Shaft self-climbing intelligent material distribution robot with mold and construction technology thereof

Abstract

The invention relates to a self-climbing intelligent material distribution robot with a mold in a shaft and a construction technology thereof. A material distribution stand column of the intelligent material distribution robot guarantees the overall strength of the robot and provides a supporting step for a climbing system. The material distribution stand columns are rigidly connected with the building structure through the supporting system. The hydraulic oil cylinder connects the robot and the supporting system into a whole through the oil cylinder jacking base and the supporting ladder, and the hydraulic oil cylinder drives the robot to climb on the whole. The platform system is arranged on the supporting system, the formwork operating system is connected with the material distribution stand column, a hanging point and a backward moving track are provided for a formwork, and overall movement and lifting of the shaft formwork are achieved. The temperature and pressure measuring system is arranged at the tail end of the material distribution mechanical arm, monitors the concrete mold entering temperature and pressure in real time, and connects data to the intelligent data management platform located on the top of the material distribution stand column. According to the invention, automatic point searching and material distribution of the material distribution robot are realized, pouring is carried out at specified time, construction data are connected with the whole intelligent data management platform, real-time data transmission is realized, and unmanned operation and remote control are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent material distribution, and in particular to a self-climbing intelligent material distribution robot with a mold in a shaft and a construction process thereof. Background Art

[0002] With the rapid development of my country's construction industry, more and more high-rise projects are under construction. In the process of high-rise building construction, there are two traditional methods of placing concrete. One is to use a tower crane to lift an ordinary concrete placing machine to the construction floor each time, and then lift the concrete placing machine to the stacking site after pouring the concrete. Repeat the above work to complete the pouring of the main structure concrete. The other is to integrate the concrete placing machine with the formwork, and the formwork will carry the concrete placing machine to climb. At the same time, the current concrete placing machines all need manual control, manual point placement, and the flow, pressure, temperature, etc. of the concrete cannot be controlled.

[0003] In traditional construction, the tower crane hoisting method has the problem of occupying the tower crane and affecting site safety; the method of integration with the formwork puts higher requirements on the formwork, increases the material and danger of the formwork, and is not suitable for the working conditions of simultaneous construction of the inner structure; In response to the above-mentioned traditional cumbersome working mode, research on safe, easy-to-operate and intelligent material placing tools suitable for high-rise buildings, creating a less-manned, intelligent and simplified mode on the construction site, and a new type of self-climbing intelligent material placing robot with formwork that reduces carbon emissions is a new trend in the development of the industry. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a self-climbing intelligent material-laying robot with a shaft formwork and a construction process thereof, which can perform simple, fast, safe and intelligent material-laying work according to construction requirements, and can provide a lifting device for the shaft formwork, provide an operating platform for the pump pipe connection, and provide real-time parameters of concrete for the construction site, thereby improving the safety of the construction site and improving the pouring quality of concrete.

[0005] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions: The shaft-carrying mold self-climbing intelligent material placing robot includes: The material distribution column includes a column body, a climbing ladder, a support connector, an up-down ladder, a pump pipe fixing part and a control platform, which is fixed to the building structure through a support system to provide a climbing path and support for the robot. The climbing ladder, the support connector, the up-down ladder, and the pump pipe fixing part are arranged on the side of the column body, and the control platform is arranged on the upper end of the column body; Support system, rotating claw, claw stopper, cylinder support, supporting main beam, supporting secondary beam and main beam connecting plate, the supporting main beam is welded and fixed to the supporting secondary beam, the rotating claw, claw stopper are connected to the supporting main beam, the cylinder support is fixed to the supporting secondary beam, the supporting system provides support for the robot, and ensures the stability and lifting of the robot; The self-climbing system, hydraulic cylinder, climbing support and climbing top provide climbing power for the robot, driving the robot to climb as a whole; The platform system includes a template operation platform, a jacking operation platform and a pump pipe operation platform. The operation platform is 200 mm away from the main structure and is used for personnel operations. There are flaps around the operation platform to form a closed space with the main structure; The template system includes a trolley track, a mobile trolley, a hanging hoist, a limit device and a shaft template. The trolley track is arranged on the material distribution column to provide a hanging point and a route for the template, driving the template to climb together; An intelligent control system, including a path planning module, an automatic point finding module, a flow recording module, a data collection and processing module, and a data abnormality alarm module. The intelligent control system is arranged at the upper end of the material distribution column, so that the robot can realize automatic material distribution, intelligent start and stop, and realize visualization of concrete flow, pressure, and temperature; Temperature and pressure measurement system, temperature sensor, pressure sensor and data transmission module. The temperature sensor is arranged at the front end of the hose to monitor the temperature and pressure of concrete entering the mold in real time. As a preferred embodiment of the above technical solution, the cross-sectional shape of the column body is set to be a rectangle, and the support system is a cross-shaped frame, which can bear the weight of the upper robot and maintain stability.

[0006] As a preferred embodiment of the above technical solution, a connecting diagonal brace is provided between the trolley track and the column body to ensure the stability of the trolley track during the movement of the template.

[0007] As a preferred embodiment of the above technical solution, a claw stopper is provided on the upper part of the supporting main beam, and the rotating claw can maintain the ability to flip downward and will not flip out of the supporting main beam due to the vertical force, thereby ensuring overall safety.

[0008] As a preferred embodiment of the above technical solution, climbing steps are provided on the column body at intervals, the climbing steps provide support for the climbing top member, and the spacing of the climbing steps matches the climbing spacing of the hydraulic cylinder.

[0009] The above-mentioned shaft self-climbing intelligent material placing robot with formwork and its construction process are as follows: (1) The robot is assembled on the ground. After three layers of concrete are poured on site, the installation conditions are met. After the concrete strength reaches the requirements, the whole is hoisted and installed in place. After confirming that the rotating claws of the support system 2 are all supported on the building structure, they are unhooked. The intelligent control system, temperature and pressure measurement system, and formwork system are installed after the robot is installed in place; (2) Intelligent control system debugging and data input, and formulation of concrete pouring routes and pouring points; (3) The template is hung on the trolley track, and the shaft template (55) is driven by the mobile trolley to move on the trolley track (51). After the template is transported to the designated location, the mold is closed and pouring is performed point by point or in skipped points according to the set route. At the same time, the pouring data is transmitted to the data terminal through the flow recording module 63; (4) After the concrete strength is reached, the formwork is removed. The mobile trolley drives the formwork to move on the trolley track so that the shaft formwork is close to the material distribution column to ensure that the robot is not affected by the structure when climbing. The pump pipe is disconnected on the pump pipe operating platform (43) to prepare for the robot to climb.

[0010] (5) Assemble the hydraulic cylinder, climbing support and climbing top together and install them to the middle layer support system, raising the support system of the upper two layers by one layer height; disconnect the pump pipe on the pump pipe operation platform to prepare for the robot to climb; (6) The robot is driven to climb up one floor by extending and contracting the oil cylinder, and the pump pipe is extended on the pump pipe operating platform to prepare for the next concrete pouring. Beneficial Effects

[0011] (1) The present invention provides a self-climbing intelligent material-laying robot with a mold in a shaft. The material-laying robot provides vertical and horizontal forces for the robot in the material-laying, climbing and shutdown stages through the interaction between the material-laying columns and the support system, thereby ensuring construction safety and the overall stability of the frame. The material-laying columns serve as a link between the upper and lower parts. The upper part is fixed to the material-laying mechanical arm, providing a stable structure for the robot to lay materials. The hydraulic cylinder provides power for the entire system. The material-laying columns drive the robot as a whole to climb upwards under the joint action of the hydraulic cylinder and the support system. The support system provides a support point for the robot and transfers all of the robot's own weight to the wall.

[0012] (2) The intelligent control system is set at the top of the material laying column. The path planning module and the automatic point finding module are based on the pouring operation requirements and pouring sequence. The teaching program can automatically control the robot to reach the set pouring point coordinates for operation and move along the set route, reducing manual participation and saving labor. The flow recording module, data collection and processing module and data abnormality alarm module monitor and feedback the data in the material laying process in real time, which can ensure the smooth progress of on-site material laying work and realize intelligent material laying.

[0013] (3) The robot platform system is set up flush with the floor (the spacing between the support systems is the same as the floor height), which facilitates the work of personnel and realizes the control of the entire material laying process. It reduces unnecessary additional equipment and operating work during the shaft construction process, reduces the sources of danger during the construction process, and realizes the automation, intelligence, safety and less-manpowered requirements of the entire shaft construction process.

[0014] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall structure of the shaft self-climbing intelligent material placing robot with mold in the present invention; Figure 2 It is a structural schematic diagram of a cloth column 1; Figure 3 It is a structural schematic diagram of the support system 2; Figure 4 It is a structural schematic diagram of the self-climbing system 3; Figure 5 It is a structural schematic diagram of the platform system 4; Figure 6 It is a schematic diagram of the structure of the template operating system 5; Figure 7 It is a structural schematic diagram of the intelligent control system 6; Figure 8 Provides a technical roadmap for intelligent control systems 6; Fig. 9 1 is a working principle diagram of the rotating claw 21; wherein, Ⅰ is the rotating claw 21 in a retracted state; Ⅱ is the state where the rotating claw 21 is horizontally opened and supported on the structure; In the figure: 1-fabricating column, 2-support system, 3-self-climbing system, 4-platform system, 5-template operating system, 6-intelligent control system, 7-temperature and pressure measurement system, 8-fabricating mechanical arm, 11-column body, 12-climbing ladder, 13-support connector, 14-up and down ladder, 15-pump pipe fixing, 16-control platform, 21-rotating claw, 22-claw stopper, 23-cylinder support, 24-support main beam, 25-support secondary beam, 26-main beam connecting plate , 31-hydraulic cylinder, 32-climbing support, 33-climbing top piece, 41-template operating platform, 42-lifting operating platform, 43-pump pipe operating platform, 51-trolley track, 52-mobile trolley, 53-hanging hoist, 54-limiting device, 55-wellbore template, 61-path planning module, 62-automatic point finding module, 63-flow recording module, 64-data collection and processing module, 65-data abnormality alarm module, 81-folding arm, 82-front end hose. DETAILED DESCRIPTION

[0016] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, 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 only 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 those skilled in the art without creative work are within the scope of protection of the present invention. Example

[0017] Figure 1 This is a schematic diagram of the overall structure of the shaft mold self-climbing intelligent material distribution robot of the present invention; see Figure 1 As shown, the shaft formwork self-climbing intelligent material-laying robot includes: material-laying columns 1, support system 2, self-climbing system 3, platform system 4, formwork operating system 5, intelligent control system 6, temperature and pressure measurement system 7, and material-laying robot arm 8; wherein, the material-laying columns 1 are fixed on the support system 2. The support system 2 has three groups, which are attached to building structures at different heights. They determine the position of the frame at different stages of construction, meet the requirements of the construction site for material laying, facilitate the bringing of each auxiliary system to the corresponding vertical position, and at the same time transfer all the gravity of the intelligent material-laying robot to the shaft beam or shaft wall of the high-rise building structure. Formwork operating system 5 The climbing ladder 12 is set on the material distribution column 1 to provide a track path for the intelligent material distribution robot to climb. The intelligent control system 6 is set above the material distribution column 1 to plan and record the path for the intelligent material distribution robot to realize automated construction; the material distribution robot arm 8 is located at the top of the material distribution column 1, and the temperature and pressure measurement system 7 is integrated at the front end of the material distribution robot arm 8, which can monitor the temperature of the concrete entering the mold in real time, and transmit the data to the intelligent control system 6 for recording, and alarm when the data is abnormal. The concrete is transported to different construction sites by opening and retracting the folding arm 81. At the same time, through the operation of the intelligent control system 6, the input of manpower is reduced to meet the needs of the construction site.

[0018] The template system 5 is fixed on the fabric column 1, located below the intelligent control system 6 and above the support system 2, to achieve the mold closing and demolding of the template.

[0019] The material distribution column 1 provides stable support for the pump pipe to ensure the overall strength of the robot, and provides a support ladder for the climbing process, driving the entire robot to climb. It includes a column body 11, a climbing ladder 12, a support connector 13, an up-down ladder 14, a pump pipe fixing 15 and a control platform 16. The column body 11 transmits force to the support system 2 through the support connector 13 and then to the shaft beam or wall structure. More than one climbing ladder 12 is evenly fixed on the column to provide a support point for the hydraulic cylinder 31 and a path for the robot to climb in multiple stages. The up-down ladder 14 is set on the other side of the column to provide a vertical line for personnel maintenance and up-down operations. The pump pipe fixing fixes the pump pipe and the robot to reduce the overall shaking during material distribution and ensure construction safety. The control platform 16 is set at the top of the column, mainly serving as a maintenance platform and an intelligent control platform.

[0020] The support system 2 is a rectangular frame structure as a whole. There are three support systems in the system, which are built on the first, second and third floors from bottom to top. Each support system includes a rotating claw 21, a claw stopper 22, a cylinder support 23, a supporting main beam 24, a supporting secondary beam 25 and a main beam connecting plate 26; the supporting main beam 24 and the supporting secondary beam 25 are built into a rectangular structure, and the supporting secondary beam 25 is placed on the supporting main beam 24. The lengths of the supporting main beam 24 and the supporting secondary beam 25 are determined according to the size of the wellbore. The rotating claw 21 is connected to the supporting main beam 24 and the rotating claw 21 is located at both ends of the supporting main beam 24. As a fulcrum and anti-falling measure of the robot, the rotating claw 21 can rotate around the supporting main beam 24 (see Fig. 9As shown in the figure, it is convenient to lift and reduce the embedded connection with the structure. There is no need to manually remove the connection with the structure. The rotating claw 21 is in a downward retracted state when climbing, and space is reserved with the structure to facilitate climbing. After it is in place, it is opened horizontally and supported on the shaft beam or wall structure to provide vertical support for the robot. The automatic recovery of the rotating claw reduces embeddedness and provides non-destructive support to the wall. The claw stopper 22 is connected to the end of the rotating claw 21 and is fixed to the upper side of the supporting main beam 24, which plays a role in limiting the rotating claw 21. The cylinder support 23 is fixedly connected to the supporting secondary beam 25, and receives the climbing top piece 33 at the lower end of the cylinder to provide support force when the cylinder is lifted, thereby realizing the overall lifting of the robot, which serves as a force transmission device for the frame.

[0021] The self-climbing system 3 includes a hydraulic cylinder 31, a climbing support 32 and a climbing top member 33. One end of the climbing support 32 is connected to the tail end of the hydraulic cylinder 31, and the other end is fixed on the supporting secondary beam 25 to provide support for the hydraulic cylinder 31. One end of the climbing top member 33 is connected to the upper part of the hydraulic cylinder 31, and the other end is supported on the column body 11 to provide vertical force for the robot to climb, thereby realizing the self-climbing of the robot. In this embodiment, two small-stroke hydraulic cylinders 31 are used as the power system to provide power. The lifting force on both sides can reduce the size of the hydraulic cylinder 31. At the same time, the force on both sides can ensure the stability of the robot, making the climbing process more stable and safer.

[0022] The platform system 4 includes a template operation platform 41, a jacking operation platform 42, and a pump pipe operation platform 43; they are arranged on the support system 2 located on the third layer, the second layer, and the first layer respectively (see Figure 5 As shown in the figure, the pump pipe operation platform is located at the bottom of the robot, which plays an overall protective role to prevent debris from falling into the elevator shaft.

[0023] See Figure 6 As shown, the template system 5 is connected with the material distribution column to provide a hanging point and a backward moving track for the template, so as to realize the overall movement and lifting of the shaft template. It includes a trolley track 51, a mobile trolley 52, a hanging hoist 53, a limit device 54 and a shaft template 55; the shaft template 55 is suspended at the lower end of the mobile trolley 52 through the hanging hoist 53, and the mobile trolley 52 is placed on the trolley track 51, and the trolley track 51 is fixed to the column body 11; a connecting diagonal brace is provided between the end of the trolley track 51 and the column body 11 to ensure the stability of the trolley track 51 during the movement of the template. When the template is closed, the mobile trolley 52 drives the template into place for closed casting, and when the mold is removed, the trolley drives the template to move backward, thereby realizing the closing and demolding of the template.

[0024] See Figure 7 , Figure 8As shown, the intelligent control system 6 is used to realize the automatic point finding and material laying of the material laying robot, set the walking trajectory line, the robot automatically lays the material, and pours at the specified time. At the same time, the data is connected to the overall intelligent data management platform to realize real-time data transmission, unmanned operation, and remote control. It includes a path planning module 61, an automatic point finding module 62, a flow recording module 63, a data collection and processing module 64, and a data abnormality alarm module 65; wherein the path planning module 61, the automatic point finding module 62, and the flow recording module 63 are all connected to the data collection and processing module 64, and the data collection and processing module 64 is connected to the data abnormality alarm module 65. The path planning module 61 includes a teaching module and a navigation module, which can realize the robot to pour autonomously in the construction area according to the sequential route. The intelligent control system 6 ensures that the robot can realize autonomous material distribution. The automatic point finding module 62 includes a point recognition module and a coordinate sensor, which can set N pouring points, and pour point by point or jump points through path planning. The flow recording module 63 includes a flow meter and a data transmission module, which can record the actual pouring volume on site and compare and analyze it with the theoretical pouring volume to ensure that the amount of concrete poured meets the construction requirements. The data collection and processing module 64 can collect and store the on-site data detected by the path planning module 61, the automatic point finding module 62, and the flow recording module 63, and after sorting and analyzing, the results are fed back to the management personnel's mobile phone or computer for real-time monitoring; and abnormal conditions are fed back through the data abnormality alarm module 65.

[0025] The temperature and pressure measuring system 7 is arranged at the end of the material placing robot arm, and monitors the temperature and pressure of the concrete entering the mold in real time, and connects the data to the intelligent data management platform. It specifically includes a temperature sensor, a pressure sensor and a data transmission module, wherein the temperature sensor and the pressure sensor are arranged at the front end of the hose 82 of the material placing robot arm 8, and the data transmission module is connected to the data collection and processing module 64; the temperature sensor and the pressure sensor record the temperature and pressure of the concrete entering the mold in real time, and the data is transmitted to the robot intelligent operating system 6 through the data transmission module for aggregation.

[0026] Reference Figure 6 As shown, limit devices 54 are set at both ends of the trolley track 51, and the mobile trolley 52 cannot exceed the limit plate to prevent the occurrence of safety accidents due to the inertia of the trolley. A manual operator is set on the mobile trolley 52 to prevent the system from being out of control when an error occurs in the self-moving control system, thereby affecting the on-site construction. A hanging hoist 53 is set on the mobile trolley 52 to control the up and down movement of the hook and drive the opening and closing of the shaft template 55.

[0027] The construction process of the above-mentioned shaft self-climbing intelligent material placing robot with formwork is as follows: (1) The robot is assembled on the ground as a whole. After three layers of concrete are poured on site, the installation conditions are met. The robot is hoisted and installed in place as a whole. The support system 2 is installed on each floor of the shaft platform in sequence (that is, the third support system, the second support system, and the first support system are set up on the third to the first floor in sequence, and the floor number corresponds to the support system number). The material distribution column 1 is connected and fixed to the support system 2 of each floor through the support connector 13, and the overall deadweight of the robot is transferred to the high-rise building structure. Confirm that the rotating claws 21 at the ends of the supporting main beams 24 in the support system 2 are all horizontally opened, and then unhooked after supporting on the building shaft structure. The intelligent control system 6, the temperature and pressure measurement system 7, and the formwork system 5 are installed after the robot is installed in place; (2) Intelligent control system 6 debugging and data input, formulating concrete pouring routes and pouring points; (3) The formwork system 5 is suspended on the trolley track 51, and the shaft formwork 55 is moved into place by the mobile trolley 52 for mold closing, and pouring is performed point by point or in skipped points according to the set route; (4) After the concrete strength is reached, the formwork is removed. The mobile trolley 52 drives the shaft formwork 55 to move on the trolley track 51, so that the shaft formwork 55 is close to the material distribution column 1 to ensure that the robot is not affected by the structure when climbing.

[0028] (5) The hydraulic cylinder 31, the climbing support 32 and the climbing top member 33 are assembled together and installed on the middle-layer support system 2 (the second support system). Through the telescopic power of the hydraulic cylinder 31, the supporting force of the support system 2 on the climbing support 32, and the pulling force of the climbing ladder 12 on the climbing top member 33, the support systems 2 of the upper two layers are successively raised by one floor height (that is, the third support system and the second support system are hoisted as a whole and then erected on the fourth and third floors respectively); (6) Disconnect the pump pipe on the pump pipe operating platform 43 to prepare for the robot to climb; after the hydraulic cylinder 31 is extended and retracted to drive the robot to climb one floor height, extend the pump pipe on the pump pipe operating platform 43 to prepare for the next concrete pouring.

[0029] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0030] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A self-climbing intelligent material placing robot with a mold in the shaft, characterized in that: include: Fabric laying column (1), support system (2), self-climbing system (3), platform system (4), template operating system (5), intelligent control system (6), temperature and pressure measurement system (7), fabric laying robot arm (8); The material distribution column 1 is fixed on the support system (2), and more than one support system (2) is attached to the building structure at different heights, so that the gravity of the intelligent material distribution robot is completely transferred to the shaft beam or shaft wall of the high-rise building structure; the self-climbing system (3) is arranged on the support system (2) of the middle layer; The climbing ladder 12 is arranged on the material distribution column (1) to provide a track path for the intelligent material distribution robot to climb; the intelligent control system (6) is arranged above the material distribution column (1) to plan and record the path for the intelligent material distribution robot to realize automated construction; the material distribution robot arm (8) is located on the top of the material distribution column 1, and the temperature and pressure measurement system (7) is integrated at the front end of the material distribution robot arm (8) to monitor the temperature of the concrete entering the mold in real time, and transmit the data to the intelligent control system (6) for processing and analysis, and to alarm when the data is abnormal; the concrete is transported to different construction sites by opening and retracting the folding arm (81); the template system 5 is fixed on the material distribution column (1), located below the intelligent control system (6) and above the support system (2), to realize the closing and un-molding of the template.

2. The shaft-mounted self-climbing intelligent material-laying robot according to claim 1 is characterized in that: The support system (2) is provided in three groups, each group being connected and fixed to the shaft beams or wall structures of three adjacent floors, so as to provide a fulcrum and a travel route for the material distribution robot; the material distribution column (1) is connected to the support system (2) of each floor respectively through three connecting parts; The two ends of the self-climbing system (3) are respectively connected to the climbing ladder (12) of the material placing column (1) and the support system (2), providing climbing power for the material placing robot, driving the material placing robot to climb up layer by layer along the structure to realize the self-climbing function; The platform system (4) is arranged on the support system (2) and rises together with the material distribution column (1); The template operating system (5) is arranged at the upper end of the material placing column (1), and the shaft template is suspended at the lower part, driving the template and the material placing robot to climb together.

3. The shaft-mounted self-climbing intelligent material-distributing robot according to claim 1 is characterized in that: The material distribution column (1) comprises a column body (11), a climbing ladder step (12), a support connector (13), an up and down ladder (14), a pump pipe fixing part (15) and a control platform (16); The climbing ladder steps are fixed on the column, providing a support point for the hydraulic cylinder and a path for the robot to climb in multiple stages. The up and down ladders are set on the other side of the column to provide a vertical line for personnel maintenance and up and down operations. The pump pipe fixings fix the pump pipe to the robot.

4. The shaft-mounted self-climbing intelligent material-laying robot according to claim 1 is characterized in that: The support system (2) is an overall rectangular frame structure, comprising a rotating claw (21), a claw stopper (22), a cylinder support (23), a supporting main beam (24), a supporting secondary beam (25) and a main beam connecting plate (26); wherein the supporting main beam (24) and the supporting secondary beam (25) are arranged in a rectangular structure, and the supporting secondary beam (25) is placed on the supporting main beam (24); and the lengths of the supporting main beam (24) and the supporting secondary beam (25) are determined according to the size of the wellbore; The rotating claw is connected to the supporting main beam and the rotating claw (21) is located at both ends of the supporting main beam (24). It serves as a fulcrum and anti-falling measure for the robot. The rotating claw can rotate around the supporting main beam. When the rotating claw climbs, it is in a retracted state to reserve space for the building structure. After it is in place, it opens and supports the building structure to provide vertical support for the robot. The claw stopper is fixed to the upper side of the main beam to limit the rotating claw. The cylinder support is fixedly connected to the supporting secondary beam and receives the lower end of the cylinder to provide support force when the cylinder is lifted, thereby realizing the overall lifting of the robot and serving as a force transmission device for the frame.

5. The shaft self-climbing intelligent material placing robot with mold according to claim 1 is characterized in that: The self-climbing system (3) comprises a hydraulic cylinder (31), a climbing support member (32) and a climbing top member (33); one end of the climbing support member is connected to the rear end of the hydraulic cylinder (31), and the other end is fixed to the supporting secondary beam to provide support for the hydraulic cylinder; one end of the climbing top member is connected to the upper part of the hydraulic cylinder, and the other end is supported on the column body to provide vertical force for the robot to climb, thereby realizing the self-climbing of the robot.

6. The shaft-with-form self-climbing intelligent material-distributing robot according to claim 1 is characterized in that: The platform system (4) comprises a template operating platform (41), a jacking operating platform (42), and a pump pipe operating platform (43); the platform systems are arranged on the support systems located on the third layer, the second layer, and the first layer, respectively; the pump pipe operating platform is located at the bottom of the robot, and plays an overall protective role.

7. The shaft-mounted self-climbing intelligent material-distributing robot according to claim 1 is characterized in that: The template system (5) is connected to the material distribution column, providing a hanging point and a backward moving track for the template, so as to realize the overall movement and lifting of the shaft template; it comprises a trolley track (51), a mobile trolley (52), a hanging hoist (53), a limit device (54) and a shaft template (55); the shaft template is suspended at the lower end of the mobile trolley through the hanging hoist, the mobile trolley is placed on the trolley track, and the trolley track is fixed to the column body; when the template is closed, the template is driven into place by the mobile trolley for closed casting, and when the mold is removed, the template is driven backward by the trolley, so as to realize the closing and demolding of the template.

8. The shaft-mounted self-climbing intelligent material-distributing robot according to claim 1 is characterized in that: The intelligent control system (6) comprises: a path planning module (61), an automatic point finding module (62), a flow recording module (63), a data collection and processing module (64) and a data abnormality alarm module (65); wherein the path planning module (61), the automatic point finding module (62) and the flow recording module (63) are all connected to the data collection and processing module (64), and the data collection and processing module (64) is connected to the data abnormality alarm module (65); The path planning module includes a teaching module and a navigation module, which can realize the robot to autonomously pour in a sequential route within the construction area. The intelligent control system ensures that the robot can realize autonomous material placement. The automatic point finding module can set N pouring points, and pour point by point or skip points through path planning. The flow recording module (63) includes a flow meter and a data transmission module, which can record the actual pouring volume Am³ on site and transmit the data to the terminal. The actual pouring volume Am³ on site is compared and analyzed with the theoretical demand volume Bm³ on the drawing input in advance by the terminal to ensure that the amount of concrete poured meets the construction requirements. The data collection and processing module (64) collects and stores the on-site data detected by the path planning module (61), the automatic point finding module (62), and the flow recording module (63), and after sorting and analyzing, the results are fed back to the management personnel's mobile phone or computer for real-time monitoring; and abnormal conditions are fed back through the data abnormality alarm module (65).

9. The shaft-mounted self-climbing intelligent material-distributing robot according to claim 1, characterized in that: The temperature and pressure measuring system (7) is arranged at the end of the material placing robot arm, monitors the temperature and pressure of concrete entering the mold in real time, and connects the data to the intelligent data management platform; It includes a temperature sensor, a pressure sensor and a data transmission module; The material placing robot arm (8) comprises a folding arm (81) and a front hose (82); the temperature sensor and the pressure sensor are arranged at the front end of the hose of the material placing robot arm, and the data transmission module is connected to the data collection and processing module (64); the temperature sensor and the pressure sensor record the concrete entering the mold temperature and the concrete entering the mold pressure in real time, and the data are transmitted to the robot intelligent operating system through the data transmission module for aggregation.

10. The construction process of the shaft self-climbing intelligent material placing robot with formwork as claimed in claim 1 is characterized in that: Here are the steps: (1) After three layers of concrete are poured on site and the installation conditions are met, a support system (2) is installed on each layer, and it is confirmed that the rotating claws (21) of the support system (2) are all horizontally opened to the maximum angle and supported on the building structure; (2) The robot assembles the whole on the ground. After the concrete strength reaches the requirement, the whole is hoisted and installed in place. After confirming that the support connector (13) and the support system (2) are fixed and stable, they are unhooked and the formwork system (5), intelligent control system (6), and temperature and pressure measurement system (7) are installed in sequence. (3) Intelligent control system (6) debugging and data input, formulating concrete pouring routes and pouring points; (4) controlling the mobile trolley (52) to drive the shaft template (55) to move on the trolley track (51), transporting the template to a designated location for mold closing, and pouring point by point or in skipped points according to a set route, while transmitting the pouring data to a data terminal through a flow recording module (63); (5) After the concrete strength is reached, the formwork is removed, and the mobile trolley (52) drives the shaft formwork (55) to move on the trolley track (51), so that the shaft formwork (55) is close to the material distribution column (1) to ensure that the robot is not affected by the structure when climbing. The pump pipe is disconnected on the pump pipe operating platform (43) to prepare for the robot to climb; (6) The hydraulic cylinder (31), the climbing support (32) and the climbing top member (33) are assembled together, and the climbing support (32) and the cylinder support (23) on the support system 2 located on the second layer are connected together by pins. The climbing top member (33) is supported on the climbing ladder step (12) of the material distribution column (1). The hydraulic cylinder (31) is extended to lift the robot as a whole by 300 mm. After it is in place, the hydraulic cylinder (31) is retracted to support the climbing top member (33) on the climbing ladder step (12) of the third layer. The robot is repeatedly lifted by one structural layer height, and the robot as a whole is lifted from the second layer to the third layer; (7) The second and third layer support systems (2) are simultaneously raised by one layer height, so that they are at the third and fourth layers. At this time, the rotating support claws (21) are retracted downward to avoid scratching the main structure. The pump pipe is extended on the pump pipe operating platform (43) to prepare for the next pouring of the robot.

Images