Full-automatic support construction robot based on narrow slit space

Abstract

The present application relates to the field of robot technology, specifically to a kind of full-automatic support construction robot based on narrow slit space, including robot mobile chassis, the upper surface of robot mobile chassis is vertically fixed with support rail, mobile track is slidably arranged on support rail along the height direction of itself, self-climbing mechanism is arranged on support rail and mobile track, and self-climbing mechanism is used to drive support rail and mobile track to alternately ascend.The present application sets support rail and mobile track along the height direction on robot mobile chassis, uses self-climbing mechanism to control the alternate ascent of two tracks, then uses telescopic support leg to realize the fixation of the height of track, so that the whole device can climb up along the wall, realize the climbing of outer formwork, so that the device can install outer formwork on the outer wall of high-rise building, without needing to take formwork to high-rise building, further improve work efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a fully automated support construction robot based on narrow slit spaces. Background Technology

[0002] In the field of construction, narrow space operations have pain points such as limited working space, complex environment, and high risk of manual operation. Traditional equipment is difficult to adapt to such scenarios due to its large size and lack of flexibility.

[0003] Currently, most high-rise buildings adopt cast-in-place reinforced concrete frame shear wall structures. When pouring the exterior walls of high-rise buildings, it is necessary to first reserve connecting steel bars in the area to be poured, and then reserve positioning holes and positioning parts on the wall near the pouring area to ensure the accurate installation position of the formwork. Subsequently, the outer and inner formwork are installed on both sides of the area to be poured to form a pouring space with other walls. Finally, concrete is poured into the pouring space. After the concrete has solidified and reached the required strength, the outer and inner formwork are separated and disassembled from the wall to complete the pouring of the exterior wall.

[0004] However, in the existing high-rise building exterior wall pouring process, workers can enter the building to install both the inner and outer formwork. However, when dismantling the formwork, only the inner formwork can be dismantled inside the building, while the outer formwork may require the use of ladders or other auxiliary equipment to reach the high-rise exterior formwork for dismantling. This process not only poses dangers for workers working at height, but also presents challenges in some exterior wall pouring operations where the space between two exterior walls is too narrow. In such cases, workers cannot easily access the construction area to dismantle the formwork, leading to difficulties. Furthermore, when the two walls are not parallel, problems such as wall tilting, bending, and expansion often occur after concrete pouring, causing formwork deformation and further increasing the difficulty of dismantling. Moreover, the formwork may be damaged after dismantling, affecting its use in subsequent pours and requiring additional repairs and replacements, which is time-consuming and labor-intensive. Therefore, we propose a fully automated support construction robot based on narrow space to effectively solve the above-mentioned drawbacks. Summary of the Invention

[0005] The purpose of this invention is to provide a fully automated support construction robot based on narrow slit spaces to solve the problems mentioned in the background art.

[0006] The present invention is achieved through the following technical solution: a fully automatic support construction robot based on narrow gap space, including a robot mobile chassis, a support rail fixedly provided vertically on the upper surface of the robot mobile chassis, a mobile rail slidably provided on the support rail along its own height direction, and a self-climbing mechanism provided on both the support rail and the mobile rail, the self-climbing mechanism being used to drive the support rail and the mobile rail to rise alternately;

[0007] It also includes a first outer template and a second outer template. The first outer template is slidably connected to the side of the support track along the width direction of the support track through a buffer mechanism. The second outer template is set opposite to the first outer template and is at the same horizontal height as the first outer template.

[0008] Several automatic telescopic mechanisms are provided on the facing surfaces of the first and second outer templates. Each end of the automatic telescopic mechanism is provided with a self-demolding mechanism, which can be detachably connected to the corresponding first or second outer template.

[0009] Optionally, clamping plates extend forward on both the left and right sides of the support rail, forming a climbing space between the two clamping plates, and the moving rail is slidably connected within the climbing space.

[0010] Optionally, the support rail is provided with a first telescopic support leg, the moving rail is provided with a second telescopic support leg, and the opposite sides of the first outer template and the second outer template are both fixedly provided with support reserved blocks. The first telescopic support leg and the second telescopic support leg are respectively used to insert into the support leg holes reserved in the wall, and the support reserved block is used to insert into the support groove reserved in the wall.

[0011] Optionally, the self-climbing mechanism includes a first motor, a first wire rope, and a first connecting seat. The first motor is fixedly mounted near the top of the support rail. The first wire rope is wound around the output end of the first motor via a reel. The first connecting seat is fixedly mounted near the bottom of the moving rail. The free end of the first wire rope is fixedly connected to the first connecting seat.

[0012] Optionally, the self-climbing mechanism further includes a second motor, a second steel wire rope, and a second connecting seat. The second motor is fixedly installed at a position near the bottom of the moving track. The second motor is located below the first connecting seat. The second steel wire rope is wound around the output end of the second motor via a reel. The second connecting seat is fixedly installed at a position near the bottom of the support track. The free end of the second steel wire rope is fixedly connected to the second connecting seat.

[0013] Optionally, the buffer mechanism includes a buffer part fixedly connected to a clamping plate on one side. The buffer part has an open-end hollow structure. A support member is elastically connected inside the buffer mechanism along the width direction of the support track. One end of the support member extends to the outside of the buffer mechanism and is fixedly connected to the first outer template.

[0014] Optionally, the self-demolding mechanism includes a support wall and a connecting part. Both the support wall and the connecting part have an internal hollow structure. The first outer template and the second outer template are provided with through holes for the support wall to be embedded. The connecting part is fixedly connected to the side of the support wall facing the automatic telescopic mechanism. The two ends of the automatic telescopic mechanism are slidably connected in the connecting part.

[0015] Optionally, a first bidirectional telescopic component is slidably provided inside the wall support part along the thickness direction of the outer template. Sliding openings are provided on both sides of the wall support part, and first positioning grooves are provided on both sides of the inner wall of the through hole. The two movable ends of the first bidirectional telescopic component can pass through the sliding openings in sequence and be embedded in the first positioning grooves.

[0016] Optionally, a second bidirectional telescopic component is slidably provided inside the connecting part along the thickness direction of the outer template, and a second positioning groove is provided on both sides of the inner wall of the connecting part, and the two ends of the second bidirectional telescopic component can be embedded into the second positioning groove.

[0017] Optionally, one end of the automatic telescopic mechanism is fixedly connected to the second bidirectional telescopic component on the first outer template, and the other end of the automatic telescopic mechanism is hinged to the second bidirectional telescopic component on the other side. A transmission mechanism is provided in both the wall support and the connecting part. The input end of the transmission mechanism is fixedly connected to the second bidirectional telescopic component, and the output end of the transmission mechanism is connected to the first bidirectional telescopic component. When the second bidirectional telescopic component moves toward the first bidirectional telescopic component, the transmission mechanism drives the first bidirectional telescopic component to move toward the second bidirectional telescopic component.

[0018] Compared with the prior art, the present invention provides a fully automated support construction robot based on narrow slit spaces, which has the following beneficial effects:

[0019] 1. This invention uses a robot chassis that can move automatically to move the outer template into the narrow gap space. Then, an automatic telescopic mechanism fixes the two outer templates to the outside of the two outer walls respectively. This not only enables the installation of the outer template in the narrow gap space, but also allows the pouring of two outer walls at the same time, thus improving work efficiency.

[0020] 2. This invention sets up support rails and moving rails along the height direction on the robot's mobile chassis, uses a self-climbing mechanism to control the two rails to rise alternately, and uses telescopic outriggers to fix the height of the rails, so that the whole device can climb up along the wall to achieve the climbing of the outer formwork. This allows the device to install the outer formwork of the outer wall of high-rise buildings without the need for workers to carry the formwork into the high-rise building, thus further improving work efficiency.

[0021] 3. This invention enables the outer formwork to separate from the solidified outer wall through a self-demolding mechanism, thereby realizing the dismantling of the outer formwork in narrow spaces and on the outer walls of high-rise buildings. This eliminates the need for workers to use ladders or similar equipment, improving safety. Furthermore, the use of automated control can control the force of separating the formwork, preventing damage to the formwork. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the supporting track and moving track structure of the present invention;

[0024] Figure 3 This is a schematic diagram of the outer template and automatic telescopic mechanism of the present invention;

[0025] Figure 4 This is a side sectional view of the automatic telescopic mechanism and self-demolding mechanism of the present invention;

[0026] Figure 5 This is a top sectional view of the outer template and buffer mechanism of the present invention;

[0027] Figure 6 This is a schematic diagram of the self-climbing mechanism of the present invention;

[0028] Figure 7 for Figure 4 Enlarged structural diagram at point A in the middle;

[0029] Figure 8 This is a side sectional view of the first bidirectional telescopic component of the present invention.

[0030] In the diagram: 1. Robot mobile chassis; 2. Support rail; 201. Clamping plate; 202. First telescopic support leg; 3. Mobile rail; 301. Second telescopic support leg; 4. Self-climbing mechanism; 401. First motor; 402. First wire rope; 403. First connecting seat; 404. Second motor; 405. Second wire rope; 406. Second connecting seat; 5. First outer template; 6. Second outer template; 7. Buffer mechanism; 701. Buffer part; 702. Support component; 8. Automatic telescopic mechanism 9. Self-demolding mechanism; 901. Supporting part; 902. Connecting part; 903. First bidirectional telescopic assembly; 9031. Fixing part; 9032. Telescopic part; 9033. Magnetic block; 9034. Electromagnet; 904. Sliding port; 905. Second bidirectional telescopic assembly; 906. First positioning groove; 907. Second positioning groove; 10. Support reserved block; 11. Transmission mechanism; 1101. Drive rod; 1102. Transmission rod; 1103. Moving port; 1104. Return spring. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Please see Figure 1 - Figure 8 A fully automated support construction robot for narrow spaces includes a robot mobile chassis 1. A support rail 2 is fixed vertically on the upper surface of the robot mobile chassis 1. A moving rail 3 slides along the support rail 2 along its own height direction. A self-climbing mechanism 4 is jointly provided on the support rail 2 and the moving rail 3. The self-climbing mechanism 4 drives the support rail 2 and the moving rail 3 to rise alternately, enabling the robot mobile chassis 1 to move the support rail 2 and the moving rail 3 into narrow spaces for operation. This allows the device to reach areas difficult for workers to access, improving work efficiency. Furthermore, the self-climbing mechanism 4 allows for alternating rise of the support rail 2 and the moving rail 3, achieving height control of the device and enabling high-altitude operations, thus improving safety.

[0033] The device also includes a first outer template 5 and a second outer template 6. The first outer template 5 is slidably connected to the side of the support rail 2 along the width direction of the support rail 2 via a buffer mechanism 7. The second outer template 6 is set opposite to the first outer template 5 and is at the same horizontal height as the first outer template 5. This allows the first outer template 5 and the second outer template 6 to install the outer templates of two exterior walls at the same height, so that the two exterior walls can be poured at the same time, thus improving work efficiency.

[0034] It should be noted that since the first outer template 5 and the second outer template 6 are both set on one side of the support rail 2, in order to enable the device to move stably, a counterweight (not shown in the figure) can be set on the bottom surface of the robot mobile chassis 1. The function of the counterweight is to make the overall center of gravity of the device located on the robot mobile chassis 1. Therefore, the robot mobile chassis 1 can control the device to move freely, so that there is no need for manual handling.

[0035] In order to enable the first outer template 5 and the second outer template 6 to automatically detach from the wall after the outer wall is formed, a number of automatic telescopic mechanisms 8 are provided on the facing surfaces of the first outer template 5 and the second outer template 6 in this application. Both ends of the automatic telescopic mechanism 8 are provided with self-demolding mechanisms 9, which can be detachably connected to the corresponding first outer template 5 or second outer template 6.

[0036] Furthermore, clamping plates 201 extend forward on both the left and right sides of the support rail 2, and the two clamping plates 201 form a climbing space. The moving rail 3 is slidably connected in the climbing space to improve the stability of the moving rail 3 when it rises and to prevent the moving rail 3 from tilting.

[0037] In this embodiment, the support rail 2 is provided with a first telescopic support leg 202, and the moving rail 3 is provided with a second telescopic support leg 301. Supporting pre-drilled blocks 10 are fixedly provided on the opposite sides of the first outer template 5 and the second outer template 6. The first telescopic support leg 202 and the second telescopic support leg 301 are respectively used to insert into support holes pre-drilled in the wall, and the supporting pre-drilled blocks 10 are used to insert into support grooves pre-drilled in the wall. This allows the first telescopic support leg 202 and the second telescopic support leg 301 to extend and insert into the support holes in the wall when the support rail 2 and the moving rail 3 rise to a certain height, thus fixing the support rail 2 and the moving rail 3. Meanwhile, the first outer template 5 and the second outer template 6 can be moved towards the wall by the automatic telescopic mechanism 8, allowing the supporting pre-drilled blocks 10 to insert into the support grooves in the wall, thus fixing the height of the first outer template 5 and the second outer template 6.

[0038] Furthermore, the self-climbing mechanism 4 includes a first motor 401, a first wire rope 402, and a first connecting seat 403. The first motor 401 is fixedly installed near the top of the support rail 2. The first wire rope 402 is wound around the output end of the first motor 401 via a reel. The first connecting seat 403 is fixedly installed near the bottom of the moving rail 3. The free end of the first wire rope 402 is fixedly connected to the first connecting seat 403. This allows the rising of the moving rail 3 to be controlled by the lifting motion of the first wire rope 402.

[0039] The self-climbing mechanism 4 also includes a second motor 404, a second wire rope 405, and a second connecting seat 406. The second motor 404 is fixedly installed near the bottom of the moving track 3 and is located below the first connecting seat 403. The second wire rope 405 is wound around the output end of the second motor 404 via a reel. The second connecting seat 406 is fixedly installed near the bottom of the support track 2. The free end of the second wire rope 405 is fixedly connected to the second connecting seat 406 so that the rise of the support track 2 can be controlled by the lifting motion of the second wire rope 405.

[0040] The specific process is as follows: In the initial state, the moving track 3 is in the position as follows: Figure 6 At the indicated height, the control support rail 2 and the moving rail 3 need to be raised so that the first outer template 5 and the second outer template 6 can reach the higher position. This is achieved by activating the first motor 401 and the second motor 404. The first motor 401 winds the first wire rope 402 onto the reel, which in turn pulls the first connecting seat 403, applying an upward force to the moving rail 3. Simultaneously, the second motor 404 rotates the reel, unwinding the second wire rope 405 from the reel, thus increasing the length of the second wire rope 405 and preventing it from obstructing the upward movement of the moving rail 3.

[0041] When the first connecting seat 403 on the moving track 3 rises to the position directly opposite the first motor 401 on the support track 2, it stops moving. At this time, the second telescopic support leg 301 on the moving track 3 extends towards the wall, inserting into the support leg hole in the wall, thus fixing the height of the moving track 3. Subsequently, the second steel wire rope 405 can be pulled upward by the second motor 404 and the first motor 401, while the first steel wire rope 402 extends. At this time, the second steel wire rope 405 will pull the second connecting seat 406, thereby causing the support track 2 to climb upward. Finally, the second connecting seat 406 moves to the position directly opposite the second motor 404. Then, the first telescopic support leg 202 on the support rail 2 is extended toward the wall so that the first telescopic support leg 202 is inserted into the support leg hole in the wall, thus fixing the height of the support rail 2. This allows the support rail 2 and the moving rail 3 to rise alternately, thereby controlling the rise of the first outer formwork 5 and the second outer formwork 6 on the support rail 2, achieving the purpose of installing and dismantling the outer formwork of high-rise buildings.

[0042] The buffer mechanism 7 includes a buffer part 701 fixedly connected to a clamping plate 201 on one side. The buffer part 701 has an open-end hollow structure. A support member 702 is elastically connected inside the buffer mechanism 7 along the width direction of the support rail 2. One end of the support member 702 extends to the outside of the buffer mechanism 7 and is fixedly connected to the first outer template 5. This allows the first outer template 5 to move a certain distance away from the wall when it is driven away from the wall by the automatic telescopic mechanism 8. This prevents the first outer template 5 from being fixed on the support rail 2 and thus unable to move, which would affect the disassembly process of the first outer template 5 and may cause damage to the first outer template 5.

[0043] Furthermore, the automatic telescopic mechanism 8 is equipped with self-demolding mechanisms 9 at both ends connected to the first outer template 5 and the second outer template 6. One end of the automatic telescopic mechanism 8 is detachably connected to the first outer template 5 through the self-demolding mechanism 9, and the other end of the automatic telescopic mechanism 8 is hinged to the second outer template 6 through the self-demolding mechanism 9. This allows the user to control the tilt angle of the second outer template 6 by controlling the extension length of different automatic telescopic mechanisms 8, thereby enabling the device to perform the installation of the outer template in narrow slit spaces with tilted angles, improving the adaptability of the device to different working environments.

[0044] The self-demolding mechanism 9 is described in detail below:

[0045] The self-demolding mechanism 9 includes a support wall portion 901 and a connecting portion 902. Both the support wall portion 901 and the connecting portion 902 have an internally hollow structure. The first outer template 5 and the second outer template 6 are each provided with through holes for the support wall portion 901 to be inserted into. The support wall portion 901 is slidably connected to the corresponding through hole along the axial direction of the through hole. The connecting portion 902 is fixedly connected to the side of the support wall portion 901 facing the automatic telescopic mechanism 8. The two ends of the automatic telescopic mechanism 8 are slidably connected to the connecting portion 902, so that the automatic telescopic mechanism 8 can slide within the connecting portion 902 by controlling its own length.

[0046] like Figure 7As shown, a first bidirectional telescopic component 903 is slidably provided inside the wall support 901 along the thickness direction of the outer template. Sliding openings 904 are provided on both side walls of the wall support 901, and first positioning grooves 906 are provided on both sides of the inner wall of the through hole. The two movable ends of the first bidirectional telescopic component 903 can pass through the sliding openings 904 and be embedded in the first positioning grooves 906 in sequence, so that when the movable ends of the first bidirectional telescopic component 903 are inserted into the first positioning grooves 906, the wall support 901 can be fixed to the second outer template 6. Furthermore, the side of the first bidirectional telescopic component 903 away from the automatic telescopic mechanism 8 is flush with the side of the second outer template 6 facing the wall, so that the wall surface will not be uneven during the pouring operation. Meanwhile, the telescopic end of the first bidirectional telescopic component 903 can slide within the sliding opening 904, thereby driving the second outer template 6 to move along the length direction of the sliding opening 904, thus moving the second outer template 6 away from the wall and achieving disassembly and separation of the second outer template 6. Similarly, the movement of the first bidirectional telescopic component 903 on the first outer template 5 can also control the first outer template 5 to move away from the wall.

[0047] The structure of the first bidirectional telescopic component 903 is as follows: Figure 8 As shown, it includes a fixed part 9031 and telescopic parts 9032 distributed at the upper and lower ends of the fixed part 9031. The telescopic parts 9032 can slide along the height direction of the fixed part 9031. A magnetic block 9033 is fixedly provided at one end of the telescopic part 9032 located inside the fixed part 9031, and an electromagnet 9034 is provided at a height inside the fixed part 9031, located between the two magnetic blocks 9033. When the electromagnet 9034 is energized, a repulsive force is generated between the electromagnet 9034 and the magnetic block 9033, thereby pushing the magnetic block 9033 outward, so that the telescopic part 9032 is embedded in the first positioning groove 906. When the electromagnet 9034 is de-energized, an attractive force is generated between the electromagnet 9034 and the magnetic block 9033, thereby driving the magnetic block 9033 towards the electromagnet 9034, so that the telescopic part 9032 is disengaged from the first positioning groove 906.

[0048] Specifically, a second bidirectional telescopic component 905 is slidably provided within the connecting part 902 along the thickness direction of the outer template. Second positioning grooves 907 are provided on both sides of the inner wall of the connecting part 902. Both ends of the second bidirectional telescopic component 905 can be embedded into the second positioning grooves 907, so that when the telescopic end of the second bidirectional telescopic component 905 is inserted into the second positioning groove 907, the second bidirectional telescopic component 905 and the connecting part 902 are fixedly connected. The connecting part 902 and the wall support part 901 are fixedly connected. Therefore, when the telescopic end of the second bidirectional telescopic component 905 is inserted into the second positioning groove 907, and the telescopic end of the first bidirectional telescopic component 903 is inserted into the first positioning groove 906, the automatic telescopic mechanism 8 and the outer template are connected. This allows the automatic telescopic mechanism 8 to control the distance between the first outer template 5 and the second outer template 6 through telescopic control, thereby achieving the installation of the first outer template 5 and the second outer template 6. The structures of the second bidirectional telescopic component 905 and the first bidirectional telescopic component 903 are the same and will not be described in detail here.

[0049] One end of the automatic telescopic mechanism 8 is fixedly connected to the second bidirectional telescopic component 905 on the first outer template 5, and the other end of the automatic telescopic mechanism 8 is hinged to the second bidirectional telescopic component 905 on the other side, so that the second outer template 6 can change its tilt angle according to the different lengths of the extension of the different automatic telescopic mechanisms 8, so as to be suitable for more types of external wall pouring operations.

[0050] The wall support 901 and the connecting part 902 are jointly provided with a transmission mechanism 11. The input end of the transmission mechanism 11 is fixedly connected to the second bidirectional telescopic component 905, and the output end of the transmission mechanism 11 is connected to the first bidirectional telescopic component 903. When the second bidirectional telescopic component 905 moves toward the first bidirectional telescopic component 903, the transmission mechanism 11 drives the first bidirectional telescopic component 903 to move toward the second bidirectional telescopic component 905.

[0051] like Figure 7As shown, the transmission mechanism 11 specifically includes a drive rod 1101 fixedly connected to the second bidirectional telescopic assembly 905. One end of the drive rod 1101 slides into the support wall portion 901 along the thickness direction of the template. The end of the drive rod 1101 extending into the support wall portion 901 is connected to two transmission rods 1102 via a first rotating shaft. The two transmission rods 1102 are staggered, with their centers rotatably connected to the inner wall of the support wall portion 901. The ends of the two transmission rods 1102 away from the drive rod 1101 are respectively connected to the upper and lower sides of the side of the first bidirectional telescopic assembly 903 via a second rotating shaft. This allows the drive rod 1101 to move, driving the transmission rods 1102, thereby initiating the movement of the first bidirectional telescopic assembly 903. Furthermore, at both ends of the transmission rod 1102 near the drive rod 1101 and the first bidirectional telescopic assembly 903, sliding ports 1103 are respectively provided for the sliding of the first rotating shaft and the second rotating shaft. This ensures that when the drive rod 1101 moves towards the first bidirectional telescopic assembly 903, and the first rotating shaft drives the transmission rod 1102 to rotate around its own center position, the first rotating shaft will slide within the sliding port 1103. Similarly, when the transmission rod 1102 drives the first bidirectional telescopic assembly 903 to move towards the second bidirectional telescopic assembly 905, the second rotating shaft will slide within the sliding port 1103, preventing the transmission rod 1102 from obstructing the movement of the drive rod 1101 and the first bidirectional telescopic assembly 903.

[0052] A return spring 1104 is also sleeved on the outside of the drive rod 1101. The two ends of the return spring 1104 abut against the outer wall of the support part 901 and the outer wall of the second bidirectional telescopic assembly 905, respectively. In this embodiment, the return spring 1104 is always in a compressed state so that when the drive rod 1101 moves away from the first bidirectional telescopic assembly 903, the support part 901 will drive the connecting part 902 to move in the opposite direction of the drive rod 1101, thereby enabling the second bidirectional telescopic assembly 905 to return to the state of being aligned with the second positioning groove 907.

[0053] It should be noted that in this invention, there is a control microcomputer used to control the movement of the robot mobile chassis 1, and to control the opening or extension state of the first motor 401, the first connecting seat 403, the automatic telescopic mechanism 8, the first bidirectional telescopic component 903, and the second bidirectional telescopic component 905, thereby achieving the purpose of automatic control and facilitating user operation.

[0054] The specific process is as follows: When the first outer template 5 and the second outer template 6 are installed to the pouring position of the outer wall, the telescopic ends of the first bidirectional telescopic component 903 and the second bidirectional telescopic component 905 are controlled to insert into the side wall of the outer template and the side wall of the connecting part 902, respectively, to achieve a fixed connection between the self-demolding mechanism 9 and the template. Then, the movement of the self-demolding mechanism 9 is controlled by the automatic telescopic mechanism 8, which controls the movement of the first outer template 5 and the second outer template 6. When the support reserved block 10 is inserted into the reserved groove on the wall, the fixed installation of the first outer template 5 and the second outer template 6 is completed. After the outer wall is poured and formed, the first bidirectional telescopic component 903 on the first outer template 5 is first controlled to retract, so that the telescopic end of the first bidirectional telescopic component 903 is no longer inserted into the side wall of the first outer template 5. Then, the automatic telescopic mechanism 8 is controlled to shorten. At this time, the wall support part 901 on the first outer template 5 is pulled away from the wall by the automatic telescopic mechanism 8. Subsequently, the telescopic end of the first bidirectional telescopic component 903 on the first outer template 5 is inserted back into the side wall of the first outer template 5, and the telescopic end of the first bidirectional telescopic component 903 on the second outer template 6 is controlled to retract, and the automatic telescopic mechanism 8 is controlled to shorten, completing the disengagement operation of the wall support 901 on the second outer template 6. Then, the first bidirectional telescopic component 903 on the second outer template 6 is inserted back into the side wall of the second outer template 6.

[0055] Subsequently, the second bidirectional telescopic component 905 on the second outer template 6 is retracted, so that the telescopic end of the second bidirectional telescopic component 905 is no longer inserted into the side wall of the connecting part 902. At this time, the automatic telescopic mechanism 8 controls the second bidirectional telescopic component 905 to move towards the wall support part 901 within the connecting part 902, thereby transmitting the thrust to the input end of the transmission mechanism 11. Figure 7As shown, the output end of the transmission mechanism 11 is connected to the first bidirectional telescopic component 903. When the second bidirectional telescopic component 905 moves towards the wall support 901, the output end of the transmission mechanism 11 moves towards the connecting part 902, thereby driving the first bidirectional telescopic component 903 to move towards the connecting part 902. At this time, the retracted end of the first bidirectional telescopic component 903 is located inside the side wall of the second outer template 6, so that the first bidirectional telescopic component 903 can drive the second outer template 6 to move towards the automatic telescopic mechanism 8, thereby moving the second outer template 6 away from the wall and realizing the disassembly and separation operation of the second outer template 6. After the disassembly of the second outer template 6 is completed, the automatic telescopic mechanism 8 is shortened so that the telescopic end of the second bidirectional telescopic component 905 is inserted back into the side wall of the connecting part 902, completing the fixation of the automatic telescopic mechanism 8, the self-demolding mechanism 9, and the second outer template 6. At this time, the telescopic end of the second bidirectional telescopic component 905 on the first outer template 5 is controlled to separate from the connecting part 902. The above-mentioned process of separating the second outer template 6 is repeated to realize the disassembly and separation operation of the first outer template 5. Furthermore, several automatic telescopic mechanisms 8 are evenly distributed between the first outer template 5 and the second outer template 6, so that the force on the surface of the first outer template 5 and the second outer template 6 is evenly distributed when they are detached from the wall. This avoids damage to the template caused by prying it from one corner during manual disassembly, thereby extending the service life of the device and making disassembly and separation easier and faster, thus improving work efficiency.

[0056] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0057] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A fully automated support construction robot based on narrow slit spaces, characterized in that: The system includes a robot mobile chassis, on the upper surface of which a support rail is fixed vertically, and a mobile rail is slidably mounted on the support rail along its own height direction. The support rail and the mobile rail are both equipped with a self-climbing mechanism, which is used to drive the support rail and the mobile rail to rise alternately. It also includes a first outer template and a second outer template. The first outer template is slidably connected to the side of the support track along the width direction of the support track through a buffer mechanism. The second outer template is set opposite to the first outer template and is at the same horizontal height as the first outer template. Several automatic telescopic mechanisms are provided on the facing surfaces of the first outer template and the second outer template. Each end of the automatic telescopic mechanism is provided with a self-demolding mechanism, which can be detachably connected to the corresponding first outer template or second outer template. The self-demolding mechanism includes a support wall and a connecting part. Both the support wall and the connecting part have an internal hollow structure. The first outer template and the second outer template are provided with through holes for the support wall to be embedded. The connecting part is fixedly connected to the side of the support wall facing the automatic telescopic mechanism. The two ends of the automatic telescopic mechanism are slidably connected in the connecting part. The wall support is provided with a first bidirectional telescopic component that slides along the thickness direction of the outer template. The two side walls of the wall support are provided with sliding openings, and the inner walls of the through holes are provided with first positioning grooves on both sides. The two movable ends of the first bidirectional telescopic component can pass through the sliding openings and be embedded in the first positioning grooves in sequence. The connecting part is provided with a second bidirectional telescopic component that slides along the thickness direction of the outer template. The inner wall of the connecting part is provided with a second positioning groove on both sides. The two ends of the second bidirectional telescopic component can be embedded into the second positioning groove. One end of the automatic telescopic mechanism is fixedly connected to the second bidirectional telescopic component on the first outer template, and the other end of the automatic telescopic mechanism is hinged to the second bidirectional telescopic component on the other side. A transmission mechanism is provided in both the wall support and the connecting part. The input end of the transmission mechanism is fixedly connected to the second bidirectional telescopic component, and the output end of the transmission mechanism is connected to the first bidirectional telescopic component. When the second bidirectional telescopic component moves toward the first bidirectional telescopic component, the transmission mechanism drives the first bidirectional telescopic component to move toward the second bidirectional telescopic component. The transmission mechanism specifically includes a drive rod fixedly connected to the second bidirectional telescopic assembly. One end of the drive rod slides into the support wall part along the thickness direction of the template. The end of the drive rod that extends into the support wall part is connected to two transmission rods through a first rotating shaft. The two transmission rods are staggered. The center position of the transmission rod is rotatably connected to the inner side wall of the support wall part. The ends of the two transmission rods away from the drive rod are respectively connected to the upper and lower sides of the side of the first bidirectional telescopic assembly through a second rotating shaft.

2. The fully automated support construction robot based on narrow slit space according to claim 1, characterized in that: Clamping plates extend forward on both the left and right sides of the support rail, and a climbing space is formed between the two clamping plates. The moving rail is slidably connected within the climbing space.

3. The fully automated support construction robot based on narrow slit space according to claim 1, characterized in that: The support rail is provided with a first telescopic support leg, and the moving rail is provided with a second telescopic support leg. Support reserved blocks are fixed on the opposite sides of the first outer template and the second outer template. The first telescopic support leg and the second telescopic support leg are respectively used to insert into the support leg holes reserved in the wall. The support reserved block is used to insert into the support groove reserved in the wall.

4. The fully automated support construction robot based on narrow slit space according to claim 1, characterized in that: The self-climbing mechanism includes a first motor, a first wire rope, and a first connecting seat. The first motor is fixedly installed at a position near the top of the support rail. The first wire rope is wound around the output end of the first motor via a reel. The first connecting seat is fixedly installed at a position near the bottom of the moving rail. The free end of the first wire rope is fixedly connected to the first connecting seat.

5. The fully automated support construction robot based on narrow slit space according to claim 4, characterized in that: The self-climbing mechanism also includes a second motor, a second steel wire rope, and a second connecting seat. The second motor is fixedly installed at a position near the bottom of the moving track. The second motor is located below the first connecting seat. The second steel wire rope is wound around the output end of the second motor via a reel. The second connecting seat is fixedly installed at a position near the bottom of the support track. The free end of the second steel wire rope is fixedly connected to the second connecting seat.

6. The fully automated support construction robot based on narrow slit space according to claim 1, characterized in that: The buffer mechanism includes a buffer part fixedly connected to a clamping plate on one side. The buffer part has an open-end hollow structure. A support member is elastically connected inside the buffer mechanism along the width direction of the support track. One end of the support member extends out to the outside of the buffer mechanism and is fixedly connected to the first outer template.

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