Formwork system for intelligent climbing of cylinder shaft

Abstract

The invention provides a formwork system for intelligent climbing of a barrel shaft, which relates to the technical field of intelligent construction and comprises a main body structure, an integrated power system, an intelligent control system, an automatic opening and closing formwork and a safety protection subsystem, and the main body structure is composed of a high-strength steel climbing frame body and a customized formwork combined by bolts / welding. The power subsystem drives the frame body to move in multiple directions, and the automatic opening and closing formwork is automatically unfolded at the preset height to lock the well wall and is automatically closed after construction. And the intelligent control subsystem monitors the climbing state, the load and the position data in real time through a sensor, and dynamically adjusts the power output and the template action after algorithm analysis. The safety protection subsystem implements a dual protection mechanism and automatically cuts off power in case of overload, deviation or falling risks. According to the system, through integration of steel structure innovation and an intelligent control technology, full-process automatic operation of barrel shaft construction is achieved, the manual intervention intensity and potential safety hazards are remarkably reduced, the adaptability to complex working conditions is achieved, and the construction efficiency and engineering comprehensive benefits are effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent construction technology, and in particular to a formwork system for intelligent climbing of a cylinder shaft. Background Art

[0002] Traditional methods for constructing cylindrical shafts (such as elevator shafts and ventilation shafts) in high-rise and super-high-rise buildings rely primarily on manually erected scaffolding or fixed formwork systems. These methods require frequent assembly and disassembly of formwork, resulting in long construction cycles and low efficiency. Furthermore, workers must perform high-intensity work at high altitudes, posing safety risks such as falls and loose formwork. Furthermore, traditional hydraulic climbing systems rely on manual monitoring and adjustment, resulting in slow response times and difficulty adapting to the dynamic demands of complex working conditions, further increasing construction risks.

[0003] While some current formwork systems utilize hydraulic drive for climbing, they lack integrated intelligent control. For example, the opening and closing of the formwork relies on manual operation or simple mechanical linkage, making precise positioning and adaptive adjustment difficult. Safety protection measures are mostly passive (such as limit switches), unable to monitor load changes in real time or predict potential risks. Furthermore, existing systems lack modularity, making them difficult to adapt to shafts of varying sizes and shapes, limiting their versatility.

[0004] Despite the gradual introduction of automation technology in the construction industry, intelligent construction equipment for shaft shafts remains in the exploratory stage. Existing systems are weak in data collection, remote monitoring, and fault diagnosis, hindering closed-loop control of the entire construction process. For example, the lack of real-time coordinated optimization of key parameters such as hydraulic system pressure, climbing speed, and formwork displacement results in insufficient construction accuracy and stability. An integrated solution integrating mechanical, electronic, hydraulic, and intelligent control technologies is urgently needed to overcome existing technical bottlenecks. Summary of the Invention

[0005] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide a formwork system for intelligent climbing of a cylinder shaft.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] A formwork system for intelligent climbing of a cylindrical well, comprising:

[0008] The main structure includes a climbing frame made of high-strength steel and a customizable formwork subsystem; the customizable formwork subsystem is formed into an integral structure by bolts or welding;

[0009] A power subsystem for driving the vertical and horizontal movements of the climbing frame;

[0010] An automatic opening and closing formwork subsystem, which is used to automatically open the customizable formwork subsystem and lock it to the shaft wall after the climbing frame reaches a predetermined height, and automatically close it after construction is completed;

[0011] An intelligent control subsystem for collecting in real time the climbing state of the climbing frame, the load, and the position of the formwork subsystem, obtaining sensor data, and generating control instructions based on the sensor data based on a preset logic algorithm to adjust the output of the power subsystem and the opening and closing action of the automatic opening and closing formwork subsystem;

[0012] The safety protection subsystem is used to perform overload protection and anti-fall protection according to the sensor data, and cut off the power source of the power subsystem under abnormal circumstances.

[0013] Preferably, the climbing frame includes columns, beams and diagonal braces; the bottom of the columns is fixed to the shaft foundation or embedded steel plates by embedded bolts or welding; adjacent columns are connected by flanges; the beams are I-beams or box-section structures, and the two ends of the beams are welded and fixed to the side walls of the columns by ear plates; stiffening ribs are added between the beams and the columns, and the thickness of the stiffening ribs is consistent with the flanges of the beams; the diagonal braces are made of angle steel or steel pipes, and the diagonal braces, the columns and the beams form a triangular stable structure; the upper ends of the diagonal braces are connected to the tops of the columns by hinged supports, and the lower ends of the diagonal braces are fixed to the reserved holes in the middle of the beams by bolts.

[0014] Preferably, the customizable formwork subsystem includes side forms, bottom forms and reinforcing ribs; the side forms adopt a modular design and are assembled from multiple arc-shaped or flat steel plates; the bottom formwork is a detachable steel platform, and the bottom formwork is hinged to the bottom of the side formwork through a hydraulic push rod, and forms a continuous support surface with the side formwork when the bottom formwork is closed; when the bottom formwork is opened, the bottom formwork rotates 90° around the hinge to separate from the shaft wall; the inner surface of the side formwork is evenly arranged with T-shaped reinforcing ribs along the longitudinal direction; and cross ribs in a criss-cross shape are arranged under the bottom formwork.

[0015] Preferably, the power subsystem includes: a hydraulic pump station, a hydraulic cylinder and a transmission device; the hydraulic pump station adjusts the flow and pressure of the hydraulic oil through a control valve to drive the hydraulic cylinder to extend and retract, and the gear / rack or chain transmission device converts the linear motion of the hydraulic cylinder into the vertical motion of the climbing frame; the hydraulic cylinder is arranged on the climbing frame; the hydraulic cylinder is fixed to the climbing frame through a connecting piece; the transmission device converts the linear motion of the hydraulic cylinder into the horizontal motion of the climbing frame.

[0016] Preferably, the intelligent control subsystem includes:

[0017] A sensor data acquisition module, configured to acquire the sensor data based on a sensor module; the sensor module includes a displacement sensor, a pressure sensor, a speed sensor, and a position sensor;

[0018] A fault diagnosis module, which identifies leakage, transmission jamming, or template deviation abnormalities of the power subsystem based on sensor data and issues an early warning through a remote monitoring platform;

[0019] The adaptive adjustment module dynamically optimizes the climbing speed of the climbing frame and the opening and closing timing of the automatic opening and closing template subsystem according to the shaft size.

[0020] Preferably, the fault diagnosis module includes:

[0021] The data preprocessing submodule is used to perform Kalman filtering and normalization on the sensor data to obtain pressure preprocessing data, velocity preprocessing data, and position preprocessing data; the pressure preprocessing data includes the outlet pressure of the hydraulic pump station, the working pressure of the hydraulic cylinder, and the return oil line pressure; the velocity preprocessing data includes the vertical displacement, horizontal displacement, and displacement speed of the climbing frame; the position sensor is the actual position coordinate of the customizable template subsystem;

[0022] a leakage detection submodule, configured to calculate in real time the difference ΔP between the outlet pressure of the hydraulic pump station and the working pressure of the hydraulic cylinder, and to determine a hydraulic oil leakage if ΔP continuously exceeds a preset threshold and is accompanied by an abnormal increase in the return oil line pressure;

[0023] a jam identification submodule, configured to construct a climbing speed-displacement curve using the speed pre-processed data and the position pre-processed data, and to determine that the transmission device is jammed if the actual climbing speed-displacement curve deviates from a preset theoretical curve;

[0024] The template offset identification submodule is used to compare the actual position coordinates fed back by the position sensor with the preset design coordinates in real time, calculate the offset ΔL, and determine that the template offset is abnormal if ΔL exceeds the allowable tolerance;

[0025] The alarm module is used to calculate the fault probability by using a Bayesian network model, integrating ΔP, ΔL and the climbing speed-displacement curve, and to make graded warnings according to the fault probability, and to send the warning results to the remote monitoring platform.

[0026] Preferably, the calculation formula for the failure probability is:

[0027]

[0028] Among them, P faultis the failure probability; λ(t) is the global sensitivity coefficient, which increases cumulatively over time; α(t) is the leakage detection weight coefficient, which is dynamically adjusted with ΔP; T P is the leakage judgment threshold, T D is the curve deviation threshold, T L is the offset tolerance; n(t), m(t) and k(t) are all nonlinear indices adjusted according to the fault coupling relationship; β(t) is the template offset weight coefficient, which is dynamically adjusted with ΔL; γ(t) is the transmission hysteresis weight coefficient, which is adjusted with D curve Dynamic adjustment; η(t) is the multi-fault interaction weight, D curve is the deviation of the climbing speed-displacement curve, T D is the curve deviation threshold; Among them, α0 is the first initial weight, α0=1; t is the current time, τ α is the time decay coefficient of the preset leakage weight; Among them, β0 is the second initial weight, β0 = 0.8; τ β is the exponential decay time constant of the bias weight; Among them, γ0 is the second initial weight, γ0 = 0.6; τ γ is the smoothing time constant of the hysteresis response; Where n0 is the first initial index, n0=2, τ n is the time coefficient of exponential growth; Wherein, m0 is the second initial index, m0=1.5; τ m The time constant for exponential adjustment; Among them, k0 is the third initial index, τ k is the time scaling factor of the Sigmoid function.

[0029] Preferably, the adaptive adjustment module includes:

[0030] The shaft parameter acquisition submodule is used to obtain the actual inner diameter, height H and wall curvature radius R of the shaft based on a laser rangefinder or a preset sensor;

[0031] Climbing speed dynamic optimization submodule is used to optimize the climbing speed according to the change rate of the well section. Adjust the climbing speed in real time, including:

[0032] If the shaft cross section shrinks, Reduce the speed according to the linear relationship to obtain the target speed; the target speed calculation formula is: Among them, V is the target speed and V0 is the initial speed;

[0033] If the shaft cross section expands Increase the target speed to

[0034] The PID controller is used to fine-tune the output flow of the hydraulic pump station to match the deviation between the target speed and the actual speed feedback from the displacement sensor;

[0035] The template opening and closing timing coordinated control submodule is used to dynamically allocate the template action timing according to the shaft curvature radius R, specifically including:

[0036] For a straight shaft, i.e. R→∞, the side mold and bottom mold are controlled to open and close synchronously, with a timing difference of Δt=0s;

[0037] For small curvature shafts R < 1000mm, the side molds are opened in sequence in sections, with an interval of Δt = 2s between each section, and the bottom mold is closed with a delay of Δt = 3s to avoid collision;

[0038] The position sensor monitors the status of each template. If a template fails to reach the preset position, its action time is automatically extended until the error ΔL ≤ 2mm.

[0039] Preferably, the power source of the power subsystem is cut off by manually using an emergency stop button.

[0040] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0041] The present invention provides a formwork system for intelligent climbing of a cylindrical shaft, comprising: a main structure, including a climbing frame made of high-strength steel and a customizable formwork subsystem; the customizable formwork subsystem forms an integral structure by bolts or welding; a power subsystem for driving the vertical and horizontal movements of the climbing frame; an automatic opening and closing formwork subsystem for automatically opening the customizable formwork subsystem and locking it to the shaft wall after the climbing frame reaches a predetermined height, and automatically closing it after the construction is completed; an intelligent control subsystem for real-time acquisition of the climbing status, load and position of the climbing frame, obtaining sensor data, and generating control instructions according to the sensor data based on a preset logic algorithm, so as to adjust the output of the power subsystem and the opening and closing action of the automatic opening and closing formwork subsystem; a safety protection subsystem for performing overload protection and anti-fall protection according to the sensor data, and cutting off the power source of the power subsystem under abnormal circumstances. Through the deep integration of structural innovation and intelligent technology, the present invention realizes the high efficiency, safety and full-process automation of cylindrical shaft construction, greatly reduces labor intensity and accident risks, adapts to complex working conditions and improves the overall benefits of the project. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 A schematic diagram of the system structure installation process provided by an embodiment of the present invention;

[0044] Figure 2 This is a workflow diagram of the intelligent control subsystem provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0046] The purpose of the present invention is to provide a formwork system for intelligent climbing of the cylindrical shaft. Through the deep integration of structural innovation and intelligent technology, it can realize the efficient, safe and full-process automation of the cylindrical shaft construction, greatly reduce labor intensity and accident risks, adapt to complex working conditions and improve the overall benefits of the project.

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] Figure 1 The system structure installation process diagram provided by the embodiment of the present invention is as follows: Figure 1 As shown, the present invention provides a formwork system for intelligent climbing of a cylinder well, comprising:

[0049] The main structure includes a climbing frame made of high-strength steel and a customizable formwork subsystem; the customizable formwork subsystem is formed into an integral structure by bolts or welding;

[0050] A power subsystem for driving the vertical and horizontal movements of the climbing frame;

[0051] An automatic opening and closing formwork subsystem, which is used to automatically open the customizable formwork subsystem and lock it to the shaft wall after the climbing frame reaches a predetermined height, and automatically close it after construction is completed;

[0052] An intelligent control subsystem for collecting in real time the climbing state of the climbing frame, the load, and the position of the formwork subsystem, obtaining sensor data, and generating control instructions based on the sensor data based on a preset logic algorithm to adjust the output of the power subsystem and the opening and closing action of the automatic opening and closing formwork subsystem;

[0053] The safety protection subsystem is used to perform overload protection and anti-fall protection according to the sensor data, and cut off the power source of the power subsystem under abnormal circumstances.

[0054] Preferably, the climbing frame includes columns, beams and diagonal braces; the bottom of the columns is fixed to the shaft foundation or embedded steel plates by embedded bolts or welding; adjacent columns are connected by flanges; the beams are I-beams or box-section structures, and the two ends of the beams are welded and fixed to the side walls of the columns by ear plates; stiffening ribs are added between the beams and the columns, and the thickness of the stiffening ribs is consistent with the flanges of the beams; the diagonal braces are made of angle steel or steel pipes, and the diagonal braces, the columns and the beams form a triangular stable structure; the upper ends of the diagonal braces are connected to the tops of the columns by hinged supports, and the lower ends of the diagonal braces are fixed to the reserved holes in the middle of the beams by bolts.

[0055] Specifically, the climbing frame of this embodiment consists of columns, beams, and diagonal braces, and is manufactured from high-strength steel (e.g., Q355B). The bottom of the columns is fixed to the shaft foundation or embedded steel plates with embedded bolts (M24, grade 8.8) or welding, with a verticality error of ≤2mm. Adjacent columns are connected by flanges (thickness ≥20mm), which are fastened with M20 high-strength bolts (torque ≥400N·m). The contact surfaces are coated with anti-rust sealant to enhance stability. The beams are made of I-beams (e.g., HN400×200) or box sections (400mm×200mm×10mm), and are welded to the side walls of the columns at both ends with lugs (thickness ≥12mm). The weld height is ≥8mm and has passed ultrasonic testing. Stiffening ribs (thickness consistent with the beam flange, e.g., 12mm) are added between the beams and columns. The ribs are double-sided fillet welded to the beam flanges and column webs to disperse node stress. The diagonal brace is made of angle steel (L100×10) or seamless steel pipe (Φ89×6). The upper end is connected to the top of the column through a hinged support (pin diameter ≥30mm), and the lower end is fixed to the reserved hole in the middle of the beam (hole diameter Φ18mm) through M16 bolts. The angle between the diagonal brace and the axis of the column is 45°~60°. Triangular reinforcement plates (thickness ≥10mm) are welded at the intersection nodes to prevent local buckling.

[0056] Preferably, the customizable formwork subsystem includes side forms, bottom forms and reinforcing ribs; the side forms adopt a modular design and are assembled from multiple arc-shaped or flat steel plates; the bottom formwork is a detachable steel platform, and the bottom formwork is hinged to the bottom of the side formwork through a hydraulic push rod, and forms a continuous support surface with the side formwork when the bottom formwork is closed; when the bottom formwork is opened, the bottom formwork rotates 90° around the hinge to separate from the shaft wall; the inner surface of the side formwork is evenly arranged with T-shaped reinforcing ribs along the longitudinal direction; and cross ribs in a criss-cross shape are arranged under the bottom formwork.

[0057] Optionally, the customizable formwork subsystem of this embodiment includes side forms, bottom forms and reinforcement ribs. The side forms adopt a modular design and are assembled from multiple arc-shaped (curvature radius ≥ 500mm) or flat steel plates (thickness ≥ 8mm). The plates are connected by M16 bolts (spacing ≤ 200mm), and EPDM rubber sealing strips (cross-section 10mm×5mm) are embedded in the joints to prevent concrete leakage. The bottom formwork is a detachable steel platform (thickness ≥ 10mm), which is hinged to the bottom of the side formwork (pin diameter ≥ 25mm) by a hydraulic push rod (thrust ≥ 5kN); when closed, the bottom formwork and the side formwork form a continuous support surface, and positioning pins (Φ12mm) are set on the edge to ensure alignment accuracy ≤ 1mm; when opened, the hydraulic push rod drives the bottom formwork to rotate 90° around the hinge, detaching from the shaft wall and locking it to the outside of the side formwork. T-shaped reinforcement ribs (50mm in height, 80mm in flange width, and 8mm in thickness) are evenly arranged along the longitudinal direction on the inner surface of the side mold and fixed by intermittent welding (weld length ≥50mm, spacing ≤150mm); a well-shaped cross rib (60mm in height, 10mm in thickness) is arranged under the bottom mold and connected to the bottom mold by full welding. After welding, the whole is annealed to eliminate residual stress.

[0058] Furthermore, in order to adapt to different shaft sizes, this embodiment adopts a segmented design for the side formwork. A Φ20mm adjustment hole is reserved on the edge of each formwork. The radius of curvature (R ≥ 500mm) can be adjusted by adding or removing stainless steel gaskets (thickness 1-5mm) or replacing connectors (adjustable length ±50mm). The reinforcing ribs adopt a segmented splicing design, with a slot (depth 10mm) and a latch (Φ10mm) set at the end of each segment. They can be quickly disassembled and extended to the required length (maximum extension ±200mm). In terms of safety protection, both the climbing frame and the formwork system are equipped with stress monitoring points (patch-type strain gauges, accuracy ±0.5%), and the data is transmitted to the intelligent control system in real time. When local stress exceeds the limit (≥60% of the material yield strength), the system automatically triggers a shutdown and activates the redundant support mechanism (hydraulic struts, bearing capacity ≥50kN) to ensure structural stability. The above design achieves high-precision adaptation and multiple safety guarantees for complex shafts while ensuring construction efficiency.

[0059] Preferably, the power subsystem includes: a hydraulic pump station, a hydraulic cylinder and a transmission device; the hydraulic pump station adjusts the flow and pressure of the hydraulic oil through a control valve to drive the hydraulic cylinder to extend and retract, and the gear / rack or chain transmission device converts the linear motion of the hydraulic cylinder into the vertical motion of the climbing frame; the hydraulic cylinder is arranged on the climbing frame; the hydraulic cylinder is fixed to the climbing frame through a connecting piece; the transmission device converts the linear motion of the hydraulic cylinder into the horizontal motion of the climbing frame.

[0060] Optionally, the power subsystem of this embodiment primarily consists of a hydraulic pump station, a hydraulic cylinder, and a transmission. The hydraulic pump station regulates the flow and pressure of the hydraulic oil via a control valve to drive the telescopic movement of the hydraulic cylinder. The hydraulic cylinder is mounted on the climbing frame and secured to the frame via connectors to ensure stability and safety. Furthermore, via a gear / rack or chain transmission, the linear motion generated by the hydraulic cylinder is converted into vertical motion of the climbing frame, thereby achieving the desired height adjustment. This design ensures structural efficiency and adaptability, adapting to the needs of diverse engineering environments.

[0061] The key to the power subsystem lies in the efficient conversion of hydraulic cylinder motion. The linear telescopic motion of the hydraulic cylinder is further converted into horizontal movement of the climbing frame via a transmission mechanism. This process relies on a precisely designed transmission mechanism capable of effectively handling the complex mechanical loads encountered during construction. The choice of transmission mechanism (e.g., rack / pinion or chain) will be determined by the speed and load capacity required in the specific application, thereby achieving fast and safe horizontal movement.

[0062] To achieve more efficient construction, the power subsystem is integrated with an intelligent control system to form a closed-loop control mechanism. By collecting real-time sensor data on climbing status, load, and formwork position, the intelligent control system dynamically adjusts the pump station's output and the hydraulic cylinder's movement speed based on this real-time information. This adaptive adjustment capability not only improves operational efficiency but also effectively reduces construction risks caused by human factors, ensuring safety and stability during the construction process. Furthermore, the integration of a fault diagnosis module enables timely identification and early warning of hydraulic system anomalies, further ensuring construction safety.

[0063] Preferably, if Figure 2 As shown, the intelligent control subsystem includes:

[0064] A sensor data acquisition module, configured to acquire the sensor data based on a sensor module; the sensor module includes a displacement sensor, a pressure sensor, a speed sensor, and a position sensor;

[0065] A fault diagnosis module, which identifies leakage, transmission jamming, or template deviation abnormalities of the power subsystem based on sensor data and issues an early warning through a remote monitoring platform;

[0066] The adaptive adjustment module dynamically optimizes the climbing speed of the climbing frame and the opening and closing timing of the automatic opening and closing template subsystem according to the shaft size.

[0067] Furthermore, the core component of the intelligent control subsystem of this embodiment is the sensor data acquisition module, which collects the status data of the climbing frame in real time through multiple sensor modules (including displacement sensors, pressure sensors, speed sensors and position sensors). The layout and type of sensors have been carefully selected to ensure that the performance and safety of the system can be fully monitored. The fault diagnosis module uses advanced algorithms based on the sensor data obtained in real time to identify abnormal conditions such as leakage in the hydraulic system, transmission jamming, and template offset. For example, by calculating the difference (ΔP) between the outlet pressure of the hydraulic pump station and the working pressure of the hydraulic cylinder, the problem of hydraulic oil leakage can be discovered in time to ensure stable operation of the system.

[0068] The intelligent control subsystem also integrates an advanced remote monitoring platform that processes collected sensor data and sends real-time alerts to operators. When an anomaly is detected, the fault diagnosis module not only issues an early warning but also assesses the severity of the fault using a Bayesian network model. The system then automatically generates graded warnings based on pre-set thresholds and algorithms, ensuring that construction personnel take timely action to prevent accidents. Furthermore, the early warning system supports real-time data access from multiple terminals through networking, enabling engineers and managers to monitor construction status from anywhere, improving construction safety and management efficiency. The adaptive adjustment module, a key component of the intelligent control subsystem, dynamically optimizes the climbing speed of the climbing frame and the opening and closing timing of the formwork based on the actual dimensions of the shaft. Using a laser rangefinder or pre-installed sensors to obtain the shaft's inner diameter, height, and wall curvature radius, the system calculates the rate of change of the shaft structure in real time and adjusts the climbing speed accordingly. Furthermore, for shafts with varying curvatures, the system coordinates the opening and closing of the formwork, monitoring the position of each formwork in real time to ensure precise positioning and minimize errors and delays during construction.

[0069] Preferably, the fault diagnosis module includes:

[0070] The data preprocessing submodule is used to perform Kalman filtering and normalization on the sensor data to obtain pressure preprocessing data, velocity preprocessing data, and position preprocessing data; the pressure preprocessing data includes the outlet pressure of the hydraulic pump station, the working pressure of the hydraulic cylinder, and the return oil line pressure; the velocity preprocessing data includes the vertical displacement, horizontal displacement, and displacement speed of the climbing frame; the position sensor is the actual position coordinate of the customizable template subsystem;

[0071] a leakage detection submodule, configured to calculate in real time the difference ΔP between the outlet pressure of the hydraulic pump station and the working pressure of the hydraulic cylinder, and to determine a hydraulic oil leakage if ΔP continuously exceeds a preset threshold and is accompanied by an abnormal increase in the return oil line pressure;

[0072] a jam identification submodule, configured to construct a climbing speed-displacement curve using the speed pre-processed data and the position pre-processed data, and to determine that the transmission device is jammed if the actual climbing speed-displacement curve deviates from a preset theoretical curve;

[0073] The template offset identification submodule is used to compare the actual position coordinates fed back by the position sensor with the preset design coordinates in real time, calculate the offset ΔL, and determine that the template offset is abnormal if ΔL exceeds the allowable tolerance;

[0074] The alarm module is used to calculate the fault probability by using a Bayesian network model, integrating ΔP, ΔL and the climbing speed-displacement curve, and to make graded warnings according to the fault probability, and to send the warning results to the remote monitoring platform.

[0075] Optionally, the fault diagnosis module utilizes a data preprocessing submodule to optimize the validity of sensor data, ensuring more accurate subsequent analysis and diagnosis. This submodule first applies Kalman filtering to the collected sensor data to reduce measurement noise and normalizes the data to generate preprocessed pressure, velocity, and position data. These preprocessed data include the hydraulic pump station outlet pressure, hydraulic cylinder operating pressure, and return line pressure, as well as the vertical and horizontal displacement and displacement velocity of the climbing frame. Furthermore, the actual position coordinates of the customizable template subsystem are included. By real-time monitoring of the difference (ΔP) between the hydraulic pump station outlet pressure and the hydraulic cylinder operating pressure, the leak detection submodule determines whether a hydraulic oil leak exists. If ΔP consistently exceeds a set threshold and is accompanied by an abnormal increase in return line pressure, the system identifies a leak. This detection mechanism provides timely feedback on the health of the hydraulic system and prevents potential damage. To further enhance system stability, the fault diagnosis module also includes a jam detection submodule and a template offset detection submodule. The jam identification submodule constructs a climbing speed-displacement curve by analyzing the speed preprocessing data and the position preprocessing data. If the actual observed speed-displacement curve deviates from the preset theoretical curve, the system will indicate that the transmission device may be jammed. At the same time, the template offset identification submodule performs a real-time comparison between the actual coordinates fed back by the position sensor and the design coordinates, calculates the offset ΔL, and compares it with the allowable tolerance. When ΔL exceeds the allowable tolerance range, it can be judged as a template deviation anomaly. The identification of these fault types will activate the alarm module, which uses a Bayesian network model to comprehensively consider the problems of leakage, offset, and jamming, calculate the probability of failure, and issue a graded warning. Ultimately, the alarm results will be transmitted to the remote monitoring platform for engineers to respond and handle immediately.

[0076] Preferably, the calculation formula for the failure probability is:

[0077]

[0078] Among them, P fault is the failure probability; λ(t) is the global sensitivity coefficient, which increases cumulatively over time; α(t) is the leakage detection weight coefficient, which is dynamically adjusted with ΔP; T P is the leakage judgment threshold, T D is the curve deviation threshold, T L is the offset tolerance; n(t), m(t) and k(t) are all nonlinear indices adjusted according to the fault coupling relationship; β(t) is the template offset weight coefficient, which is dynamically adjusted with ΔL; γ(t) is the transmission hysteresis weight coefficient, which is adjusted with D curve Dynamic adjustment; η(t) is the multi-fault interaction weight, D curve is the deviation of the climbing speed-displacement curve, TD is the curve deviation threshold; Among them, α0 is the first initial weight, α0=1; t is the current time, τ α is the time decay coefficient of the preset leakage weight; Among them, β0 is the second initial weight, β0 = 0.8; τ β is the exponential decay time constant of the bias weight; Among them, γ0 is the second initial weight, γ0 = 0.6; τ γ is the smoothing time constant of the hysteresis response; Where n0 is the first initial index, n0=2, τ n is the time coefficient of exponential growth; Wherein, m0 is the second initial index, m0=1.5; τ m The time constant for exponential adjustment; Among them, k0 is the third initial index, τ k is the time scaling factor of the Sigmoid function.

[0079] Specifically, the leakage judgment threshold of this embodiment is set to 1.5MPa, the offset tolerance is set to 5mm, and the curve deviation threshold is set to exceed 15% of the theoretical speed. This embodiment can dynamically adjust the weight and index according to the severity of the fault and time, adapting to complex working conditions.

[0080] Preferably, the adaptive adjustment module includes:

[0081] The shaft parameter acquisition submodule is used to obtain the actual inner diameter, height H and wall curvature radius R of the shaft based on a laser rangefinder or a preset sensor;

[0082] Climbing speed dynamic optimization submodule is used to optimize the climbing speed according to the change rate of the well section. Adjust the climbing speed in real time, including:

[0083] If the shaft cross section shrinks, Reduce the speed according to the linear relationship to obtain the target speed; the target speed calculation formula is: Among them, V is the target speed and V0 is the initial speed;

[0084] If the shaft cross section expands Increase the target speed to

[0085] The PID controller is used to fine-tune the output flow of the hydraulic pump station to match the deviation between the target speed and the actual speed feedback from the displacement sensor;

[0086] The template opening and closing timing coordinated control submodule is used to dynamically allocate the template action timing according to the shaft curvature radius R, specifically including:

[0087] For a straight shaft, i.e. R→∞, the side mold and bottom mold are controlled to open and close synchronously, with a timing difference of Δt=0s;

[0088] For small curvature shafts R < 1000mm, the side molds are opened in sequence in sections, with an interval of Δt = 2s between each section, and the bottom mold is closed with a delay of Δt = 3s to avoid collision;

[0089] The position sensor monitors the status of each template. If a template fails to reach the preset position, its action time is automatically extended until the error ΔL ≤ 2mm.

[0090] Furthermore, the adaptive adjustment module of this embodiment first uses a dedicated shaft parameter acquisition submodule to obtain the actual shaft inner diameter, height, and wall curvature radius using a laser rangefinder or other pre-installed sensors. These parameters are used to assess the shaft's geometric characteristics in real time, ensuring accurate and safe movement of the climbing frame. Based on this acquired shaft information, when the shaft cross-section shrinks, the system reduces the climbing speed accordingly to ensure construction safety; when the shaft cross-section expands, the system increases the climbing speed. This speed adjustment is achieved by adjusting the output flow of the hydraulic pump station to match the actual climbing speed reported by the sensor, thereby dynamically optimizing climbing efficiency. This module also includes a coordinated control submodule for the template opening and closing sequence, which dynamically manages the opening and closing of the templates based on the shaft's curvature radius. For straight shafts, the system ensures that the side and bottom templates open and close synchronously, without any timing differences. For shafts with shallow curvature, the side templates are opened in sections, with a certain interval between each template, and the bottom template is closed later to prevent collisions between templates. Furthermore, the system monitors the position of each formwork via position sensors. If a formwork fails to reach its target position as planned, the system automatically extends its movement time until the error is within the allowable range, thereby ensuring the accuracy and safety of formwork opening and closing. This series of control measures effectively coordinates the opening, closing, and climbing movements of the formwork, minimizing construction risks and improving work efficiency.

[0091] Preferably, the power source of the power subsystem is cut off by manually using an emergency stop button.

[0092] Furthermore, the main function of the safety protection subsystem is to monitor the working status of the system in real time to ensure that timely measures can be taken in the event of overload or other abnormal situations. By integrating multiple sensors (such as pressure sensors and displacement sensors), the system can collect the output pressure of the hydraulic system and the displacement of the climbing frame in real time. When the outlet pressure of the hydraulic pump station or the working pressure of the hydraulic cylinder detected by the pressure sensor exceeds the preset safety threshold, the system will quickly determine that it is an overload situation, and immediately reduce the output flow of the hydraulic pump through intelligent control logic, thereby reducing the force and speed of the frame climbing. At the same time, the real-time displacement data provided by the displacement sensor helps the system confirm the stability of the frame, further enhancing the reliability of anti-fall protection.

[0093] In the event of a severe overload or other unsafe situation, the safety protection subsystem is able to rapidly demonstrate its emergency response capabilities. Once sensor data indicates a risk threshold has been triggered, the system triggers a power cutoff mechanism. Specifically, this mechanism is implemented via a pre-set emergency stop button. When the operator manually presses the button, the power subsystem immediately receives a stop command, immediately cutting off power to the hydraulic pump and halting all power-related operations. This emergency mechanism ensures that the climbing system can be quickly and safely stopped in the event of an accident, preventing further damage and casualties.

[0094] To ensure safety during construction, the safety protection subsystem incorporates a comprehensive suite of protective measures, including overload protection, fall prevention, and fault warnings. Through the data analysis and monitoring capabilities of the intelligent control subsystem, the system not only monitors overloads based on real-time sensor data but also identifies potential faults (such as hydraulic oil leaks and transmission jams). Using a Bayesian network model, the system assesses fault probabilities, resulting in a graded warning system. This comprehensive protection mechanism, combined with manual emergency stop control, forms a comprehensive safety assurance solution, significantly enhancing construction safety and reliability.

[0095] The beneficial effects of the present invention are as follows:

[0096] (1) This invention uses high-strength steel and a customizable formwork design to ensure a stable structure and flexible adaptation to different shaft sizes and special-shaped cross-sections. The power subsystem works in tandem with hydraulic drive and intelligent control algorithms to achieve dynamic optimization of climbing speed, significantly shortening the construction period. The automatic opening and closing formwork subsystem reduces manual intervention and improves construction continuity, making it particularly suitable for efficient operations in high-rise and super-high-rise buildings.

[0097] (2) The present invention can ensure instant braking when the frame falls accidentally; the intelligent control subsystem combines sensor data with the Bayesian network model to accurately identify anomalies such as leakage, jamming, and offset, and through graded warning and emergency shutdown functions, it minimizes construction risks and ensures the safety of personnel and equipment.

[0098] (3) The present invention dynamically adjusts the climbing speed and template opening and closing timing, and combines closed-loop feedback calibration with machine learning algorithms to continuously optimize the control logic. The remote monitoring platform provides a three-dimensional visualization interface, supports multi-terminal access and remote operation, and realizes intelligent management and adaptive adjustment of the entire construction process, improving construction accuracy and quality.

[0099] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0100] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A formwork system for intelligent climbing of a cylinder shaft, characterized in that: include: The main structure includes a climbing frame made of high-strength steel and a customizable formwork subsystem; the customizable formwork subsystem is formed into an integral structure by bolts or welding; A power subsystem for driving the vertical and horizontal movements of the climbing frame; An automatic opening and closing formwork subsystem, which is used to automatically open the customizable formwork subsystem and lock it to the shaft wall after the climbing frame reaches a predetermined height, and automatically close it after construction is completed; An intelligent control subsystem for collecting in real time the climbing state of the climbing frame, the load, and the position of the formwork subsystem, obtaining sensor data, and generating control instructions based on the sensor data based on a preset logic algorithm to adjust the output of the power subsystem and the opening and closing action of the automatic opening and closing formwork subsystem; The safety protection subsystem is used to perform overload protection and anti-fall protection according to the sensor data, and cut off the power source of the power subsystem under abnormal circumstances.

2. The formwork system for intelligent climbing of the cylinder shaft according to claim 1 is characterized in that: The climbing frame includes columns, beams and diagonal braces; the bottom of the columns is fixed to the shaft foundation or embedded steel plates by embedded bolts or welding; adjacent columns are connected by flanges; the beams are I-beams or box-section structures, and the two ends of the beams are welded and fixed to the side walls of the columns by ear plates; stiffening ribs are added between the beams and the columns, and the thickness of the stiffening ribs is consistent with the flanges of the beams; the diagonal braces are made of angle steel or steel pipes, and the diagonal braces, the columns and the beams form a triangular stable structure; the upper ends of the diagonal braces are connected to the tops of the columns by hinged supports, and the lower ends of the diagonal braces are fixed to the reserved holes in the middle of the beams by bolts.

3. The formwork system for intelligent climbing of the cylinder shaft according to claim 1 is characterized in that: The customizable formwork subsystem includes side forms, bottom forms and reinforcing ribs; the side forms adopt a modular design and are assembled from multiple arc-shaped or flat steel plates; the bottom formwork is a detachable steel platform, and the bottom formwork is hinged to the bottom of the side formwork through a hydraulic push rod, and forms a continuous support surface with the side formwork when the bottom formwork is closed; when the bottom formwork is opened, the bottom formwork rotates 90° around the hinge to separate from the shaft wall; the inner surface of the side formwork is evenly arranged with T-shaped reinforcing ribs along the longitudinal direction; and cross ribs in a criss-cross shape are arranged under the bottom formwork.

4. The formwork system for intelligent climbing of the cylinder shaft according to claim 1 is characterized in that: The power subsystem includes: a hydraulic pump station, a hydraulic cylinder and a transmission device; the hydraulic pump station adjusts the flow and pressure of the hydraulic oil through a control valve to drive the hydraulic cylinder to extend and retract, and the gear / rack or chain transmission device converts the linear motion of the hydraulic cylinder into vertical motion of the climbing frame; the hydraulic cylinder is arranged on the climbing frame; the hydraulic cylinder is fixed to the climbing frame through a connecting piece; the transmission device converts the linear motion of the hydraulic cylinder into horizontal motion of the climbing frame.

5. The formwork system for intelligent climbing of the cylinder shaft according to claim 1 is characterized in that: The intelligent control subsystem includes: A sensor data acquisition module, configured to acquire the sensor data based on a sensor module; the sensor module includes a displacement sensor, a pressure sensor, a speed sensor, and a position sensor; A fault diagnosis module, which identifies leakage, transmission jamming, or template deviation abnormalities of the power subsystem based on sensor data and issues an early warning through a remote monitoring platform; The adaptive adjustment module dynamically optimizes the climbing speed of the climbing frame and the opening and closing timing of the automatic opening and closing template subsystem according to the shaft size.

6. The formwork system for intelligent climbing of the cylinder shaft according to claim 5 is characterized in that: The fault diagnosis module includes: The data preprocessing submodule is used to perform Kalman filtering and normalization on the sensor data to obtain pressure preprocessing data, velocity preprocessing data, and position preprocessing data; the pressure preprocessing data includes the outlet pressure of the hydraulic pump station, the working pressure of the hydraulic cylinder, and the return oil line pressure; the velocity preprocessing data includes the vertical displacement, horizontal displacement, and displacement speed of the climbing frame; the position sensor is the actual position coordinate of the customizable template subsystem; a leakage detection submodule, configured to calculate in real time the difference ΔP between the outlet pressure of the hydraulic pump station and the working pressure of the hydraulic cylinder, and to determine a hydraulic oil leakage if ΔP continuously exceeds a preset threshold and is accompanied by an abnormal increase in the return oil line pressure; a jam identification submodule, configured to construct a climbing speed-displacement curve using the speed pre-processed data and the position pre-processed data, and to determine that the transmission device is jammed if the actual climbing speed-displacement curve deviates from a preset theoretical curve; The template offset identification submodule is used to compare the actual position coordinates fed back by the position sensor with the preset design coordinates in real time, calculate the offset ΔL, and determine that the template offset is abnormal if ΔL exceeds the allowable tolerance; The alarm module is used to calculate the fault probability by using a Bayesian network model, integrating ΔP, ΔL and the climbing speed-displacement curve, and to make graded warnings according to the fault probability, and to send the warning results to the remote monitoring platform.

7. The formwork system for intelligent climbing of the cylinder shaft according to claim 6 is characterized in that: The calculation formula of the failure probability is: Among them, P fault is the failure probability; λ(t) is the global sensitivity coefficient, which increases cumulatively over time; α(t) is the leakage detection weight coefficient, which is dynamically adjusted with ΔP; T P is the leakage judgment threshold, T D is the curve deviation threshold, T L is the offset tolerance; n(t), m(t) and k(t) are all nonlinear indices adjusted according to the fault coupling relationship; β(t) is the template offset weight coefficient, which is dynamically adjusted with ΔL; γ(t) is the transmission hysteresis weight coefficient, which is adjusted with D curve Dynamic adjustment; η(t) is the multi-fault interaction weight, D curve is the deviation of the climbing speed-displacement curve, T D is the curve deviation threshold; Among them, α0 is the first initial weight, α0=1; t is the current time, τ α is the time decay coefficient of the preset leakage weight; Among them, β0 is the second initial weight, β0 = 0.8; τ β is the exponential decay time constant of the bias weight; Among them, γ0 is the second initial weight, γ0 = 0.6; τ γ is the smoothing time constant of the hysteresis response; Where n0 is the first initial index, n0=2, τ n is the time coefficient of exponential growth; Wherein, m0 is the second initial index, m0=1.5; τ m The time constant for exponential adjustment; Among them, k0 is the third initial index, τ k is the time scaling factor of the Sigmoid function.

8. The formwork system for intelligent climbing of the cylinder shaft according to claim 5 is characterized in that: The adaptive adjustment module includes: The shaft parameter acquisition submodule is used to obtain the actual inner diameter, height H and wall curvature radius R of the shaft based on a laser rangefinder or a preset sensor; Climbing speed dynamic optimization submodule is used to optimize the climbing speed according to the change rate of the well section. Adjust the climbing speed in real time, including: If the shaft cross section shrinks, Reduce the speed according to the linear relationship to obtain the target speed; the target speed calculation formula is: Among them, V is the target speed and V0 is the initial speed; If the shaft cross section expands Increase the target speed to The PID controller is used to fine-tune the output flow of the hydraulic pump station to match the deviation between the target speed and the actual speed feedback from the displacement sensor; The template opening and closing timing coordinated control submodule is used to dynamically allocate the template action timing according to the shaft curvature radius R, specifically including: For a straight shaft, i.e. R→∞, the side mold and bottom mold are controlled to open and close synchronously, with a timing difference of Δt=0s; For small curvature shafts R < 1000mm, the side molds are opened in sequence in a piece-by-piece control manner, with an interval of Δt = 2s between each piece, and the bottom mold is closed with a delay of Δt = 3s to avoid collision; The position sensor monitors the status of each template. If a template fails to reach the preset position, its action time is automatically extended until the error ΔL ≤ 2mm.

9. The formwork system for intelligent climbing of the cylinder shaft according to claim 1 is characterized in that: The way to cut off the power source of the power subsystem is to manually use the emergency stop button.

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