JP2021080795A - Formwork device and formwork automatic installation system - Google Patents

Abstract

To provide a formwork device and an automatic formwork installation system capable of saving labor while maintaining high accuracy.SOLUTION: A formwork device includes a concrete formwork placed facing the side of the planned concrete placement area, a traveling mechanism that slides the concrete formwork forward and backward toward the side surface of the planned concrete placement area, and surveying means that measures the positions of a plurality of side points set on the concrete formwork.SELECTED DRAWING: Figure 2

Description

The present invention relates to a formwork device and an automatic formwork installation system used when constructing a concrete structure.

Conventionally, when constructing a large-scale concrete structure such as a dam, a method has been known in which a concrete placing area is divided into a plurality of blocks or divided into a plurality of layers, and concrete is sequentially laid. There is. In this case, after defining the installation reference position of the concrete formwork in advance at the stage of construction planning, the formwork is transported to the vicinity of the installation position using a lifting device such as a crane, and then the position is manually performed by the workers at the site. It took a lot of time and effort to make adjustments and build the formwork.

Under these circumstances, various formwork devices have been developed in order to simplify the installation work of the concrete formwork and save labor. For example, in Patent Document 1, a work scaffold for raising and lowering the side surface of the existing concrete is provided. A mold device in which a mold member is provided on a frame body is disclosed.

In the formwork device of Patent Document 1, in addition to the work scaffolding frame and the formwork member, a rail member that is detachably installed on an anchor member fixed to the side of the existing concrete and a work scaffolding frame are railed. The upper end of the jack that expands and contracts in the vertical direction is connected to the work scaffolding frame, and the lower end is detachably connected to the rail member.

Then, in order to arrange the formwork member in the casting area located above the existing concrete, first, the jack is extended and the work scaffolding frame is moved upward along the rail. After moving, the frame for work scaffolding is fixed to the rail, and the lower end of the jack is released from the rail member, and then the jack is contracted. To further raise the jack, the lower end of the jack is fixed to the rail member, the work scaffolding frame is released from the rail, the jack is extended again, and the work scaffolding frame is moved upward along the rail member.

After repeating such a procedure, the work scaffolding frame is raised to a height near the casting area, and then the formwork members are moved toward the casting area and built in the installation position specified in advance in the construction plan. .. After that, new concrete is cast, hardened and cured, and then demolded. Such work is repeated until the desired height is reached.

JP-A-2018-193724

According to the formwork device of Patent Document 1, since the work scaffolding frame body provided with the formwork member can be raised and lowered along the side surface of the existing concrete, the formwork member is lifted by using a heavy machine such as a crane. There is no need to perform work, labor can be saved, and work time can be significantly shortened. However, the procedure for building the formwork member, which has been moved to a height near the planned placement position of the new concrete by the ascending movement of the work scaffolding frame, at the installation reference position specified in the construction plan has not been clarified. ..

In addition, when the formwork member is built in the installation position specified in the construction plan, generally, in order to position the formwork member, marking is performed on the existing concrete adjacent to the casting area. However, the side surface is often steep or vertically steep, and the work tends to be complicated. Further, in the work of confirming the position of the driving member in the wife part, there is a tendency that the worker may fall or fall, which poses a safety problem.

In addition, in the work of sequentially joining concrete, even if the position error when installing the formwork members is minute, if this continues, it will have a great effect on the finished form, so the build-in accuracy of the formwork members is important. It becomes. However, it is not possible to verify the consistency between the position of the formwork member after construction and the installation reference position specified in the construction plan in real time at the site.

In addition, it is assumed that there are multiple workers in the formwork member installation work that is carried out each time concrete is laid, and in such cases, errors are likely to occur in the building accuracy due to individual differences among the workers. , It was difficult to secure stable building accuracy.

The present invention has been made in view of such a problem, and a main object thereof is to provide a formwork device and an automatic formwork installation system capable of saving labor while maintaining high accuracy. Is.

In order to achieve such an object, the formwork device of the present invention directs a concrete formwork arranged to face the side surface of the concrete casting area and the concrete formwork toward the side surface of the concrete placement area. It is characterized by including a traveling mechanism that slides and moves freely in the concrete formwork, and a surveying means for measuring the positions of a plurality of side points set on the concrete formwork.

According to the formwork device of the present invention, since it is provided with a surveying means for measuring the positions of a plurality of side points set in the concrete formwork and a traveling mechanism for sliding the concrete formwork, concrete is based on the survey results. The position and orientation of the formwork can be confirmed as appropriate, and the concrete formwork can be built using the traveling mechanism.

As a result, the concrete formwork can be built while checking the position and posture based on the survey results, so the concrete formwork can be built with stable and high accuracy without being affected by individual differences by workers. be able to. In addition, not only can the marking work be omitted and the manual work at the time of building can be significantly reduced, but also the height at the time of building is high even if the planned concrete placement area is a high place such as above the existing concrete part. It is possible to significantly reduce the amount of work required and improve work safety.

In the formwork device of the present invention, the surveying means is a position detection sensor composed of a plurality of targets provided on the concrete formwork, a total station for collimating the targets, and two GNSS antennas arranged at intervals. It is characterized by having.

According to the formwork device of the present invention, the survey result by the total station or the survey result by the GNSS survey is appropriately selected according to the site situation regardless of the environment where the concrete formwork is built, and these survey results are obtained. It is possible to acquire information such as the position and posture of the concrete formwork based on the above, and it is possible to greatly improve the work efficiency.

The formwork device of the present invention is characterized in that the concrete formwork is arranged so that the concrete placing surfaces form the same plane, and a plurality of the concrete formwork are connected via a detachable connecting member.

According to the formwork device of the present invention, since a plurality of concrete formwork are connected via a connecting member, they can be built at the same time via a traveling mechanism. Therefore, as compared with the case where adjacent concrete formwork is built individually, the displacement of the building position between the adjacent concrete formwork can be minimized, and the building accuracy is improved. It is possible to shorten the working time.

The formwork device of the present invention is characterized in that the traveling mechanism is installed on an elevating scaffold that can elevate the side surface of the existing concrete.

According to the formwork device of the present invention, when the planned concrete placement area is located above the existing concrete portion, the concrete formwork is raised to a height position near the planned placement area by raising the elevating scaffolding. It can be raised and slid to the planned casting area using the traveling mechanism. As a result, a series of operations for constructing the concrete formwork can be carried out without relying on human power, so that it is possible to save labor and shorten the work time.

Therefore, even when constructing a large-scale concrete structure in which the concrete casting area is divided into multiple blocks and the concrete is sequentially laid, the construction accuracy of the concrete formwork is improved and labor is saved. It becomes possible to plan.

The formwork automatic installation system of the present invention is a formwork automatic installation system using the formwork device of the present invention, and includes a formwork movement control device for controlling the slide movement of the concrete formwork. The formwork position calculation unit that the frame movement control device calculates the position information of the concrete formwork based on the survey result acquired from the surveying means, and the building of the concrete formwork based on the calculated position information. It is provided with a movement amount calculation unit that calculates the movement amount to the inclusion reference position, and a slide movement control unit that runs the traveling mechanism based on the calculated movement amount and slides the concrete formwork. It is a feature.

According to the formwork automatic installation system of the present invention, the position / orientation information such as the current position, orientation, and orientation of the concrete formwork is grasped by using the measuring means and the formwork movement control device, and based on this position / orientation information. The amount of movement to the built-in reference position can be calculated, and the traveling mechanism can be moved based on the amount of movement to slide the concrete formwork. Therefore, it is possible to save labor while ensuring the accuracy of building the concrete formwork.

In addition, it is possible to confirm the consistency between the position / orientation information of the concrete formwork after it is built and the preset reference position for building in real time at the site. Therefore, when the consistency cannot be confirmed, the position and orientation of the concrete formwork can be adjusted on the spot, and more stable building accuracy can be ensured.

In addition, if the concrete placement area is divided into multiple blocks and adopted for the construction of a large-scale concrete structure that is constructed by sequentially connecting concrete, it will be related to the concrete formwork construction work that is carried out each time the concrete is placed. Various information can be centrally managed by aggregating them in the formwork movement control device. As a result, the concrete formwork can be built in the area to be placed adjacent to the concrete formwork while referring to the information at the time of installing the concrete formwork in the existing concrete part constructed in advance, and there is a problem during the building work. It is possible to contribute to the improvement of the construction accuracy of the concrete formwork by grasping the parts that may occur in advance and taking countermeasures.

The formwork automatic installation system of the present invention is characterized by including the formwork movement control device and an information processing terminal capable of intercommunication over a network line.

According to the formwork automatic installation system of the present invention, on-site workers and construction managers can browse information centrally managed by the formwork movement control device using an information processing terminal such as a tablet, and can perform work. It is possible to easily provide such information support.

According to the present invention, the position and posture of the concrete formwork can be confirmed based on the survey result obtained from the surveying means, and the concrete formwork can be slid and built by the traveling mechanism. Manpower work can be significantly reduced, and it is possible to build concrete formwork with high accuracy while saving labor.

It is a figure which shows the side surface of the elevating device and the formwork device in embodiment of this invention. It is a figure which shows the outline of the formwork automatic installation system in embodiment of this invention. It is a figure which shows the plane of the elevating device and the formwork device in embodiment of this invention. It is a figure which shows the back surface (the case where three concrete formwork is connected) of the elevating device and formwork device in embodiment of this invention. It is a figure which shows the division image of the planned driving area in embodiment of this invention. It is a figure which shows the outline of the formwork movement control apparatus in embodiment of this invention. It is a figure which shows the flow of the installation method of the concrete formwork in embodiment of this invention. It is a figure which shows the installation method of the concrete formwork in embodiment of this invention (the 1). It is a figure which shows the installation method of the concrete formwork in embodiment of this invention (the 2). It is a figure which shows the installation method of the concrete formwork in embodiment of this invention (the 3).

The formwork device and the formwork automatic installation system of the present invention are used when constructing a concrete structure, and in particular, the concrete casting area is divided into a plurality of blocks and concrete is sequentially constructed by dividing the concrete casting area. , Suitable for large-scale concrete structures such as dams.

In the following, the formwork device and the formwork automatic installation system will be described in detail with reference to FIGS. 1 to 10 by taking as an example the case where the existing concrete side wall is used together with the elevating scaffold that can be raised and lowered. First, the elevating scaffolding will be explained.

As shown in FIG. 1, the elevating scaffold 90 includes an elevating device 91, a work stage 92, and a framework scaffold 93. The elevating device 91 has a structure that can be expanded and contracted in the longitudinal direction and / or can be moved, and the anchor bolts E embedded in the wall surface have the longitudinal direction along the side wall of the existing concrete portion A. It is installed detachably. Further, the work stage 92 is installed on the elevating device 91 in the state of a cantilever, and the framework scaffold 93 is installed on the work stage 92.

Therefore, the lifting device 91 rises or falls using the anchor bolt E while repeatedly expanding and contracting in the longitudinal direction along the wall surface of the existing concrete portion A, so that the work stage 92 and the frame scaffold 93 are moved to the existing concrete portion. It goes up and down along the wall surface of A. In the elevating scaffold 90 having such a configuration, the frame scaffold 93 is installed on the tip side of the work stage 92 so as to provide a space between the frame scaffold 93 and the existing concrete portion A. The formwork device 110 is arranged in the space between them.

≪Formwork device 110≫
As shown in FIGS. 1 and 2, the formwork device 110 includes a concrete formwork 10, a traveling mechanism 20, and a surveying means 50.

The concrete formwork 10 is arranged so as to be parallel to the concrete casting planned area C provided in the upper part of the existing concrete portion A, and is shown in the plan view of FIG. 3 and the rear view of FIG. As described above, the formwork panel 11 whose surface is a concrete casting surface, the plurality of horizontal ribs 12 installed on the back side of the formwork panel 11, and the plurality of horizontal ribs 12 are installed in parallel so as to be connected. A plurality of vertical ribs 13 and a plurality of vertical ribs 13 are provided.

A long vertical rib connecting member 14 as shown in FIG. 4 is installed at the upper end of the vertical ribs 13 arranged in parallel, and adjacent vertical ribs 13 are connected to each other. A connecting member 141 for continuously connecting and arranging a plurality of concrete formwork 10 is provided at both ends of the vertical rib connecting member 14.

For example, FIG. 4 shows an example in which three concrete formwork 10s are detachably connected via a connecting member 141. At this time, as shown in FIG. 3, the concrete formwork 10s are arranged so that the concrete casting surfaces of the formwork panels 11 form the same plane. Further, casters 15 forming a part of the traveling mechanism 20, which will be described later, are installed at each of the lower ends of the vertical ribs 13.

As shown in FIG. 1, the traveling mechanism 20 is a mechanism for sliding the concrete formwork 10 forward or backward toward the planned casting area C, and the caster 15, the guide member 21, and the traveling rail 22 are described above. And a trolley 23.

The guide member 21 guides the traveling direction of the casters 15 provided on each of the vertical ribs 13 of the concrete formwork 10, and is a planned casting area in the space on the work stage 92 where the concrete formwork 10 is arranged. It is arranged orthogonal to C.

In the present embodiment, as shown in FIG. 4, channel steel is used for the guide member 21, but the present invention is not limited to this, and any steel material having a groove in which the caster 15 can travel is used. Either may be adopted. Further, the casters 15 may have any shape, and further, the casters 15 may be directly traveled on the work stage 92 without providing the guide member 21.

The traveling rail 22 guides the traveling direction of the trolley 23, which will be described later. As shown in FIG. 1, the traveling rail 22 is installed in a cantilever shape on the upper part of the framework scaffold 93, and the tip is positioned above the planned driving area C. It overhangs to the extent that it does. Further, similarly to the guide member 21, a plurality of guide members 21 are arranged in parallel at right angles to the planned casting area C and are arranged in parallel with an interval as shown in FIG.

As shown in FIG. 1, the trolley 23 is provided with a suspension device 24 such as a hoist, and by connecting the suspension device 24 and the vertical rib connecting material 14, the concrete formwork 10 is the trolley 23. The work stage 92 is slid to move forward or backward toward the planned placement area C while being suspended from the work stage 92. The moving amount L1 of the concrete formwork 10 (moving amount of the trolley 23) can be detected by the encoder 25 installed on the traveling rail 22, and is transmitted to the traveling mechanism control panel 30 described later.

The traveling rail 22 may have any shape, and the trolley 23 may travel by any mechanism such as an electric type or a hydraulically driven type. Further, if it is a device capable of freely advancing and retreating the concrete formwork 10 toward the planned placement area C, such as by adopting a telescopic device such as a hydraulic cylinder instead of the traveling rail 22 and the trolley 23. , Whichever may be included in the traveling mechanism 20.

The surveying means 50 is provided in consideration of calculating position / orientation information including the position, orientation, posture, etc. of the concrete formwork 10, and the position coordinates of a plurality of side points preset in the concrete formwork 10 are set. It is provided for surveying. In the present embodiment, as shown in FIG. 2, the total station 51 can perform at least one of the survey using the total station and the GNSS survey under any environment. A plurality of targets 52 collimated by the total station 51, and a position detection sensor 53 are provided.

The total station 51 is a surveying instrument that is widely used in general. The target 52 is collimated or automatically tracked to measure the horizontal angle, the vertical angle, and the distance, and these are converted into three-dimensional coordinates to convert the target 52 into three dimensions. Find the target position. In the present embodiment, the total station 51 is arranged on the ground of the construction site, and the target 52 is installed in the concrete formwork 10.

When the total station 51 can be arranged on the back side of the concrete formwork 10, the target 52 is arranged at the four corners on the back surface of the concrete formwork 10 and in the middle of the back surface, for example, as shown in FIG. It is advisable to install it at a total of 5 locations outside the center point O. This is because the position / orientation information of the concrete formwork 10 described above is calculated from the position coordinates of at least three targets 52 collimated or automatically tracked by the total station 51.

Therefore, as long as the three targets 52 are in positions that form closures (positions that do not form a linear row), they may be installed on any of the back surfaces of the form panel 11, and the number thereof may be any. ..

On the other hand, depending on the situation at the construction site, the total station 51 cannot be arranged on the back side of the concrete formwork 10, but if it can be arranged on the side, at least two targets 52 are placed on the side end surface or the upper surface of the concrete formwork 10. It may be placed in more than one place. In this case, it is arranged near at least two corners located above and below the concrete formwork 10, and the position coordinates of each of the two corners located above and below the concrete formwork 10 are acquired. ..

Therefore, as shown in FIG. 8, when the concrete formwork 10 is in the vicinity of the planned casting area C and the lower end is in contact with the existing concrete A, it is below the planned casting area C. The position coordinates of each of the two corners located above the concrete formwork 10 when the existing concrete portion A to be placed is placed are located below the concrete formwork 10 located near the planned casting area C. It is regarded as the position coordinates of each of the two corners.

Further, as shown in FIG. 1, when the concrete formwork 10 is located at a position away from the planned casting area C and is suspended by the trolley 23, it is viewed by the total station 51 as described above. Based on the survey results using at least three targets 52, the position coordinates of each of the four corners above and below the concrete formwork 10 are calculated.

As a result, in either case, the position coordinates of each of the four corners of the concrete formwork 10 can be detected, so that the position / orientation information can be calculated. Further, when the total station 51 cannot be installed on either the back surface side or the side surface side of the concrete formwork 10, the position detection sensor 53 is used to perform GNSS survey.

As shown in FIGS. 2 and 4, the position detection sensor 53 includes two GNSS antennas 531 and 532 arranged at positions corresponding to both side ends of the upper end portion of the form panel 11. Two of these are arranged in order to perform relative positioning, which is generally known as a method of obtaining a relative positional relationship (vector) between two points using GNSS.

With such two GNSS antennas 531 and 532, the position coordinates of each of the two corners located above the concrete formwork 10 can be acquired. Then, the position coordinates of each of the two corners located below are acquired as follows. As shown in FIG. 8, when the lower end of the concrete formwork 10 is in contact with the existing concrete A, each of the two upper corners of the concrete formwork 10 when the existing concrete portion A is placed is placed. The position coordinates of are regarded as the position coordinates of each of the lower two corners. As shown in FIG. 1, when the concrete formwork 10 is located at a position away from the planned casting area C, at least 1 on the concrete formwork 10 is measured by separately collimating the target 52 near the lower end. The position coordinates of the points are surveyed, and the position coordinates of each of the two lower corners are calculated.

According to the formwork device 110 having the above-described configuration, the concrete formwork 10 can be slid and moved by the traveling mechanism 20 while checking the position / orientation information of the concrete formwork 10 based on the surveying means 50. As a result, not only the manual work by the field workers can be significantly reduced, but also the construction work of the concrete formwork 10 can be significantly reduced even at a high place such as above the existing concrete part A. It is possible to improve work safety.

A plurality of concrete formwork 10 can be built at the same time via the traveling mechanism 20. Therefore, as compared with the case where the adjacent concrete formwork 10s are individually built, the positional deviation of the building positions can be minimized between the adjacent concrete formwork 10s, and the building accuracy is improved. At the same time, it is possible to shorten the working time.

Further, by providing the formwork device 110 on the elevating scaffold 90, the concrete formwork 10 is raised to a height position near the planned placement area C by raising the elevating scaffold 90, and the traveling mechanism 20 is raised. It can be used to slide and move toward the planned casting area C. As a result, a series of operations for building the concrete formwork 10 can be performed without relying on human power, so that it is possible to save labor and shorten the work time.

Therefore, as shown in FIG. 5, the planned casting area C located above the existing concrete portion A is divided into a plurality of blocks having a size corresponding to one casting range, and concrete is sequentially laid to construct the concrete. When adopted for the construction of a large-scale concrete structure D, it is possible to significantly improve the workability while improving the building accuracy of the concrete formwork 10 for each block.

≪Formwork automatic installation system 100≫
Then, as shown in FIG. 2, the formwork automatic installation system 100 using the above-mentioned formwork device 110 includes a traveling mechanism control panel 30, a formwork movement control device 40, and an information processing terminal in addition to the formwork device 110. 60, and a cloud server 80.

The traveling mechanism control panel 30 controls the moving direction and the moving amount L1 when the trolley 23 travels on the traveling rail 22, and is used in the encoder 25 of the traveling mechanism 20 and the formwork movement control device 40 described later. It is connected. As a result, the concrete formwork 10 is moved by running the trolley 23 in response to a command from the formwork movement control device 40 or a command from the information processing terminal 60 described later via the formwork movement control device 40. Move the slide.

The formwork movement control device 40 is a device installed in a business establishment, a construction office at a construction site, or the like, and not only constantly monitors the status of the concrete formwork 10, but also issues a travel command to the travel mechanism control panel 30. .. As shown in FIG. 6, it includes an input device 41, an output device 42, a central processing unit 43, a file device 44, and a main memory 45.

The input device 41 is, for example, a keyboard, a scanner, a switch, or the like, and the output device 42 is a display, a printer, or the like. The central arithmetic processing unit 43 is a computer having a CPU, GPU, ROM, RAM, a hardware interface, and the like.

The file device 44 is a storage device composed of a semiconductor memory, a hard disk drive, or the like, and details will be described later, but at least a survey file 441, a construction plan information file 442, a calculation formula storage file 443, a movement amount information file 444, and a type. The frame position information file 445, the construction information file 446, and the like are stored.

The main memory 45 temporarily stores programs and data that can be executed by the central processing unit 43, and details will be described later, but at least the formwork position calculation unit 451 and the movement amount calculation formula determination unit 452. A movement amount calculation unit 453, a slide movement control unit 454, a formwork position verification unit 455, a construction information acquisition unit 456, and the like are provided.

As shown in FIG. 2, the information processing terminal 60 is an information processing device capable of mutual data communication with the mold movement control device 40 and portable by field workers, construction managers, and the like. Any terminal device having a data processing function and a communication function, such as a tablet terminal, a laptop computer, or a smartphone, can be adopted. Further, although the details will be described later, at least a manual operation application for operating the running of the trolley 23 is stored.

In the formwork automatic installation system 100 having such a configuration, the traveling mechanism control panel 30, the formwork movement control device 40, and the encoder 25 of the traveling mechanism 20 are connected by a dedicated wired or wireless line. Further, the formwork movement control device 40, the total station 51 of the surveying means 50, the position detection sensor 53, and the information processing terminal 60 are connected via, for example, all existing network lines 70 such as the Internet.

Therefore, the formwork movement control device 40 installed in the construction office of the business establishment or the construction site and the information processing terminal 60 portable to the site worker, the construction manager, etc. communicate with each other via the network line 70. Is possible. Alternatively, the formwork automatic installation system 100 may be configured to include a cloud server 80.

In this case, the formwork movement control device 40 is provided with a function of transmitting and receiving information to and from the cloud server 80 via the Internet, and the information stored in the file device 44 is stored in the cloud server 80. The information processing terminal 60 also has a function of transmitting and receiving information to and from the cloud server 80 via the Internet. As a result, the formwork movement control device 40 and the information processing terminal 60 can perform mutual data communication using the cloud server 80 via the network line 70.

By doing so, the site worker or the construction manager can browse the information centrally managed by the formwork movement control device 40 using the information processing terminal 60, and the concrete formwork using the formwork automatic installation system 100. Information support related to the construction work of 10 can be easily performed.

According to the formwork automatic installation system 100 having the above-described configuration, the position / orientation information of the concrete formwork 10 is grasped by using the surveying means 50 and the formwork movement control device 40, and the building reference is based on the position / attitude information. The amount of movement L1 to the position is calculated. Furthermore, the traveling mechanism 20 can be driven to slide the concrete formwork 10 based on the movement amount L1, and it is possible to save manpower while ensuring the building accuracy of the concrete formwork 10. Become.

In addition, it is possible to confirm the consistency between the position / orientation information of the concrete formwork 10 after it is built and the preset reference position for building in real time at the site. Therefore, when the consistency cannot be confirmed, the position and orientation of the concrete formwork 10 can be adjusted on the spot, and more stable building accuracy can be ensured.

≪Automatic installation method of concrete formwork≫
Therefore, the procedure for automatically installing the concrete formwork 10 of the formwork device 110 at the building reference position specified at the time of construction planning by using the above-mentioned formwork automatic installation system 100 is described together with the details of the formwork movement control device 40. This will be described with reference to the flow chart of FIG. 7.

In the present embodiment, a case where the formwork device 110 is installed on the elevating scaffold 90, concrete is transferred to the planned casting area C above the existing concrete portion A, and the step of constructing the new concrete portion B is repeated. Take an example.

<Pretreatment>
At the stage of construction planning, the position coordinates of the concrete formwork 10 to be installed each time the concrete is laid are calculated in advance, and this is specified as the building reference position when the concrete formwork 10 is built, and the building reference position. Calculate the allowable margin of error for.

As shown in FIG. 5, the reference position information related to the built-in reference position and the permissible error is calculated for each of a plurality of blocks in which the planned casting area C is divided into a size corresponding to one casting range. It is associated with the casting area number assigned to each block (for example, C11, C12 ..., C21, C22 ...).

Then, as shown in FIG. 6, it is stored in the construction plan information file 442 of the file device 44 constituting the formwork movement control device 40. The construction plan information file 442 may store specification information such as dimensions (height and length) of the concrete mold 10 and other necessary information. The calculation formula storage file 443 of the file device 44 stores the movement amount calculation formula for calculating the movement amount L1 for building the concrete formwork 10 at the building reference position, and the parameter information required for the movement amount calculation formula. Keep it.

<Calculate the position information P1 before moving the concrete formwork: STEP1>
As shown in FIG. 1, the elevating scaffolding 90 is raised by the elevating device 91, the concrete formwork 10 is arranged at a height position facing the concrete placement planned area C, and then the concrete formwork is used by the surveying means 50. Perform 10 surveys.

When the total station 51 can be installed on the back side of the concrete formwork 10 and three or more targets 52 can be collimated or tracked, the network line 70 is set up using the position coordinates of these targets 52 as survey information. It is input from the input device 41 to the formwork movement control device 40 via the input device 41, and is stored in the survey file 441 of the file device 44 together with the casting area number.

When the position coordinates of three or more targets 52 are input as survey information, the central arithmetic processing device 43 receives a command from the formwork position calculation unit 451 stored in the main memory 45 and slides the concrete formwork 10. The position information P1 before movement, which is the position / orientation information (current position, orientation, and attitude) before the concrete operation is calculated, is stored in the formwork position information file 445 of the file device 44 together with the casting area number.

If the total station 51 cannot be installed on the back side of the concrete formwork 10, the total station 51 is arranged sideways as described above, and is arranged at least two places on the side end surface or the upper surface of the concrete formwork 10. Survey information is obtained using the target 52. Alternatively, survey information related to the concrete formwork 10 is acquired based on the position coordinates acquired by the two GNSS antennas 531 and 532 and the position coordinates of at least one point on the concrete formwork 10 acquired by other surveying means. Then, the input is input from the input device 41 to the formwork movement control device 40.

<Calculate the amount of movement L1 of the concrete formwork: STEP2>
When the pre-movement position information P1 of the concrete form 10 is calculated, the central processing unit 43 receives a command from the movement amount calculation formula determination unit 452 stored in the main memory 45, and the calculation formula storage file of the file device 44 is received. The movement amount calculation formula and parameter information stored in the 443 are output to the information processing terminal 60 via the network line 70. In addition, the information processing terminal also includes the construction reference position stored in the pre-movement position information P1 of the concrete formwork 10 and the construction plan information file 442 and corresponding to the casting area number assigned to the pre-movement position information P1. Output to 60.

The construction manager refers to the pre-movement position information P1 and the built-in reference position output to the information processing terminal 60, takes into consideration the site conditions, the performance of the trolley 23, etc., and sets the optimum parameters for the information processing terminal 60. Enter. The input optimum value is input from the input device 41 to the formwork movement control device 40 via the network line 70, and is stored in the calculation formula storage file 443 of the file device 44.

When the optimum value of the parameter is input, the central processing unit 43 receives a command from the movement amount calculation unit 453 stored in the main memory 45, and each information (pre-movement position information P1, building reference position, movement amount calculation). The movement amount L1 of the concrete formwork 10 is calculated based on the formula, the optimum value of the parameter, etc.). The calculated movement amount L1 is stored in the movement amount information file 444 of the file device 44 together with the casting area number, and is output to the information processing terminal 60 via the network line 70.

<Slide movement of concrete formwork: STEP3>
After confirming the movement amount L1, the construction manager inputs command information for traveling the trolley 23 of the traveling mechanism 20 to the information processing terminal 60. The input command information is input from the input device 41 to the formwork movement control device 40 via the network line 70. Then, the central processing unit 43 receives a command from the slide movement command unit 454 stored in the main memory 45, and inputs the calculated movement amount L1 to the traveling mechanism control panel 30 via the output device 42.

When the movement amount L1 is input, the travel mechanism control panel 30 operates the trolley 23 and moves the input movement amount L1 on the travel rail 22 toward the planned driving area C. As a result, the concrete formwork 10 slides toward the planned casting area C as shown in FIG. At this time, it is confirmed that the lower end portion of the concrete formwork 10 is in contact with the existing concrete portion A located below the planned casting area C, and if it cannot be confirmed, the trolley 23 is operated to raise the lower end portion. The concrete formwork 10 is slid and moved until it comes into contact with the existing concrete portion A.

<Verification of the built-in position of concrete formwork: STEP4>
As shown in FIG. 8, when the slide movement of the concrete form 10 is completed, the concrete form 10 is surveyed by using the surveying means 50. The method of acquiring the survey information is the same as that of <STEP1>, and the acquired survey information is input from the input device 41 to the mold movement control device 40 and stored in the survey file 441 of the file device 44.

When the survey information is input to the formwork movement control device 40, the central processing unit 43 receives a command from the formwork position calculation unit 451 stored in the main memory 45, and after sliding the concrete formwork 10 The built-in position information P2, which is the position / orientation information (current position, orientation, and attitude) of the above, is calculated and stored in the formwork position information file 445 of the file device 44 together with the casting area number.

In addition, the survey information collimates or tracks the position coordinates of each of the two GNSS antennas 531 and 532 acquired by the GNSS survey, or the two targets 52 installed on both end faces of the concrete formwork 10 with the total station 51. If it is the position coordinates obtained in the above, it is as follows.

The central processing unit 43 receives a command from the formwork position calculation unit 451 stored in the main memory 45, and is stored in the position coordinates of two points and the formwork position information file 445 of the file device 44 as described above. , Acquire the building position information P2 to which the casting area number directly under the section where the concrete formwork 10 is currently being built is assigned. Then, from the built-in position information P2 to which the casting number directly below is given, the position coordinates of each of the two corners located above the concrete formwork 10 used when constructing the existing concrete portion A directly below are obtained. Extract.

The position coordinates of these two points are regarded as the position coordinates of each of the two corners located below the concrete formwork 10 for which the building position information P2 is to be calculated. Then, using the position coordinates of these four points, the built-in position information P2 of the concrete formwork 10 is calculated and stored in the formwork position information file 445 of the file device 44 together with the casting area number.

When the built-in position information P2 of the concrete formwork 10 is calculated, the central processing unit 43 receives a command from the formwork position verification unit 455 stored in the main memory 45, and the construction plan information file 442 of the file device 44 is received. First, the build-in error amount L2 is calculated based on the build-in position information P2 and the build-in reference position with reference to the build-in reference position and the tolerance stored in the building with the corresponding casting area number. To do.

Next, the built-in error amount L2 and the permissible error are compared, and the determination information as to whether or not the position adjustment is necessary for the installed concrete mold 10 is output to the output device 42 together with the built-in error amount L2 and the permissible error. At the same time, it is output to the information processing terminal 60 via the network line 70. The build-in error amount L2 is also stored in the movement amount information file 444 of the file device 44 together with the casting area number.

Based on the build-in error amount L2, the permissible error, and the determination information as to whether or not the position adjustment is necessary, the construction manager gives the information processing terminal 60 the command information for starting the position adjustment or the command information for the end of the build-in work. Enter. The input command information is input from the input device 41 to the formwork movement control device 40 via the network line 70.

<Position adjustment of concrete formwork: STEP5>
When the position adjustment start command information is input, the central processing unit 43 receives a command from the slide movement command unit 454 stored in the main memory 45, and the calculated built-in error amount L2 is transmitted to the output device 42 via the output device 42. Input to the traveling mechanism control panel 30.

When the built-in error amount L2 is input, the traveling mechanism control panel 30 operates the trolley 23 to move forward or backward by the input building-in error amount L2 on the traveling rail 22. As a result, the concrete formwork 10 slides in the direction of moving backward or forward with respect to the planned casting area C.

The position of the concrete formwork 10 may be adjusted by the construction manager by activating a manual operation application for manually operating the trolley 23 stored in the information processing terminal 60 in advance. Specifically, when the manual operation application is started by a predetermined operation, the operation screen is output on the display.

Therefore, the construction manager takes into consideration the build-in error amount L2, the permissible error, and the determination information as to whether or not position adjustment is necessary, the site situation, the performance of the trolley 23, etc. output to the information processing terminal 60. The operation for running the trolley 23 is performed according to the operation screen. The operation information (information input such as the movement amount and the movement direction of the trolley 23) by the construction manager is input from the input device 41 to the formwork movement control device 40 via the network line 70.

When the operation information by the construction manager is input, the formwork movement control device 40 receives a command from the slide movement command unit 454 in which the central processing unit 43 is stored in the main memory 45, and receives the operation information by the construction manager. , Input to the traveling mechanism control panel 30 via the output device 42. Then, the traveling mechanism control panel 30 operates the trolley 23, moves it on the traveling rail 22 in response to the input operation information, and slides the concrete formwork 10.

<Verification of position after adjustment of concrete formwork: STEP6>
When the position adjustment of the concrete form 10 is completed, the concrete form 10 is surveyed using the surveying means 50. The method of acquiring the survey information is the same as that of <STEP1>, and the acquired survey information is input from the input device 41 to the mold movement control device 40 and stored in the survey file 441 of the file device 44.

When the survey information is input to the formwork movement control device 40, the central processing unit 43 receives a command from the formwork position calculation unit 451 stored in the main memory 45, and after adjusting the position of the concrete formwork 10. Adjusted position information P3, which is position / orientation information (current position, orientation, and orientation), is calculated and stored in the formwork position information file 445 of the file device 44 together with the casting area number.

In addition, the survey information collimates or tracks the position coordinates of each of the two GNSS antennas 531 and 532 acquired by the GNSS survey, or the two targets 52 installed on both end faces of the concrete mold 10 with the total station 51. If it is the position coordinates obtained in the above, the adjusted position information P3 is calculated by the same method as in <STEP4>.

After that, the central processing unit 43 receives a command from the formwork position verification unit 455 stored in the main memory 45, and the corresponding casting area number stored in the construction plan information file 442 of the file device 44 is assigned. With reference to the given built-in reference position and tolerance, first, the adjusted error amount L3 is calculated based on the adjusted position information P3 and the built-in reference position.

Next, the adjusted error amount L3 and the permissible error are compared, and the determination information as to whether or not the position adjustment of the built-in concrete formwork 10 is necessary is output together with the adjusted error amount L3 and the permissible error. In addition to outputting to 42, it is also output to the information processing terminal 60 via the network line 70. The adjusted error amount L3 is also stored in the movement amount information file 444 of the file device 44 together with the casting area number.

Based on the adjusted error amount L3, the permissible error, and the determination information as to whether or not the position adjustment is necessary, the construction manager sends the information processing terminal 60 the position adjustment start command information or the building work end command information. Enter. The input command information is input from the input device 41 to the formwork movement control device 40 via the network line 70.

If the permissible error is not satisfied even after the position adjustment is performed and the command information for starting the position adjustment is input, the process returns to <STEP5>, the trolley 23 is operated, and the adjustment is performed on the traveling rail 22. The work of sliding the concrete formwork 10 forward or backward by the error amount L3 is repeated. When the adjusted error amount L3 falls within the permissible error, the concrete formwork 10 is fixed and the building-in work is completed.

<Construction of new concrete section: STEP7>
After that, as shown in FIG. 9, concrete is cast and hardened in the planned casting area C in which the concrete formwork 10 is built, after performing reinforcement arrangement work as necessary, and desired. It is cured until the compressive strength of is developed. When concrete is to be further transferred above the newly constructed concrete portion B, preparatory work for raising the elevating scaffold 90 is carried out while the concrete is being hardened and cured.

When the predetermined curing period has elapsed, as shown in FIG. 10, the trolley 23 is moved backward on the traveling rail 22 to open the concrete formwork 10. In the opening work of the concrete formwork 10, the construction manager activates the above-mentioned manual operation application on the information processing terminal 60 to output an operation screen, and then performs an operation for moving the trolley 23 backward according to the operation screen. .. The operation information by the construction manager is input from the input device 41 to the formwork movement control device 40 via the network line 70.

When the operation information by the construction manager is input, the formwork movement control device 40 receives a command from the slide movement command unit 454 in which the central processing unit 43 is stored in the main memory 45, and receives the operation information by the construction manager. , Input to the traveling mechanism control panel 30 via the output device 42. Then, the traveling mechanism control panel 30 operates the trolley 23 and moves backward on the traveling rail 22, so that the concrete formwork 10 is opened.

After that, returning to <STEP1>, the newly constructed concrete portion B is used as the existing concrete portion A, and the elevating device 91 is operated to raise the elevating scaffold 90 along the wall surface of the existing concrete portion A. Then, the concrete formwork 10 is built according to <STEP2> to <STEP7>, and the work of joining the concrete is repeated until the concrete structure D reaches a desired height.

When the concrete structure D reaches a desired height, the elevating device 91 is operated to lower the elevating scaffold 90 along the wall surface of the existing concrete portion A, and the work is completed.

Of the information obtained at each work stage related to the above-mentioned ascent of the elevating scaffold 90, the construction of the concrete formwork 31, and the placement of concrete in the planned placement area C, the survey file 441 and the construction plan. For example, the construction manager appropriately inputs various other construction information data that are not stored in the information file 442, the calculation formula storage file 443, the movement amount information file 444, and the formwork position information file 445 into the information processing terminal 60. It is good to keep it.

These other construction information data are input from the input device 41 to the formwork movement control device 40 via the network line 70 at an appropriate timing. When the construction information data is input, the mold movement control device 40 receives a command from the construction information acquisition unit 456 in which the central processing unit 43 is stored in the main memory 45, and appropriately receives the construction information data as necessary. It is converted and stored in the construction information file 446 of the file device 44.

Then, since these pieces of information are obtained for each of a plurality of blocks as shown in FIG. 5, the casting area numbers assigned to each block are associated with each other. Then, the construction information obtained when constructing the concrete structure D can be centrally managed in the formwork movement control device 40.

As a result, the concrete formwork 10 can be built in the planned casting area C adjacent to the concrete formwork 10 while referring to the information at the time of installation of the concrete formwork 10 in the existing concrete portion A constructed in advance. In addition, it is possible to contribute to the improvement of the building accuracy of the concrete formwork 10 by grasping in advance a part or the like where a problem may occur during the building work and taking countermeasures.

As described above, according to the formwork device 110 and the formwork automatic installation system 100 of the present invention, the current position, orientation, posture, etc. of the concrete formwork 10 are determined by using the measuring means 50 and the formwork movement control device 40. The position / orientation information is grasped, and the movement amount L1 to the building reference position is calculated based on this position / attitude information. Furthermore, the traveling mechanism 20 can be driven to slide the concrete formwork 10 based on the movement amount L1, and it is possible to save manpower while ensuring the building accuracy of the concrete formwork 10. Become.

The formwork device 110 and the automatic formwork installation system 100 of the present invention are not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.

For example, in the present embodiment, the formwork automatic installation system 100 is mounted on the elevating scaffold 90 that moves up and down along the existing concrete portion A, but the present invention is not necessarily limited to this, and the stage scaffold that moves on the ground surface is used. Etc. may be mounted.

Further, the concrete formwork 10 built by the formwork automatic installation system 100 may be one body, or may be three concrete formwork 10s as shown in FIG. 4, for example. In this case, as described above, by detachably connecting the three concrete formwork 10s via the connecting member 141, the trolley 23 of the traveling mechanism 20 can slide and move the concrete forms 10 at the same time.

At this time, the trolleys 23 that suspend each of the three concrete formwork 10s may be synchronized with each other. Further, when it is necessary to slide the concrete formwork 10 by the amount of movement L1 and then adjust the positions as in <STEP5> to <STEP6>, the connecting member 141 is removed and the concrete formwork 10 is moved. It is also possible to adjust the position one by one.

Further, when it is desired to manually finely adjust the posture and inclination of the concrete formwork 10, it is advisable to prepare a fixture capable of fixing the casters 15 to the guide member 21 of the traveling mechanism 20. Then, the concrete formwork 10 can be finely adjusted by using the caster 15 fixed to the guide member 21 as a fulcrum.

100 Formwork automatic installation system 110 Formwork device 10 Concrete formwork 11 Formwork panel 12 Horizontal ribs 13 Vertical ribs 14 Vertical ribs Connecting material 141 Connecting members 15 Caster 20 Traveling mechanism 21 Guide members 22 Traveling rails 23 Trolley 24 Suspension device 25 Encoder 30 Travel mechanism control panel 40 Formwork movement control device 41 Input device 42 Output device 43 Central arithmetic processing device 44 File device 45 Main memory 50 Surveying means 51 Total station 52 Target 53 Position detection sensor 531 GNSS antenna 532 GNSS antenna 54 GNSS satellite 60 Information processing terminal 70 Network line 80 Cloud server 90 Lifting scaffolding 91 Lifting device 92 Work stage 93 Formwork scaffolding

A Existing concrete part B New concrete part C Casting area D Concrete structure

Claims (6)

A concrete formwork placed facing the side of the planned concrete placement area,
A traveling mechanism that slides the concrete formwork toward the side surface of the planned casting area so as to be able to move forward and backward.
A surveying means for measuring the positions of a plurality of side points set on the concrete formwork,
A formwork device comprising. In the formwork apparatus according to claim 1,
The surveying means
With a plurality of targets provided on the concrete formwork,
A total station that collimates the target,
A position detection sensor consisting of two GNSS antennas arranged at intervals,
A concrete formwork device characterized by being provided with. In the formwork apparatus according to claim 1 or 2.
The concrete formwork is an arrangement in which concrete casting surfaces form the same plane, and a plurality of concrete formwork devices are connected via a detachable connecting member. In the formwork apparatus according to any one of claims 1 to 3,
A formwork device characterized in that the traveling mechanism is installed on an elevating scaffold that can raise and lower the side surface of existing concrete. The formwork device according to any one of claims 1 to 4.
A formwork movement control device for controlling the slide movement of the concrete formwork provided in the formwork device is provided.
The formwork movement control device
Based on the survey results obtained from the surveying means, the formwork position calculation unit that calculates the position information of the concrete formwork,
Based on the calculated position information, the movement amount calculation unit that calculates the movement amount of the concrete formwork to the building reference position,
A slide movement command unit that runs the traveling mechanism based on the calculated movement amount and slides the concrete formwork.
Formwork automatic installation system characterized by being equipped with. In the formwork automatic installation system according to claim 5,
An automatic formwork installation system characterized by including the formwork movement control device and an information processing terminal capable of intercommunication over a network line.

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