Multi-T-beam wet joint formwork mounting and dismounting device, formwork adjusting method and construction technology

Abstract

The invention belongs to the technical field of fabricated bridge construction, and particularly relates to a multi-T-beam wet joint formwork mounting and dismounting device and method and a construction technology. The device comprises a crane which is arranged between wet joints of adjacent T-beams and can walk on the T-beams, the crane is connected with one end of a lifting rope through a lifting winch assembly, the other end of the lifting rope is connected with a formwork, a lifting winch on the crane can adjust the length of the lifting rope, then the height of the formwork is adjusted, and the formwork is located at the target position between the adjacent T-beams. When the formwork is located at the target position, the formwork and the adjacent T beams form a containing space with an opening in the top, and concrete is poured and contained; when the formwork is perpendicular to the lower portion of the tie connecting piece so that the lifting rope can intersect with the tie connecting piece, the first winch conducts paying-off action, the second winch conducts taking-up action, the tie connecting piece drives the lifting rope to move in the preset direction, and therefore the formwork is adjusted from the wet joint where the formwork is located to the adjacent wet joint or the edge where the multiple T-beams are connected.

Description

Technical Field

[0001] The present application belongs to the technical field of prefabricated bridge construction, and in particular relates to a device, method and construction process for installing and removing a multi-piece T-beam wet joint formwork. Background Art

[0002] In prefabricated bridge construction, cast-in-place wet-jointing technology is commonly used for transverse connections between precast beams in the superstructure. Traditional wet-joint formwork construction utilizes a suspended formwork process beneath the bridge: the formwork must be pre-placed on the ground beneath the bridge, hoisted to an elevated work surface using crane equipment, and then removed and lowered for recycling after the concrete pour is complete. This process has several bottlenecks: Poor terrain adaptability: When bridges span rivers, lakes, or operating roads, there is no ground space beneath the bridge to place the formwork, requiring the coordination of rescue boats or vehicles, significantly increasing coordination costs and safety risks.

[0003] Therefore, there is an urgent need for a multi-piece T-beam wet joint formwork installation and disassembly device and construction method to solve the problem of poor terrain adaptability of the wet joint formwork. Summary of the Invention

[0004] Based on this, it is necessary to provide a multi-piece T-beam wet joint formwork installation and disassembly device, method and construction process to address the above technical problems.

[0005] In a first aspect, the present application provides a device for installing and removing a multi-piece T-beam wet joint formwork, comprising: The crane is arranged between the wet joints of adjacent T-beams and can travel on the T-beams. The crane is connected to one end of a lifting rope via a lifting winch assembly, and the other end of the lifting rope is connected to the formwork. The lifting winch on the crane can adjust the length of the lifting rope, thereby adjusting the height of the formwork, so that the formwork is located at a target position between adjacent T-beams. Two groups of first winches and second winches are used to connect with multiple pieces of T-beams, the outermost sides of the multiple pieces of T-beams are the first T-beam and the second T-beam respectively, the first winches are arranged at both ends of the first T-beam, and the second winches are arranged at both ends of the second T-beam, one group of the first winches and the second winches are connected by a first traction rope, and the other group of the first winches and the second winches are connected by a second traction rope, and the first traction rope and the second traction rope are connected by a tie connector; wherein, When the template is located at the target position, it is used to form a receiving space with an open top with the adjacent T-beam for pouring and receiving concrete; When the template is lowered to the bottom of the tie connector so that the suspension rope crosses the tie connector, the first winch pays out the rope and the second winch takes it up, so that the tie connector drives the suspension rope to move in a preset direction, thereby adjusting the template from the wet joint where it is located to the adjacent wet joint or the edge where multiple T-beams are connected; The hoisting winch assembly comprises a hoisting winch body, a camera, a hoisting winch position adjusting mechanism and a control system, The hoisting winch body is connected with the hoisting rope and controls the hoisting action of the hoisting rope; The camera is connected with the control system, used for shooting the template and the adjacent T beam, forming an image and transmitting to the control system; The control system is connected with the hoisting winch position adjusting mechanism, used for receiving the image and forming a position adjusting instruction according to the image; The hoisting winch position adjusting mechanism is arranged at the center position of the crane, connected with the hoisting winch body, used for receiving the adjusting instruction and adjusting the position of the hoisting winch body.

[0006] In some modes, the top of the crane is arranged with a hoisting winch assembly, and the wheels on both sides of the crane are arranged on the adjacent T beams respectively, so that the central part of the crane is suspended between the adjacent T beams.

[0007] In some modes, the bottom wall of the template is arranged with at least two hoisting rib holes, and the two hoisting rib holes are arranged at the two ends of the bottom wall respectively; the template is spliced by plywood, and the bottom of the plywood is fixed by cross beams and longitudinal beams.

[0008] In some modes, a protection structure is further arranged at the outermost side of the first T beam and the second T beam, so that the first traction rope contacts the side of the protection structure away from the first T beam when moving, reducing friction; and the second traction rope contacts the side of the protection structure away from the second T beam when moving, reducing friction.

[0009] In some modes, the edge of the template is provided with a closed-cell foam strip; when the template is located at the target position, the closed-cell foam strip blocks the gap between the template and the T beam.

[0010] In some modes, the hoisting winch position adjusting mechanism comprises a plurality of electric telescopic rods; the fixed end of the electric telescopic rod is connected with the top of the frame of the crane, and the telescopic end of the electric telescopic rod is swing-connected with the hoisting winch body in the horizontal direction.

[0011] In some modes, the number of the electric telescopic rods is four, and the four electric telescopic rods are connected with the frame and the hoisting winch body in four directions respectively, and two electric telescopic rods in opposite directions are arranged in a staggered manner.

[0012] In some modes, the top of the frame is square.

[0013] In a second aspect, the present application provides a method for adjusting a T-beam wet joint formwork, which is applied to the T-beam wet joint formwork mounting and dismounting device, and the method comprises the following steps: acquiring images of adjacent T-beams and a formwork, to obtain a distance between the adjacent T-beams, and a width and a length of the formwork; determining an optimal distance between the formwork width direction and the adjacent T-beams according to the distance of the wet joint and the width of the formwork; acquiring current images of the current wet joint, the adjacent T-beams and the formwork below the wet joint; determining a positional relationship between the current adjacent T-beams and the formwork according to the current images; determining a horizontal direction adjustment angle of the formwork according to the optimal distance and the positional relationship between the current adjacent T-beams and the formwork; generating an adjustment instruction according to the horizontal direction adjustment angle of the formwork.

[0014] In a third aspect, the present application provides an intelligent construction process for mounting and dismounting a T-beam wet joint formwork, which is applied to the T-beam wet joint formwork mounting and dismounting device, and the construction process comprises the following steps: moving a crane to a first position, connecting the formwork with a hoisting rope, and adjusting the length of the hoisting rope by using a hoisting winch assembly, so that the formwork is lifted to a first target position; fixing the formwork by using flange plates of the T-beam, and disconnecting the formwork from the hoisting rope; pouring concrete into a containing space formed by the formwork and the T-beam; controlling the crane to move to a second position on the T-beam, connecting the formwork with the hoisting rope, and repeating the actions of lifting the formwork to a second target position, fixing the formwork and pouring concrete into the containing space; after the wet joint of the adjacent T-beam is completed by the action of pouring concrete, and the concrete reaches a required solidification degree, moving the crane to the first position, connecting the crane with the formwork, disconnecting the formwork from the solidified concrete, and lowering the formwork to the intersection of the hoisting rope and a tie connecting piece; implementing a pay-off action by a first winch and a take-up action by a second winch, so that the tie connecting piece moves to one side of the T-beams, and the hoisting rope is moved to one side, while the formwork is moved to the adjacent wet joint, and the action of forming a containing space by the T-beam and the formwork is repeated; after all the wet joints are fixed by the concrete, the formwork is moved to the outermost side of the T-beams by using the first winch and the second winch, and the formwork is hooked by a rope and removed.

[0015] Beneficial effects: A multi-piece T-beam wet joint formwork installation and removal device includes a crane arranged between the wet joints of adjacent T-beams, capable of walking on the T-beams, the crane is connected with one end of a hoisting rope through a hoisting winch assembly, the other end of the hoisting rope is connected with the formwork, the hoisting winch on the crane can adjust the length of the hoisting rope, and then adjust the height of the formwork, so that the formwork is located at the target position between the adjacent T-beams; two groups of first winches and second winches are used to connect with the T-beams, the outermost of the T-beams are the first T-beam and the second T-beam respectively, the first winches are arranged at the two ends of the first T-beam, the second winches are arranged at the two ends of the second T-beam, the first winches and the second winches in one group are connected through a first traction rope, the first winches and the second winches in the other group are connected through a second traction rope, the first traction rope and the second traction rope are connected through a pull connection piece; wherein, when the formwork is located at the target position, it is used to form an open-top containing space with adjacent T-beams, and to pour and contain concrete; when the formwork falls below the pull connection piece so that the hoisting rope intersects with the pull connection piece, the first winch performs a pay-off action, and the second winch performs a take-up action, so that the pull connection piece drives the hoisting rope to move in a predetermined direction, thereby adjusting the formwork from the wet joint where it is located to an adjacent wet joint or the edge of the connection of multiple T-beams; the hoisting winch assembly includes a hoisting winch body, a camera, a hoisting winch position adjustment mechanism and a control system, the hoisting winch body is connected with the hoisting rope and controls the hoisting action of the hoisting rope; the camera is connected with the control system, used to shoot the formwork and the adjacent T-beams to form an image and transmit it to the control system; the control system is connected with the hoisting winch position adjustment mechanism, used to receive the image and form a position adjustment instruction according to the image; the hoisting winch position adjustment mechanism is arranged at the center position of the crane and connected with the hoisting winch body, used to receive the adjustment instruction and adjust the position of the hoisting winch body. Through the above structure, the installation, removal and adjustment of the wet joint formwork are realized, which has the advantage of high work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0017] Figure 1 It is a schematic view of the crane of a multi-piece T-beam wet joint formwork installation and removal device and the end face of the T-beams; Figure 2 Figure 1 is a schematic diagram of a template of a multi-piece T-beam wet joint formwork assembly device according to an embodiment; Figure 3 Figure 2 is a schematic diagram of a T-beam of a multi-piece T-beam wet joint formwork assembly device according to an embodiment; Figure 4 Figure 3 is a schematic diagram of a template disassembly and repositioning of a multi-piece T-beam wet joint formwork assembly device according to an embodiment; Figure 5 Figure 4 is a schematic diagram of a template disassembly of a multi-piece T-beam wet joint formwork assembly device according to an embodiment; Figure 6 Figure 5 is a flow chart of a method of adjusting a multi-piece T-beam wet joint formwork according to an embodiment.

[0018] Reference Signs: 1, crane; 2, template; 3, first winch; 4, second winch; 5, hoisting winch main body; 6, protective structure; 7, lifting rib hole; 8, first T-beam; 9, second T-beam; 10, hoisting rope; 11, hitching connecting piece. DETAILED DESCRIPTION

[0019] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the specification of the present application is only for the purpose of describing specific embodiments and is not intended to limit the present application. The term "and / or" used herein includes any and all couplings of one or more relevant listed items.

[0021] It can be understood that the terms "first", "second", etc. used in the present application can be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element.

[0022] As shown in Figures 1 to 5 the first aspect, the present application provides a multi-piece T-beam wet joint formwork assembly device, comprising a crane 1, a template 2, a first winch 3 and a second winch 4.

[0023] Specifically, the crane 1 is arranged between the wet joints of adjacent T-beams and can walk on the T-beams. The crane 1 is connected with one end of the hoisting rope 10 through a hoisting winch assembly, and the other end of the hoisting rope 10 is connected with the formwork 2. The hoisting winch on the crane 1 can adjust the length of the hoisting rope 10, and in turn adjust the height of the formwork 2, so that the formwork 2 is located at the target position between the adjacent T-beams.

[0024] The top of the crane 1 is provided with a hoisting winch assembly, and the wheels on both sides of the crane 1 are arranged on the adjacent T-beams respectively, so that the central part of the crane 1 is suspended between the adjacent T-beams.

[0025] Exemplarily, the crane 1 has two wheels on each side of the bottom, so as to support the crane 1 by four wheels and facilitate the movement of the crane 1. The central part of the crane 1 is suspended between the adjacent T-beams, so that the hoisting winch assembly in the center of the crane 1 can be suspended between the wet joints of the adjacent T-beams, facilitating the hoisting of the formwork 2.

[0026] The crane 1 is a frame structure, and the top is a square structure, so that the hoisting winch assembly is arranged in the central area of the frame.

[0027] The hoisting winch assembly includes a hoisting winch body 5, a camera, a hoisting winch position adjusting mechanism and a control system.

[0028] Specifically, the hoisting winch body 5 is connected with the hoisting rope 10 and controls the hoisting action of the hoisting rope 10. The hoisting winch body 5 is a conventional hoisting winch, also known as a winch, which adjusts the length of the hoisting rope 10 by winding. The winding action of the hoisting winch body 5 can be manually operated by using a control button connected with the hoisting winch body 5 to control the winding action of the hoisting winch body 5, or the winding action can be automatically controlled.

[0029] The camera is connected with the control system and is used for shooting the formwork 2 and the adjacent T-beams to form images and transmit the images to the control system. The camera is a conventional camera, which can be arranged on the top of the frame to facilitate shooting the position below, for example, the side of the hoisting winch body 5. The camera is electrically connected with the control system to transmit image data.

[0030] The control system is connected with the hoisting winch position adjusting mechanism and is used for receiving the images and forming position adjusting instructions according to the images. The control system can be a control system stored in a computer, which is used for receiving and processing image data and forming adjusting instructions. The computer of the control system is electrically connected with the hoisting winch position adjusting mechanism, so that the hoisting winch position adjusting mechanism receives the adjusting instructions and executes.

[0031] The lifting winch position adjusting mechanism is arranged at the center of the crane 1, connected with the lifting winch body 5, used for receiving the adjusting instruction and adjusting the position of the lifting winch body 5.

[0032] Specifically, the lifting winch position adjusting mechanism comprises a plurality of electric telescopic rods; the fixed end of the electric telescopic rod is connected with the top of the frame of the crane 1, and the telescopic end of the electric telescopic rod is swing-connected with the lifting winch body 5 in the horizontal direction.

[0033] The number of the electric telescopic rods is four, and the four electric telescopic rods are connected with the frame and the lifting winch body 5 in four directions respectively, and two electric telescopic rods in opposite directions are arranged in a staggered manner.

[0034] It should be noted that the electric telescopic rod can only swing in the horizontal direction and is swing-connected with the lifting winch body 5, and when the electric telescopic rod can only swing horizontally, the lifting winch body 5 can also only swing horizontally. In addition, the telescopic end and the fixed end of the electric telescopic rod can be exchanged as needed, that is, the telescopic end of the electric telescopic rod is connected with the frame, and the fixed end is connected with the lifting winch body 5.

[0035] Further, the opposite electric telescopic rods are arranged in a staggered manner, so that when the opposite electric telescopic rods have the same extension and contraction distance, the horizontal position of the lifting winch body 5 is adjusted, and when the opposite electric telescopic rods have different extension and contraction distances, the rotation angle of the lifting winch body 5 is adjusted, and at this time, the other two electric telescopic rods follow. That is, when the four electric telescopic rods are instructed to have different extensions, the horizontal position and the horizontal angle of the lifting winch body 5 can be adjusted, so that the formwork 2 connected by the lifting rope 10 can adjust the angle and position accordingly, so that the formwork 2 moves relative to the wet joint, thereby being parallel to the T-beam.

[0036] The two groups of first winches 3 and second winches 4 are used for being connected with a plurality of T-beams, and the outermost T-beams are a first T-beam 8 and a second T-beam 9 respectively. The first winches 3 are arranged at both ends of the first T-beam 8, and the second winches 4 are arranged at both ends of the second T-beam 9. The first winches 3 and the second winches 4 in one group are connected by a first traction rope, the first winches 3 and the second winches 4 in the other group are connected by a second traction rope, and the first traction rope and the second traction rope are connected by a pull connecting piece. The first winch 3 and the second winch 4 are both conventional winches, and the shape of the winch is not limited in the application, and the winch is also called a hoist.

[0037] The pull-in connecting member (rope) is connected at the same position of the first traction rope and the second traction rope. When the first winch 3 and the second winch 4 are in action, the pull-in connecting rope moves along the length direction of the first traction rope and the second traction rope, that is, the width direction of the plurality of T-beams. The pull-in connecting rope plays a role of intercepting the hoisting rope 10. When the hoisting rope 10 crosses the pull-in connecting rope, the hoisting rope 10 moves to the position of the adjacent wet joint or one end of the plurality of T-beams along with the pull-in connecting rope. In this process, the length of the hoisting rope 10 can be increased by paying out the hoisting winch body 5.

[0038] At least two lifting rib holes 7 are arranged on the bottom wall of the template 2, and two lifting rib holes 7 are arranged at both ends of the bottom wall, respectively. The template 2 is spliced by plywood, and the bottom of the plywood is fixed by cross beams and longitudinal beams. Exemplarily, after the plywood is cut to the required size, splicing is performed. Next, the cross beams are arranged along the length direction of the plywood, and the length of the cross beam is L square wood, and the longitudinal beams are arranged along the width direction of the plywood, and the length of the longitudinal beam is B square wood, so as to complete the reinforcement and splicing of the plywood.

[0039] The lifting rib hole 7 is arranged on the longitudinal beam to ensure the stability of hoisting.

[0040] When the template 2 is located at the target position, it is used to form a top opening containing space with the adjacent T-beam, and to pour the contained concrete; when the template 2 is lowered below the pull-in connecting member so that the hoisting rope 10 crosses the pull-in connecting member, the first winch 3 performs the paying-out action, and the second winch 4 performs the winding action, so that the pull-in connecting member drives the hoisting rope 10 to move in the preset direction, thereby adjusting the wet joint where the template 2 is located to the adjacent wet joint or the edge connected by the plurality of T-beams.

[0041] The hoisting rope 10 is fixed on the lifting rib at both ends of each template 2, and the lifting rib is inserted into the lifting rib hole 7 of the template 2. The two hoisting ropes 10 connecting the templates 2 are lowered from the bridge wet joint to the bridge below by using the winch, and the winch is automatically adjusted to the appropriate position. After reaching the position, the winch is used to lift upward, and the lifting rib is tightly fixed on the bridge steel pipe. The tightness of the lifting rib is further checked to ensure that the bottom mold does not fall, separate, and run slurry during pouring concrete.

[0042] After the first flange plate wet joint pouring is completed and has the condition of removing the mold, the top support steel pipe is removed, the two ends of the template 2 are hung by the rope 10, the template 2 is lowered to the pull connection below through the winch adjustment, the pull connection and the rope 10 are started to be transposed to the lower end of the next flange plate wet joint to be applied, the bridge workers use the rope hook to hook the rope 10 to the next flange plate wet joint on the bridge, the rope 10 is fixed on the wet joint construction winch of the next wet joint, the template 2 is lifted to the second wet joint to be applied, and the template 2 is installed again to complete the template 2 removal and transposition.

[0043] After the flange plate wet joint construction between the prefabricated beams of the bridge is completed, the template 2 of the span is removed, the first winch 3 and the second winch 4 drive the pull connection and the rope 10 to be transposed to the side edge of the side beam, the bridge workers use the rope hook to hook the rope 10 to the bridge, and then the template 2 is pulled to the bridge to complete the removal of the single-span template 2.

[0044] In an embodiment, a protective structure 6 is further included, which is arranged at the outermost side opposite to the first T beam and the second T beam, so that the first traction rope contacts the side of the protective structure 6 away from the first T beam when moving, thereby reducing friction; and the second traction rope contacts the side of the protective structure 6 away from the second T beam when moving, thereby reducing friction.

[0045] Exemplarily, the protective structure 6 can be a PVC pipe, specifically, two traction rope rings are arranged at the two ends of the beam body for each-span beam body wet joint construction, and the PVC pipe is fixed at the outer side beam body corner position (traction rope arrangement and beam body contact area) at the two ends of the side beam before the prefabricated T beam is erected. The DN110 PVC pipe is cut in the middle, and one half of the PVC pipe is fixed on the T beam by using double-sided adhesive and adhesive tape, so as to ensure that the rotating traction rope does not damage the beam body.

[0046] When the T beam is erected, the construction personnel on the pier surround the prefabricated beam plate periphery with the traction rope, the two ends of the traction rope are connected with the two winches on the bridge, the pull connection is fixed with the two ends of the traction rope, the winch is fixed on the T beam prefabricated bridge surface by using the pre-set bridge embedded part, and the length of the traction rope is automatically adjusted to a reasonable position.

[0047] As shown in FIG. 1, in a first aspect, a multi-piece T beam wet joint template mounting and dismounting device is provided. Figure 6 As shown in FIG. 1, in a first aspect, a multi-piece T beam wet joint template mounting and dismounting device is provided. S100, acquiring an image of adjacent T beams and an image of a template, obtaining a distance of a wet joint between the adjacent T beams and a width and a length of the template.

[0048] Specifically, when the crane is in place, the camera on it is used to take downward images of the T-beams, which include adjacent T-beams and wet joints. In this way, the distance between adjacent T-beams can be obtained, thereby obtaining the distance of the wet joints between adjacent T-beams.

[0049] It should be noted that when the distance between the camera and the bottom of the crane is fixed, the T-beam can be extended in the horizontal direction to obtain the vertical distance between the camera and the T-beam. , given the pixel count of the known camera In case of width, wet joint width Calculation: ; in, Indicates the equivalent focal length of the camera, Indicates the vertical distance from the camera to the top surface of the T beam, Indicates the pixel width of wet seams in the image.

[0050] Construct a calibration object within the camera's field of view, such as a screw from a crane or a calibration plate. If the object's dimensions are known, calculate the template's dimensions (including its length and width) based on the ratio of the object's dimensions to the template's dimensions in the same image.

[0051] S200 , determining an optimal distance between the template and the adjacent T-beam in the width direction according to the distance of the wet joint and the width of the template.

[0052] Specifically, for example, the distance of the wet joint is 100 and the width of the template is 100, then the optimal distance is 0. If the width of the template is 95, then the distance between the template and the two sides of the wet joint is 2.5 respectively. In other words, the template is centered on the wet joint.

[0053] S300: Acquire a current image of the current wet joint, the adjacent T-beam, and the template below the wet joint.

[0054] Specifically, since the template is to be moved upward below the T-beam surface, the purpose is to straighten the template. Therefore, it is necessary to obtain the current image of the template below the adjacent T-beam and the wet joint.

[0055] S400: Determine the positional relationship between the currently adjacent T-beams and the template according to the current image.

[0056] Specifically, the positional relationship between the T-beam and the template can be determined based on the current image. For example, the template is rotated by a certain angle so that an edge or a corner of the template overlaps with the T-beam in the vertical direction.

[0057] Need to explain, this kind of reason may be caused by the crane and T beam not parallel, etc., the need for artificial adjustment of the direction of the crane, so as to ensure that the template is lifted, parallel to the T beam. Because the crane is on the T beam, there is no track, so in the process of crane movement, can be offset, resulting in not parallel to the T beam, but this non parallel, often observed by staff, this also caused the problem of not parallel, that is, the vertical direction of the template and T beam partially overlap. In this case, if you want the template to enter the wet joint smoothly in the process of lifting, the angle of the template needs to be adjusted.

[0058] S500, according to the optimal distance, and the current position relationship between the adjacent T beam and the template, determine the horizontal direction adjustment angle of the template.

[0059] Specifically, in the foregoing steps, it has been clear that the template and the T beam may partially overlap, if you want to right the template, you need to determine the angle of rotation of the template righting. At this time, the known width and length of the template can be used to determine the current width and length of the template after overlapping, so as to know the width and length of the part blocked by the T beam.

[0060] Next, according to the width and length of the blocked part, the angle of rotation of the template is calculated.

[0061] The calculation formula is: ; Among them, represents the width direction blocking amount, represents the length direction blocking amount, represents the rotation angle to be adjusted.

[0062] , the angle between the current offset direction of the template and the axis is calculated, and the rotation angle is converted. , the rotation direction is determined (left block counterclockwise, right block clockwise).

[0063] S600, according to the horizontal direction adjustment angle of the template, generate adjustment instruction.

[0064] Specifically, according to the horizontal direction adjustment angle of the template, the quantity is decomposed, and the decomposition is carried out in four directions respectively, forming different lengths, so that the adjustment instruction is formed according to the different lengths, and the adjustment instruction is sent to the electric telescopic rod, so that the electric telescopic rod can be stretched and contracted according to the instruction, and the horizontal direction angle adjustment of the hoisting winch body is completed.

[0065] Specifically, in the step S500, the horizontal direction adjustment angle of the template is obtained After that, the four angle telescopic amount is calculated: ; ; ; ; wherein, represents the nominal rotation radius of the telescopic rods, represents the telescopic extension of the east rod, represents the telescopic extension of the west rod, represents the telescopic extension of the south rod, represents the telescopic extension of the north rod, represents the east-west translational amount, represents the north-south translational amount, represents the horizontal adjustment angle of the template, represents the misalignment distance of the east rod to the north, represents the misalignment distance of the south rod to the east. For the convenience of understanding, the four electric telescopic rods are named in the east-west-south-north four directions.

[0066] The translational term ( , ) controls the linear movement of the winch in the horizontal plane, which is used to align the wet joint. East-west translation , , the east rod and the west rod are synchronously extended, and the winch is moved eastward as a whole, , the east rod and the west rod are synchronously contracted, and the winch is moved westward as a whole; north-south translation , , the north rod is extended + the south rod is contracted, and the winch is moved northward as a whole, , the north rod is contracted + the south rod is extended, and the winch is moved southward as a whole.

[0067] Rotational movement: When counterclockwise rotation : the east rod is extended (pushes the winch to the west); the west rod is contracted (pulls the winch to the west); the south rod is contracted (pulls the winch to the north); the north rod is contracted (pulls the winch to the south).

[0068] Clockwise rotation : the east rod is contracted (pulls the winch to the east); the west rod is extended (pushes the winch to the east); the south rod is extended (pushes the winch to the south); the north rod is extended (pushes the winch to the north).

[0069] Misalignment distance , ) to increase the effective radius of rotation: East / West rod: ; South / North rod: . Misalignment can improve the accuracy of rotation control (enhanced leverage), such as 10mm north of the east rod, 10mm south of the west rod, .

[0070] where the sign of the south rod is reversed , to compensate for the opposite direction of the south rod thrust and coordinate definition (the south rod needs to be explicitly reversed because the thrust direction is the same as the naming direction). The installation direction is reversible, and the overall formula is negative to adapt to the installation mode of the extension end in the frame.

[0071] Through the above formula, horizontal translation (X / Y direction) and rotation control can be realized at the same time, the thrust direction of the south rod is automatically compensated, and misalignment and reversible installation direction are compatible.

[0072] As shown in Figure 1 , Figure 4 and Figure 5 , in a third aspect, the application provides an intelligent installation and removal construction process for a multi-piece T-beam wet joint formwork, applied to the aforementioned multi-piece T-beam wet joint formwork installation and removal device, the construction process comprising: The crane moves to the first position, connects the formwork with the lifting rope, and adjusts the length of the lifting rope using the hoisting winch assembly to make the formwork rise to the first target position; The formwork is fixed using the flange plate of the T-beam, and the formwork is disconnected from the lifting rope; Using concrete, pouring concrete into the containing space formed by the formwork and the T-beam; Control the crane to move to the second position on the T-beam, connect the formwork with the lifting rope, repeat the action of lifting the formwork to the second target position, and the actions of fixing the formwork and pouring concrete; After the wet joint of the adjacent T-beam is completed and the concrete reaches the required solidification degree, move the crane to the first position, connect the formwork, separate the formwork from the solidified concrete, and lower the formwork to the intersection of the lifting rope and the tie connection; The first winch performs the action of paying out the line, and the second winch performs the action of taking up the line, so that the tie connection moves to one side of the plurality of T-beams, driving the lifting rope to move to one side, while the formwork follows to the adjacent wet joint, and the action of forming a containing space by the T-beam and the formwork is repeated; After all the wet joints are fixed by the concrete, the formwork is exchanged by the first winch and the second winch, moved to the outermost side of the T-beam, and lifted by the rope hook to remove the formwork.

[0073] It should be noted that the construction process can refer to the description of the T-beam wet joint formwork mounting and dismounting device, which will not be repeated here.

[0074] Figure 5 Fig. 1 shows the position of the formwork, Fig. 2 shows the position of the formwork after the formwork is lifted by the connecting member, and Fig. 3 shows the position of the formwork after the formwork is lifted by the rope hook and the new formwork is mounted at the adjacent wet joint.

[0075] Figure 6 Fig. 4 shows the position of the formwork after the concrete is poured to complete the wet joint of the T-beam, and Fig. 5 shows the position of the formwork after the formwork is dismounted. Figure 6 Fig. 1 shows the position of the formwork, Fig. 2 shows the position of the formwork after the formwork is lifted by the connecting member, and Fig. 3 shows the position of the formwork after the formwork is lifted by the rope hook and the new formwork is mounted at the adjacent wet joint.

[0076] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiments. Any reference to memory, storage, database or other medium in the embodiments provided by the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0077] The embodiments in the present disclosure are described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments.

[0078] The scope of the present disclosure is not limited to the above-described embodiments, and it will be apparent to those skilled in the art that various changes and modifications can be made thereto without departing from the scope and spirit of the present disclosure. The present disclosure is intended to include such changes and modifications within the scope and spirit of the claims made herein and their equivalents.

Claims

1. A device for installing and removing multiple T-beam wet joint templates, characterized in that: include: The crane is arranged between the wet joints of adjacent T-beams and can travel on the T-beams. The crane is connected to one end of a lifting rope via a lifting winch assembly, and the other end of the lifting rope is connected to the formwork. The lifting winch on the crane can adjust the length of the lifting rope, thereby adjusting the height of the formwork, so that the formwork is located at a target position between adjacent T-beams. Two groups of first winches and second winches are used to connect with multiple pieces of T-beams, the outermost sides of the multiple pieces of T-beams are the first T-beam and the second T-beam respectively, the first winches are arranged at both ends of the first T-beam, and the second winches are arranged at both ends of the second T-beam, one group of the first winches and the second winches are connected by a first traction rope, and the other group of the first winches and the second winches are connected by a second traction rope, and the first traction rope and the second traction rope are connected by a tie connector; wherein, When the template is located at the target position, it is used to form a receiving space with an open top with the adjacent T-beam for pouring and receiving concrete; When the template is lowered to the bottom of the tie connector so that the suspension rope crosses the tie connector, the first winch pays out the rope and the second winch takes it up, so that the tie connector drives the suspension rope to move in a preset direction, thereby adjusting the template from the wet joint where it is located to the adjacent wet joint or the edge where multiple T-beams are connected; The hoisting winch assembly includes a hoisting winch body, a camera, a hoisting winch position adjustment mechanism and a control system. The hoisting winch body is connected to the hoisting rope and controls the hoisting action of the hoisting rope; The camera is connected to the control system and is used to photograph the template and the adjacent T-beam, form an image, and transmit the image to the control system; The control system is connected to the hoisting winch position adjustment mechanism, and is used to receive the image and generate a position adjustment instruction based on the image; The hoisting winch position adjustment mechanism is arranged at the center of the crane and is connected to the hoisting winch body, and is used to receive the adjustment instruction and adjust the position of the hoisting winch body.

2. The multi-piece T-beam wet joint formwork installation and removal device according to claim 1 is characterized in that: A hoisting winch assembly is arranged on the roof of the crane, and wheels on both sides of the crane are respectively arranged on adjacent T-beams, so that the central part of the crane is suspended between adjacent T-beams.

3. The multi-piece T-beam wet joint formwork installation and removal device according to claim 1, characterized in that: At least two hanging rod holes are arranged on the bottom wall of the template, and the two hanging rod holes are respectively arranged at both ends of the bottom wall; the template is made of plywood, and the bottom of the plywood is fixed by a crossbeam and a longitudinal beam.

4. The multi-piece T-beam wet joint formwork installation and removal device according to claim 1, characterized in that: It also includes a protective structure, which is arranged on the outermost sides relative to the first T-beam and the second T-beam, so that when the first traction rope moves, it contacts the side of the protective structure away from the first T-beam to reduce friction; when the second traction rope moves, it contacts the side of the protective structure away from the second T-beam to reduce friction.

5. The multi-piece T-beam wet joint formwork installation and removal device according to claim 1, characterized in that: A closed-cell foam strip is provided at the edge of the template; when the template is located at the target position, the closed-cell foam strip blocks the gap between the template and the T-beam.

6. The multi-piece T-beam wet joint formwork installation and removal device according to claim 1, characterized in that: The hoisting winch position adjustment mechanism includes a plurality of electric telescopic rods; the fixed ends of the electric telescopic rods are connected to the top of the crane frame, and the telescopic ends of the electric telescopic rods are connected to the hoisting winch body in a horizontal swinging manner.

7. The device for installing and removing multiple T-beam wet joint templates according to claim 6, characterized in that: There are four electric telescopic rods, and the four electric telescopic cylinders are respectively connected to the frame and the hoisting winch body in four directions, and two electric telescopic cylinders in opposite directions are staggered.

8. The device for installing and removing multiple T-beam wet joint formwork according to claim 6 or 7, characterized in that: The top of the frame is square.

9. A method for adjusting a multi-piece T-beam wet joint template, characterized in that: The device for installing and removing a multi-piece T-beam wet joint formwork according to any one of claims 1 to 8 comprises: Acquire images of adjacent T-beams and an image of a template, and obtain the distance of wet joints between adjacent T-beams, and the width and length of the template; Determining the optimal distance between the template and the adjacent T-beam in the width direction according to the distance of the wet joint and the width of the template; Obtaining a current image of the current wet joint, the adjacent T-beam, and the template below the wet joint; Determining the positional relationship between the currently adjacent T-beams and the template according to the current image; Determining a horizontal adjustment angle of the template according to the optimal distance and the current positional relationship between the adjacent T-beams and the template; An adjustment instruction is generated according to the horizontal adjustment angle of the template.

10. An intelligent installation and disassembly process for multiple T-beam wet joint templates, characterized in that: The device for installing and removing a multi-piece T-beam wet joint formwork according to any one of claims 1 to 8, wherein the construction process comprises: The crane moves to a first position, connects the template to the lifting rope, and uses a lifting winch assembly to adjust the length of the lifting rope to lift the template to a first target position; Fix the template using the flange plate of the T-beam and separate the template from the hanging rope; Using concrete, the formwork and the T-beam form a receiving space with an open top, and pouring the receiving concrete; Controlling the crane to move to a second position on the T-beam, connecting the template to the lifting rope, and repeating the steps of raising the template to a second target position, fixing the template, and pouring concrete to accommodate the template; After the concrete pouring of the wet joints of the adjacent T-beams is completed and the concrete reaches the required degree of solidification, the crane is moved to the first position and connected to the formwork, the formwork is separated from the solidified concrete, and the formwork is lowered until the lifting rope intersects the tie connector; The first winch performs a wire-releasing action, and the second winch performs a wire-reeling action, so that the tie connector moves toward one side of the plurality of T-beams, driving the suspension rope to move toward one side, while the template moves to the adjacent wet joint, and repeating the action of forming an accommodation space between the T-beam and the template; After all wet joints are fixed by concrete, the template is moved to the outermost side of the plurality of T-beams by using the first winch and the second winch, and the template is hooked up by a rope and removed.

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