Intelligent formwork construction robot and construction process thereof

Abstract

The application discloses a kind of intelligent mould frame construction robots and its construction process, it is related to building construction equipment technical field.The base frame, integrated module, lifting mechanism and control system are included, the base frame includes pedestal and frame body, the integrated module includes keel frame, beam side formwork and beam bottom formwork, beam side formwork is installed on frame body by keel frame, beam bottom formwork is combined with beam side formwork as the forming space for pouring and forming concrete beam, lifting mechanism includes transmission shaft and the first drive unit and second drive unit of driving connection with transmission shaft, the first drive unit is installed on keel frame, for driving beam side formwork moves along the axial movement of transmission shaft, the top end of transmission shaft passes through keel frame and is connected on beam bottom formwork, the second drive unit is installed on base frame, and is used to drive beam side formwork and beam bottom formwork overall synchronous lifting, control system is respectively electric signal connection with the first drive unit, second drive unit.The application can greatly reduce labor intensity, significantly improve construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of building construction equipment technology, specifically to an intelligent formwork construction robot and its construction process. Background Technology

[0002] In the current construction market, residential buildings, underground garages, industrial plants and other buildings are mostly shear wall and frame structures, and the beam formwork adopts cast-in-place concrete formwork construction technology. In existing technologies, the traditional beam formwork construction process is as follows: 1. Formwork installation: First, materials are manually transported to the construction room. Then, the base supports are placed, the base support nuts are adjusted, the base is installed, the horizontal bars are installed, the locking pins are tightened, the uprights are installed, the position of the flower plate holes is adjusted, the horizontal bars are installed, the top supports are installed, and the height of the top supports is adjusted. Then, the main joists and secondary joists, the formwork, the bottom beam formwork, the side beam formwork, and the beam clamps are used for reinforcement. 2. Formwork dismantling: After the concrete is poured and the dismantling requirements are met, the formwork is dismantled. The horizontal bars of the frame are removed in sequence, the locking pins are knocked off, the horizontal bars are removed, the screw nuts are knocked off, the height of the top or bottom supports is lowered, the uprights are removed, the secondary joists and main joists are removed, the side beam formwork is removed with hooks, and the bottom beam formwork is lowered. 3. Material transport: The dismantled uprights, horizontal bars, top or bottom supports, and formwork are loaded onto a lifting platform, raised to the upper level, and the materials are transported to the construction position and unloaded.

[0003] The existing technical defects of beam formwork construction technology can be summarized as follows: 1. The construction process is complicated, consuming a lot of time and labor costs; 2. The construction process is complicated, affecting the construction schedule; 3. The specifications and models are complex, and the standard requirements are numerous, which is mentally taxing for users and managers; 4. The materials are numerous, scattered, and heavy, resulting in high labor intensity for workers; 5. There are significant safety risks, especially during dismantling, where falling main and secondary joists and formwork can easily injure people; 6. Construction materials are damaged, as uprights, horizontal bars, top supports, and main and secondary joists are damaged during dismantling, especially the formwork; 7. The site is messy; 8. The collision of horizontal bars, uprights, and main joist steel pipes causes a lot of construction noise and is not environmentally friendly. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent formwork construction robot and its construction process to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an intelligent formwork construction robot, comprising a base frame, an integrated module, a lifting mechanism, and a control system. The base frame includes a base and a frame body. The base is used to enable the intelligent formwork construction robot to move. The frame body is connected to the base and supports the integrated module. The integrated module includes a keel frame, beam side templates, and beam bottom templates. The beam side templates are installed on the frame body via the keel frame. The beam bottom templates and beam side templates are combined to form a molding space for pouring concrete beams. The lifting mechanism includes a drive shaft, a first drive unit, and a second drive unit. The top end of the drive shaft passes through the keel frame and is connected to the beam bottom template. The shaft of the drive shaft is sequentially sleeved and connected to the output ends of the first drive unit and the second drive unit. The first drive unit is mounted on the keel frame. When the first drive unit outputs power, it moves up and down relative to the drive shaft along the axial direction of the drive shaft, and drives the beam side template to move along the axial direction of the drive shaft through the keel frame. The second drive unit is mounted on the base frame. When the second drive unit outputs power, the drive shaft moves up and down relative to the second drive unit along its own axial direction, and drives the beam side template and the beam bottom template to move up and down synchronously. The control system is electrically connected to the first drive unit and the second drive unit respectively, and is used to control the lifting height of the beam bottom template and the beam side template.

[0006] In some embodiments, the base frame includes columns, and the frame body includes poles connected to the columns. The number of columns and poles corresponds one-to-one, and the number of each column and pole is not less than two. The keel frame includes main keels, support beams, connecting members, and connectors. The connectors are connected to the beam side templates on both sides. Several main keels are provided, and the main keels are spaced apart longitudinally and connected to the beam side templates through connectors. The two ends of the main keels are installed on the frame body through connecting members. The number of main keels is consistent with the number of transverse columns of the frame body. The support beams are fixed to the bottom of the main keels and are arranged crosswise with the main keels. The first drive unit is installed on the support beams.

[0007] In some embodiments, the base includes two columns, the frame includes uprights connected to the two columns respectively, and the keel frame includes a bottom beam, a load-bearing beam, a connecting member, and a connector. The connector is connected to the side beam templates on both sides. There are two bottom beams, and each bottom beam is connected to the side beam template via a connector. The load-bearing beam is installed at the bottom of the bottom beam and is arranged crosswise with the bottom beam. The two ends of the load-bearing beam are installed on the two frames via connecting members. The first drive unit is installed on the load-bearing beam.

[0008] In some embodiments, the keel frame further includes U-shaped pins, and the main keel, the supporting member, and the frame are connected by U-shaped pins. The supporting member includes a keel connector, an inner limiting plate, and two upright plates. The keel connector is inserted into the frame. The inner side of the upright plates is a slope that gradually narrows from top to bottom. The inner limiting plate is disposed on the keel connector and centrally located between the two upright plates. The bottom of the main keel has an elongated hole, and the main keel is placed between the two upright plates. The inner limiting plate is inserted into the elongated hole of the main keel. Preferably, one of the fastening screws of the U-shaped pin passes through one upright plate of the supporting member, the main keel, or the load-bearing beam in sequence, and then exits from the other upright plate of the supporting member. The other fastening screw passes through the frame.

[0009] In some embodiments, the integrated module further includes a top plate template and an adjustable top rod. The top plate template is connected to the top of the beam side template and is parallel to the beam bottom template. The adjustable top rod is used to support the top plate template and adjust its levelness. It includes a positive threaded rod, a sleeve, and a negative threaded rod connected sequentially along its own axial direction. One end of the positive threaded rod is installed on the keel frame, and the other end has an external thread. One end of the negative threaded rod is installed at the bottom of the top plate template, and the other end has an external thread with the opposite direction of the positive threaded rod. Both ends of the sleeve have internal threads and are threaded to the threaded ends of the positive threaded rod and the negative threaded rod, respectively.

[0010] In some embodiments, the integrated module further includes a beam side opening and closing device, which includes a crossbeam, a screw and nut drive assembly, and two clamping rods. The crossbeam includes an inner tube and an outer tube coaxially sleeved together, with the inner tube slidably housed within the outer tube. The screw and nut drive assembly includes an adjusting nut, an adjusting screw, and a limiting member. The adjusting nut is fixed to the end of the inner tube. One end of the adjusting screw passes sequentially through the outer tube and the inner tube and is threadedly connected to the adjusting nut. The other end extends out of the outer tube and is rotatably connected to the outer tube via the limiting member. The two clamping rods are respectively fixed to the outer walls of the inner and outer tubes, and are respectively mounted on the beam side templates on both sides via clamping rod connectors. Preferably, the beam side opening and closing device further includes an opening and closing motor. The output end of the opening and closing motor is connected to the end of the adjusting screw extending out of the outer tube, and the opening and closing motor is electrically connected to the control system.

[0011] In some embodiments, the connector is U-shaped, comprising a U-shaped groove and two screws extending upward from both ends of the U-shaped groove. Both screws pass through the beam side formwork and are bolted to the beam side formwork on both sides. The main keel passes through the connector and is suspended within the U-shaped groove. Preferably, limiting plates are provided on the two screws of the connector. The limiting plates are located between the beam side formwork and the bottom of the U-shaped groove, and the vertical distance from the limiting plates to the bottom of the U-shaped groove is greater than the dimension of the main keel in the corresponding direction, so as to form a gap between the main keel, the bottom of the U-shaped groove, and the limiting plates. More preferably, the gap formed between the main keel, the bottom of the U-shaped groove, and the limiting plates is 1mm to 1.5mm.

[0012] In some embodiments, the integrated module further includes a beam tensioner, which includes a tensioning assembly and a suspension member. One end of the tensioning assembly is connected to the upper part of the beam template, and the other end is hinged to the keel frame via the suspension member. The tensioning assembly is used to adjust the tension of the suspension member to limit the verticality of the beam template. Preferably, the tensioning assembly is a spiral buckle, including an open ring, a ring rod, and a closed ring. The ring rod is a long annular rod with threaded holes at both ends having opposite thread directions. One end of the open ring passes through the threaded hole and is threadedly connected to the ring rod, while the other end is connected to the suspension member. One end of the closed ring passes through another threaded hole and is connected to the beam template.

[0013] In some embodiments, the lifting mechanism further includes a lead screw sleeve mounted on the base frame, the transmission shaft being a lifting lead screw inserted within the lead screw sleeve; a template connector is provided at the top of the lifting lead screw and connected to the bottom template of the beam; both the first drive unit and the second drive unit are worm gear machines; the first drive unit is mounted at the bottom of the keel frame and can move axially relative to the lifting lead screw; the second drive unit is mounted at the top of the lead screw sleeve and can drive the lifting lead screw to vertically rise and fall relative to the lead screw sleeve. Preferably, the template connector includes a limiting ring and a connecting plate, wherein the top of the lifting lead screw passes through the limiting ring and abuts against the connecting plate; the limiting ring is connected to the top of the lifting lead screw and cooperates with the lifting lead screw to form a limiting structure, preventing the lifting lead screw from disengaging from the limiting ring when it descends; the limiting ring is located below the connecting plate, and the connecting plate is fixedly connected to the bottom template of the beam. Preferably, the lifting mechanism is mounted on the base frame via a worm gear bracket, the worm gear bracket including a telescopic crossbar and a sleeve, the sleeve being fitted onto the outer wall of the lead screw sleeve, and the sleeve being connected to the base frame on both sides via several telescopic crossbars.

[0014] A construction process for an intelligent formwork construction robot includes: Determine the model and installation location of the intelligent formwork construction robot, place the intelligent formwork construction robots in sequence, and level the intelligent formwork construction robots; Start the first drive unit to drive the beam side formwork to rise. When the keel frame rises to the bottom preset position of the beam bottom formwork, the beam side formwork and the beam bottom formwork cooperate with each other to form a forming space for pouring concrete beams. Then stop the first drive unit. Start the second drive unit to lift the beam side formwork and beam bottom formwork as a whole, and stop the second drive unit when it reaches the set position; Concrete is poured into the forming space. After the concrete beam is poured and reaches the set strength, the first drive unit is started to drive the beam side formwork to descend. When the top of the beam side formwork is no higher than the top surface of the beam bottom formwork, the first drive unit is stopped. The second drive unit is activated to lower the beam side formwork and beam bottom formwork as a whole. When the formwork reaches the set position, the second drive unit is stopped. Move the intelligent formwork construction robot to the next construction station, or dismantle the intelligent formwork construction robot in sequence.

[0015] Beneficial effects: 1. Employing an integrated structural design of "base frame + integrated module + lifting mechanism," once a section of concrete beam has been poured and reached a certain strength, the beam side formwork and beam bottom formwork are automatically disassembled and lowered. The intelligent formwork construction robot can then move as a whole to the next work station, resulting in high construction efficiency and a short cycle time. Unlike traditional methods, there is no need to assemble and dismantle formwork. This invention replaces the cumbersome construction procedures of beam formwork installation and dismantling in traditional methods, significantly reducing labor intensity and greatly improving construction efficiency. At the same time, it avoids the risks of material loss and accidental falls that could cause injury due to improper formwork dismantling.

[0016] 2. The dismantling is carried out in two stages. First, the adjusting screw is rotated in reverse using an electric wrench or a motor to open the two clamping rods, causing the beam side formwork on both sides to open a gap of 2mm to 5mm, separating it from the concrete beam. Then, the control system first controls the first drive unit to lower the beam side formwork on both sides until it is level with or lower than the top surface of the bottom beam formwork. Finally, the beam side formwork and bottom beam formwork are lowered as a whole. This "staggered demolding" prevents the beam side formwork from colliding with the bottom corner of the concrete beam during the descent, thus preventing damage.

[0017] 3. Intelligent formwork construction robots include multi-column and two-column intelligent formwork construction robots. Multi-column intelligent formwork construction robots include four-column and six-column robots, suitable for pouring concrete beams with large cross-sections. During construction, the beam formwork forming the concrete beam's molding space is erected longitudinally, with the main joists transversely. Several main joists are longitudinally spaced (e.g., both four-column and six-column intelligent formwork construction robots have two main joists), consistent with the transverse column number of the frame. The load-bearing capacity of the main joists is sequentially transferred to the lower frame and base through the connecting members, resulting in uniform stress and structural stability. Two-column intelligent formwork construction robots are suitable for pouring concrete beams with smaller cross-sections. During construction, the beam formwork forming the concrete beam's molding space and the load-bearing beam are erected longitudinally, with the bottom crossbeam transversely.

[0018] 4. When the main keel is placed on the receiving component, the narrowed, sloping upright plate acts as a guide. Even if there is a slight deviation in the position of the placed main keel, it can automatically slide in along the slope, greatly reducing the installation difficulty and improving construction efficiency. At the same time, the U-shaped pin, in conjunction with the elongated hole, automatically aligns the through holes on the main keel with the through holes on the two upright plates after the inner limiting plate is inserted into the elongated hole. Simultaneously, the through holes on the frame body also automatically align with the through holes on the keel connector, achieving precise positioning of the main keel, receiving component, and frame body. Finally, the U-shaped pin is used to tighten the connection, shortening the assembly time.

[0019] 5. The gap formed between the main keel and the bottom of the U-shaped channel and the limiting plate can ensure the smooth opening and closing of the beam side formwork and provide stress buffering during descent.

[0020] 6. The lifting screw is connected to the bottom formwork of the beam through a limit ring and a connecting plate, which not only ensures the effective transmission of power, but also avoids the small stress point when a single lifting screw is connected to the formwork, which would lead to unstable installation with the bottom formwork of the beam. Attached Figure Description

[0021] Figure 1 This is a front view of the intelligent formwork construction robot in the first embodiment of the present invention; Figure 2 This is a side sectional view of the intelligent formwork construction robot in the first embodiment of the present invention (excluding beam side formwork and concrete beams, etc.). Figure 3 As described in the first embodiment of the present invention Figure 1 Schematic diagram of the upper integrated module; Figure 4 As described in the first embodiment of the present invention Figure 1 Structural diagram of the central frame; Figure 5 As described in the first embodiment of the present invention Figure 1Schematic diagram of the bottom base; Figure 6 This is a schematic diagram of the lifting mechanism in this invention; Figure 7 As described in the first embodiment of the present invention Figure 2 Enlarged view of point I; Figure 8 As described in the first embodiment of the present invention Figure 2 Enlarged view of section II; Figure 9 This is a top view of the telescopic crossbar in the first embodiment of the present invention; Figure 10 This is a structural diagram of the beam mold frame in the first embodiment of the present invention; Figure 11 This is a front view of the intelligent formwork construction robot in the second embodiment of the present invention; Figure 12 This is a side view (excluding formwork and concrete beams) of the intelligent formwork construction robot in the second embodiment of the present invention. Figure 13 This is the second embodiment of the present invention. Figure 11 Enlarged view of section III; Figure 14 This is a schematic diagram of the beam side opening and closing device in this invention; Figure 15 This is a schematic diagram of the adjustable push rod in this invention; Figure 16 This is a schematic diagram of the beam tensioner in this invention; Figure 17 This is a front view of the receiving component in this invention; Figure 18 This is a left view of the receiving component in this invention; Figure 19 This is a top view of the receiving component in this invention; Figure 20 This is a schematic diagram of the intelligent operation panel in the control system of the present invention; Figure 21 This is a schematic diagram showing the connection between the main keel (beam bottom crossbeam), connectors and beam side formwork of the present invention; Figure 22 This is a top view of the base in the second embodiment of the present invention; Figure 23 This is a side view of the base in the second embodiment of the present invention; Figure 24 This is a side view of the base when the base support and base support nut are removed in the second embodiment of the present invention; Figure 25 This is a schematic diagram of another beam side opening and closing device in the present invention in the clamping state; Figure 26This is a schematic diagram of another beam side opening and closing device in the present invention in the open state.

[0022] In the diagram: 1. Base frame; 11. Base; 12. Frame body; 111. Upright column; 112. Lower tie rod; 113. Wheel; 114. Base support; 115. Base crossbar; 116. Base connecting plate; 117. Base lock head; 118. Outer cantilever beam; 119. Connecting square tube; 1110. Axle pin round tube; 1111. Angle iron connector; 121. Upper upright; 122. Lower upright; 123. Telescopic crossbar; 124. Limiting rod; 125. Frame body crossbar; 126. Frame body connecting plate; 127. Frame body lock head; 128. Fine-tuning device; 129. Limiting pin; 1210. Upper tie rod; 2. Integrated module; 21. Keel frame; 22. Beam side formwork; 23. Beam bottom formwork; 24. Top slab formwork; 25. Corner formwork; 26. Joint formwork; 211. Main keel; 212. Support beam; 213. Supporting component; 214. Connecting component; 215. Beam bottom crossbeam; 216. Load-bearing beam; 217. U-shaped axle pin; 218. Channel steel; 219. Limiting plate; 2131. Connecting keel connector; 2132. Inner limiting plate; 2133. Vertical plate; 3. Lifting mechanism; 31. First drive unit; 32. Second drive unit; 33. Lifting screw; 34. Screw sleeve; 35. Template connector; 36. Connecting sleeve; 37. Limiting collar; 351. Limiting ring; 352. Connecting plate; 353. Bolt plate; 4. Adjustable push rod; 41. Positive threaded screw; 42. Sleeve; 43. Negative threaded screw; 44. Rectangular tube; 45. Push rod connector; 5. Beam side opening and closing device; 51. Crossbeam; 52. Screw and nut drive assembly; 53. Clamping rod; 54. Clamping rod connector; 55. Positive screw; 56. Negative screw; 57. Negative nut; 58. Positive nut; 59. External nut; 511. Inner tube; 512. Outer tube; 521. Adjusting nut; 522. Adjusting screw; 523. Limiting component; 6. Beam tensioner; 61. Tensioning assembly; 62. Suspension components; 7. Concrete beams. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] It should be noted that in the description of this invention, the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0025] Furthermore, it should be understood that, for ease of description, the dimensions of the various components shown in the accompanying drawings are not drawn to actual scale.

[0026] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined or described in one figure, it will not need to be discussed or described in detail in the description of the subsequent figures.

[0027] like Figures 1 to 26 As shown, the present invention provides a technical solution: an intelligent formwork construction robot, comprising a base frame 1, an integrated module 2, a lifting mechanism 3, and a control system.

[0028] The base frame 1 includes a base 11 and a frame 12. The frame 12 is connected to the base 11, and the integrated module 2 is connected to the top of the frame 12. The base 11 serves as the base structure for the intelligent formwork construction robot, enabling the robot to move and be fixed in place. The frame 12 supports the integrated module 2. The base frame 1 has various structural forms and can be adapted to two-column and multi-column intelligent formwork construction robots. The multi-column intelligent formwork construction robots include four-column and six-column intelligent formwork construction robots, etc.

[0029] In the first embodiment of the present invention: The intelligent formwork construction robot is a multi-column intelligent formwork construction robot. The base frame 1 of the multi-column intelligent formwork construction robot includes a base 11 with no less than two columns and a frame 12 with no less than two uprights. Its overall width is relatively wide, which can be used for concrete beams 7 with large pouring sections. It can also be used in conjunction with a two-column intelligent formwork construction robot, and has strong flexibility. Specifically, multi-column intelligent formwork construction robots can be four-column intelligent formwork construction robots or six-column intelligent formwork construction robots. In the four-column intelligent formwork construction robot, the base frame 1 includes a base 11 with four columns and a frame 12 with four uprights. The four columns or four uprights are arranged in two rows × two columns. The width of the frame 12 and the spacing between the uprights can be selected as 600mm, etc. In the six-column intelligent formwork construction robot, the base frame 1 includes a base 11 with six columns and a frame 12 with six uprights. The six columns or six uprights are arranged in two rows × three columns or three rows × two columns. The width of the frame 12 and the spacing between the uprights can be selected as 1200mm, etc.

[0030] like Figure 5 As shown, the base 11 of the multi-column intelligent formwork construction robot includes the following components: column 111, pull rod 112, wheel 113, base support 114, base crossbar 115, base connecting plate 116, base lock head 117, and cantilever beam 118.

[0031] Two adjacent columns 111 are connected by a base crossbar 115 and a base connecting plate 116 mounted on the column 111, and are locked together by a base lock head 117. The size of the installed base crossbar 115 determines the size of the installed base 11. There are two pull rods 112, which are used to pull the two columns 111 at diagonally opposite positions.

[0032] The wheels 113 are omnidirectional wheels, with at least four provided, which helps maintain the stability of the base 11 and frame 12 and facilitates movement and positioning during construction and adjustments. For the heightened frame 12, the present invention uses cantilever beams 118 to mount the wheels 113 on the base 11, increasing the span between the wheels 113 to ensure the stability of the frame 12. Specifically, the cantilever beams 118 extend outward relative to the base 11.

[0033] The base support 114 is used to adjust the level of the frame 12, and is lowered during construction and raised when leaving the site.

[0034] like Figure 4 As shown, the frame 12 of the multi-column intelligent formwork construction robot includes an upper upright 121, a lower upright 122, a telescopic crossbar 123, a frame crossbar 125, a frame connecting plate 126, a frame locking head 127, a fine-tuning device 128, a limit pin 129, and an upper pull rod 1210.

[0035] The upper upright 121 and lower upright 122 are used as insert structures in conjunction with the lifting mechanism 3. The upper upright 121 has a limiting hole to control the height of the frame 12. When the upper upright 121 reaches the set position and stops, the limiting pin 129 is inserted into the corresponding upper upright limiting hole. The upper upright 121, lower upright 122, and upright 111 are in one-to-one correspondence, and there are at least two of each. The lower end of the lower upright 122 is inserted into the upright 111. Specifically, during the use of the frame 12 with the lifting mechanism 3, the limiting pin 129 is first pulled out. The lifting mechanism 3 then interlocks and drives the integrated module 2 to rise and fall. The upper upright 121 slides up and down relative to the lower upright 122. When the integrated module 2 reaches the corresponding height, the lifting mechanism 3 stops raising or lowering the integrated module, and the limiting pin 129 is reinserted to lock it.

[0036] Adjacent uprights are connected via a frame crossbar 125 and a frame connecting plate 126 mounted on the frame 12, and locked in place by a frame locking head 127. A telescopic crossbar 123 is used to adjust the dimensions of the frame 12. The telescopic crossbar 123 consists of a telescopic inner tube and a telescopic outer tube. One end of the telescopic inner tube is connected to the frame connecting plate 126 of the lower upright 122 via the frame locking head 127 (specifically, to the frame connecting plates 126 of the four lower uprights 122 at the four corners of the frame 12). The other end is slidably connected to the telescopic outer tube, which is connected to the threaded rod sleeve 34 via the frame locking head 127. The telescopic inner tube and telescopic outer tube can be round or square tubes. Preferably, as shown... Figure 2 As shown, the lead screw sleeve 34 has two sets of telescopic uprights 123 arranged from top to bottom.

[0037] Specifically, such as Figure 8 As shown, the sleeve 36 and the limiting collar 37 are fitted onto the outer wall of the screw sleeve 34, and the limiting collar 37 is connected to the top of the sleeve 36 to limit axial movement. The outer wall of the sleeve 36 is welded to the frame connecting plate 126, and the telescopic outer tube of the telescopic crossbar 123 is connected to the sleeve 36 through the frame locking head 127 and the frame connecting plate 126. The sleeve 36 and several telescopic crossbars 123 cooperate to form a worm gear bracket, and the lifting mechanism is installed on the base frame 1 through the worm gear bracket, specifically on the lower upright 122. Figure 9 As shown, four telescopic crossbars 123 are installed on the outer wall of the sleeve 36. The sleeve 36 is connected to the base frame 1 on both sides through the four telescopic crossbars 123. The telescopic uprights 123 are used to connect the four lower uprights 122 at the four corners of the frame 12 and support the lifting mechanism 3. The worm gear bracket is used to bear the reaction force of the lifting screw 33 and the worm gear and transmit it to the base frame 1, ensuring the stability and verticality during the lifting operation.

[0038] A fine-tuning device 128 (threaded sleeve) is threadedly connected to the upper end of the lower upright 122. Adjusting the fine-tuning device 128 to rise and press against the limit pin 129 can achieve fine-tuning of the height of the frame 12.

[0039] The integrated module 2 of the multi-column intelligent formwork construction robot includes a keel frame 21, beam side formwork 22, beam bottom formwork 23, top slab formwork 24, adjustable top rod 4, beam side opening and closing device 5, and beam side tensioner 6. The beam side formwork 22 is mounted on the frame 12 via the keel frame 21. The beam bottom formwork 23 and beam side formwork 22 can be raised and lowered independently, meaning they can move relative to each other in the vertical direction. The beam bottom formwork 23 and beam side formwork 22 combine to form a molding space for pouring and forming the concrete beam 7. Simultaneously, after the concrete beam 7 is formed, the beam side formwork 22 descends for demolding, and the beam bottom formwork 23 falls for demolding. The top slab formwork 24 is connected to the top of the beam side formwork 22 and is parallel to the beam bottom formwork 23, suitable for pouring T-shaped concrete beams. The adjustable top rod 4 is used to adjust the levelness of the top slab formwork 24. The beam side opening and closing device 5 is used to push the beam side formwork 22 on both sides to slide laterally relative to each other. The beam tensioner 6 is used to control the verticality of the beam formwork 22 and prevent the side formwork from tilting inward.

[0040] Specifically, such as Figures 1 to 3 As shown, the keel frame 21 includes a main keel 211, a support beam 212, a bearing 213, a connector 214, and a U-shaped pin 217.

[0041] The connector 214 is U-shaped and includes a U-shaped groove and two screws extending upward from both ends of the U-shaped groove. Both screws pass through the beam side formwork 22 and are bolted to the beam side formwork 22 on both sides. Preferably, in the four-column intelligent formwork construction robot and the six-column intelligent formwork construction robot, two connectors 214 with upward-facing U-shaped grooves are provided on the sides of the beam side formwork 22 on both sides. Furthermore, the positions of the connectors 214 on the beam side formwork 22 on both sides correspond one-to-one, and their openings are arranged opposite each other, forming two installation channels through which the main keel 211 passes.

[0042] Several main keels 211 are provided, spaced longitudinally, and each passes through a connector 214 and is suspended in the U-shaped groove of the connector 214, thus connecting the beam side formwork 22 to the main keel 211. The two ends of the main keel 211 are mounted on the frame 12 via support members 213, and the number of main keels 211 corresponds to the number of transverse columns of the frame 12. Preferably, in both the four-column intelligent formwork construction robot and the six-column intelligent formwork construction robot, two main keels 211 are provided. The two main keels 211 pass through the installation channel formed by the connector 214 and are mounted on the upper upright 121. In the four-column intelligent formwork construction robot, the length of the main keel 211 must cover two support points of the upper upright 121; in the six-column intelligent formwork construction robot, the length of the main keel 211 must cover three support points of the upper upright 121. Figure 3 As shown, a limiting rod 124 is provided at the top of the main keel 211, and a limiting hole adapted to the limiting rod 124 is provided on the bottom formwork 23 of the beam. The limiting rod 124 is a cone shape with a smaller top and a larger bottom, so that when the main keel 211 rises, the limiting rod 124 can be easily inserted into the limiting hole to achieve precise positioning.

[0043] like Figure 21 As shown, limiting plates 219 are provided on the two screws of the connector 214. The limiting plates 219 can be welded to the screws. The limiting plates 219 are located between the beam side template 22 and the bottom of the U-shaped channel. The vertical distance from the limiting plate 219 to the bottom of the U-shaped channel is greater than the dimension of the main keel 211 in the corresponding direction, so as to form a gap between the main keel 211, the bottom of the U-shaped channel, and the limiting plate. Preferably, the gap formed between the main keel 211, the bottom of the U-shaped channel, and the limiting plate is 1mm to 1.5mm, specifically 1mm, 1.1mm, 1.2mm, 1.3mm, 1.4mm, and 1.5mm. When the concrete beam 7 is poured and reaches sufficient strength and needs to be demolded, the two side beam formwork 22 first open a gap of 2mm to 5mm. Then, the first drive unit 31 and the main keel 211 descend along the axial direction of the drive shaft (lifting screw 33). Due to the existence of the preset gap, the beam formwork 22 is opened and closed smoothly and plays a buffering role when descending.

[0044] The support beam 212 is fixed to the bottom of the main keel 211 and is arranged crosswise with the main keel 211. The first drive unit 31 is mounted on the support beam 212. Preferably, as shown in the figure... Figure 10 As shown, two support beams 212 are provided, and the two support beams 212 are located between the connecting parts 214 provided on the side beam templates 22. The main keel 211 and the support beams 212 are arranged perpendicularly. The first drive unit 31 is detachably installed at the bottom of the support beams 212 by bolts.

[0045] like Figure 7As shown, the main keel 211, the connecting piece 213, and the upper upright 121 of the frame 12 are connected by a U-shaped pin 217. The load-bearing capacity of the main keel 211 can be transferred sequentially to the lower frame 12 and the base 11 through the connecting piece 213, resulting in uniform stress distribution and structural stability.

[0046] Specifically, such as Figure 7 , Figures 17-19 As shown, the cross-section of the receiving component 213 is Y-shaped, including a keel connector 2131, an inner limiting plate 2132, and two upright plates 2133. The keel connector 2131 is inserted into the upper upright 121 of the frame 12. The inner side of the upright plate 2133 is a slope that gradually narrows from top to bottom. The inner limiting plate 2132 is set on the keel connector 2131 and centrally located between the two upright plates 2133. The bottom of the main keel 211 or the load-bearing beam 216 is provided with an elongated hole. The main keel 211 or the load-bearing beam 216 is placed between the two upright plates 2133, and the inner limiting plate 2132 is inserted into the elongated hole of the main keel 211 or the load-bearing beam 216. Preferably, the inner limiting plate 2132 is in the shape of an equilateral triangle or trapezoid, with the upper part being larger than the lower part, and is adapted to the elongated hole provided in the main keel 211, ensuring that the inner limiting plate 2132 can be smoothly inserted into the elongated hole. Preferably, to reduce its weight, the keel connector 2131 is a hollow tube. More preferably, the receiving part 213 adopts an integrated design, that is, it is integrally cast.

[0047] One of the fastening screws of the U-shaped pin 217 is inserted sequentially into one side of the support plate 2133, the main keel 211, or the load-bearing beam 216 of the support member 213, and then exits from the other side of the support plate 2133. The other fastening screw passes through the frame 12. Specifically, a first and a second receiving hole are respectively opened on the two side walls of the main keel 211, and a third and a fourth receiving hole are respectively opened on the two side plates 2133 of the support member 213. Preferably, the U-shaped pin 217 is provided with a long rod and a short rod. One end of the long rod is provided with a thread (i.e., the long rod has an external thread structure) and a nut. In use, the long rod is inserted into the mating through hole of the upper upright 121 and the keel connector 2131. The short rod of the U-shaped pin 217 is then inserted into the aligned first receiving hole, third receiving hole, and fourth receiving hole in sequence, and then protrudes from the second receiving hole. Finally, the nut on the long rod is tightened. When disassembling, the nut is loosened and the short rod is pulled out, so the main keel 211 can be detached. The U-shaped pin 217 and the connector 213 are integrated and do not need to be removed from the upper upright 121, which realizes quick installation and disassembly and also prevents loss.

[0048] When the main keel 211 is placed on the receiving part 213, the narrowed, sloping upright plate 2133 acts as a guide. Even if there is a slight deviation in the position of the main keel 211, it can automatically slide in along the slope, greatly reducing the installation difficulty and improving construction efficiency. At the same time, the U-shaped pin 217, in conjunction with the elongated hole, automatically aligns the through holes (first receiving hole and second receiving hole) on the main keel 211 with the through holes (third receiving hole and fourth receiving hole) on the two upright plates 2133 after the inner limiting plate 2132 is inserted into the elongated hole. Simultaneously, the docking through holes on the frame 12 and the docking through holes on the keel connector 2131 are also automatically aligned, achieving precise positioning of the main keel 211, the receiving part 213, and the frame 12. Finally, the U-shaped pin 217 is used to tighten the pin, shortening the assembly time.

[0049] The integrated module 2 is assembled from various components and is a detachable device. This design can improve the turnover rate and versatility of materials such as templates and keel frames, reduce idle rates, and facilitate packaging and transportation. The integrated module 2 can be installed as a whole on the top support 213 of the telescopic column of the frame 12. The integrated module 2 can be assembled on the ground and installed using a forklift or crane bracket, which is quick and labor-saving.

[0050] This invention adopts an integrated structural design of "base frame + integrated module + lifting mechanism". After a section of concrete beam 7 is poured and reaches a certain strength, the beam side formwork 22 and beam bottom formwork 23 are automatically disassembled and lowered. The intelligent formwork construction robot can then move to the next work position as a whole, resulting in high construction efficiency and a short cycle, eliminating the need for assembly and dismantling of formwork as in traditional methods. Simultaneously, the formwork dismantling is carried out in two stages. First, the adjusting screw 522 is rotated in reverse by an electric wrench or opening / closing motor, opening the two clamping rods 53 and causing the beam side formwork 22 on both sides to open a 2mm~5mm gap, separating it from the concrete beam 7. Then, the control system first controls the first drive unit 31 to lower the beam side formwork 22 on both sides until it is no higher than the top surface of the beam bottom formwork 23, i.e., until the top of the beam side formwork 22 is level with or lower than the top surface of the beam bottom formwork 23. Then, the beam side formwork 22 and beam bottom formwork 23 are lowered as a whole to prevent the beam side formwork 22 from colliding with the bottom corner of the concrete beam during the descent, thus preventing damage. This invention replaces the cumbersome construction procedures for formwork installation and dismantling in traditional methods, significantly reducing labor intensity and improving construction efficiency. At the same time, it avoids the risks of material loss and accidental falls that could cause injury due to improper formwork dismantling.

[0051] like Figure 14 As shown, one side of the top slab formwork 24 is connected to the beam side formwork 22, and the other side is equipped with a joint formwork receiving platform. The receiving platform is made of angle steel, steel pipe, or steel-wood framing, and is fixed to the side of the top slab formwork 24 with pins or bolts. The distance from the receiving platform to the top surface of the top slab formwork is the same as the thickness of the joint formwork 26. For example... Figure 25 and Figure 26 As shown, the beam side formwork 22, beam bottom formwork 23, and top slab formwork 24 are combined to form a multi-column intelligent formwork construction robot for pouring concrete to form the concrete beam 7. The receiving platform on this robot can be used in conjunction with the joint formwork 26, or with the receiving platform on the multi-column intelligent formwork construction robot that combines the beam side formwork 22, beam bottom formwork 23, and corner formwork 25 to form a concrete slab. Meanwhile, the beam side formwork 22, beam bottom formwork 23, and top slab formwork 24, combined to form a multi-column intelligent formwork construction robot for pouring concrete to form the concrete beam 7 molding space, can also be used in conjunction with another component, a lifting formwork vehicle (application publication number CN121591139A, invention title: A Lifting Formwork Vehicle), to achieve integrated support of the beam formwork for forming the concrete beam 7 molding space and the top formwork for forming the concrete slab molding space, allowing for one-time concrete pouring and ultimately forming an integral reinforced concrete beam-slab structure. The module of the beam formwork used to support the concrete beam 7 molding space is compatible with the module of the top formwork used to support the concrete slab molding space, and the module of the joint template used on the beam formwork support platform is also consistent with the module of the joint template used on the top formwork support platform. Specifically, the length of the beam formwork used to support the concrete beam 7 molding space can be selected as 600mm, 900mm, or 1200mm.

[0052] It should be noted that the multi-column intelligent formwork construction robot used to support the beam formwork to form the space for the concrete beam 7 refers to the combination of the bottom beam formwork 23, the side beam formwork 22, and the top slab formwork 24 to form the space for pouring concrete beam 7. The multi-column (or two-column) intelligent formwork construction robot used to support the top formwork to form the space for the concrete slab refers to the top surface of the bottom beam formwork 23 being flush with the top of the side beam formwork 22.

[0053] like Figure 3 and Figure 15As shown, the adjustable top rod 4 includes a top rod connector 45, a positive threaded rod 41, a sleeve 42, a negative threaded rod 43, and a rectangular tube 44 connected sequentially along its own axial direction. One end of the positive threaded rod 41 is connected to the top rod connector 45, and the other end has an external thread. The top rod connector 45 is U-shaped, and the U-shaped open end of the top rod connector 45 is fitted onto the main keel 211 of the keel frame 21 and detachably connected using bolts and nuts. One end of the negative threaded rod 43 is connected to the rectangular tube 44, and the other end has an external thread with the opposite thread direction to that of the positive threaded rod 41. The rectangular tube 44 is connected to the bottom of the top plate template 24, and its extension direction is consistent with that of the main keel 211. Both ends of the sleeve 42 have internal threads and are threadedly connected to the threaded ends of the positive threaded rod 41 and the negative threaded rod 43, respectively.

[0054] The threads of the positive threaded rod 41 and the negative threaded rod 43 are opposite. When the intermediate sleeve 42 is rotated, the positive threaded rod 41 and the negative threaded rod 43 will simultaneously retract inward or extend outward, thereby precisely pushing and pulling the top plate template 24 to keep it strictly horizontal. This achieves rapid expansion and contraction, tight leveling, and thus improves the quality of the poured concrete beam 7.

[0055] like Figure 14 As shown, the beam side opening and closing device 5 includes a crossbeam 51, a screw and nut drive assembly 52, two clamping rods 53, and an opening and closing motor. The crossbeam 51 includes an inner tube 511 and an outer tube 512 coaxially sleeved, with the inner tube 511 slidably housed within the outer tube 512. The screw and nut drive assembly 52 includes an adjusting nut 521, an adjusting screw 522, and a limiting member 523. The adjusting nut 521 is fixed to the end of the inner tube 511. One end of the adjusting screw 522 passes sequentially through the outer tube 512 and the inner tube 511, and is threadedly connected to the adjusting nut 521. The other end extends out of the outer tube 512 and is rotatably connected to the outer tube 512 via the limiting member 523. The two clamping rods 53 are respectively fixed to the outer walls of the inner tube 511 and the outer tube 512, and are respectively mounted on the beam side templates 22 on both sides via clamping rod connectors 54. The output end of the opening and closing motor is connected to one end of the adjusting screw 522 extending out of the outer tube 512, and the opening and closing motor is also connected to the control system via electrical signals. Preferably, the limiting member 523 consists of two nuts and an end cap. The end cap is welded to the opening of the outer tube 512, and the two nuts are located inside and outside the end cap of the outer tube 512, respectively. The nut outside the outer tube 512 is welded to the end of the adjusting screw and is used to drive the adjusting screw 522 to rotate via an electric wrench. The nut inside the outer tube 512 is welded to the end cap and is used to prevent the adjusting screw 522 from coming out of the crossbeam 51. More preferably, the clamping rod connector 54 is an angle steel, and the two clamping rods 53 are respectively fixedly connected to the side of the beam side formwork 22 by bolts through the angle steel.

[0056] During installation, the adjusting screw 522 is rotated by an electric wrench or motor, which drives the two clamping rods 53 to clamp together, thus closing the beam side formwork 22. During dismantling, the adjusting screw 522 is rotated in the opposite direction by an electric wrench or motor, which opens the two clamping rods 53. The clamping rods 53 then open the beam side formwork 22 on both sides with a gap of 2mm to 5mm, separating it from the concrete beam 7. This staggered demolding ensures that the friction between the beam side formwork 22 and the concrete beam 7 and the bottom formwork 23 is reduced when the beam side formwork 22 is lowered. At the same time, it prevents the beam side formwork from colliding with the bottom corner of the concrete beam and causing damage during the descent.

[0057] like Figure 25 and Figure 26 The diagram illustrates another embodiment of the beam side opening and closing device, adapted for the fabrication of small concrete beams 7. The beam side opening and closing device 5 includes a positive threaded rod 55, a negative threaded rod 56, a negative threaded nut 57, a positive threaded nut 58, an external nut 59, two clamping rods 53, and an opening and closing motor. The positive threaded rod 55 is threadedly connected to the positive threaded nut 58, and the negative threaded rod 56 is threadedly connected to the negative threaded nut 57. The external threads of the positive threaded rod 55 and the negative threaded rod 56 have opposite directions of rotation. One end of the positive threaded rod 55 is fixedly connected to the external nut 59, and the other end is fixedly connected to the negative threaded rod 56. The two clamping rods 53 are respectively mounted on the beam side templates 22 on both sides via clamping rod connectors 54. The bottoms of the two clamping rods 53 are respectively fixed to the positive threaded nut 58 and the negative threaded nut 57. The output end of the opening and closing motor is connected to the external nut 59, and the opening and closing motor is connected to the control system via electrical signals. Preferably, the positive threaded rod 55 and the negative threaded rod 56 are integrally connected. During installation, the positive lead screw 55 and the negative lead screw 56 are rotated by an electric wrench or motor, which drives the two clamping rods 53 to clamp together, thereby closing the beam side formwork 22 (e.g., Figure 25 (As shown); During dismantling, the adjusting screw 522 is rotated by reverse drive of an electric wrench or motor, which opens the two clamping rods 53, thereby forming a 2mm~5mm gap between the beam side formwork 22 and the concrete beam 7, which is smaller at the top and larger at the bottom (as shown). Figure 26 (As shown).

[0058] like Figure 1 , Figure 3 and Figure 16As shown, the beam tensioner 6 includes a tensioning assembly 61 and a suspension member 62. One end of the tensioning assembly 61 is connected to the upper part of the beam template 22, and the other end is hinged to the main keel 211 of the keel frame 21 via the suspension member 62. The tensioning assembly 61 is used to adjust the tension of the suspension member 62 to limit the verticality of the beam template 22. Preferably, the tensioning assembly 61 is a forward / reverse thread adjuster, and the suspension member 62 is a chain. Preferably, the tensioning assembly 61 is a spiral buckle, including an open ring, a ring rod, and a closed ring. The ring rod is a long annular rod with threaded holes at both ends having opposite thread directions. One end of the open ring passes through the threaded hole and is threaded to the ring rod, while the other end is connected to the suspension member 62. One end of the closed ring passes through another threaded hole, while the other end is connected to the beam template 22. Rotating the ring rod in both directions adjusts the tension of the suspension member 62.

[0059] In the second embodiment of the present invention: The intelligent formwork construction robot is a two-column intelligent formwork construction robot. The base frame 1 of the two-column intelligent formwork construction robot includes a base 11 for two columns and a frame 12 for two poles. The distance between the two columns (or poles) can be selected as 600mm, 900mm, etc. Its overall width is relatively narrow, which can be applied to concrete beams 7 with small pouring sections.

[0060] like Figures 22 to 24 As shown, the base of the two-column intelligent formwork construction robot includes the following components: column 111, wheel 113, base support 114, base crossbar 115, base connecting plate 116, base lock head 117, connecting square tube 119, axle pin round tube 1110, and angle iron connector 1111.

[0061] The two uprights 111 are connected by a base crossbar 115 and a base connecting plate 116 mounted on the uprights 111, and are locked together by a base lock head 117. The wheels 113 are omnidirectional wheels, with at least four wheels provided, which can keep the base 11 and frame 12 stable and facilitate movement and positioning during construction and adjustment.

[0062] The angle iron connector 1111 includes angle iron and connecting bolts. An angle iron is welded to each side of the base column 111. The connecting square tube 119 is mounted on the angle iron by connecting bolts, thereby achieving mutual fixation with the column 111. The connecting square tube 119 is installed on the side of the column 111 away from the base crossbar 115, and the connecting square tube 119 and the base crossbar 115 are perpendicular to each other in space.

[0063] Each of the two connecting square tubes 119 has a pivot pin tube 1110 at its top. Both the column 111 and the base support 114 have pre-drilled holes that mate with the pivot pin tubes 1110. When the two-column intelligent formwork construction robot moves, it raises the base support 114 to a designated height, connecting the pre-drilled holes on the column 111 and the base support 114. Then, the short rod of the U-shaped pivot pin is inserted into these holes, and the long rod is inserted into the pivot pin tube 1110, thus connecting the connecting square tube 119 to the column 111 and the base support 114. When the two-column intelligent formwork construction robot is used to pour the concrete beam 7, the U-shaped pivot pin is removed, allowing the base support 114 to rest on the ground for support.

[0064] The frame 12 of the two-column intelligent formwork construction robot includes an upper upright 121, a lower upright 122, a frame crossbar 125, a frame connecting plate 126, a frame locking head 127, a fine-tuning device 128, and a limit pin 129.

[0065] The left and right sets of upper uprights 121 and lower uprights 122 are inserted into each other as a plug-in structure, used in conjunction with the lifting mechanism 3. An upper upright limit hole is provided on the upper upright 121, which controls the height of the frame 12. A limit pin 129 can be inserted into the upper upright limit hole to lock the connection between the upper upright 121 and the lower upright 122. The two lower uprights 122 are respectively inserted into the column 111.

[0066] The two upper uprights 121 and the two lower uprights 122 are connected to the frame connecting plate 126 on the frame 12 via frame crossbars 125, and locked together by frame locking heads 127. Both upper and lower frame crossbars 125 have through holes, allowing the lifting mechanism 3 to pass through them sequentially from top to bottom.

[0067] A fine-tuning device 128 (threaded sleeve) is threadedly connected to the upper end of the lower upright 122. Adjusting the fine-tuning device 128 to rise and press against the limit pin 129 can achieve fine-tuning of the height of the frame 12.

[0068] The integrated module 2 of the two-column intelligent formwork construction robot includes a keel frame 21, beam side formwork 22, beam bottom formwork 23, corner formwork 24, beam side opening and closing device 5, and beam side tensioner 6. The beam side formwork 22 is mounted on the frame 12 via the keel frame 21. The beam bottom formwork 23, together with the beam side formwork 22, forms a molding space for pouring and forming the concrete beam 7. The corner formwork 25 is connected to the top of the beam side formwork 22 and is parallel to the beam bottom formwork 23. The beam side opening and closing device 5 is used to push the two sides of the beam side formwork 22 to slide laterally relative to each other. The beam side tensioner 6 is used to control the verticality of the beam side formwork 22 and prevent the side formwork from tilting inward. Preferably, the corner formwork 25 is short and can be integrally formed with the beam side formwork 22.

[0069] Specifically, such as Figures 11 to 13 As shown, the keel frame 21 includes a bottom beam 215, a load-bearing beam 212, a support member 213, a connector 214, a U-shaped pin 217, and a channel steel 218.

[0070] The connector 214 is U-shaped, and its two screws are bolted to the side beam formwork 22. The bottom beam 215 passes through the connector 214 and is suspended within the U-shaped groove of the connector 214. A limiting piece 219 is provided on the two screws of the connector 214. The limiting piece 219 is located between the side beam formwork 22 and the bottom of the U-shaped groove, and the vertical distance from the limiting piece 219 to the bottom of the U-shaped groove is greater than the dimension of the bottom beam 215 in the corresponding direction, thus forming a gap between the bottom beam 215, the bottom of the U-shaped groove, and the limiting piece. Preferably, the gap formed between the bottom beam 215, the bottom of the U-shaped groove, and the limiting piece is 1mm to 1.5mm.

[0071] Two bottom crossbeams 215 are provided, each passing through a connector 214 and suspended within a U-shaped groove of the connector 214, thus connecting the beam side formwork 22 to the bottom crossbeams 215. A limiting rod 124 is provided at the top of the bottom crossbeams 215, and a limiting hole adapted to the limiting rod 124 is provided on the bottom formwork 23. The limiting rod 124 is tapered, wider at the bottom than the top, so that it can be easily inserted into the limiting hole when the bottom crossbeams 215 rise, achieving precise positioning.

[0072] The load-bearing beam 216 is installed at the bottom of the bottom crossbeam 215 and is arranged crosswise with the bottom crossbeam 215. Both ends of the load-bearing beam 216 are mounted on the two frame bodies 12 via connectors 213. The first drive unit 31 is mounted on the load-bearing beam 216. Preferably, as shown... Figures 11 to 13 As shown, a channel steel 218 is symmetrically fixed to both sides of the two ends of the load-bearing beam 216, that is, a total of four channel steels 218 are provided on the load-bearing beam 216. The openings of the two channel steels 218 at the same end are set opposite to each other and cooperate with the load-bearing beam 216 to form an inverted U-shaped support frame. One end of the channel steel 218 away from the load-bearing beam 216 is fixed to the bottom beam 215. At the same time, in order to ensure the stability of the bottom beam 215, the channel steel 218 is located in the middle of the bottom beam 215.

[0073] The supporting beam 216, the connecting member 213, and the upper upright 121 of the frame 12 are connected by a U-shaped pin 217. Specifically, the structural arrangement of the connecting member 213 and the U-shaped pin 217 is the same as in the first embodiment.

[0074] like Figure 11As shown, one side of the corner formwork 25 is connected to the beam side formwork 22, and the other side is equipped with a joint formwork receiving platform. The receiving platform is made of angle steel, steel pipe, or steel-wood framing, and is fixed to the side of the corner formwork 25 with pins or bolts. The distance from the receiving platform to the top surface of the top slab formwork is the same as the thickness of the joint formwork 26. For example... Figure 25 and Figure 26 As shown, the beam side formwork 22, beam bottom formwork 23, and corner formwork 25 are combined to form a two-column intelligent formwork construction robot for pouring concrete to form the concrete beam 7. The receiving platform on this robot can be used in conjunction with the receiving platform on another two-column intelligent formwork construction robot that combines the beam side formwork 23, beam bottom formwork 23, and corner formwork 25 to form a concrete slab, or with the receiving platform on a multi-column intelligent formwork construction robot that combines the beam side formwork 23, beam bottom formwork 23, and top slab formwork 24 to form a concrete slab. Meanwhile, the beam side formwork 22, beam bottom formwork 23 and corner formwork 25 are combined to form a two-column intelligent formwork construction robot for pouring concrete to form the concrete beam 7 forming space. The receiving platform on the robot can also be used in conjunction with another formwork, which is used to pour concrete to form the concrete slab forming space. This allows the beam formwork forming the concrete beam 7 forming space and the top formwork forming the concrete slab forming space to be supported as a whole, and concrete can be poured in one go to finally form an integral reinforced concrete beam and slab structure.

[0075] It should be noted that the beam formwork used to support the space for forming the concrete beam 7 refers to the combination of the bottom beam formwork 23, the side beam formwork 22, and the corner formwork 25 to form the space for pouring concrete beam 7. The multi-column (or two-column) intelligent formwork construction robot used to support the top formwork to form the space for forming the concrete slab refers to the top surface of the bottom beam formwork 23 being flush with the top of the side beam formwork 22.

[0076] The structural arrangement of the beam side opening and closing device 5 and the beam side tensioner 6 is the same as that in the first embodiment.

[0077] In the first and second embodiments, the lifting mechanism 3 includes a drive shaft, a first drive unit 31, and a second drive unit 32. The top end of the drive shaft passes through the keel frame 21 and is connected to the bottom beam template 23. The shaft body of the drive shaft is sequentially sleeved and connected to the output ends of the first drive unit 31 and the second drive unit 32. The first drive unit 31 is mounted on the keel frame 21. When the first drive unit 31 outputs power, it moves up and down relative to the drive shaft along its axial direction, and drives the beam side template 22 to move along the axial direction of the drive shaft through the keel frame 21. The second drive unit 32 is mounted on the base frame 1. When the second drive unit 32 outputs power, the drive shaft moves up and down relative to the second drive unit 32 along its own axial direction, and drives the beam side template 22 and the bottom beam template 23 to move up and down synchronously. The first drive unit 31 is located between the bottom beam template 23 and the second drive unit 32.

[0078] It should be noted that since the top end of the drive shaft abuts against the bottom template 23 of the beam and the bottom end is connected to the second drive unit 32, when the first drive unit 31 drives, the drive shaft is restricted by the lower second drive unit 32 and the top bottom template 23 of the beam, and the drive shaft cannot move axially. The first drive unit 31 moves axially relative to the drive shaft.

[0079] It should also be noted that the formwork dismantling is carried out in two steps. In the first step, when lowering the beam side formwork 22, the second drive unit 32 stops, and the first drive unit 31 drives the main keel 211, support beam 211 and upper upright 121 to move axially along the drive shaft. At the same time, when the bottom of the main keel 211 contacts the connector 214, the beam side formwork 22 is lowered through the connector 214. In the second step, when lowering the beam side formwork 22 and the beam bottom formwork 23, the first drive unit 31 stops, and the second drive unit 32 drives the lifting screw 33 to fall, which lowers the beam bottom formwork 23 above the lifting screw 33. During this process, the first drive unit 31 also falls along with the main keel 211, support beam 211 and upper upright 121, which in turn lowers the beam side formwork 22.

[0080] Specifically, the first drive unit 31 and the second drive unit 32 are "reversely installed," meaning their bodies face opposite directions, and the output shafts of the first drive unit 31 and the second drive unit 32 drive in opposite directions. When the first drive unit 31 is driven, it drives the beam side formwork 22 to rise and fall in the reverse direction; when the second drive unit 32 is driven, it drives the beam side formwork 22 and the beam bottom formwork 23 to move in the forward direction.

[0081] like Figure 6As shown, the lifting mechanism 3 also includes a lead screw sleeve 34, and the transmission shaft is a lifting lead screw 33. One end of the lifting lead screw 33 is inserted into the lead screw sleeve 34, and the other end extends out of the lead screw sleeve 34 and sequentially extends into the second drive unit 32 and the first drive unit 31. A template connector 35 is provided at the top of the lifting lead screw 33 and is connected to the bottom template 23 of the beam. The first drive unit 31 and the second drive unit 32 are both worm gear machines. The first drive unit 31 is installed at the bottom of the keel frame 21 and can move axially relative to the lifting lead screw 33. The second drive unit 32 is installed at the top of the lead screw sleeve 34 and can drive the lifting lead screw 33 to move vertically up and down relative to the lead screw sleeve 34. During this process, the lifting lead screw 33 and the lead screw sleeve 34 do not rotate circumferentially. Preferably, the worm gear machine is equipped with a motor and has a waterproof socket.

[0082] It should be noted that in the multi-column intelligent formwork construction robot, the support beam 212 includes two beams, and the top of the lifting screw 33 passes through the two support beams 212 and is installed at the bottom of the beam bottom formwork 23; while in the two-column intelligent formwork construction robot, a bearing beam 216 is provided, and a screw hole is opened in the middle of the bearing beam 216, and the top of the lifting screw 33 passes through the screw hole and is installed at the bottom of the beam bottom formwork 23.

[0083] The template connector 35 includes a mounting limiting ring 351, a connecting plate 352, and a bolt plate 353. The top end of the lifting screw 33 passes through the limiting ring 351 and abuts against the connecting plate 352. The limiting ring 351 is connected to the top end of the lifting screw 33 and cooperates with the lifting screw 33 to form a limiting structure, preventing the lifting screw 33 from disengaging from the limiting ring 351 when it descends. The limiting ring 351 is located below the connecting plate 352. Bolt plates 353 are fixed to both sides of the connecting plate 352 and are detachably connected to the beam bottom template 23 via bolt plates 353 and bolts.

[0084] In the first and second embodiments, the control system is electrically connected to the first drive unit 31, the second drive unit 32, and the beam side opening and closing device 5, respectively, and is used to control the lifting height of the bottom beam formwork 23 and the side beam formwork 22. The control system includes a gate box, a control circuit module, a timing module, a leakage current protector, an overload protector, a remote control receiver, a remote control, a socket, etc. The stopwatch inside the control system gate box is adjusted according to the required lifting height to determine the travel time; the beam side opening and closing device 5 is equipped with a motor, the power supply of which is connected to the control system, and the travel time is set.

[0085] The gate box is equipped with an external interface for connecting to the first drive unit 31 and the second drive unit 32. Both the control circuit module and the timing module are installed inside the gate box. The control circuit module is connected to the external interface, and the timing module is connected to the control circuit module. The timing module is used for stroke control of the first drive unit 31 and the second drive unit 32.

[0086] In this invention, the control system includes a timing module. The timing time of this module serves as the travel feedback for the first drive unit 31 and the second drive unit 32. This not only forms a closed-loop control, improving operational accuracy, but also offers additional advantages compared to other feedback control schemes. Firstly, it reduces the number of sensors required in the working environment, optimizes the structural layout, and prevents sensor failure due to harsh operating conditions, thus improving operational reliability. Secondly, it reduces costs and the number of components (sensors require one-to-one installation, while only one timing module is needed), facilitating the commercialization of intellectual property and product launch. Preferably, the timing module can be a timing limit switch.

[0087] The residual current device (RCD), overload protector, and socket are connected to the control circuit module. The RCD provides leakage protection; the overload protector provides overload protection; and the socket can be connected to an external power source to power the formwork for pipe gallery construction.

[0088] Specifically, such as Figure 12 As shown, the remote control buttons function as follows: Emergency stop, highest priority. Pressing this button will cut off all power output and lock the system. When the beam side rises / lowers, the first drive unit 31 operates to control the vertical lifting and lowering of the beam side formwork 22. This is usually used to adjust the height of the beam side formwork 22 to cooperate with the bottom beam formwork 23 to enclose the forming space for pouring concrete beam 7, or for demolding. Beam side opening / beam side closing controls the horizontal opening and closing of the beam side formwork 22, used for formwork support (closing) and demolding (opening). When the frame is raised or lowered, the second drive unit 32 is activated, controlling the vertical movement of the entire integrated module 2; Indicator lights provide feedback on system status.

[0089] During installation, press the beam side lift button to start the first drive unit 31 (upper worm gear machine), which drives the beam side template 22 and the top plate template 24 to rise (at this time, the beam bottom template 23 remains stationary). The upper worm gear machine will stop when the upper worm gear machine is in contact with the beam bottom template 23 above the main keel 211. Press the frame lift button to start the second drive unit 32 (lower worm gear machine). The lower worm gear machine remains in the same position, and the lifting screw 33 rises vertically, driving the frame 12 and the integrated module 2 to rise simultaneously. The lower worm gear machine will stop when the predetermined horizontal elevation is reached.

[0090] During dismantling, press the lowering button for the beam side to start the upper worm gear machine (at this time, the top of the lifting screw 33 is pressed against the bottom template 23 of the beam, and the lifting screw 33 does not move). The upper worm gear machine moves downward, driving the upper upright 121 of the frame 12, the beam side template 22 and the top template 24 to descend. The upper worm gear machine stops when the top surface of the top template 24 is level with (or slightly lower than) the top surface of the bottom template 23 of the beam. Press the lowering button for the frame to start the lower worm gear machine. The lifting screw 33 descends vertically, driving the bottom template 23 of the beam and the upper worm gear machine to descend, thereby driving the frame 12 and the integrated module 2 to descend.

[0091] The dismantling was completed in two stages. First, the top surface of the top slab formwork 24 was lowered to be level with (or slightly lower than) the top surface of the bottom beam formwork 23. Then, the beam side formwork 22, the bottom beam formwork 23, and the top slab formwork 24 were lowered as a whole. This "staggered demolding" technique, which lowers the beam side formwork first and then the bottom beam formwork, avoids damage caused by the beam side formwork 22 colliding with the bottom corner of the concrete beam 7 during the descent, and also reduces the load on the upper worm gear machine.

[0092] The construction process for pouring concrete beams using the intelligent formwork construction robot of this invention is as follows: I. For frame structures (i.e., the poured concrete beams are adapted to frame structures) 1. Installation Procedure 1.1 First step, layout and positioning: 1.1.1 Clean the construction site; 1.1.2 Layout and positioning: According to the design and construction drawings, mark out the positioning lines for the positions where the intelligent formwork construction robot needs to be placed.

[0093] 1.2 Second step, placing the intelligent formwork construction robot: 1.2.1 Confirm the model of the intelligent formwork construction robot according to the design drawings, and place the intelligent formwork construction robot supporting the beam formwork and the top formwork in sequence starting from one corner of the room; 1.2.2 Depress the brake pads; 1.2.3 Lower the base support 114.

[0094] 1.3 Third step, setting the elevation and level: 1.3.1 Determine the elevation, place an infrared level, and determine the one-meter line; 1.3.2 Adjust all bottom support nuts to level all (i.e., support beam formwork and top formwork) intelligent formwork construction robots; 1.3.3 The wheels 113 must be off the ground to ensure that the bottom support 114 bears the force.

[0095] 1.4 Fourth step, connecting the intelligent formwork construction robot: 1.4.1 Install crossbars on the frame connecting plate of the lower upright of the telescopic upright between the intelligent formwork construction robot supporting the beam formwork and the intelligent formwork construction robot supporting the top formwork, and adjust the direction and position of the intelligent formwork construction robot; 1.4.2 Lock the crossbars (do not install the telescopic crossbars at the position of the upper upright at this time).

[0096] 1.5. Fifth step, lifting of beam side formwork: 1.5.1. Start the upper worm gear machine to lift the upper uprights of the frame and the beam side formwork. The main keel or the bottom crossbeam of the beam will be raised to the preset position at the bottom of the beam bottom formwork and then stop; 1.5.2. Insert the limit pin into the limit hole; 1.5.3. Fine adjustment: Rotate the cup-shaped threaded sleeve to hold the limit pin and adjust the level of the beam bottom formwork. Observe whether the bottom of the formwork between the intelligent formwork construction robot supporting the beam formwork and the intelligent formwork construction robot supporting the top formwork is on the same horizontal line; 1.5.4. Install the beam side and beam bottom joint formwork (or retain the formwork block), and install the beam and column joint formwork.

[0097] 1.6 Step Six, Overall Lifting: 1.6.1 Start the lower worm gear machine and lift to the predetermined elevation position; 1.6.2 Insert the limit pin into the limit hole; 1.6.3 Fine adjustment: Rotate the cup-shaped threaded sleeve to hold the limit pin and adjust the template level. Observe whether the bottom of the template between the intelligent formwork construction robot supporting the beam formwork and the intelligent formwork construction robot supporting the top formwork is on the same horizontal line; 1.6.4 Install the top plate joint template (or retain the plate).

[0098] 1.7 Step 7: Finally, install and lock the telescopic crossbars at the position of the uprights, and check whether the joint template is clamped. At this time, the beam side template, beam bottom template and joint template cooperate with each other to form a forming space for pouring concrete beams and slabs.

[0099] 1.8. Pour concrete into the formed space.

[0100] 2. Demolition Procedure 2.1 First step, beam formwork removal: 2.1.1 After the concrete beam is poured and reaches the set strength, first remove the beam side and bottom joint formwork between the intelligent formwork construction robot supporting the beam formwork and the intelligent formwork construction robot supporting the top formwork, and remove the beam and column joint formwork; 2.1.2 Use an electric wrench to drive the beam side opening and closing device to open the gap between the beam side formwork and the concrete beam by 2-5mm; 2.1.3 Start the upper worm gear of the intelligent formwork construction robot to lower the beam side formwork (and the top slab formwork or corner formwork) until it is flush with or 2-10mm below the top surface of the bottom beam formwork; 2.1.4 Start the lower worm gear of the intelligent formwork construction robot to lower the bottom beam formwork, beam side formwork, and the upper uprights of the frame to the lowest height.

[0101] 2.2 Second step, top formwork removal: 2.2.1 First, remove the horizontal bars on the telescopic upper poles between the intelligent formwork construction robot supporting the beam formwork and the intelligent formwork construction robot supporting the top formwork, without removing other horizontal bars for the time being; 2.2.2 Start the lower worm gear machine of the intelligent formwork construction robot to lower the integrated module and frame to the lowest height; 2.2.3 Remove the joint formwork.

[0102] 2.3 The third step is to remove the crossbar between the intelligent formwork construction robot that supports the beam formwork and the intelligent formwork construction robot that supports the top formwork, and place it on the formwork vehicle.

[0103] 2.4. Fourth step: Raise the base and fix it to the base column with bolts.

[0104] 2.5. The fifth step is to push the intelligent formwork construction robot that supports the beam formwork and the intelligent formwork construction robot that supports the top formwork to the next construction position or the lifting platform to transfer them to the upper level.

[0105] 3. Construction of outer ring beam formwork 3.1 According to the traditional construction method, the bottom uprights of the beam are connected to the bottom uprights of the beam and the uprights of the formwork vehicle with horizontal bars.

[0106] 3.2 Before the formwork truck enters the construction position, the required formwork and supports shall be transported to the construction position.

[0107] 3.3 After dismantling, the templates and support rods can be placed on the formwork trolley for transport together.

[0108] 4. Increase the height of the frame When the height of the frame exceeds 5m, a single-layer structure is suitable, and multiple vehicles should travel in parallel to prevent tipping.

[0109] II. For shear wall structures (i.e., the cast concrete beams are adapted to shear wall structures) 1. Installation Procedure 1.1 First step, layout and positioning: 1.1.1 Clean the construction site; 1.1.2 Layout and positioning: According to the design and construction drawings, mark out the positioning lines for the positions where the intelligent formwork construction robot needs to be placed.

[0110] 1.2 Second step, placing the intelligent formwork construction robot: 1.2.1 Confirm the model of the intelligent formwork construction robot according to the design drawings, and place the intelligent formwork construction robot supporting the beam formwork and the top formwork in sequence, starting from one corner of the room; 1.2.2 Depress the brake pads; 1.2.3 Lower the base support.

[0111] 1.3 Third step, leveling and adjusting the elevation: 1.3.1 Determine the elevation, place an infrared level, and determine the one-meter line; 1.3.2 Adjust all the bottom support nuts to level all the intelligent formwork construction robots; 1.3.3 The wheels must be off the ground to ensure that the bottom support is under load.

[0112] 1.4. Fourth step: Install the crossbars between the intelligent formwork construction robot supporting the beam formwork and the intelligent formwork construction robot supporting the top formwork: 1.4.1. Install the crossbars between the intelligent formwork construction robot supporting the beam formwork and the intelligent formwork construction robot supporting the top formwork. The vertical poles between the intelligent formwork construction robot supporting the beam formwork and the intelligent formwork construction robot supporting the top formwork should be kept in a straight line, and the overall frame should be square; 1.4.2. Lock the crossbars; 1.4.3. Note: Do not install the telescopic crossbars at the position of the upper vertical pole at this time.

[0113] 1.5. Fifth step, lifting of beam side formwork: 1.5.1. Start the upper worm gear machine, the upper uprights of the frame and the beam side formwork are lifted, the main keel or the bottom crossbeam of the beam stops at the preset position at the bottom of the beam bottom formwork. For intelligent lifting: adjust the time of the timer limit switch in the intelligent system control cabinet, referring to the parameters of the timer limit table; 1.5.2. Insert the limit pin into the limit hole; 1.5.3. Fine adjustment: rotate the cup-shaped threaded sleeve to hold the limit pin and adjust the level of the beam bottom formwork. Observe whether the bottom of the formwork between the intelligent formwork construction robot supporting the beam formwork and the intelligent formwork construction robot supporting the top formwork is on the same horizontal line; 1.5.4. Install the beam side and beam bottom joint formwork (or retain the formwork block), and install the beam and column joint formwork.

[0114] 1.6 Step 6, Wing plate lifting: 1.6.1 Start the upper worm gear machine to lift the wing plate to the predetermined elevation position; 1.6.2 Leave a 2mm~3mm gap between the two wing plates, and visually observe that the outer end of the wing plate is slightly drooping.

[0115] 1.7 Step 7, Overall Lifting: 1.7.1 Start the lower worm gear machine and lift to the predetermined position (visually estimate that the upper pole limit hole is about 10mm lower than the predetermined height); 1.7.2 Insert the limit pin into the limit hole.

[0116] 1.8. Eighth step, raising the upper pole of the jacking machine: 1.8.1. Drive the lifting screw to raise the upper pole, and the jacking plate will press against the main keel of the wing plate.

[0117] 1.9 Step Nine, Fine-tuning: 1.9.1 Rotate the cup-shaped threaded sleeves of the intelligent formwork construction robot supporting the beam formwork and the intelligent formwork construction robot supporting the top formwork to adjust the template level by holding the return pin; 1.9.2 Visually inspect whether the main keel or the bottom of the template between the intelligent formwork construction robot supporting the beam formwork and the intelligent formwork construction robot supporting the top formwork is on the same horizontal line; 1.9.3 Important Note: After the formwork adjustment is completed, the work needs to be checked: 1.9.3.1 The gap between the bottom connecting plate of the worm gear machine and the crossbar should not be less than 5mm to ensure that the worm gear machine is completely unloaded; 1.9.3.2 Check by hand whether there is any gap between the wing plate diagonal brace and the bracket to ensure that the wing plate diagonal brace is completely unloaded.

[0118] 1.10. The tenth step is to install the joint template between the intelligent formwork construction robot that supports the beam formwork and the intelligent formwork construction robot that supports the top formwork.

[0119] 1.11. Step eleven: Finally, install and lock the telescopic upper uprights and crossbars, and check whether the joint template is clamped. At this time, the beam side template, beam bottom template, and joint template cooperate with each other to form a molding space for pouring concrete beams and slabs.

[0120] 1.12. Pour concrete into the formed space.

[0121] 2. Demolition Procedure 2.1 First step, beam formwork removal: 2.1.1 After the concrete beam is poured and reaches the set strength, first remove the beam side and bottom joint formwork between the intelligent formwork construction robot supporting the beam formwork and the intelligent formwork construction robot supporting the top formwork, and remove the beam and column joint formwork; 2.1.2 Use an electric wrench to drive the beam side opening and closing device to open the gap between the beam side formwork and the concrete beam by 2-5mm; 2.1.3 Start the upper worm gear machine of the intelligent formwork construction robot to lower the beam side formwork and the top slab formwork, stopping when they are 2-10mm below the top surface of the bottom beam formwork; 2.1.4 Start the lower worm gear machine of the intelligent formwork construction robot to lower the bottom beam formwork, the beam side formwork, and the upper uprights of the frame to the lowest height.

[0122] 2.2 Second step, top formwork removal: 2.2.1 First, remove the horizontal bars on the telescopic upper poles between the intelligent formwork construction robot supporting the beam formwork and the intelligent formwork construction robot supporting the top formwork, without removing other horizontal bars for the time being; 2.2.2 Start the lower worm gear machine of the intelligent formwork construction robot to lower the integrated module and frame to the lowest height; 2.2.3 Remove the joint formwork.

[0123] 2.3 The third step is to remove the crossbar between the intelligent formwork construction robot that supports the beam formwork and the intelligent formwork construction robot that supports the top formwork, and place it on the formwork vehicle.

[0124] 2.4. Fourth step: Raise the base and fix it to the base column with bolts.

[0125] 2.5. The fifth step is to push the intelligent formwork construction robot that supports the beam formwork and the intelligent formwork construction robot that supports the top formwork to the next construction position or the lifting platform to transfer them to the upper level.

[0126] III. Early Formwork Removal Construction 1. Adopt early formwork removal construction 1.1 Installation: 1.1.1 Design an early formwork removal construction plan, marking the positions, specifications, and quantities of the retained uprights and retained panels; 1.1.2 Before installing the crossbars between the intelligent formwork construction robot supporting the beam formwork and the intelligent formwork construction robot supporting the top formwork, move the retained uprights to the required positions; 1.1.3 After installing the joint formwork and locking all crossbars, install the retained uprights (independent supports); 1.1.4 The retained panels are installed simultaneously with the joint formwork on the top slab.

[0127] 1.2 Demolition: 1.2.1 The intelligent formwork construction robot can only be demolished when the concrete strength reaches 50%; 1.2.2 When the intelligent formwork construction robot supporting the beam formwork and the intelligent formwork construction robot supporting the top formwork are pushed out, collisions with the retained uprights are strictly prohibited, and the retained uprights must not be swayed or pushed back.

[0128] The present invention, through its structural design, includes at least the following beneficial effects: 1. Saves labor: (1) The installation, dismantling and handling of the frame reduced the amount of manual labor required; (2) The installation, dismantling and transportation procedures of the main and secondary keels are eliminated, achieving zero labor; (3) The template installation and dismantling process reduces the input of manual labor.

[0129] 2. Saves effort: Significantly reduces labor intensity.

[0130] 3. Construction costs have been significantly reduced.

[0131] 4. Safety risks during construction are significantly reduced.

[0132] 5. It protects construction materials and improves turnover rate.

[0133] (1) The wear rate of the frame and the main and secondary keels has been greatly reduced.

[0134] (2) The template turnover rate is increased by more than 5 times.

[0135] 6. The site is clean.

[0136] 7. Environmental benefits: No noise during construction.

[0137] 8. Improve project quality and construction precision.

[0138] 9. It reduced the workload of technical personnel, safety managers, and materials managers.

[0139] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent formwork construction robot, characterized in that, It includes a base frame (1), an integrated module (2), a lifting mechanism (3), and a control system, wherein: The base frame (1) includes a base (11) and a frame (12). The base (11) is used to enable the intelligent formwork construction robot to walk. The frame (12) is connected to the base (11) and is used to support the integrated module (2). The integrated module (2) includes a keel frame (21), a beam side template (22) and a beam bottom template (23). The beam side template (22) is installed on the frame (12) through the keel frame (21). The beam bottom template (23) and the beam side template (22) are combined to form a molding space for pouring concrete beams (7). The lifting mechanism (3) includes a drive shaft, a first drive unit (31) and a second drive unit (32). The top end of the drive shaft passes through the keel frame (21) and is connected to the bottom beam template (23). The shaft body of the drive shaft is sequentially sleeved and connected to the output ends of the first drive unit (31) and the second drive unit (32). The first drive unit (31) is installed on the keel frame (21) and is used to drive the beam side template (22) to move along the axial direction of the drive shaft. The second drive unit (32) is installed on the base frame (1) and is used to drive the drive shaft to drive the beam side template (22) and the bottom beam template (23) to move synchronously along its own axial direction. The control system is electrically connected to the first drive unit (31) and the second drive unit (32) respectively, and is used to control the lifting height of the bottom formwork (23) and the side formwork (22).

2. The intelligent formwork construction robot according to claim 1, characterized in that, The base (11) includes columns, and the frame (12) includes poles connected to the columns. The number of columns and poles corresponds one-to-one, and the number of each column is not less than two. The keel frame (21) includes a main keel (211), a support beam (212), a bearing (213), and a connector (214). The connector (214) is connected to the beam side formwork (22) on both sides; The main keel (211) is provided with several main keels, which are spaced apart along the longitudinal direction and are all connected to the beam side formwork (22) through the connector (214). The two ends of the main keel (211) are installed on the frame (12) through the support member (213). The number of main keels (211) is consistent with the number of transverse columns of the frame (12). The support beam (212) is fixed to the bottom of the main keel (211) and is arranged in a cross pattern with the main keel (211). The first drive unit (31) is installed on the support beam (212).

3. The intelligent formwork construction robot according to claim 1, characterized in that, The base (11) includes two columns, the frame (12) includes uprights connected to the two columns respectively, and the keel frame (21) includes a bottom beam (215), a load-bearing beam (216), a support member (213), and a connector (214), wherein, The connector (214) is connected to the beam side formwork (22) on both sides; Two bottom crossbeams (215) are provided, and both bottom crossbeams (215) are connected to the beam side formwork (22) through connectors (214); The load-bearing beam (216) is installed at the bottom of the bottom beam (215) and is arranged in a cross pattern with the bottom beam (215). The two ends of the load-bearing beam (216) are installed on the two frames (12) through the connector (213). The first drive unit (31) is installed on the load-bearing beam (216).

4. The intelligent formwork construction robot according to claim 2, characterized in that, The keel frame (21) also includes a U-shaped pin (217), and the main keel (211), the supporting part (213) and the frame (12) are connected by the U-shaped pin (217); The receiving component (213) includes a keel connector (2131), an inner limiting plate (2132), and two upright plates (2133). The keel connector (2131) is inserted into the frame (12). The inner side of the upright plate (2133) is a slope that gradually narrows from top to bottom. The inner limiting plate (2132) is set on the keel connector (2131) and is centrally located between the two upright plates (2133). The bottom of the main keel (211) is provided with an elongated hole. The main keel (211) is placed between the two side uprights (2133). The inner limiting plate (2132) is inserted into the elongated hole of the main keel (211).

5. The intelligent formwork construction robot according to claim 2, characterized in that, The integrated module (2) also includes a top plate template (24) and an adjustable top rod (4), wherein, The top plate template (24) is connected to the top of the beam side template (22) and is parallel to the bottom beam template (23); one end of the adjustable top rod (4) is installed on the keel frame (21) and the other end abuts against the bottom of the top plate template (24), and is used to support the top plate template (24) and adjust the level of the top plate template (24).

6. The intelligent formwork construction robot according to claim 2, characterized in that, The integrated module (2) also includes a beam side opening and closing device (5), which includes a crossbeam (51), a lead screw and nut drive assembly (52), and two clamping rods (53). The crossbeam (51) includes an inner tube (511) and an outer tube (512) coaxially sleeved, wherein the inner tube (511) is slidably accommodated within the outer tube (512); The lead screw and nut drive assembly (52) includes an adjusting nut (521), an adjusting lead screw (522), and a limiting member (523). The adjusting nut (521) is fixed to the end of the inner tube (511). One end of the adjusting lead screw (522) is sequentially inserted into the outer tube (512) and the inner tube (511) and is threadedly connected to the adjusting nut (521). The other end extends out of the outer tube (512) and is rotatably connected to the outer tube (512) through the limiting member (523). Two clamps (53) are fixed to the outer walls of the inner tube (511) and the outer tube (512) respectively. At the same time, the two clamps (53) are installed on the beam side formwork (22) on both sides through clamp connectors (54).

7. The intelligent formwork construction robot according to claim 6, characterized in that, The connector (214) is U-shaped and includes a U-shaped groove and two screws extending upward from both ends of the U-shaped groove. Both screws pass through the beam side template (22) and are bolted to the beam side template (22) on both sides. The main keel (211) passes through the connector (214) and is suspended in the U-shaped groove of the connector (214). Limiting plates (219) are provided on the two screws of the connector (214). The limiting plates (219) are located between the beam side template (22) and the bottom of the U-shaped channel. The vertical distance from the limiting plate (219) to the bottom of the U-shaped channel is greater than the size of the main keel (211) in the corresponding direction, so as to form a gap between the main keel (211), the bottom of the U-shaped channel, and the limiting plate.

8. The intelligent formwork construction robot according to claim 2 or 3, characterized in that, The integrated module (2) also includes a beam tensioner (6), which includes a tensioning assembly (61) and a suspension element (62), wherein, One end of the tensioning component (61) is connected to the upper part of the beam side formwork (22), and the other end is hinged to the keel frame (21) through the suspension component (62); the tensioning component (61) is used to adjust the tension of the suspension component (62) to limit the verticality of the beam side formwork (22).

9. The intelligent formwork construction robot according to claim 1, characterized in that, The lifting mechanism (3) also includes a screw sleeve (34) installed on the base frame (1), and the transmission shaft is a lifting screw (33) inserted into the screw sleeve (34); the top end of the lifting screw (33) is provided with a template connector (35) and connected to the bottom template (23) of the beam; The first drive unit (31) and the second drive unit (32) are both worm gear machines. The first drive unit (31) is installed at the bottom of the keel frame (21) and can move axially relative to the lifting screw (33). The second drive unit (32) is installed at the top of the screw sleeve (34) and can drive the lifting screw (33) to move vertically up and down relative to the screw sleeve (34). The lifting mechanism is installed on the base frame (1) through the worm gear bracket. The worm gear bracket includes a telescopic crossbar (123) and a sleeve (36). The sleeve (36) is sleeved on the outer wall of the screw sleeve (34). The sleeve (36) is connected to the base frame (1) on both sides through several telescopic crossbars (123).

10. A construction process for an intelligent formwork construction robot, characterized by using the intelligent formwork construction robot as described in any one of claims 1-9, include: Determine the model and installation location of the intelligent formwork construction robot, place the intelligent formwork construction robots in sequence, and level the intelligent formwork construction robots; Start the first drive unit (31) to drive the beam side template (22) to rise. When the keel frame (21) rises to the bottom preset position of the beam bottom template (23), the beam side template (22) and the beam bottom template (23) cooperate with each other to form a forming space for pouring concrete beam (7). Stop the first drive unit (31). Start the second drive unit (32) to drive the beam side formwork (22) and the beam bottom formwork (23) to rise as a whole, and stop the second drive unit (32) when it reaches the set position. Concrete is poured into the forming space. After the concrete beam (7) is poured and reaches the set strength, the first drive unit (31) is started to drive the beam side formwork (22) to descend. When the top of the beam side formwork (22) is no higher than the top surface of the bottom formwork (23), the first drive unit (31) is stopped. Start the second drive unit (32) to drive the beam side formwork (22) and the beam bottom formwork (23) to descend as a whole. When they reach the set position, stop the second drive unit (32). Move the intelligent formwork construction robot to the next construction station, or dismantle the intelligent formwork construction robot in sequence.

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