Formwork erecting robot for high-weather-resistance high-durability disassembly-free beam column formwork

Abstract

A formwork erecting robot for a high-weather-resistance high-durability disassembly-free beam column formwork comprises a reference base and an extension arm, the reference base is used for being connected with a reserved column body, the extension arm is connected with the reference base and extends horizontally, an outer supporting rod and an inner supporting rod are arranged on the extension arm, the outer supporting rod is connected with the extension arm through an outer supporting cylinder, and the inner supporting rod is connected with the extension arm through an inner supporting cylinder. The inner supporting rod is connected with the extension arm through the inner supporting cylinder; the outer supporting rods and the inner supporting rods are used for supporting a reinforcement cage or a formwork. The outer supporting rod and the inner supporting rod are of a multi-section connecting structure, and end telescopic rods are arranged at the ends of the outer supporting rod and the inner supporting rod. The end telescopic rod, the outer supporting cylinder and the inner supporting cylinder are provided with stroke sensors. According to the invention, the reserved column body is taken as a reference, and the reference base and the extension arm construct a high-precision reference platform, so that the platform performs high-precision control on the supporting rod, and accurate auxiliary formwork erection of a column body reinforcement cage, a column body formwork and a beam-column integrated formwork is realized; the core technical problem that in the fabricated building construction process, a formwork erecting benchmark is lacked is solved.

Description

Technical Field

[0001] The present invention relates to the field of construction auxiliary equipment in the field of construction, and in particular to a formwork robot for highly weather-resistant and durable disassembly-free beam and column formwork. Background Art

[0002] In current buildings, columns, beams, wall panels and floor slabs are usually cast in place after the formwork is erected. That is, the formwork is erected after pre-embedded steel bars in the columns, beams, wall panels and floor slabs, and then concrete is poured in the cavity surrounded by the formwork. Existing formworks commonly use wooden formwork, steel formwork and aluminum formwork. However, this construction process has the following problems: bubbles, honeycombs, rough surfaces and misalignment are easily formed on the surfaces of the columns, beams, wall panels and floor slabs. This is mainly caused by reasons such as low formwork accuracy, insufficient vibration, and too small spacing between steel cages. To overcome these defects, a construction method of prefabricated formwork has been adopted in the prior art, including patent document CN110805204A which records a hollow composite column and its construction method and concrete column, CN116717002A which records precast concrete walls, prefabricated buildings and construction methods, and CN118273486A which records a prefabricated vertical column construction device and its construction method. The advantage of this construction method is that it can prefabricate high-precision formwork in the factory, and even use highly durable materials such as UHPC (ultra-high performance concrete) to greatly improve the durability and corrosion resistance of the entire building. This is very important for some buildings with high standards. The construction method of prefabricated formwork reduces the steps of demolding, which can improve construction efficiency. In addition, the prefabricated formwork has high precision and better surface effects. The formwork erection method for columns, beams, wall panels and floor slabs is quite different from the existing technology. First, the formwork in the existing technology is usually integrated with the steel cage, which makes storage, lifting and assembly more difficult. Second, the formwork has a large deadweight, and it is difficult to support and move it on site by manpower, and there is a lack of necessary special equipment. Third, the existing formwork support mainly relies on bolting on the ground. For example, in CN118273486A, an assembled vertical column construction device and its construction method, during the construction process, the steel bars in the formwork need to be connected to the steel bars at the bottom and both sides, and additional formwork and pouring are required at the joints. The operation is relatively cumbersome and depends on the technical level of the construction workers, which can easily lead to unstable construction quality and form weak points in the anti-corrosion structure and construction quality at the post-pouring position. The description in the background technology is only for the purpose of facilitating the understanding of the present invention and is not an admission of the prior art. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a formwork robot for highly weather-resistant and durable non-dismantling beam and column formwork, which can solve the problem of formwork erection for non-dismantling beam and column formwork. Furthermore, it is preferred that the degree of automation of formwork erection be increased, thereby improving the construction efficiency and quality of prefabricated buildings.

[0004] In order to solve the above technical problems, the technical solution of the present invention is: a formwork robot for highly weather-resistant and durable non-disassembly beam and column formwork, comprising a reference base and an extension arm, the reference base being used to connect to a reserved column, the extension arm being connected to the reference base, the extension arm extending horizontally, and an outer support rod and an inner support rod being provided on the extension arm, the outer support rod being connected to the extension arm via an outer support cylinder, and the inner support rod being connected to the extension arm via an inner support cylinder; External and internal bracing rods are used to support the reinforcement cage or formwork.

[0005] In a preferred embodiment, the outer support rod and the inner support rod are a multi-section connection structure, and an end telescopic rod is provided at the end of the outer support rod and the inner support rod; Stroke sensors are provided on the end telescopic rod, the outer support cylinder and the inner support cylinder.

[0006] In a preferred embodiment, the inner support rod is hinged to the extension arm at a position away from the reference base, one end of the inner support cylinder is hinged to the extension arm, and the other end of the inner support cylinder is hinged to the inner support rod; The outer support rod is located near the reference base and is hinged to the extension arm, one end of the outer support cylinder is hinged to the extension arm, and the other end of the outer support cylinder is hinged to the outer support rod; In a narrow position, the outer support cylinders and the inner support cylinders are staggered, the hinge positions of the outer support cylinders, the extension arms and the outer support rods are offset, and the hinge positions of the inner support cylinders, the extension arms and the inner support rods are offset.

[0007] In the preferred solution, an end connecting seat is provided at the free end of the outer support rod and the inner support rod, and a component connecting plate is also provided. A plurality of holes are provided on the component connecting plate. An end hinge seat is provided on the back side of the end connecting seat. The end hinge seat is hinged to the hinge rod. An end connecting plate is provided at the free end of the hinge rod. The end connecting plate is fixedly connected to the end connecting seat. The component connecting plate is used to connect to the column reinforcement cage, the column formwork and the beam-column integrated formwork.

[0008] In a preferred embodiment, the reference base is a hollow cylindrical structure, and the reference base is used to be sleeved with the reserved column; The reference base is provided with a leveling device, which is a plurality of basic leveling push rods pointing to the ground provided on the reference base; An inclination sensor is provided on the reference base; A stroke sensor is provided on the basic leveling push rod; A plurality of extension arm connecting seats are provided on the edge of the reference base for connecting the extension arms.

[0009] In the preferred solution, the reference base is provided with a concentricity adjustment device with the reserved column; The concentric adjustment device is a device provided on the reference base with a plurality of basic concentric push rods pointing to the surface of the reserved column, which is used to make the reference base concentric with the reserved column; A stroke sensor is provided on the basic concentric push rod; A laser facing the reserved column is provided on the reference base, and a corresponding target is provided on the reserved column.

[0010] In the preferred solution, the reference base adopts a bisected structure; The base base is provided with a base connection part near the corner, which adopts a flange connection structure and is fixed by bolts; There are two inclination sensors, which are located at two parts of the reference base respectively, and the inclination sensors each detect the inclination in one direction.

[0011] In a preferred embodiment, an extension arm connection seat is provided on at least one side of the reference base, a frustum hole or a frustum is provided on the extension arm connection seat, a corresponding frustum or frustum hole is provided on the end of the extension arm, an extension arm fixing plate and an extension arm connecting plate are provided at corresponding positions of the extension arm connection seat and the extension arm, and the extension arm fixing plate and the extension arm connecting plate are connected by bolts; An inclination sensor is provided on the extension arm; Extension arm leveling cylinders are provided on both sides of the extension arm.

[0012] In a preferred solution, the extension arm adopts a multi-section connection structure, and each section is connected by a flange or an extension arm connecting seat; A hinge seat for installing a support rod and a support cylinder is provided on the extension arm of each section.

[0013] In the preferred solution, a control device is further provided, which is used to collect sensor signals and output control instructions; The control device is electrically connected to the outer support cylinder and the inner support cylinder; End telescopic rods are provided on the outer support rods and the inner support rods; Inclination sensors are provided on the reference base and the extension arm, and the control device is electrically connected to the inclination sensors; The reference base is also provided with a basic concentric push rod and a basic leveling push rod, and the extension arm is provided with an extension arm leveling cylinder. The control device is electrically connected to the extension arm leveling cylinder and the end telescopic rod; Stroke sensors are provided on the outer support cylinder, the inner support cylinder, the extension arm leveling cylinder, the base concentric push rod, the base leveling push rod and the end telescopic rod, and the control device is electrically connected to the stroke sensor.

[0014] The present invention provides a mold erecting robot for highly weather-resistant and durable non-disassembly beam and column formwork, which has the following beneficial effects compared with the prior art: 1. The present invention uses the reserved column as the benchmark, and the benchmark base and extension arm are set to construct a high-precision benchmark platform. The platform controls the support rods with high precision, realizes the auxiliary formwork of the column reinforcement cage, column formwork and beam-column integrated formwork, and ensures high-precision control during the formwork process, solving the core technical problem of the lack of formwork benchmarks during the construction of prefabricated buildings.

[0015] 2. The inner support rods of the present invention can support the column reinforcement cage and the column formwork respectively, and the outer support rods can support the beam-column integrated formwork, and can accurately adjust the aerial positions of these components, greatly improving the efficiency of formwork erection.

[0016] 3. The present invention can conveniently realize automatic control, and combined with the on-site total station or laser radar auxiliary detection device, it can improve the automation level of the construction process, reduce the physical labor intensity of on-site construction workers, and reduce the demand for skilled construction workers.

[0017] 4. The equipment of this invention supports the highly weather-resistant and durable construction technology route based on UHPC formwork. This facilitates the full-surface construction of UHPC formwork, enabling the construction of truly weather-resistant and durable buildings. UHPC formwork technology reduces UHPC material costs, while increased construction efficiency offsets the increased material costs. The equipment of this invention can also reduce the time required for lifting equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and examples: Figure 1 It is a half-section view of the reference base of the present invention.

[0019] Figure 2 It is a top view of the overall structure of the present invention.

[0020] Figure 3 It is a front view of the overall structure of the present invention.

[0021] Figure 4 It is a front view of the extension arm of the present invention.

[0022] Figure 5 It is a partially enlarged schematic diagram of the connection between the end connecting plate of the present invention and the longitudinal reinforcement of the column reinforcement cage.

[0023] Figure 6 It is a partially enlarged schematic diagram of the connection between the end connecting plate of the present invention and the cylindrical column formwork.

[0024] Figure 7 It is a structural schematic diagram of the connection between the support cylinder and the support rod of the present invention.

[0025] Figure 8This is a structural diagram of the equipment-assisted installation column reinforcement cage of the present invention.

[0026] Figure 9 This is a structural diagram of the equipment-assisted installation beam-column integrated formwork of the present invention.

[0027] Figure 10 This is another preferred structural diagram of the equipment-assisted installation beam-column integrated formwork of the present invention.

[0028] Figure 11 It is a construction flow chart of the device of the present invention.

[0029] In the figure: foundation concentric push rod 1, foundation leveling push rod 2, reference base 3, reserved column 4, reserved longitudinal reinforcement 5, extension arm connecting seat 6, extension arm fixing plate 7, extension arm joint 8, extension arm connecting plate 9, outer support rod 10, inner support cylinder 11, outer support cylinder 12, extension arm 13, extension arm leveling cylinder 14, inner support rod 15, hinge seat 16, foundation seat connection part 17, end connecting seat 18, end telescopic rod 19, component connecting plate 20, U-bolt 21, longitudinal reinforcement 22, hole 23, hinged rod 24, end hinge seat 25, end connecting plate 26, pad 27, formwork 28, first inclination sensor 29, second inclination sensor 30, third inclination sensor 31, column reinforcement cage 100, column formwork 200, patching formwork 300, beam-column integrated formwork 400. DETAILED DESCRIPTION

[0030] A building located on the coast, exposed to salt spray and a cyclical, dry-wet climate, required improvements in weather and corrosion resistance and service life. Existing formwork systems integrate the rebar cage and formwork to improve construction efficiency. However, at the joints between the formwork, such as where columns on the current floor connect to pre-existing columns and where walls connect to pre-existing wall caps, the rebar cage and formwork must be connected. The current practice involves conventional construction methods, where the main reinforcement of the rebar cage is first connected by welding or sleeves before concrete is poured outside the formwork. To facilitate construction, the joints are typically 15-20 cm wide, creating a leakage path between the newly poured concrete and the formwork. UHPC costs 10-14 times more than ordinary concrete. This makes it difficult to completely fill the joints with UHPC, forcing the use of conventional C30-C50 concrete. This makes the joints vulnerable to weather and corrosion resistance. The inventor proposed an improved idea, which is to separate the steel cage from the non-disassembly formwork, and hoist and connect the steel cage and the formwork separately. This expands the construction working surface, reduces the difficulty of hoisting, and reduces the overall construction difficulty. It can achieve weather resistance and corrosion resistance on the entire surface of the building. Since the difficulty of factory processing, warehousing, transportation and hoisting construction is reduced, the construction efficiency is improved, and the overall cost of this solution is reduced. However, this technical route brings new technical difficulties. In the process of hoisting and connecting the steel cage and the formwork, it is very difficult to fix the steel cage and the formwork, because the formwork usually has a very flat and smooth surface, and it is impossible to drill holes on the surface of the formwork to provide precise support for the formwork and adjust the position and verticality of the formwork and other parameters. These difficulties lead to high difficulty in on-site construction, especially the insufficient flatness of the ground at the construction site and the lack of a benchmark for providing support, which also makes it difficult to achieve automated control. The main purpose of achieving automated control is to ensure the stability of construction quality, reduce construction accidents and later rework, and especially reduce dependence on skilled workers.

[0031] Example 1: like Figure 2 、 3 As shown in , in order to overcome the technical difficulties of the prior art in the construction of non-disassembly formwork, the present invention provides a formwork robot for high-weather-resistant and high-durability non-disassembly beam-column formwork, including a reference base 3 and an extension arm 13, the reference base 3 is used to connect with the reserved column 4, the extension arm 13 is connected to the reference base 3, the extension arm 13 extends horizontally, and an outer support rod 10 and an inner support rod 15 are provided on the extension arm 13, the outer support rod 10 is connected to the extension arm 13 through an outer support cylinder 12, and the inner support rod 15 is connected to the extension arm 13 through an inner support cylinder 11; The outer support rods 10 and the inner support rods 15 are used to support the reinforcement cage or the formwork.

[0032] The preferred solution is Figures 8-10As shown in FIG, the outer support rod 10 and the inner support rod 15 are a multi-section connection structure, and each section of the connection structure is connected by flange connection, sleeve connection or a combination of flange and sleeve connection structures.

[0033] End telescopic rods 19 are provided at the ends of the outer support rods 10 and the inner support rods 15; Stroke sensors are provided on the end telescopic rod 19, the outer support cylinder 12, and the inner support cylinder 11. The end telescopic rod 19, the outer support cylinder 12, and the inner support cylinder 11 can be hydraulic cylinders or electric push rods. The corresponding stroke sensors include magnetostrictive stroke sensors for hydraulic cylinders or Hall sensors for electric push rods, including linear Hall sensors installed at the push rod position or angular Hall sensors installed on the rotating component.

[0034] The preferred solution is Figure 9 As shown in , it is applied to narrow working spaces, the length and number of segments of the extension arm 13 are limited, the inner support rod 15 is hinged to the extension arm 13 at a position away from the reference base 3, one end of the inner support cylinder 11 is hinged to the extension arm 13, and the other end of the inner support cylinder 11 is hinged to the inner support rod 15; The outer support rod 10 is located near the reference base 3 and is hinged to the extension arm 13. One end of the outer support cylinder 12 is hinged to the extension arm 13, and the other end of the outer support cylinder 12 is hinged to the outer support rod 10. With this structure, the shorter extension arm 13 can also support the steel cage and formwork.

[0035] like Figure 9 In a narrow position, the outer support cylinder 12 and the inner support cylinder 11 are staggered. In this example, the staggered arrangement means that the outer support cylinder 12 and the inner support cylinder 11 need to deviate from the center line of the extension arm 13 to avoid mutual interference. Figure 2 As shown in , the hinge position of the outer support cylinder 12, the extension arm 13 and the outer support rod 10 is offset, and the hinge position of the inner support cylinder 11, the extension arm 13 and the inner support rod 15 is offset. The deviation in this example also means that the hinge position and the support rod are offset from the center line of the extension arm 13 to avoid mutual interference. Since the dead weight of the column reinforcement cage 100, the column formwork 200 and the beam-column integrated formwork 400 is relatively light, the required supporting force is relatively small, usually not exceeding 10KN. Accordingly, the positions where the inner support cylinder 11 and the outer support cylinder 12 are hinged to the outer support rod 10 and the inner support rod 15 respectively can also adopt an offset structure. As shown in FIG. Figure 7 As shown in .

[0036] The preferred solution is Figure 5 、 6As shown in , an end connection seat 18 is provided at the free end of the outer support rod 10 and the inner support rod 15, and a component connection plate 20 is also provided. The component connection plate 20 is provided with a plurality of holes 23. The back of the end connection seat 18 is provided with an end hinge seat 25, and the end hinge seat 25 is hinged to the hinge rod 24. The free end of the hinge rod 24 is provided with an end connection plate 26, and the end connection plate 26 is fixedly connected to the end connection seat 18. The component connection plate 20 is used to connect with the column reinforcement cage 100, the column formwork 200 and the beam-column integrated formwork 400. Preferably, Figure 5 1 shows the state when it is connected to the longitudinal reinforcement 22 of the column reinforcement cage 100. Figure 6 The figure shows the state when it is connected to the circular column formwork 200. The provided pad 27 is made of wood. The wood pad is connected to the column formwork 200 through a hoop, and the component connection plate 20 is fixedly connected to the pad 27 by screws. The connection method of the beam-column integrated formwork 400 is the same. The beam formwork of the beam-column integrated formwork 400 is a top-opening formwork with a "U"-shaped structure, and the column formwork is in the middle. The beam formwork and the column formwork are a whole and are connected to each other at the position of the "U"-shaped structure. The pad 27 of the beam-column integrated formwork 400 is usually set at the bottom, and the component connection plate 20 is fixedly connected to the pad 27 from the bottom of the beam-column integrated formwork 400.

[0037] The preferred solution is Figure 1 、 2 In the figure, the reference base 3 is a hollow columnar structure with open top and bottom. The reference base 3 is used to be connected with the reserved column 4. During installation, the reference base 3 is hoisted and directly sleeved on the reserved column 4.

[0038] like Figures 1-3 In the figure, a leveling device is provided on the reference base 3, and the leveling device is provided on the reference base 3 with a plurality of basic leveling push rods 2 pointing to the ground; A tilt sensor is provided on the reference base 3. Preferably, the tilt sensor is a MEMS tilt sensor. In this example, a six-axis sensor such as the ICM-42670-P from TDK InvenSense is used, which integrates the functions of an accelerometer and a gyroscope. In some cases, a single-axis sensor may be used to obtain tilt data in a single direction.

[0039] A stroke sensor is provided on the basic leveling push rod 2; preferably, the basic leveling push rod 2 utilizes a hydraulic cylinder, and the hydraulic cylinder's stroke sensor utilizes a magnetostrictive stroke sensor. Alternatively, the basic leveling push rod 2 utilizes a high-thrust electric push rod. The advantage of using an electric push rod is that it can achieve self-locking, facilitating more precise automated control. In this example, a 20KN electric push rod from GWD can be used. The electric push rod's sensor utilizes a Hall effect sensor, including a rotation angle Hall effect sensor mounted on the motor or a stroke Hall effect sensor mounted on the telescopic rod.

[0040] like Figures 1-3 In the embodiment, a plurality of extension arm connecting seats 6 are provided on the edge of the reference base 3 for connecting the extension arms 13. The extension arms 13 with a detachable structure are convenient for replacing different reference bases 3 according to different column structures.

[0041] The preferred solution is Figures 1 and 2 In the middle, the reference base 3 is provided with a concentricity adjustment device with the reserved column 4; The concentric adjustment device is a device that is provided with a plurality of basic concentric push rods 1 pointing to the surface of the reserved column 4 on the reference base 3, which is used to make the reference base 3 concentric with the reserved column 4; in this example, two basic concentric push rods 1 are provided on each side, and a total of 8 basic concentric push rods 1 are provided.

[0042] A stroke sensor is installed on the basic concentric push rod 1. Because the thrust required for the basic concentric push rod 1 is relatively low, an electric push rod, such as the 5kN electric push rod from GWD, is preferred. Alternatively, the concentric adjustment device can be replaced with a wooden wedge. Using a wooden wedge requires manual adjustment. The concentric adjustment device of the present invention is suitable not only for square columns but also for round columns.

[0043] As an auxiliary detection device, a laser facing the reserved column 4 is provided on the reference base 3. The laser here is a laser that emits a collimated laser beam. The laser is located at the center of one side of the reference base 3. A corresponding target is provided on the outer wall of one side of the reserved column 4. The target is located at the center of one side of the reserved column 4. When in a concentric state, the laser beams on each side, preferably at least two mutually perpendicular sides, are aligned with the center of the target, thereby judging whether the reference base 3 is concentric with the reserved column 4. After leveling and concentric adjustment, the reference base 3 obtains a higher-precision reference. This facilitates providing higher precision for the structure that needs to be supported during the subsequent strut adjustment process.

[0044] The preferred solution is Figure 2 In the figure, the reference base 3 adopts a bisected structure; the reference base 3 is provided with a base connection portion 17 near the corner, which adopts a flange connection structure and is fixed by bolts; this structure facilitates the later disassembly of the reference base 3.

[0045] like Figure 2 In this example, two inclinometers are located on two parts of the reference base 3. This example uses a single-direction inclinometer to achieve higher accuracy. The inclinometers on the two parts of the reference base 3 are perpendicular to each other, so that each sensor detects inclination in a single direction. This structure achieves higher detection accuracy and faster leveling efficiency.

[0046] The preferred solution is Figure 2 、 Figure 3In this embodiment, an extension arm connection base 6 is provided on at least one side of the reference base 3. For a cross-shaped beam-column structure, there are four extension arms 13, while for a beam-column structure at a turning position, there are two extension arms 13. In this embodiment, the reference base 3 is provided with extension arm connection bases 6 on all four sides, which allows for flexible installation of different numbers of extension arms 13 according to the specific beam-column structure, thereby improving the applicability of the equipment.

[0047] like Figures 1 and 2 In the embodiment, a frustum hole or cone is provided in the extension arm connection base 6, and a corresponding cone or cone hole is provided at the end of the extension arm 13. These holes are locked by plugging into each other. The plug-in connection between the cone and cone hole helps to improve the connection accuracy and enhance the efficiency of installation and removal. An extension arm fixing plate 7 and an extension arm connecting plate 9 are provided at the corresponding positions of the extension arm connection base 6 and the extension arm 13. The extension arm fixing plate 7 and the extension arm connecting plate 9 are connected by bolts. An inclination sensor is provided on the extension arm 13; An extension arm leveling cylinder 14 is provided on both sides of the extension arm 13. The extension arm leveling cylinder 14 points to the ground and is used to adjust the extension arm 13 to a level, especially to adjust it to be level with the reference base 3.

[0048] The preferred solution is Figure 10 In the embodiment, the extension arm 13 adopts a multi-segment connection structure, with each segment connected by a flange or the aforementioned extension arm connection base 6. Preferably, each segment of the extension arm 13 is connected by an extension arm connection base 6 with a frustum hole at one end and a frustum at the other end. This ensures that the extension arm 13 has uniform specifications and is easy to rotate. The multi-segment extension arm 13 provides more space for the support rod.

[0049] like Figure 10 As shown in , a hinge seat for installing a support rod and a supporting cylinder is provided on the extension arm 13 of each section. By this structure, the support rod can be installed on the hinge seat of the extension arm 13 according to actual conditions.

[0050] In the preferred solution, a control device is further provided, which is a PLC, and in this example, a Siemens PLC is used to collect sensor signals and output control instructions.

[0051] The control device is electrically connected to the outer support cylinder 12 and the inner support cylinder 11; the connection described in this example includes direct connection and indirect connection. The electrical connection here refers to the connection between the control device and the valve group of the hydraulic station, and the control device sends instructions to the valve group to control the extension or stop of the outer support cylinder 12 and the inner support cylinder 11. If an electric push rod is used, the electrical connection refers to the control device sending instructions to the motor of the electric push rod, preferably, sending instructions to the frequency converter of the motor to control the rotation direction and angle of the motor to realize the extension or stop of the electric push rod. At the same time, the sensor of the frequency converter, such as the Hall sensor, feeds back the angle of the motor to the control device.

[0052] Preferably, Figure 4 As shown in the figure, the outer support rods 10 and inner support rods 15 are equipped with end telescopic rods 19. Since the thickness of the formwork is 18-30 mm, the formwork is light, with the beam-column integrated formwork weighing approximately 0.66 tons. Therefore, in this example, a 10 kN electric push rod is preferably used to facilitate fine-tuning. The advantage of using an electric push rod is that it eliminates the need for additional hydraulic pipelines, reducing pipeline leakage.

[0053] Inclination sensors are provided on the reference base 3 and the extension arm 13, and the control device is electrically connected to the inclination sensors; The reference base 3 is also provided with a basic concentric push rod 1 and a basic leveling push rod 2, and an extension arm leveling cylinder 14 is provided on the extension arm 13. The control device is electrically connected to the extension arm leveling cylinder 14 and the end telescopic rod 19; Stroke sensors are installed on the outer support cylinder 12, inner support cylinder 11, extension arm leveling cylinder 14, foundation concentric push rod 1, foundation leveling push rod 2, and end telescopic rod 19. A control device is electrically connected to the stroke sensors. The control device collects data from each sensor and controls the extension and retraction of each push rod or hydraulic cylinder, achieving automated mold erection of the present invention's device.

[0054] Example 2: like Figures 8-11 In combination with the actual situation of project construction, the construction method of the present invention is as follows: S1. Install the reference base 3, sleeve the two halves of the reference base 3 on the reserved column 4, and connect the two halves of the reference base 3 into a whole with bolts at the base connection part 17. The reserved column 4 in this example has a side length of 500mm and a height of 300mm. The reserved column 4 is provided with a reserved longitudinal reinforcement 22, and a threaded sleeve is installed on the longitudinal reinforcement 22. The advantage of the present invention is that the reserved column 4 is processed into a rounded rectangle. This is because the column formwork 200 is processed into a rounded rectangle in the factory and is cast by UHPC (ultra-high performance concrete) through a mold. The formwork in this example has a compressive strength of about 108MPa, a tensile strength of about 15~20MPa, and a thickness of 25mm. The apparent quality of the formwork is excellent, the surface is blue-black, and has a luster similar to that of bluestone slabs. The appearance effect is much better than that of ordinary concrete. It can be directly delivered for surface construction paint or wall cloth without the need for putty, which greatly improves weather resistance and durability.

[0055] S2, reference base 3 adjustment, first adjust the concentricity of reference base 3 and reserved cylinder 4, start the laser located in the middle of the two sides of reference base 3, set a target in the middle of reserved cylinder 4, according to the position where the laser beam falls on the target, the operator sends a command through the control device, such as 3mm left, 2mm back, the corresponding side (in this case, the left and back) of the basic concentric push rod 1 extends from the retracted zero state, when it contacts the surface of the reserved cylinder 4, the motor torque increases, and counting starts from the position where the torque increases. In this case, counting starts with the motor's rotation angle, and the data is provided by the Hall angle sensor of the motor. After receiving the rotation angle data, the control device calculates the stroke in combination with the pitch parameter. When it meets the movement parameters, it stops and checks. After it is correct, the basic concentric push rod 1 on the other side extends to fix the adjustment reference base 3. Preferably, the basic concentric push rod 1 adopts fixed torque control. When the torque exceeds the preset value, it automatically stops to avoid damaging the basic concentric push rod 1, which is also convenient for realizing automatic control.

[0056] Continue to adjust the levelness of the reference base 3. The main reason affecting the levelness of the reference base 3 is the unevenness of the floor. The control device obtains data from the first inclination sensor 29 and the second inclination sensor 30 located on the reference base 3. The basic leveling push rods 2 are located at the four corners of the reference base 3. The lowest position is selected as the reference, and the other basic leveling push rods 2 are adjusted based on the reference. The data feedback from the inclination sensor and the stroke sensor of each basic leveling push rod 2 is used for closed-loop control. The basic leveling push rods 2 at the other three corner positions outside the reference position are adjusted separately to make the reference base 3 level. The first inclination sensor 29 and the second inclination sensor 30 are both MEMS single-axis sensors with high adjustment accuracy.

[0057] S3, fix the reference base 3, use a hydraulic cylinder for the foundation leveling push rod 2, and use a screw jack to fix the reference base 3. Thus, the reference of the support structure is obtained.

[0058] S4, extension arm installation, such as Figure 2 、 3 In this example, the reference base 3 and the extension arm 13 are separated. When installing, the extension arm joint 8 is inserted into the extension arm connecting seat 6, and the frustum is connected with the frustum hole to achieve high straightness and rigidity. The extension arm connecting plate 9 is fixedly connected to the extension arm fixing plate 7 by bolts. Figure 1 In the figure, the bolt holes on the extension arm connecting plate 9 and the extension arm fixing plate 7 are all inclined slots, with the outer side positioned higher and the inner side positioned lower. In this way, the bolts are not easy to fall off during installation. Instead, the bolts can be removed by only loosening the bolts a little bit, and the extension arm 13 can be removed, which greatly improves construction efficiency. The above structure is not only convenient for transportation, but also convenient for replacing different reference bases 3 according to different column sizes, and the foundation concentric push rod 1 and the foundation leveling push rod 2 are both detachable and installable structures. This structure improves the versatility of the equipment of the present invention. Depending on the on-site space, the extension arm on each side can be installed in one or more sections. In this example, the height of the column is about 5 meters, the spacing between the columns is about 10 meters, the length of the extension arm 13 is two meters, and the extension arm 13 on each side is installed in two sections. The two columns are installed at the same time. With this solution, the formwork at the beam position has a higher degree of integrity.

[0059] S5, extension arm adjustment: the control device collects data from the third inclination sensor 31 on the surface of the extension arm 13, and controls the extension and contraction of the extension arm leveling cylinders 14 located on both sides of the extension arm 13 to level the extension arm 13.

[0060] S6. Adjust the column reinforcement cage. Install the inner support rods 15 and inner support cylinders 11. In this example, inner support cylinders 11 are hydraulic cylinders supplied with hydraulic oil from a hydraulic station (not shown). The control device is connected to the valve block of the hydraulic station to control the extension and retraction of inner support cylinders 11. The end connecting plates 20 are fixedly connected to the end extension rods 19. In this example, inner support rods 15 are steel pipes with a diameter of 100 mm and a wall thickness of 10 mm.

[0061] The hoisting device hoists the column reinforcement cage 100 above the reserved longitudinal reinforcement 5. Adjust the outer support cylinder 12 and the end telescopic rod 19 to the preset length. The preset length is calculated based on the hinge position of the inner support rod 15 and the stroke of the outer support cylinder 12 and the end telescopic rod 19. The longitudinal reinforcement 22 is fixed to the component connecting plate 20 via U-bolts 21. Fine-tune the length of the outer support cylinder 12 and the end telescopic rod 19 of each extension arm 13 to ensure that the length is consistent, so that the column reinforcement cage 100 remains vertical. If necessary, use a plumb bob, total station, or laser radar to assist in checking the verticality of the column reinforcement cage 100. Connect the threaded sleeve to the longitudinal reinforcement 22 of the column reinforcement cage 100.

[0062] S7. Adjust the column formwork. Secure the backing plate 27 to the surface of the column formwork 200 with a clamp. Hoist the column formwork 200 above the reserved column 4. Disconnect the component connecting plate 20 from the column reinforcement cage 100. Lower the column formwork 200. Adjust the outer support cylinder 12 and the end telescopic rod 19 to the preset length. Connect the component connecting plate 20 to the backing plate 27 on the outside of the column formwork 200 with screws. Use a total station, laser radar, or plumb line to check the verticality of the column formwork 200. Fine-tune the end telescopic rod 19 to accurately position the column formwork 200.

[0063] Install the patching formwork 300; S8. Adjust the integrated beam-column formwork. Use clamps to secure the backing plate 27 to the surface of the integrated beam-column formwork 400. During installation, install support rods within the "U"-shaped beam formwork of the integrated beam-column formwork 400 to prevent deformation. Install the outer support rods 10 and outer support cylinders 12 on the outer extension arms 13. Adjust the outer support rods 10 and outer support cylinders 12 to the preset lengths. Securely connect the end connectors 18 of the end telescopic rods 19 to the end connecting plates 26. Secure the component connecting plates 20 to the backing plate 27 with screws. Use a total station and laser radar to monitor the position of the integrated beam-column formwork 400. Fine-tune the end telescopic rods 19 to ensure precise positioning of the integrated beam-column formwork 400. If necessary, such as when constructing two columns and connecting beams simultaneously, erect a full-height support to provide further support for the integrated beam-column formwork 400. These steps ensure precise installation of the column reinforcement cage 100, column formwork 200, and integrated beam-column formwork 400. After pouring, vibrating, and curing, the beam-column structure is precisely constructed. After reaching a predetermined age, the device is removed and the backing plate removed, resulting in a smooth, weather-resistant, and durable beam-column structure. In addition to providing support for the non-removable formwork for beams and columns, the device also supports the wall panel formwork.

[0064] The above embodiments are merely preferred technical solutions of the present invention and should not be construed as limiting the present invention. The embodiments and features in the embodiments of this application may be arbitrarily combined with each other unless they conflict. The scope of protection of the present invention shall be the technical solutions described in the claims, including equivalent alternatives to the technical features of the technical solutions described in the claims. Equivalent alternatives and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A mold-erecting robot for highly weather-resistant and durable non-disassembly beam and column formwork, characterized by: It includes a reference base and an extension arm, the reference base is used to connect with the reserved column, the extension arm is connected to the reference base, the extension arm extends horizontally, and an outer support rod and an inner support rod are provided on the extension arm, the outer support rod is connected to the extension arm through an outer support cylinder, and the inner support rod is connected to the extension arm through an inner support cylinder; External and internal bracing rods are used to support the reinforcement cage or formwork.

2. The mold-erecting robot for highly weather-resistant and durable non-disassembly beam and column formwork according to claim 1 is characterized by: The outer support rod and the inner support rod are a multi-section connection structure, and end telescopic rods are provided at the ends of the outer support rod and the inner support rod; Stroke sensors are provided on the end telescopic rod, the outer support cylinder and the inner support cylinder.

3. The mold-erecting robot for highly weather-resistant and durable non-disassembly beam and column formwork according to claim 2 is characterized by: The inner support rod is hinged to the extension arm at a position away from the reference base, one end of the inner support cylinder is hinged to the extension arm, and the other end of the inner support cylinder is hinged to the inner support rod; The outer support rod is located near the reference base and is hinged to the extension arm, one end of the outer support cylinder is hinged to the extension arm, and the other end of the outer support cylinder is hinged to the outer support rod; In a narrow position, the outer support cylinders and the inner support cylinders are staggered, the hinge positions of the outer support cylinders, the extension arms and the outer support rods are offset, and the hinge positions of the inner support cylinders, the extension arms and the inner support rods are offset.

4. The mold erecting robot for highly weather-resistant and durable non-disassembly beam and column formwork according to claim 1 or 2, characterized in that: An end connecting seat is provided at the free end of the outer support rod and the inner support rod, and a component connecting plate is also provided. A plurality of holes are provided on the component connecting plate. An end hinge seat is provided on the back side of the end connecting seat. The end hinge seat is hinged to the hinged rod. An end connecting plate is provided at the free end of the hinged rod. The end connecting plate is fixedly connected to the end connecting seat. The component connecting plate is used to connect with the column reinforcement cage, the column formwork and the beam-column integrated formwork.

5. The mold erecting robot for a highly weather-resistant and durable non-disassembly beam and column formwork according to any one of claims 1 to 3, characterized in that: The reference base is a hollow cylindrical structure, and the reference base is used to be socketed with the reserved column; The reference base is provided with a leveling device, which is a plurality of basic leveling push rods pointing to the ground provided on the reference base; An inclination sensor is provided on the reference base; A stroke sensor is provided on the basic leveling push rod; A plurality of extension arm connecting seats are provided on the edge of the reference base for connecting the extension arms.

6. The mold erecting robot for highly weather-resistant and durable non-disassembly beam and column formwork according to claim 5 is characterized by: The reference base is provided with a concentricity adjustment device with the reserved column; The concentric adjustment device is a device provided on the reference base with a plurality of basic concentric push rods pointing to the surface of the reserved column, which is used to make the reference base concentric with the reserved column; A stroke sensor is provided on the basic concentric push rod; A laser facing the reserved column is provided on the reference base, and a corresponding target is provided on the reserved column.

7. The mold erecting robot for a highly weather-resistant and durable, non-disassembly-required beam and column formwork according to any one of claims 1 to 3, characterized in that: The reference base adopts a split structure; The base base is provided with a base connection part near the corner, which adopts a flange connection structure and is fixed by bolts; There are two inclination sensors, which are located at two parts of the reference base respectively, and the inclination sensors each detect the inclination in one direction.

8. The mold erecting robot for a highly weather-resistant and durable, non-disassembly-required beam and column formwork according to any one of claims 1 to 3, characterized in that: An extension arm connection seat is provided on at least one side of the reference base, a frustum hole or a frustum is provided on the extension arm connection seat, a corresponding frustum or frustum hole is provided on the end of the extension arm, an extension arm fixing plate and an extension arm connecting plate are provided at corresponding positions of the extension arm connection seat and the extension arm, and the extension arm fixing plate and the extension arm connecting plate are connected by bolts; An inclination sensor is provided on the extension arm; Extension arm leveling cylinders are provided on both sides of the extension arm.

9. The mold erecting robot for highly weather-resistant and durable non-disassembly beam and column formwork according to claim 8, characterized in that: The extension arm adopts a multi-section connection structure, and each section is connected by flanges or extension arm connecting seats; A hinge seat for installing a support rod and a support cylinder is provided on the extension arm of each section.

10. The mold erecting robot for highly weather-resistant and durable non-disassembly beam and column formwork according to any one of claims 1 to 3, characterized in that: A control device is also provided, which is used to collect sensor signals and output control instructions; The control device is electrically connected to the outer support cylinder and the inner support cylinder; End telescopic rods are provided on the outer support rods and the inner support rods; Inclination sensors are provided on the reference base and the extension arm, and the control device is electrically connected to the inclination sensors; The reference base is also provided with a basic concentric push rod and a basic leveling push rod, and the extension arm is provided with an extension arm leveling cylinder. The control device is electrically connected to the extension arm leveling cylinder and the end telescopic rod; Stroke sensors are provided on the outer support cylinder, the inner support cylinder, the extension arm leveling cylinder, the base concentric push rod, the base leveling push rod and the end telescopic rod, and the control device is electrically connected to the stroke sensor.

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