic rod, a sliding plate is slidably installed inside the mounting tube, two sliding plates are provided, and the ends of the two sliding plates are rotatably connected to the first rotating plate and the second rotating plate respectively, a third rotating plate is rotatably installed on the surface of the mounting tube, two third rotating plates are provided, and the two third rotating plates are rotatably connected to the first rotating plate and the second rotating plate respectively.

[0008] In one embodiment of the present invention, the bottom of the two sliding plates are fixedly installed with a support plate, the top of the support plate is rotatably installed with a first threaded cylinder, the inside of the first threaded cylinder is rotatably installed with a second threaded rod, the bottom of the second threaded rod is fixedly installed with an upper pressure plate, the top of the upper pressure plate is fixedly installed with a limiting rod, two limiting rods are provided, and the two limiting rods are slidably connected to the support plate, the bottom of the two sliding plates are rotatably installed with a second threaded cylinder, the internal thread of the second threaded cylinder is threadably installed with a third threaded rod, the bottom of the third threaded rod is fixedly installed with a positioning plate, and the first threaded cylinder and the second threaded cylinder are connected by a pulley group.

[0009] In one embodiment of the present invention, a sliding rod is fixedly installed on the top of the positioning plate, and the sliding rod is slidably installed inside the sliding plate. A first spring is threadedly installed on the surface of the sliding rod, and the first spring is arranged between the positioning plate and the sliding plate. A first pressure sensor is fixedly installed on the bottom of the upper pressure plate, and an electric telescopic rod is fixedly installed on the support plate. The first pressure sensor is connected to the electric telescopic rod through an electrical signal, and a connecting plate is fixedly installed on the end of the electric telescopic rod. A locking block is fixedly installed on the side of the connecting plate, and two locking blocks are provided. A vacuum suction cup is fixedly installed on the bottom of the mounting cylinder.

[0010] In one embodiment of the present invention, a positioning mechanism is installed on the side of the mounting member, and the positioning mechanism includes a first mounting seat, the first mounting seat is fixedly installed on the side of the mounting member, a rotating rod is rotatably installed inside the first mounting seat, a second mounting plate is fixedly installed on the surface of the rotating rod, and a patch plate is fixedly installed on the side of the second mounting plate, and two patch plates are provided, and rotating disks are rotatably installed on both sides of the first mounting seat, and the rotating disks are fixedly connected to the rotating rod.

[0011] In one embodiment of the present invention, an eccentric rod is rotatably installed on the side of the rotating disk, a guide rod is rotatably installed on the end of the eccentric rod, a second mounting seat is fixedly installed on the side of the mounting member, the guide rod is slidably connected to the second mounting seat, a second pressure sensor is fixedly installed on the side of the mounting member, a second spring is fixedly installed on the end of the guide rod, the second spring is arranged between the second pressure sensor and the guide rod, and the second pressure sensor is connected to the first motor through an electrical signal.

[0012] In one embodiment of the present invention, a marking mechanism is installed on the top of the base plate, and the marking mechanism includes a second sliding groove, a tooth plate is slidably installed inside the second sliding groove, a fixing rod is fixedly installed on the top of the tooth plate, the top of the fixing rod is fixedly connected to the bottom of the base frame, a fixing block is fixedly installed on the top of the base plate, a special-shaped plate is rotatably installed on the side of the fixing block, a gear is fixedly installed on the side of the special-shaped plate, and the gear is meshed with the tooth plate.

[0013] In one embodiment of the present invention, a mounting groove is provided inside the fixed block, a mounting block is slidably installed inside the mounting groove, a marking rod is fixedly installed on the end of the mounting block, the marking rod penetrates to the outside of the fixed block and is slidably connected to the fixed block, a vertical plate is fixedly installed on the top of the fixed block, mounting rods are fixedly installed on the sides of the vertical plate and the mounting block, a third spring is fixedly installed between the mounting rods, a rotating shaft is rotatably installed on the sides of the two guide rails, the rotating shaft is fixedly connected to the first threaded rod, a line roller is fixedly installed on the end of the rotating shaft, an ink line is wound between the two line rollers, and an ink bag is fixedly installed on the surface of the two rotating shafts.

[0014] An automatic climbing formwork device for an air-cooling tower is suitable for the above-mentioned climbing manipulator, comprising a climbing frame, and the climbing manipulator is fixedly installed on the top of the climbing frame.

[0015] The present invention provides a climbing manipulator, which has the following beneficial effects: 1. Through the setting of the clamping mechanism, the small formwork on the climbing formwork device can be clamped and installed. The manipulator can clamp the formwork quickly and accurately, reducing the time and labor cost of manual operation. Compared with manual handling and installation of formwork, the manipulator can complete the same work in a short time, thereby speeding up the construction progress.

[0016] 2. Through the setting of the positioning mechanism, the clamped mold can be rotated at a certain angle according to the inclination of the adjacent template. By rotating the clamped template, it can be better fitted with the inclined template next to it, ensuring that the gap at the joint is uniform and tight, reducing problems such as leakage caused by excessive gaps, and improving the overall sealing and integrity of the mold, thereby ensuring that the cast components are accurate in size and smooth in surface.

[0017] 3. Through the setting of the marking mechanism, the bottom template can be marked with lines. The marking lines can provide an accurate positioning reference for the installation of the template. The construction personnel can accurately place the template in the predetermined position according to the marking lines to avoid offset or misalignment, thereby ensuring the position accuracy of the template installation and facilitating the smooth progress of subsequent concrete pouring and other processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the overall structure provided by an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a climbing frame provided in an embodiment of the present invention; Figure 3 A schematic diagram of the top structure of the base plate provided in an embodiment of the present invention; Figure 4 A schematic diagram of the front view structure of a clamping mechanism provided in an embodiment of the present invention; Figure 5 A bottom view structural schematic diagram of a clamping mechanism provided in an embodiment of the present invention; Figure 6 A schematic diagram of a support plate structure provided in an embodiment of the present invention; Figure 7 A schematic diagram of the positioning mechanism structure provided by an embodiment of the present invention; Figure 8 A structural schematic diagram of a marking mechanism is provided for an embodiment of the present invention; Fig. 9The embodiments of the present invention provide Figure 3 Schematic diagram of the enlarged structure of part A in the middle.

[0020] In the figure: 1, bottom plate; 2, clamping mechanism; 201, first hydraulic telescopic rod; 202, bottom frame; 203, guide rail; 204, first sliding groove; 205, bracket; 206, electric track; 207, mounting member; 208, second hydraulic telescopic rod; 209, connecting member; 210, first threaded rod; 211, water tank; 212, micro water pump; 213, water pipe; 214, first mounting plate; 215, sprinkler head; 216, first rotating plate; 217, second rotating plate; 218, limiting telescopic rod; 219, mounting tube; 220, sliding plate; 221, third rotating plate; 222, supporting plate; 223, rotating block; 224, first motor; 225, first threaded tube; 226, second threaded rod; 227, upper pressing plate; 228, limiting rod; 229, second threaded tube; 230, third threaded rod; 231, positioning plate; 232 , slide bar; 233, first spring; 234, first pressure sensor; 235, electric telescopic rod; 236, connecting plate; 237, locking block; 238, vacuum suction cup; 3, positioning mechanism; 301, first mounting seat; 302, rotating rod; 303, second mounting plate; 304, sticking plate; 305, rotating disk; 306, eccentric rod; 307, guide rod; 308, second mounting seat; 309, second pressure sensor; 310. Second spring; 4. Marking mechanism; 401. Second sliding groove; 402. Tooth plate; 403. Fixed rod; 404. Fixed block; 405. Special-shaped plate; 406. Gear; 407. Mounting groove; 408. Mounting block; 409. Marking rod; 410. Vertical plate; 411. Mounting rod; 412. Third spring; 413. Rotating shaft; 414. Line roller; 415. Ink line; 416. Ink bag; 5. Climbing frame. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Reference Figure 1-Figure 9The present technical solution provides a climbing manipulator, which specifically includes a base plate 1, a clamping mechanism 2 is installed on the top of the base plate 1, and the clamping mechanism 2 includes a first hydraulic telescopic rod 201, the first hydraulic telescopic rod 201 is fixedly installed on the top of the base plate 1, and a base frame 202 is fixedly installed on the telescopic end of the first hydraulic telescopic rod 201, a guide rail 203 is fixedly installed on the top of the base plate 1, two guide rails 203 are provided, and the surfaces of the two guide rails 203 are both provided with a first sliding groove 204, a bracket 205 is fixedly installed on the top of the base frame 202, two brackets 205 are provided, an electric track 206 is fixedly installed between the two brackets 205, and a mounting member 207 is slidably mounted on the electric track The surface of the channel 206 is provided with a rotating block 223 which is rotatably installed inside the mounting member 207, a second hydraulic telescopic rod 208 is installed at the bottom of the rotating block 223, a connecting member 209 is fixedly installed at the end of the second hydraulic telescopic rod 208, a first threaded rod 210 is rotatably installed inside the first sliding groove 204, the bottom frame 202 is threadedly connected to the first threaded rod 210, water tanks 211 are fixedly installed on both sides of the bottom frame 202, micro water pumps 212 are fixedly installed inside the bottom frame 202, a water pipe 213 is installed between the micro water pumps 212 and the water tanks 211, the micro water pumps 212 are connected to the water tanks 211 through the water pipes 213, and both sides of the bottom frame 202 are fixedly installed with water tanks 211. A first mounting plate 214 is fixedly installed, and a water spray head 215 is fixedly installed on the side of the first mounting plate 214. There are multiple water spray heads 215, and the multiple water spray heads 215 are connected to the micro water pump 212 through the water pipe 213. When the air cooling tower is constructed, the large template is installed by a large tower crane, but some small templates need to be installed manually. When installing the small template, the small template is placed on the top of the bottom plate 1, and then the first hydraulic telescopic rod 201 is started. The first hydraulic telescopic rod 201 can drive the bottom frame 202 to slide on the surface of the guide rail 203. At this time, the micro water pump 212 can suck out the water inside the water tank 211 , and then water is sprayed onto the top of the template through the sprinkler head 215, so that the surface of the template is covered with a layer of water stains. The water sprayed by the sprinkler head 215 can not only wash away the dust on the surface of the template, but also soak the surface of the template, reducing the absorption of water by the template during concrete pouring, avoiding the phenomenon of cracking of the concrete surface due to excessive water loss, and the wet template will reduce the bonding force between the template and the concrete, making it easier to remove the template. When the base frame 202 moves to the top of the small template, the electric track 206 is started to move the mounting member 207 to the top of the template, and then the second hydraulic telescopic rod 208 is started to move the connecting member 209 downward.

[0023] Reference Figure 1-Figure 9The present embodiment further proposes that a first motor 224 is fixedly installed on the side of the mounting member 207, the output end of the first motor 224 is fixedly connected to the rotating block 223, a first rotating plate 216 is rotatably installed inside the connecting member 209, a second rotating plate 217 is rotatably installed on the end of the first rotating plate 216, a limited telescopic rod 218 is fixedly installed on the bottom of the connecting member 209, a mounting cylinder 219 is fixedly installed on the bottom of the limited telescopic rod 218, a sliding plate 220 is slidably installed inside the mounting cylinder 219, two sliding plates 220 are provided, the ends of the two sliding plates 220 are rotatably connected to the first rotating plate 216 and the second rotating plate 217 respectively, a third rotating plate 221 is rotatably installed on the surface of the mounting cylinder 219, and the third rotating plate 221 is rotatably installed on the surface of the mounting cylinder 219. Two plates 221 are provided, and the two third rotating plates 221 are rotatably connected with the first rotating plate 216 and the second rotating plate 217 respectively. The bottoms of the two sliding plates 220 are fixedly installed with support plates 222, and the tops of the support plates 222 are rotatably installed with the first threaded cylinder 225, and the inside of the first threaded cylinder 225 is rotatably installed with the second threaded rod 226, and the bottom of the second threaded rod 226 is fixedly installed with an upper pressing plate 227, and the top of the upper pressing plate 227 is fixedly installed with a limiting rod 228, and two limiting rods 228 are provided, and the two limiting rods 228 are slidably connected with the support plates 222, and the bottoms of the two sliding plates 220 are rotatably installed with the second threaded cylinder 229, and the inner threads of the second threaded cylinder 229 are installed with the third threaded rod 230, A positioning plate 231 is fixedly installed at the bottom of the three-threaded rod 230, the first threaded cylinder 225 and the second threaded cylinder 229 are connected by a pulley group, a sliding rod 232 is fixedly installed on the top of the positioning plate 231, and the sliding rod 232 is slidably installed inside the sliding plate 220, and a first spring 233 is threadedly installed on the surface of the sliding rod 232, and the first spring 233 is arranged between the positioning plate 231 and the sliding plate 220, a first pressure sensor 234 is fixedly installed at the bottom of the upper pressure plate 227, and an electric telescopic rod 235 is fixedly installed on the support plate 222, and the first pressure sensor 234 is connected to the electric telescopic rod 235 through an electrical signal, and a connecting plate 236 is fixedly installed on the end of the electric telescopic rod 235, and the side of the connecting plate 236 A locking block 237 is fixedly installed, and two locking blocks 237 are provided. A vacuum suction cup 238 is fixedly installed at the bottom of the installation cylinder 219. When the connecting member 209 moves downward, it drives the limiting telescopic rod 218 and the vacuum suction cup 238 to move downward together. When the vacuum suction cup 238 contacts the template, the connecting member 209 continues to move downward, so that the limiting telescopic rod 218 shrinks downward, and the position of the installation cylinder 219 no longer changes. Therefore, the first rotating plate 216, the second rotating plate 217 and the third rotating plate 221 can be rotated, so that the sliding plate 220 slides out from the inside of the installation cylinder 219, so that the distance between the two support plates 222 becomes larger, and the staff places the template between the two support plates 222.The positioning plate 231 will move upward a certain distance according to the thickness of the template at the moment of contacting the template. The movement of the positioning plate 231 can drive the third threaded rod 230 to move upward, thereby driving the second threaded cylinder 229 to rotate. Under the action of the pulley group, the rotation of the second threaded cylinder 229 can drive the first threaded cylinder 225 to rotate. When the first threaded cylinder 225 rotates, the second threaded rod 226 can be moved downward, thereby driving the upper pressure plate 227 to move downward, so that the upper pressure plate 227 can clamp the upper surface of the template. At the same time, when the upper pressure plate 227 clamps the template, the first pressure sensor 234 senses the pressure of the upper pressure plate 227, generates an electrical signal to the electric telescopic rod 235, and the electric telescopic rod 235 is started, driving the connecting plate 236 to move, thereby causing the locking block 237 to be displaced, so that the locking block 237 is embedded in the groove of the template. The notch of the template is set to smoothly position the template with the template next to it when the template is fixed, and because the template surface is sprayed with water stains, the vacuum suction cup 238 can absorb the template more firmly under the action of water molecules. When the clamping is completed, the second hydraulic telescopic rod 208 moves upward. At this time, under the action of the limiting telescopic rod 218, the position of the installation cylinder 219 continues to remain stationary. Therefore, the first rotating plate 216, the second rotating plate 217 and the third rotating plate 221 can rotate to reduce the distance between the two support plates 222, so that the side of the support plate 222 can clamp the side of the template, and due to the action of the locking block 237, it is more secure during the clamping process. When the limiting telescopic rod 218 is extended to a certain distance, it remains fixed, so that the installation cylinder 219 moves upward with the second hydraulic telescopic rod 208, thereby completing the clamping of the template.

[0024] Reference Figure 1-Figure 9The present embodiment further proposes that a positioning mechanism 3 is installed on the side of the mounting member 207, and the positioning mechanism 3 includes a first mounting seat 301, the first mounting seat 301 is fixedly installed on the side of the mounting member 207, a rotating rod 302 is rotatably installed inside the first mounting seat 301, a second mounting plate 303 is fixedly installed on the surface of the rotating rod 302, a side of the second mounting plate 303 is fixedly installed with a pasting plate 304, two pasting plates 304 are provided, and a rotating disk 305 is rotatably installed on both sides of the first mounting seat 301, and the rotating disk 305 and the rotating rod 30 2 is fixedly connected, an eccentric rod 306 is rotatably mounted on the side of the rotating disk 305, a guide rod 307 is rotatably mounted on the end of the eccentric rod 306, a second mounting seat 308 is fixedly mounted on the side of the mounting member 207, the guide rod 307 is slidably connected to the second mounting seat 308, a second pressure sensor 309 is fixedly mounted on the side of the mounting member 207, a second spring 310 is fixedly mounted on the end of the guide rod 307, the second spring 310 is arranged between the second pressure sensor 309 and the guide rod 307, and the second pressure sensor 309 communicates with the second pressure sensor 309 through an electrical signal A motor 224 is connected. After the clamping mechanism 2 completes clamping the template, the first hydraulic telescopic rod 201 is restarted to push the entire clamping mechanism 2 to move toward the position where installation is required. When the pasting plate 304 contacts the template next to it, the second mounting plate 303 will rotate according to the inclination angle of the template next to it, thereby driving the rotating rod 302 to rotate. The rotating rotating rod 302 can drive the rotating disk 305 to rotate. The rotation of the rotating disk 305 can drive the eccentric rod 306 to rotate, thereby driving the guide rod 307 to reciprocate inside the second mounting seat 308. The reciprocating motion of the guide rod 307 can squeeze and stretch the second spring 310. The second pressure sensor 309 will generate different pressures due to the different states of the second spring 310, and the second pressure sensor 309 will generate different electrical signals due to the different pressures received, so that the first motor 224 can rotate at different angles, thereby enabling the entire clamping mechanism 2 to rotate at different angles, so that the installation angle of the template can be consistent with the angle of the template next to it.

[0025] Reference Figure 1-Figure 9The present embodiment further proposes that a marking mechanism 4 is installed on the top of the bottom plate 1, and the marking mechanism 4 includes a second sliding groove 401, a tooth plate 402 is slidably installed inside the second sliding groove 401, a fixing rod 403 is fixedly installed on the top of the tooth plate 402, and the top of the fixing rod 403 is fixedly connected to the bottom of the bottom frame 202, a fixing block 404 is fixedly installed on the top of the bottom plate 1, a special-shaped plate 405 is rotatably installed on the side of the fixing block 404, a gear 406 is fixedly installed on the side of the special-shaped plate 405, and the gear 406 is meshed with the tooth plate 402, an installation groove 407 is opened inside the fixing block 404, and an installation groove 407 is slidably installed inside the installation groove The mounting block 408 has a marking rod 409 fixedly mounted on the end of the mounting block 408, and the marking rod 409 penetrates the outside of the fixed block 404 and is slidably connected to the fixed block 404. A vertical plate 410 is fixedly mounted on the top of the fixed block 404, and mounting rods 411 are fixedly mounted on the sides of the vertical plate 410 and the mounting block 408, and a third spring 412 is fixedly mounted between the mounting rods 411. The sides of the two guide rails 203 are rotatably mounted with a rotating shaft 413, and the rotating shaft 413 is fixedly connected to the first threaded rod 210. A line roller 414 is fixedly mounted on the end of the rotating shaft 413, and an ink line 415 is wound between the two line rollers 414. The two rotating shafts The surface of each of the ink bags 416 is fixedly installed. When the base frame 202 moves under the action of the first hydraulic telescopic rod 201, the tooth plate 402 can be driven to slide inside the second sliding groove 401, and the rotating shaft 413 can be driven to rotate, so that the ink line 415 wound on the surface of the line roller 414 can be moved, and the ink line 415 soaked in the ink bag 416 can be stretched out. When the tooth plate 402 moves to mesh with the gear 406, the gear 406 can be rotated, and the rotating gear 406 can drive the special-shaped plate 405 to rotate. The rotation of the special-shaped plate 405 can pull the mounting block 408 in the mounting groove 40 7 slides inside, so that the third spring 412 installed between the mounting rods 411 can be stretched. When the base frame 202 moves to a certain position, it drives the special-shaped plate 405 to rotate to the groove. At this time, the mounting block 408 loses the squeezing of the special-shaped plate 405. Under the action of the third spring 412, the mounting block 408 quickly returns to its original position, thereby driving the marking rod 409 to quickly return to its original position. The marking rod 409 hits the ink line 415, so that the ink on the ink line 415 can be marked on the template at the bottom. At this time, the staff can install the template according to the marked position, so that the template will not be tilted laterally during installation.

[0026] Reference Figure 1-Figure 9 This embodiment also proposes an automatic climbing formwork device for an air-cooling tower, which is suitable for the above-mentioned climbing manipulator, including a climbing frame 5, and the climbing manipulator is fixedly installed on the top of the climbing frame 5.

[0027] Specifically, the working process or working principle of the climbing manipulator is as follows: first, when the air cooling tower is under construction, large templates are installed by large tower cranes, but some small templates need to be installed manually. When installing small templates, the small templates are placed on the top of the base plate 1, and then the first hydraulic telescopic rod 201 is started. The first hydraulic telescopic rod 201 can drive the base frame 202 to slide on the surface of the guide rail 203. At this time, the micro water pump 212 can draw water from the water tank 211, and then spray the water to the top of the template through the sprinkler head 215, so that the template The surface of the plate is covered with a layer of water stains. The water sprayed by the sprinkler head 215 can not only wash away the dust on the surface of the template, but also soak the surface of the template, reducing the absorption of water by the template during concrete pouring, avoiding the cracking of the concrete surface due to excessive water loss, and the wet template will reduce the bonding force between the template and the concrete, making it easier to remove the template. When the base frame 202 moves to the top of the small template, the electric track 206 is started to move the mounting member 207 to the top of the template, and then the second hydraulic telescopic rod 208 is started to move the connecting member 209 downward.

[0028] When the connecting member 209 moves downward, it drives the limiting telescopic rod 218 and the vacuum suction cup 238 to move downward together. When the vacuum suction cup 238 contacts the template, the connecting member 209 continues to move downward, causing the limiting telescopic rod 218 to shrink downward, and the position of the mounting tube 219 no longer changes. Therefore, the first rotating plate 216, the second rotating plate 217 and the third rotating plate 221 can be rotated to make the sliding plate 220 slide out of the inside of the mounting tube 219, so that the distance between the two support plates 222 becomes larger, and the staff places the template between the two support plates 222, and the positioning plate 2 The moment when the third threaded rod 230 contacts the template, it will move upwards for a certain distance according to the thickness of the template. The movement of the positioning plate 231 can drive the third threaded rod 230 to move upwards, thereby driving the second threaded cylinder 229 to rotate. Under the action of the pulley group, the rotation of the second threaded cylinder 229 can drive the first threaded cylinder 225 to rotate. When the first threaded cylinder 225 rotates, the second threaded rod 226 can be moved downwards, and then the upper pressing plate 227 can be driven to move downwards, so that the upper pressing plate 227 can clamp the upper surface of the template. At the same time, the upper pressing plate 227 is pressed against the template. When clamping, the first pressure sensor 234 senses the pressure of the upper pressure plate 227, generates an electrical signal to the electric telescopic rod 235, and starts the electric telescopic rod 235, driving the connecting plate 236 to move, so that the locking block 237 is displaced and embedded in the notch of the template. The notch of the template is set to smoothly position the template with the template next to it when fixing the template. Since the surface of the template is sprayed with water stains, the vacuum suction cup 238 can absorb the template more firmly under the action of water molecules. When the clamping is completed, the second hydraulic telescopic rod 208 is moved upward. At this time, under the action of the limiting telescopic rod 218, the position of the installation cylinder 219 continues to remain stationary. Therefore, the first rotating plate 216, the second rotating plate 217 and the third rotating plate 221 can rotate, so that the distance between the two support plates 222 becomes smaller, so that the side of the support plate 222 can clamp the side of the template, and due to the action of the locking block 237, it is more secure during the clamping process. When the limiting telescopic rod 218 is extended to a certain distance, it remains fixed, so that the installation cylinder 219 moves upward with the second hydraulic telescopic rod 208, thereby completing the clamping of the template.

[0029] After the clamping mechanism 2 completes clamping of the template, the first hydraulic telescopic rod 201 is restarted to push the entire clamping mechanism 2 to move toward the position where installation is required. When the pasting plate 304 contacts the template next to it, the second mounting plate 303 will rotate according to the inclination angle of the template next to it, thereby driving the rotating rod 302 to rotate. The rotating rotating rod 302 can drive the rotating disk 305 to rotate, and the rotation of the rotating disk 305 can drive the eccentric rod 306 to rotate, thereby driving the guide rod 307 to reciprocate inside the second mounting seat 308. The reciprocating motion of the guide rod 307 can squeeze and stretch the second spring 310, and the second pressure sensor 309 will generate different pressures due to the different states of the second spring 310, and the second pressure sensor 309 will generate different electrical signals due to the different pressures, so that the first motor 224 can rotate at different angles, and then the entire clamping mechanism 2 can be rotated at different angles, so that the installation angle of the template can be consistent with the angle of the template next to it.

[0030] When the base frame 202 moves under the action of the first hydraulic telescopic rod 201, it can drive the tooth plate 402 to slide inside the second sliding groove 401, and at the same time drive the rotating shaft 413 to rotate, so that the ink line 415 wound on the surface of the line roller 414 can move, and the ink line 415 soaked in the ink bag 416 can stretch out. When the tooth plate 402 moves to mesh with the gear 406, the gear 406 can be rotated, and the rotating gear 406 can drive the special-shaped plate 405 to rotate. The rotation of the special-shaped plate 405 can pull the mounting block 408 to slide inside the mounting groove 407. In this way, the third spring 412 installed between the mounting rods 411 can be stretched. When the base frame 202 moves to a certain position, it drives the special-shaped plate 405 to rotate to the groove. At this time, the mounting block 408 loses the squeezing of the special-shaped plate 405. Under the action of the third spring 412, the mounting block 408 quickly returns to its original position, thereby driving the marking rod 409 to quickly return to its original position. The marking rod 409 hits the ink line 415, so that the ink on the ink line 415 can be marked on the template at the bottom. At this time, the staff can install the template according to the marked position, so that the template will not be laterally tilted during installation.

Claims

1. A climbing manipulator, comprising a base plate (1), characterized in that: A clamping mechanism (2) is installed on the top of the bottom plate (1), and the clamping mechanism (2) comprises: A first hydraulic telescopic rod (201), the first hydraulic telescopic rod (201) being fixedly mounted on the top of the bottom plate (1), and a bottom frame (202) being fixedly mounted on the telescopic end of the first hydraulic telescopic rod (201); A guide rail (203), the guide rail (203) being fixedly mounted on the top of the bottom plate (1), two guide rails (203) being provided, and first sliding grooves (204) being provided on the surfaces of the two guide rails (203); A bracket (205), the bracket (205) being fixedly mounted on the top of the base frame (202), two brackets (205) being provided, and an electric track (206) being fixedly mounted between the two brackets (205); A mounting member (207) is slidably mounted on the surface of the electric track (206); a rotating block (223) is rotatably mounted inside the mounting member (207); a second hydraulic telescopic rod (208) is mounted at the bottom of the rotating block (223); and a connecting member (209) is fixedly mounted at the end of the second hydraulic telescopic rod (208).

2. A climbing manipulator according to claim 1, characterized in that: A first threaded rod (210) is rotatably mounted inside the first sliding groove (204); the base frame (202) is threadably connected to the first threaded rod (210); water tanks (211) are fixedly mounted on both sides of the base frame (202); a micro water pump (212) is fixedly mounted inside the base frame (202); a water pipe (213) is mounted between the micro water pump (212) and the water tank (211); the micro water pump (212) is connected to the water tank (211) via the water pipe (213); first mounting plates (214) are fixedly mounted on both sides of the base frame (202); a water spray head (215) is fixedly mounted on the side of the first mounting plate (214); a plurality of water spray heads (215) are provided; and the plurality of water spray heads (215) are connected to the micro water pump (212) via the water pipe (213).

3. A climbing manipulator according to claim 2, characterized in that: A first motor (224) is fixedly mounted on the side of the mounting member (207); an output end of the first motor (224) is fixedly connected to a rotating block (223); a first rotating plate (216) is rotatably mounted inside the connecting member (209); a second rotating plate (217) is rotatably mounted on the end of the first rotating plate (216); a limited telescopic rod (218) is fixedly mounted on the bottom of the connecting member (209); and a mounting tube (219) is fixedly mounted on the bottom of the limited telescopic rod (218). A sliding plate (220) is slidably installed inside the mounting tube (219), and two sliding plates (220) are provided. The ends of the two sliding plates (220) are rotatably connected to the first rotating plate (216) and the second rotating plate (217) respectively. A third rotating plate (221) is rotatably installed on the surface of the mounting tube (219), and two third rotating plates (221) are provided. The two third rotating plates (221) are rotatably connected to the first rotating plate (216) and the second rotating plate (217) respectively.

4. A climbing manipulator according to claim 3, characterized in that: A support plate (222) is fixedly mounted on the bottom of the two sliding plates (220); a first threaded cylinder (225) is rotatably mounted on the top of the support plate (222); a second threaded rod (226) is rotatably mounted inside the first threaded cylinder (225); an upper pressing plate (227) is fixedly mounted on the bottom of the second threaded rod (226); a limiting rod (228) is fixedly mounted on the top of the upper pressing plate (227); two limiting rods (228) are provided; both limiting rods (228) are slidably connected to the support plate (222); a second threaded cylinder (229) is rotatably mounted on the bottom of the two sliding plates (220); a third threaded rod (230) is threadably mounted inside the second threaded cylinder (229); a positioning plate (231) is fixedly mounted on the bottom of the third threaded rod (230); and the first threaded cylinder (225) and the second threaded cylinder (229) are connected via a pulley group.

5. A climbing manipulator according to claim 4, characterized in that: A sliding rod (232) is fixedly mounted on the top of the positioning plate (231), and the sliding rod (232) is slidably mounted inside the sliding plate (220). A first spring (233) is threadedly mounted on the surface of the sliding rod (232), and the first spring (233) is arranged between the positioning plate (231) and the sliding plate (220). A first pressure sensor (234) is fixedly mounted on the bottom of the upper pressure plate (227), and an electric telescopic rod (235) is fixedly mounted on the support plate (222), and the first pressure sensor (234) is connected to the electric telescopic rod (235) through an electrical signal. A connecting plate (236) is fixedly mounted on the end of the electric telescopic rod (235), and a locking block (237) is fixedly mounted on the side of the connecting plate (236), and two locking blocks (237) are provided. A vacuum suction cup (238) is fixedly mounted on the bottom of the mounting cylinder (219).

6. A climbing manipulator according to claim 5, characterized in that: A positioning mechanism (3) is installed on the side of the mounting member (207), and the positioning mechanism (3) comprises a first mounting seat (301), the first mounting seat (301) is fixedly installed on the side of the mounting member (207), a rotating rod (302) is rotatably installed inside the first mounting seat (301), a second mounting plate (303) is fixedly installed on the surface of the rotating rod (302), a sticking plate (304) is fixedly installed on the side of the second mounting plate (303), two sticking plates (304) are provided, and a rotating disk (305) is rotatably installed on both sides of the first mounting seat (301), and the rotating disk (305) is fixedly connected to the rotating rod (302).

7. A climbing manipulator according to claim 6, characterized in that: An eccentric rod (306) is rotatably mounted on the side of the rotating disk (305), a guide rod (307) is rotatably mounted on the end of the eccentric rod (306), a second mounting seat (308) is fixedly mounted on the side of the mounting member (207), the guide rod (307) is slidably connected to the second mounting seat (308), a second pressure sensor (309) is fixedly mounted on the side of the mounting member (207), a second spring (310) is fixedly mounted on the end of the guide rod (307), the second spring (310) is arranged between the second pressure sensor (309) and the guide rod (307), and the second pressure sensor (309) is connected to the first motor (224) via an electrical signal.

8. A climbing manipulator according to claim 7, characterized in that: A marking mechanism (4) is installed on the top of the base plate (1), and the marking mechanism (4) comprises a second sliding groove (401), a tooth plate (402) is slidably installed inside the second sliding groove (401), a fixing rod (403) is fixedly installed on the top of the tooth plate (402), and the top of the fixing rod (403) is fixedly connected to the bottom of the base frame (202), a fixing block (404) is fixedly installed on the top of the base plate (1), a special-shaped plate (405) is rotatably installed on the side of the fixing block (404), and a gear (406) is fixedly installed on the side of the special-shaped plate (405), and the gear (406) is meshed with the tooth plate (402).

9. A climbing manipulator according to claim 8, characterized in that: The fixing block (404) is provided with a mounting groove (407) inside, a mounting block (408) is slidably mounted inside the mounting groove (407), a marking rod (409) is fixedly mounted on the end of the mounting block (408), the marking rod (409) penetrates the outside of the fixing block (404) and is slidably connected to the fixing block (404), a vertical plate (410) is fixedly mounted on the top of the fixing block (404), and the vertical plate (410) and the side of the mounting block (408) are both fixedly mounted There are mounting rods (411), a third spring (412) is fixedly mounted between the mounting rods (411), a rotating shaft (413) is rotatably mounted on the sides of the two guide rails (203), the rotating shaft (413) is fixedly connected to the first threaded rod (210), a line roller (414) is fixedly mounted on the end of the rotating shaft (413), an ink line (415) is wound between the two line rollers (414), and an ink bag (416) is fixedly mounted on the surface of the two rotating shafts (413).

10. An automatic climbing formwork device for an air cooling tower, suitable for a climbing manipulator as claimed in claim 9, comprising a climbing frame (5), characterized in that: The climbing manipulator is fixedly mounted on the top of the climbing frame (5).

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