Box girder end form dismounting and mounting intelligent integrated machine and dismounting and mounting operation thereof

Abstract

The application relates to a box girder end mold dismounting intelligent integrated machine and a dismounting operation thereof, and belongs to the technical field of railway box girder construction. The integrated machine comprises a vehicle frame, a trackless flatcar arranged at the bottom of the vehicle frame, and a multi-dimension posture adjusting module arranged on the vehicle frame and capable of lifting the end mold and driving the end mold to be aligned with the end part of the box girder. The multi-dimension posture adjusting module comprises a lifting driving mechanism, a connecting end mold suspension frame drives the end mold to lift, and the trackless flatcar arranged at the bottom of the vehicle frame moves the end mold from an end mold storage area to a box girder end reserved position to perform mold closing. A plurality of mounting and dismounting driving mechanisms are distributed in the upper and lower areas on the two sides of the lifting driving mechanism, and the integrated machine further comprises a mold stripping driving mechanism arranged on the two sides of the vehicle frame. Through the control of a power system output, the multi-dimension posture adjusting module can precisely adjust the lifting, translation and pitching of the end mold. The application integrates the whole process operation of end mold transfer, lifting, alignment and mounting and dismounting, and can fully adapt to the standardized and continuous flow construction rhythm of the precast beam field.

Description

Technical Field

[0001] This invention relates to the technical field of railway box girder construction, and in particular to an intelligent integrated machine for dismantling and assembling box girder end formwork and its dismantling and assembly operations. Background Technology

[0002] In the industry, the dismantling and assembly of box girder end formwork relies on gantry cranes to lift the end formwork, and then a transfer vehicle to transport it to the end of the box girder to complete the formwork assembly. The construction requires the coordination of multiple types of equipment such as gantry cranes and transfer vehicles, as well as multiple personnel. The equipment occupies a large space, the construction process is complicated, and the operation is time-consuming, which cannot meet the needs of continuous and standardized assembly line construction in precast beam yards.

[0003] Meanwhile, placing the end mold directly on the transfer frame and performing mold assembly with the box girder end makes it impossible to correct the alignment and pitch angle of the end mold. Relying solely on the movement and adjustment of the transfer frame, the steering of the bottom rudder wheel has a significant impact on the mold assembly accuracy. The mold assembly at the rear end is prone to misalignment, displacement, and other assembly problems, leading to a series of quality defects such as misalignment of the anchor plate installation and damage to the concrete forming at the beam end. This results in a decrease in the qualified rate of the box girder finished product, increasing the cost of rework and rectification and the difficulty of quality control.

[0004] Traditional end formwork demolding operations often employ a rigid demolding method involving forced pulling, which causes instantaneous stress concentration and can easily lead to concrete cracking and corner damage at the box girder ends. It also significantly shortens the service life of the end formwork and increases construction material and equipment maintenance costs. Summary of the Invention

[0005] To address the problems mentioned above in the background art, the present invention provides an intelligent integrated machine for disassembling and assembling box girder end formwork and its disassembly and assembly operations.

[0006] The intelligent integrated machine for dismantling and assembling box girder end formwork provided by this invention and its dismantling and assembly operations adopt the following technical solution: The intelligent integrated machine for disassembling and assembling box girder end formwork includes a chassis, a trackless flatcar located at the bottom of the chassis, and a multi-dimensional attitude adjustment module mounted on the chassis capable of lifting the end formwork and aligning it with the end of the box girder. The multi-dimensional attitude adjustment module is connected to a power system that provides driving force. The multi-dimensional attitude adjustment module includes a lifting drive mechanism located in the middle area of ​​the chassis, which is connected to an end formwork suspension frame extending from the chassis for lifting and lowering the end formwork. Multiple assembly and disassembly drive mechanisms are distributed on the upper and lower areas on both sides of the lifting drive mechanism. The assembly and disassembly drive mechanisms are connected to a locking mechanism that extends from the chassis and locks the end formwork. The power system adjusts the output of multiple assembly and disassembly drive mechanisms to complete the translation and pitch angle adjustment of the end formwork. The multi-dimensional attitude adjustment module also includes demolding drive mechanisms located on both sides of the chassis, which include drive units that can extend synchronously and whose pushing force gradually increases.

[0007] The assembly and disassembly operation of the intelligent integrated machine for disassembling and assembling box girder end formwork includes the following steps: S1. Move the integrated machine unloaded to the end mold storage area using a trackless flatcar, and adjust the flatcar position so that the integrated machine is in the reserved position on the side of the end mold and aligned left and right; S2. Drive the lifting drive mechanism through the power system to make the end mold suspension frame support the end mold; S3. Raise the end mold to the preset working height matching the end of the box girder, and drive the assembly and disassembly drive mechanism through the power system to make the locking mechanism extend and lock the end mold, and check the locking status; S4. Move the integrated machine carrying the end mold to the reserved position at the end of the box girder using a trackless flatcar; S5. Drive the various drive mechanisms of the multi-dimensional attitude adjustment module through the power system to perform multi-dimensional attitude adjustment of the end mold in terms of height, front and rear position and pitch angle, so as to achieve precise alignment and mold connection between the end mold and the end of the box girder; S6. After the end mold is in place, release the locking mechanism from locking the end mold; S7. The integrated machine returns to the safe area, completing the end mold installation operation.

[0008] The dismantling operation of the intelligent integrated machine for dismantling and assembling box girder end formwork includes the following steps: S8. Move the integrated machine unloaded to the reserved position at the end of the box girder and align it left and right using a trackless flatcar; S9. Drive the lifting mechanism through the power system to make the end formwork suspension frame support the end formwork; S10. Drive the assembly and disassembly mechanism through the power system to make the locking mechanism extend and lock the end formwork, and check the locking status; S11. Use the demolding drive mechanism to push the end of the box girder to separate the end formwork from the concrete contact surface of the box girder, and complete the flexible demolding; S12. After demolding, move the integrated machine carrying the end formwork to the end formwork storage area using a trackless flatcar.

[0009] As a preferred embodiment of the above scheme, in step S4, the vertical output shaft of the lifting drive mechanism can be vertically extended and retracted, and the minimum output height of the lifting drive mechanism is lower than the height of the upper beam of the end mold, so that the end mold is suspended off the ground when the integrated machine is carrying the end mold and during operation.

[0010] As a preferred embodiment of the above scheme, in step S5, the power system is a multi-stage hydraulic station, which is connected to each drive mechanism of the multi-dimensional attitude adjustment module through pipelines. The multi-stage hydraulic station is equipped with solenoid valves, which are used to regulate the start and stop of each drive mechanism and the power output.

[0011] As a further preferred embodiment of the above scheme, the assembly and disassembly drive mechanism is paired according to the upper and lower positions to form an upper drive group and a lower drive group. The power output and extension stroke of the upper drive group and the lower drive group are adjusted individually or in concert by the power system to realize the adjustment of the front and rear position and pitch angle of the end mold.

[0012] As a preferred embodiment of the above scheme, in step S5, the left and right positions of the end mold relative to the end of the box girder are adjusted by driving the steering wheel at the bottom of the trackless flatcar. At this time, the steering wheel moves in a direction parallel to the side of the end mold.

[0013] As a preferred embodiment of the above scheme, in step S6, the locking mechanism is a perforated hook rod.

[0014] As a preferred embodiment of the above scheme, in step S11, the demolding drive mechanism adopts a progressive pressure-increasing jacking operation mode. The end of the demolding drive mechanism abuts against the end contact surface of the box girder, and the jacking force gradually increases from 0 to 20kN, so that the end mold separates from the concrete surface of the box girder.

[0015] As a preferred embodiment of the above scheme, in step S12, the integrated machine equipped with the end mold is directly stored in the end mold storage area.

[0016] As a preferred embodiment of the above scheme, in steps S1 to S12, control commands are issued through a control system located on one side of the vehicle frame. The control system has a built-in PLC control module that is connected to the remote control, the trackless flatcar, and the power system.

[0017] In summary, the present invention has the following beneficial technical effects: 1. This invention integrates a multi-dimensional attitude adjustment module on the chassis. The power system drives the lifting mechanism to lift the end mold, which is then supported by the end mold suspension frame. The trackless flatcar located at the bottom of the chassis moves the end mold from the end mold storage area to the reserved position at the end of the box girder for mold closing. At the same time, by controlling the output of the power system, the multi-dimensional attitude adjustment module can precisely adjust the lifting, translation, and pitch of the end mold, thereby improving the defects of traditional misalignment and ensuring construction quality.

[0018] 2. This invention integrates the entire process of end formwork transfer, lifting, alignment, and assembly / disassembly. All construction procedures can be completed independently with a single integrated machine, eliminating the need for gantry cranes to assist in hoisting operations. This reduces the occupation of large equipment, saves construction site space, optimizes the construction process, and shortens the construction period. The traditional operation time of disassembling and assembling a single end formwork, which used to be no less than 4 hours, has been reduced to less than 1 hour. This invention can fully adapt to the standardized and continuous flow construction rhythm of precast beam yards and effectively improve the overall production capacity of beam yards.

[0019] 3. The present invention uses a hydraulic cylinder with gradually increasing thrust in conjunction with a sliding rod to achieve flexible demolding, avoiding beam end cracking and sealing strip damage caused by hard prying, extending the template life and ensuring the appearance quality of the beam end. It is suitable for railway box girders of various specifications and has practical value. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the planar structure of the vehicle frame according to Embodiment 1 of the invention; Figure 2This is a side view of the vehicle frame of Embodiment 1 of the invention; Figure 3 This is a physical image of the vehicle frame of Embodiment 1 of the invention.

[0021] Explanation of reference numerals in the attached drawings: 1. Frame; 11. Vertical beam; 2. Trackless flatcar; 21. Steering wheel; 3. Multi-dimensional attitude adjustment module; 31. Lifting drive mechanism; 32. End mold suspension frame; 33. Assembly / disassembly drive mechanism; 331. Upper drive group; 332. Lower drive group; 34. Locking mechanism; 35. Demolding drive mechanism; 351. Drive unit; 352. Push plate; 4. Power system; 5. Control system; 6. Safety control module; 7. Power supply module. Detailed Implementation

[0022] The following combination Figures 1-3 The present invention will be described in further detail below.

[0023] Example 1 Embodiment 1 of the invention discloses an intelligent integrated machine for dismantling and assembling box girder end formwork, which is suitable for dismantling and assembling end formwork of railway box girders of various specifications such as 32m / 24m.

[0024] In this embodiment, refer to Figure 1 , Figure 2 , Figure 3 The intelligent integrated machine for disassembling and assembling box girder end formwork includes a frame 1, a trackless flatcar 2 located at the bottom of the frame 1, and a multi-dimensional posture adjustment module 3 located on the frame 1 that can lift the end formwork and align it with the end of the box girder. The multi-dimensional posture adjustment module 3 is connected to a power system 4 that can provide driving force for it.

[0025] Among them, the frame 1 is made of Q355 material, and square tubes of 200×10 and 100×10 are welded into a cuboid structure with a rectangular parting surface. The flatness is ≤3mm / m and the parting surface size is 3300×7800mm.

[0026] Among them, the trackless flatcar 2 is a heavy-duty trackless flatcar with four sets of steering wheels 21 at the bottom. Each set of steering wheels 21 is also equipped with a drive motor to drive the steering wheel and a turbine rotary motor to drive the steering wheel. The steering wheels 21 are polyurethane-coated wheels with a diameter of 300mm and a maximum load of 15 tons. Each steering wheel 21 is driven by an independent 1.5kW 48V DC drive motor and a 0.8kW 48V DC turbine rotary motor, which can realize longitudinal translation, lateral translation and in-situ turning, adapting to different docking positions of box girders. Since the planar dimensions of the frame 1 are 3300×7800mm, the minimum passage width required to achieve 360° in-situ turning under this size is 4m. The running speed is adjustable from 0-20m / min to meet the different needs of short-distance transfer and long-distance unloaded movement between beam yard platforms.

[0027] In this embodiment, four sets of steering wheels 21 are used to achieve longitudinal translation, lateral translation, and in-situ turning. Alternative solutions include using Mecanum wheels with differential drive, or using a traditional steering axle with dual-wheel drive, which can also achieve multi-dimensional movement functions.

[0028] The frame 1 is eccentrically positioned on one side above the trackless flatcar 2, and the frame 1 is suspended towards the other side above the trackless flatcar 2 to ensure the stability of the frame 1 when the end mold is suspended.

[0029] In this embodiment, refer to Figure 1 , Figure 2 The multi-dimensional posture adjustment module 3 includes a lifting drive mechanism 31 located in the middle region of the frame 1. Vertical beams 11 are symmetrically arranged on both sides of the middle region of the frame 1, and the lifting drive mechanism 31 is mounted on the vertical beams 11. The height of the lifting drive mechanism 31 is not less than half the height of the vertical beams 11. The vertical output shaft of the lifting drive mechanism 31 is connected to an end mold suspension bracket 32 ​​extending out of the frame 1. The upper end of the vertical output shaft of the lifting drive mechanism 31 is connected to the end mold suspension bracket 32. The front end of the end mold suspension bracket 32 ​​protrudes from the front of the frame 1 and is used to suspend the end mold and drive the end mold to rise and fall.

[0030] Among them, the end mold suspension frame 32 is welded into a crossbeam plate by 20mm thick Q235 steel plate. The end of the end mold suspension frame 32 extending out of the frame 1 is provided with a positioning pin to limit the sliding of the end mold. The end mold is provided with a through hole that cooperates with the positioning pin. The end mold is fixed by the positioning pin during the transfer of the end mold and the mold closing. A locking hook is passed through the end of the positioning pin.

[0031] The end formwork has a U-shaped structure, including a box girder panel at the end of the box girder and a support beam on the back side of the box girder panel. The support beam includes upper beam, lower beam and left and right beams connected to each other. The minimum output height of the lifting drive mechanism 31 is lower than the height of the upper beam of the end formwork, which can make the end formwork suspended off the ground when the end formwork is supported by the end formwork suspension frame 32 and when it is in operation, ensuring sufficient lifting adjustment stroke.

[0032] In this embodiment, refer to Figure 1 , Figure 2 Multiple mounting and dismounting mounting mechanisms 33 are distributed on the upper and lower areas of both sides of the lifting drive mechanism 31. The lateral output shaft of the mounting and dismounting mounting mechanism 33 is connected to a locking mechanism 34 that can extend out of the frame 1 and lock the end mold. The locking mechanism 34 enables the integrated machine to quickly dock and rigidly lock the end mold. The power system 4 adjusts the output of multiple mounting and dismounting mounting mechanisms 33 to complete the translation and pitch angle adjustment of the end mold.

[0033] The assembly and disassembly drive mechanism 33 is divided into an upper drive group 331 and a lower drive group 332 according to the upper and lower positions. The upper drive group 331 and the lower drive group 332 are separately connected to the power system 4. The output of the upper drive group 331 and / or the lower drive group 332 is adjusted by the power system 4 to complete the end mold translation and pitch angle adjustment.

[0034] The upper drive group 331 and the lower drive group 332 are symmetrically distributed on the upper and lower areas of both sides of the frame 1, and the spacing of the upper drive group 331 is greater than the spacing of the lower drive group 332.

[0035] The locking mechanism 34 can be any one of a hydraulic gripper, an electromagnetic chuck, or a perforated hook rod.

[0036] When the locking mechanism 34 is a hydraulic gripper, the hydraulic gripper provides clamping force through the power system 4, which drives the gripper to clamp or release the end mold.

[0037] When the locking mechanism 34 is an electromagnetic chuck, the electromagnetic chuck generates a magnetic field when energized, causing the magnetically conductive workpiece located at the corresponding position on the end mold to be attracted. After the power is turned off, the magnetic force disappears, realizing the rapid clamping and release of the end mold.

[0038] When the locking mechanism 34 is a perforated hook rod, the main body of the mounting and disassembly drive mechanism 33 is hinged to the frame 1 via the mounting base. The mounting and disassembly drive mechanism 33 can swing up and down, and its output part is connected to the perforated hook rod. The perforated hook rod is manually adjusted to pass through the preset plate at the corresponding position on the end mold, and a locking hook is manually placed at the perforated position at the end of the perforated hook rod to lock the end mold.

[0039] During the perforation alignment, the left and right positions of the end mold relative to the end of the box girder can be adjusted by driving the rudder wheel 21 at the bottom of the trackless flatcar 2. At this time, the rudder wheel 21 moves in a direction parallel to the end mold side, so that the telescopic rod is aligned and passes through the preset plate at the corresponding position on the end mold.

[0040] In this embodiment, the locking mechanism 34 is a perforated hook rod.

[0041] As an alternative to the above structure, the mounting and disassembly drive mechanism 33 and the locking mechanism 34 can be directly replaced with a hydraulic mechanical arm, which is connected to the power system 4. The end of the hydraulic mechanical arm is connected to a locking component that can extend out of the frame 1 and lock the end mold. The locking component uses a hydraulic gripper. The hydraulic mechanical arm can drive the end mold to lift vertically, move horizontally, and adjust the pitch angle.

[0042] In this embodiment, refer to Figure 1 , Figure 2The multi-dimensional posture adjustment module 3 also includes a demolding drive mechanism 35 located on both sides of the frame 1. The demolding drive mechanism 35 is lower than the mounting and disassembly drive mechanism 33 located on the upper part of the frame 1. The demolding drive mechanism 35 includes a drive unit 351 that can extend synchronously and gradually increase the pushing force. The transverse output shaft of the drive unit 351 is connected to a push plate 352 that can push the end mold to demold. The push plate 352 abuts against the pedestal embedded part located at the end of the box beam. The end mold is smoothly demolded by applying force at both ends simultaneously, avoiding demolding jamming.

[0043] The demolding drive mechanism 35 is mainly used for the removal of the end formwork. Through the synchronous output of two drive units 351, the thrust gradually increases from 0 to 20kN, pressing against the pre-embedded parts of the platform at the end of the box girder, so that the end formwork and the concrete surface are evenly separated.

[0044] In this embodiment, the driving mechanisms of the multi-dimensional posture adjustment module 3, including the lifting drive mechanism 31, the mounting and dismounting drive mechanism 33, and the demolding drive mechanism 35, are all hydraulic drive mechanisms. Specifically, they are set as hydraulic cylinders, and the output end of the hydraulic cylinder is connected to a hydraulic telescopic rod and connected to its respective mounting component. The lifting drive mechanism 31, the mounting and dismounting drive mechanism 33, and the demolding drive mechanism 35 are respectively connected to the power system 4 mounted on the vehicle frame 1.

[0045] In this embodiment, the power system 4 is a 48V DC multi-unit hydraulic station with a working pressure of 16MPa. It is equipped with an oil tank, oil pump, filter, and relief valve, which are connected to each drive mechanism of the multi-dimensional attitude adjustment module 3 through pipelines. The multi-unit hydraulic station is also equipped with solenoid valves, which are used to adjust the start and stop of each drive mechanism and the power output.

[0046] Specifically, the end mold's position and attitude are adjusted in multiple degrees of freedom through a multi-unit hydraulic station and multiple sets of hydraulic cylinders. Specifically, this includes two sets of hydraulic cylinders as the lifting drive mechanism 31, with specifications of φ100 / 50×200, a stroke of 200mm, and an adjustment range of ±100mm; four to six sets of hydraulic cylinders as the assembly / disassembly drive mechanism 33, with specifications of φ80 / 45×800, a stroke of 800mm, and an adjustment range of translation ±350mm and pitch ±10°, to achieve adjustment of the end mold's front-to-back position and pitch angle; and two sets of hydraulic cylinders as the demolding drive mechanism 35, with specifications of φ80 / 45×800.

[0047] Alternatives to the drive mechanism can be to use an electric push rod in conjunction with a servo motor, or to use a motor and a sliding rod lifting mechanism to replace part of the vertical hydraulic cylinders to meet the accuracy requirements.

[0048] As a preferred embodiment of the above structure, a limiting structure that restricts the maximum output stroke of the drive unit 351 may also be provided on one side to prevent the drive unit 351 from over-outputting, such as a safety hydraulic cylinder of the utility model patent with authorization announcement number CN219711936U.

[0049] In this embodiment, refer to Figure 1 The frame 1 is also equipped with a control system 5 that communicates with the trackless flatcar 2 and the power system 4. The control system 5 has a built-in PLC control module to receive and process information and coordinate the operation of remote control and various mechanisms on the trackless flatcar 2 and the frame 1.

[0050] Among them, the remote control adopts a joystick wireless remote controller to control the movement and steering of each steering wheel 21 of the trackless flatcar 2, as well as the operation of the power system 4, to achieve intelligent control of the entire process.

[0051] In this embodiment, the wireless remote controller model XDL3-M0S30-TR-48V is selected. Alternative solutions include using a tablet APP to control via Wi-Fi or Bluetooth, or reserving a wired control handle interface to achieve a dual control mode.

[0052] In this embodiment, refer to Figure 1 The chassis 1 is also equipped with a power supply module 7. In this embodiment, a 48V battery pack is used as the power supply module 7, which is matched with a JT48V power distribution cabinet.

[0053] Alternative solutions could use supercapacitor modules in conjunction with small-capacity batteries, or use external cable power supply to suit continuous long-term operation scenarios.

[0054] The power supply module 7 in this embodiment is also equipped with a charger and a voltmeter. The voltmeter is equipped with a voltage display module and an undervoltage alarm device. The charger is equipped with a mechanical switch to prevent plugging and unplugging while the power is on, thus avoiding damage to components and the risk of electric shock.

[0055] The chassis 1 is also equipped with a safety control module 6 with an IP65 protection rating, suitable for the open-air environment of the beam yard. Both the safety control module 6 and the control system 5 are housed within a housing and symmetrically positioned on both sides of the chassis 1. The safety control module 6 includes an infrared limit switch and an emergency stop device. The infrared limit switch comprises a transmitter and receiver surrounding the chassis 1, generating a switch signal and triggering an audible and visual warning light before a collision, indicating that the emergency stop device 1 is in operation. The chassis 1 is also surrounded by crash barriers.

[0056] The implementation principle of the intelligent integrated machine for disassembling and assembling box girder end molds in Embodiment 1 of the invention is as follows: The invention integrates a multi-dimensional posture adjustment module 3 on the frame 1, and drives the lifting drive mechanism 31 through the power system 4 to make the end mold suspension frame 32 receive and lift the end mold. In conjunction with the trackless flat car 2 located at the bottom of the frame 1, the end mold is moved from the end mold storage area to the reserved position at the end of the box girder for mold closing.

[0057] By controlling the output of the power system 4, the multiple drive mechanisms of the multi-dimensional attitude adjustment module 3 can achieve precise adjustments to the end mold lifting by ±100mm, translation by ±350mm, and pitch by ±10°, with a positioning accuracy of ≤0.5mm. This eliminates the defects of traditional misalignment ≥5mm, effectively avoids damage to the beam end concrete and anchor plate deviation, and the single disassembly and assembly time is ≤1 hour.

[0058] Example 2 Embodiment 2 of the invention discloses the assembly and disassembly operation of an intelligent integrated machine for disassembling and assembling box girder end formwork.

[0059] Reference Figure 1 , Figure 2 , Figure 3 The installation and dismantling operation of the intelligent integrated machine for dismantling and assembling box girder end formwork is applied to the intelligent integrated machine for dismantling and assembling box girder end formwork. The installation operation of the intelligent integrated machine for dismantling and assembling box girder end formwork includes the following steps: S1. Move the integrated machine unloaded to the end mold storage area using the trackless flatcar 2, and adjust the position of the flatcar so that the integrated machine is located in the reserved position on the side of the end mold and aligned left and right.

[0060] The flatness of the ground in the end mold storage area is ≤5 mm / m.

[0061] S2. The lifting drive mechanism 31 is driven by the power system 4 to move, so that the end mold suspension frame 32 supports the end mold.

[0062] S3. Raise the end formwork to a preset working height that matches the end of the box girder. Drive the assembly and disassembly drive mechanism 33 through the power system 4 to extend and lock the end formwork, and check the locking status.

[0063] S4. The trackless flatcar 2 drives the integrated machine carrying the end formwork to the reserved position at the end of the box girder, and the pre-embedded steel bars of the end formwork are manually sorted out to avoid them.

[0064] Among them, the vertical output shaft of the lifting drive mechanism 31 can be vertically extended and adjusted, and the minimum output height of the lifting drive mechanism 31 is lower than the height of the upper beam of the end mold. When the integrated machine is carrying the end mold and operating, the end mold is suspended off the ground.

[0065] A flatcar passage with a width of ≥4 m is reserved at the end of the box girder.

[0066] S5. The power system 4 drives the various drive mechanisms of the multi-dimensional attitude adjustment module 3 to perform multi-dimensional attitude adjustment of the end mold in terms of height, front and rear position and pitch angle, so as to achieve precise alignment and mold connection between the end mold and the end of the box girder.

[0067] Among them, the power system 4 is a multi-stage hydraulic station, which is connected to each drive mechanism of the multi-dimensional attitude adjustment module 3 through pipelines. The multi-stage hydraulic station is equipped with solenoid valves, which regulate the start and stop of each drive mechanism and the power output.

[0068] Among them, the mounting and dismounting drive mechanism 33 is paired according to the upper and lower positions to form an upper drive group 331 and a lower drive group 332. The power output and extension stroke of the upper drive group 331 and the lower drive group 332 are adjusted individually or in coordination by the power system 4 to realize the adjustment of the front and rear position and pitch angle of the end mold.

[0069] Among them, by driving the rudder wheel 21 at the bottom of the trackless flatcar 2, the left and right positions of the end mold relative to the end of the box girder are adjusted. At this time, the rudder wheel 21 moves in a direction parallel to the side of the end mold.

[0070] S6. After the end mold is in place, release the locking mechanism 34 from locking the end mold.

[0071] The locking mechanism 34 can be any one of a hydraulic gripper, an electromagnetic chuck, or a perforated hook rod.

[0072] In this embodiment, the locking mechanism 34 is a perforated hook rod. The perforated hook rod passes through a preset plate at a corresponding position on the end mold, and a locking hook is placed at the perforated position at the end of the perforated hook rod to lock and constrain the end mold.

[0073] S7. The all-in-one machine retracts to the safe zone, completing the end mold installation operation.

[0074] The dismantling operation of the intelligent integrated machine for dismantling and assembling box girder end formwork includes the following steps: S8. The trackless flatcar 2 drives the integrated machine to move unloaded to the reserved position at the end of the box girder and aligns it left and right.

[0075] S9. The lifting drive mechanism 31 is driven by the power system 4 to make the end mold suspension frame 32 support the end mold. S10. The installation and disassembly drive mechanism 33 is driven by the power system 4 to move, thereby causing the locking mechanism 34 to extend and lock the end mold, and the locking status is checked.

[0076] After the end mold suspension frame 32 receives the end mold, it is necessary to control the movement of the steering wheel 21 and manually adjust the telescopic rod to pass through the preset plate at the corresponding position on the end mold so that the locking mechanism 34 can be aligned with the end mold and lock it.

[0077] S11. Use the demolding drive mechanism 35 to push the end of the box girder, so that the end mold separates from the concrete contact surface of the box girder, and completes the flexible demolding.

[0078] Specifically, the demolding drive mechanism 35 adopts a progressive pressure boosting and pushing operation mode. The end of the demolding drive mechanism 35 abuts against the end contact surface of the box girder, and the pushing force gradually increases from 0 to 20kN, so that the end mold separates from the concrete surface of the box girder.

[0079] S12. After demolding, the integrated machine carrying the end mold is moved to the end mold storage area by the trackless flatcar 2.

[0080] The integrated machine equipped with the end mold can be stored directly in the end mold storage area without unlocking or disassembling the drive mechanism 33, making it convenient for future use and continuous operation.

[0081] Alternatively, the power system 4 can drive the installation and removal drive mechanism 33 and the lifting drive mechanism 31 to release the lock on the end mold and place the end mold, allowing the integrated machine to retreat to the safe zone.

[0082] In steps S1 to S12, control commands are issued through the control system 5 located on one side of the frame 1. The control system 5 has a built-in PLC control module and is connected to the remote control, the trackless flatcar 2 and the power system 4 respectively.

[0083] The assembly and disassembly operations of the intelligent integrated machine for disassembling and assembling box girder end formwork disclosed in Embodiment 2 are mainly applicable to the intelligent integrated machine for disassembling and assembling box girder end formwork disclosed in Embodiment 1.

[0084] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A smart integrated machine for disassembling and assembling box girder end formwork, characterized in that: Includes a frame (1), a trackless flatcar (2) located at the bottom of the frame (1), and a multi-dimensional posture adjustment module (3) located on the frame (1) that can lift the end mold and drive it to align with the end of the box beam. The multi-dimensional posture adjustment module (3) is connected to a power system (4) that can provide driving force for it. The multi-dimensional posture adjustment module (3) includes a lifting drive mechanism (31) located in the middle area of ​​the frame (1). The lifting drive mechanism (31) is connected to an end mold suspension frame (32) extending out of the frame (1) for driving the end mold to lift. Multiple mounting and dismounting drive mechanisms (33) are distributed on the upper and lower areas on both sides of the lifting drive mechanism (31). The mounting and dismounting drive mechanism (33) is connected to a locking mechanism (34) that can extend out of the frame (1) and lock the end mold. The output of the multiple mounting and dismounting drive mechanisms (33) is adjusted by the power system (4) to complete the translation and pitch angle adjustment of the end mold. The multi-dimensional posture adjustment module (3) also includes a demolding drive mechanism (35) located on both sides of the frame (1). The demolding drive mechanism (35) includes a drive unit (351) that can extend synchronously and whose pushing force gradually increases.

2. The assembly and disassembly operation of the intelligent integrated machine for disassembling and assembling box girder end formwork, applied to the intelligent integrated machine for disassembling and assembling box girder end formwork as described in claim 1, is characterized in that: The installation of the intelligent integrated machine for dismantling and assembling box girder end formwork includes the following steps: S1. Move the integrated machine to the end mold storage area by using a trackless flatcar (2) without load, and adjust the position of the flatcar so that the integrated machine is located in the reserved position on the side of the end mold and is aligned left and right. S2. Drive the lifting drive mechanism (31) through the power system (4) to make the end mold suspension frame (32) support the end mold; S3. Raise the end formwork to the preset working height that matches the end of the box girder, drive the assembly and disassembly drive mechanism (33) through the power system (4) to move, drive the locking mechanism (34) to extend and lock the end formwork, and check the locking status; S4. The integrated machine carrying the end mold is moved to the reserved position at the end of the box girder by the trackless flat car (2); S5. Drive the various drive mechanisms of the multi-dimensional attitude adjustment module (3) through the power system (4) to perform multi-dimensional attitude adjustment of the end mold in terms of height, front and rear position and pitch angle, so as to achieve precise alignment and mold connection between the end mold and the end of the box beam. S6. After the end mold is in place, release the locking mechanism (34) from locking the end mold. S7. The all-in-one machine retracts to the safe zone to complete the end mold installation operation; The dismantling operation of the intelligent integrated machine for dismantling and assembling box girder end formwork includes the following steps: S8. The integrated machine is moved unloaded to the reserved position at the end of the box girder and aligned left and right by the trackless flatcar (2); S9. Drive the lifting drive mechanism (31) through the power system (4) to make the end mold suspension frame (32) support the end mold; S10. Drive the assembly / disassembly drive mechanism (33) through the power system (4) to move, drive the locking mechanism (34) to extend and lock the end mold, and check the locking status; S11. Use the demolding drive mechanism (35) to push the end of the box girder, so that the end mold is separated from the concrete contact surface of the box girder, and the flexible demolding is completed. S12. After demolding, the integrated machine carrying the end mold is moved to the end mold storage area by a trackless flatcar (2).

3. The assembly and disassembly operation of the intelligent integrated machine for disassembling and assembling box girder end formwork as described in claim 2, characterized in that: In step S4, the vertical output shaft of the lifting drive mechanism (31) can be vertically extended and retracted, and the minimum output height of the lifting drive mechanism (31) is lower than the height of the upper beam of the end mold. When the integrated machine carries the end mold and operates, the end mold is suspended off the ground.

4. The assembly and disassembly operation of the intelligent integrated machine for disassembling and assembling box girder end formwork according to claim 2, characterized in that: In step S5, the power system (4) is a multi-stage hydraulic station, which is connected to each drive mechanism of the multi-dimensional attitude adjustment module (3) through pipelines. The multi-stage hydraulic station is equipped with solenoid valves, which are used to adjust the start and stop of each drive mechanism and the power output.

5. The assembly and disassembly operation of the intelligent integrated machine for disassembling and assembling box girder end formwork according to claim 4, characterized in that: The mounting and dismounting drive mechanism (33) is paired up to form an upper drive group (331) and a lower drive group (332) according to the upper and lower positions. The power output and extension stroke of the upper drive group (331) and the lower drive group (332) are adjusted individually or in coordination by the power system (4) to realize the adjustment of the front and rear position and pitch angle of the end mold.

6. The assembly and disassembly operation of the intelligent integrated machine for disassembling and assembling box girder end formwork according to claim 2, characterized in that: In step S5, the left and right positions of the end mold relative to the end of the box girder are adjusted by driving the rudder wheel (21) at the bottom of the trackless flatcar (2). At this time, the rudder wheel (21) moves in a direction parallel to the end mold side.

7. The assembly and disassembly operation of the intelligent integrated machine for disassembling and assembling box girder end formwork according to claim 2, characterized in that: In step S6, the locking mechanism (34) is a perforated hook rod.

8. The assembly and disassembly operation of the intelligent integrated machine for disassembling and assembling box girder end formwork according to claim 2, characterized in that: In step S11, the demolding drive mechanism (35) adopts a progressive pressure boosting operation mode. The end of the demolding drive mechanism (35) abuts against the end contact surface of the box girder, and the pushing force gradually increases from 0 to 20kN, so that the end mold separates from the concrete surface of the box girder.

9. The assembly and disassembly operation of the intelligent integrated machine for disassembling and assembling box girder end formwork according to claim 2, characterized in that: In step S12, the integrated machine equipped with the end mold is directly stored in the end mold storage area.

10. The assembly and disassembly operation of the intelligent integrated machine for disassembling and assembling box girder end formwork according to claim 2, characterized in that: In steps S1 to S12, control commands are issued by the control system (5) located on one side of the frame (1). The control system (5) has a built-in PLC control module and is connected to the remote control, the trackless flatcar (2) and the power system (4) respectively.

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