JP7400391B2 - Formwork equipment and formwork automatic installation system - Google Patents

Description

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

Conventionally, when constructing large-scale concrete structures such as dams, it has been known to divide the concrete pouring area into multiple blocks or divide it into multiple layers and successively pour concrete. There is. In this case, the standard installation position of the concrete formwork is determined in advance at the construction planning stage, the formwork is transported to the vicinity of the installation position using a lifting device such as a crane, and then manually positioned by on-site workers. Adjustments were made and the formwork was erected, which required a great deal of effort.

Under these circumstances, various formwork devices have been developed in order to simplify the work of installing concrete formwork and save labor.For example, Patent Document 1 describes a work scaffold that goes up and down the side of existing concrete A formwork apparatus is disclosed in which a formwork member is provided on a frame body.

In addition to the work scaffolding frame and the formwork member, the formwork device of Patent Document 1 further includes a rail member that is removably installed on an anchor member fixed to the side of the existing concrete, and a work scaffolding frame that is attached to the rail. The upper end of the jack, which extends and contracts in the vertical direction, is connected to the working scaffold frame, and the lower end is detachably connected to the rail member.

In order to place 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 the movement, the work scaffold frame is fixed to the rail, the lower end of the jack is released from the rail member, and then the jack is retracted. To raise the jack further, the lower end of the jack is fixed to the rail member, the work scaffold frame is released from the rail, the jack is extended again, and the work scaffold frame is moved upward along the rail member.

After repeating these steps and raising the work scaffold frame to a height near the pouring area, the formwork members are moved toward the pouring area and erected at the installation position predefined in the construction plan. . After that, new concrete is poured, allowed to harden and cured, and then demolded. These operations are repeated until the desired height is reached.

Japanese Patent Application Publication No. 2018-193724

According to the formwork device of Patent Document 1, the work scaffolding frame provided with the formwork members can be raised and lowered along the side of the existing concrete, so that the formwork members can be lifted and lifted using heavy equipment such as a crane. There is no need to perform any additional work, which saves labor and significantly reduces work time. However, the procedure for erecting the formwork members, which have been moved to a height close to the planned placement position of new concrete due to the upward movement of the work scaffold frame, to the installation reference position specified in the construction plan is not clarified. .

In addition, when building formwork members at the installation location specified in the construction plan, marking is generally done on the existing concrete adjacent to the pouring area in order to locate the formwork members. However, the sides are often steeply sloped or vertically steep, making the work difficult. Furthermore, in the work of confirming the position of the pouring member at the gable, there is a risk of the worker falling or falling, creating a safety issue.

In addition, in the process of successively pouring concrete, even if there is a minute positional error when installing formwork members, if they continue, it will have a significant impact on the finished form, so the accuracy of placing the formwork members is important. becomes. However, it is not possible to verify in real time on site the consistency between the position of formwork members after construction and the installation reference position specified in the construction plan.

In addition, it is assumed that multiple workers will be involved in the work of installing formwork members each time concrete is poured, and in such cases, errors in construction accuracy are likely to occur due to individual differences among workers. This made it difficult to ensure stable construction accuracy.

The present invention was made in view of such problems, and its main purpose is to provide a formwork device and a formwork automatic installation system that can save labor while maintaining high accuracy. It is.

In order to achieve such an object, the formwork device of the present invention includes a concrete formwork placed opposite to the side surface of the area where concrete is planned to be placed, and a concrete formwork that faces the side surface of the area where concrete is planned to be placed. A formwork device comprising: a traveling mechanism that slides freely forward and backward; and a surveying means for surveying the positions of a plurality of side points set on the concrete formwork, the surveying means comprising: It is characterized by comprising a plurality of provided targets, a total station that sights the targets, and a position detection sensor consisting of two GNSS antennas arranged at a distance .

According to the formwork apparatus of the present invention, since it includes a surveying means for surveying the positions of a plurality of side points set on the concrete formwork and a traveling mechanism for slidingly moving the concrete formwork, it is possible to The position and orientation of the formwork can be checked as appropriate, and the concrete formwork can be erected using the traveling mechanism.

As a result, the concrete formwork can be erected while confirming its position and orientation based on the survey results, allowing concrete formwork to be erected with stable and high accuracy without being affected by individual differences among workers. be able to. In addition, not only can marking work be omitted and manual work during construction can be greatly reduced, but even if the area where concrete is to be poured is at a high place, such as above the existing concrete, the height during construction can be reduced. It is possible to significantly reduce office work and improve work safety.

In addition, regardless of the environment in which the concrete formwork is to be erected, depending on the site situation, the survey results from the total station or the survey results from the GNSS survey are selected as appropriate, and based on these survey results, the concrete formwork is constructed. Information such as position and posture can be acquired, making it possible to significantly improve work efficiency.

The formwork apparatus of the present invention is characterized in that the concrete formworks are arranged such that their concrete casting surfaces form the same plane, and a plurality of concrete formworks are connected via removable connection members.

According to the formwork apparatus of the present invention, since a plurality of concrete formworks are connected via the connecting member, these can be erected simultaneously via the traveling mechanism. Therefore, compared to the case where adjacent concrete formworks are erected individually, it is possible to minimize the displacement of the erecting positions between adjacent concrete formworks, and improve the erecting accuracy. It becomes possible to shorten the working time.

The formwork apparatus of the present invention is characterized in that the traveling mechanism is installed on a lifting scaffold that can move up and down the side of the existing concrete.

According to the formwork device of the present invention, when the area where concrete is to be poured is located above the existing concrete part, the concrete formwork is raised to a height position near the area where concrete is to be poured by raising the elevating scaffold. It can be raised and slid toward the intended pouring area using a traveling mechanism. As a result, a series of operations when erecting concrete forms can be performed without relying on human power, making it possible to save labor and shorten working time.

Therefore, even when constructing large-scale concrete structures in which the concrete pouring area is divided into multiple blocks and concrete is successively poured, labor savings can be achieved while improving the accuracy of concrete formwork erection. It becomes possible to aim for.

The automatic formwork installation system of the present invention includes a concrete formwork placed opposite to a side surface of an area where concrete is planned to be poured, and a concrete formwork that is slidably moved forward and backward toward the side surface of the area where concrete is planned to be poured. a formwork device equipped with a traveling mechanism that moves the concrete formwork, and a surveying means that measures the positions of a plurality of side points set on the concrete formwork, and a formwork movement control device that controls sliding movement of the concrete formwork, The formwork movement control device includes a formwork position calculation unit that calculates positional information of the concrete formwork based on the survey results obtained from the surveying means, and a formwork position calculation unit that calculates positional information of the concrete formwork based on the calculated positional information. a movement amount calculation unit that calculates the amount of movement to a construction reference position; and a slide movement command unit that causes the travel mechanism to travel and slide the concrete formwork based on the calculated movement amount. It is characterized by

According to the formwork automatic installation system of the present invention, the position and posture information such as the current position, direction, and posture of the concrete formwork is grasped using the surveying means and the formwork movement control device, and based on this position and posture information. It is possible to calculate the amount of movement to the construction reference position using the method, and further to move the traveling mechanism to slide the concrete formwork based on the amount of movement. Therefore, it is possible to save labor while ensuring the accuracy of concrete formwork erection.

In addition, it is possible to check the consistency between the position and orientation information of the concrete formwork after it has been erected and the pre-set reference position for erecting on-site in real time. Therefore, if consistency cannot be confirmed, the position and orientation of the concrete formwork can be adjusted on the spot, making it possible to ensure more stable erection accuracy.

In addition, if it is adopted for the construction of large-scale concrete structures in which the concrete pouring area is divided into multiple blocks and concrete is successively poured, the concrete formwork construction work that is performed each time the concrete is poured will be reduced. Various information can be centrally managed by the formwork movement control device. This allows concrete formwork to be erected in the adjacent pouring area while referring to the information on the concrete formwork installation in the existing concrete area that was previously constructed, and to prevent any defects during the construction work. It is possible to contribute to improving the accuracy of concrete formwork erection by understanding in advance the areas where this may occur and taking countermeasures.

The formwork automatic installation system of the present invention is characterized by comprising the formwork movement control device and an information processing terminal that can communicate with each other via a network line.

According to the formwork automatic installation system of the present invention, field workers and construction managers can use information processing terminals such as tablets to view information centrally managed by the formwork movement control device, and can perform work. It becomes possible to easily provide such information support.

According to the present invention, the position and orientation of the concrete formwork can be confirmed based on the survey results obtained from the surveying means, and the concrete formwork can be slid and erected using the traveling mechanism. This greatly reduces human labor, making it possible to erect concrete formwork with high accuracy while saving labor.

It is a side view of a lifting device and a formwork device in an embodiment of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the outline of the formwork automatic installation system in embodiment of this invention. FIG. 2 is a plan view of a lifting device and a formwork device in an embodiment of the present invention. It is a figure showing the back of an elevating device and a formwork device (an example where three concrete formworks are connected) in an embodiment of the present invention. FIG. 2 is a diagram showing an image of partitioning of a planned pouring area in an embodiment of the present invention. 1 is a diagram schematically showing a formwork movement control device in an embodiment of the present invention. It is a figure showing the flow of the installation method of concrete formwork in an embodiment of the present invention. FIG. 1 is a diagram (part 1) showing a method for installing concrete formwork in an embodiment of the present invention. It is a figure showing the installation method of the concrete formwork in an embodiment of the present invention (Part 2). It is a figure which shows the installation method of the concrete formwork in embodiment of this invention (part 3).

The formwork device and formwork automatic installation system of the present invention are used when constructing a concrete structure, and in particular, divide a concrete pouring area into a plurality of blocks and sequentially pour concrete to construct the structure. , suitable for large-scale concrete structures such as dams.

The details of the formwork equipment and formwork automatic installation system will be explained below with reference to Figures 1 to 10, using an example case in which an existing concrete side wall is used with a lifting scaffold that can be raised and lowered. Before proceeding, I will first explain about elevating scaffolding.

As shown in FIG. 1, the elevating scaffold 90 includes an elevating device 91, a work stage 92, and a framework scaffold 93. The lifting device 91 has a structure that is extendable and/or movable in the longitudinal direction, and the longitudinal direction is along the side wall of the existing concrete part A, and the lifting device 91 is attached to a plurality of anchor bolts E embedded in the wall surface. It is removably installed. Further, the work stage 92 is installed in a cantilevered state on the lifting device 91, and the framework scaffold 93 is installed on the work stage 92.

Therefore, the lifting device 91 moves up and down using the anchor bolts E while repeatedly expanding and contracting in the longitudinal direction along the wall surface of the existing concrete part A, so that the work stage 92 and the framework scaffolding 93 can be moved to the existing concrete part A. Go up and down along the wall 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 with a space provided between the frame scaffold 93 and the existing concrete section A. A formwork device 110 is arranged in the space between.

≪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 and face the area C where concrete is to be poured, which is provided on the top of the existing concrete part A, and is shown in the plan view of FIG. 3 and the rear view of FIG. 4. A formwork panel 11 whose surface is a concrete pouring surface, a plurality of horizontal ribs 12 installed on the back side of the formwork panel 11, and a plurality of horizontal ribs 12 are installed in parallel so as to connect them. A plurality of vertical ribs 13 are provided.

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

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

As shown in FIG. 1, the traveling mechanism 20 is a mechanism that slides the concrete formwork 10 toward the planned pouring area C so as to be freely forward or backward, and includes the casters 15, the guide member 21, the traveling rail 22, and a trolley 23.

The guide member 21 guides the running direction of the casters 15 provided on each of the vertical ribs 13 of the concrete form 10, and guides the casting area in the space where the concrete form 10 is placed on the work stage 92. It is placed perpendicular to C.

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

The running rail 22 guides the running direction of a trolley 23, which will be described later.As shown in FIG. It sticks out to the extent that it does. Further, like the guide member 21, the guide member 21 extends orthogonally and parallel to the expected pouring area C, and as shown in FIG. 4, a plurality of guide members are arranged in parallel at intervals.

As shown in FIG. 1, the trolley 23 is provided with a suspension device 24 such as a hoist, and by connecting this suspension device 24 and the vertical rib connecting material 14, the concrete formwork 10 is suspended from the trolley 23. While being suspended from the holder, it slides forward or backward on the work stage 92 toward the expected pouring area C. The amount of movement L1 of the concrete formwork 10 (the amount of movement of the trolley 23) can be detected by an encoder 25 installed on the traveling rail 22, and is transmitted to a traveling mechanism control panel 30, which will be described later.

Note that the traveling rail 22 may have any shape, and the trolley 23 may be driven by any mechanism such as an electric type or a hydraulically driven type. Furthermore, any device capable of sliding the concrete form 10 forward and backward toward the planned pouring area C may be used, such as by employing a telescoping device such as a hydraulic cylinder instead of the traveling rail 22 and the trolley 23. , any of them may be included in the traveling mechanism 20.

The surveying means 50 is provided in consideration of calculating position and orientation information including the position, orientation, attitude, etc. of the concrete formwork 10, and calculates the position coordinates of a plurality of side points set in advance on the concrete formwork 10. It is set up for measurement. In this embodiment, as shown in FIG. 2, the total station 51 is configured so that the concrete formwork 10 can perform at least one of surveying using a total station and GNSS surveying no matter what environment the concrete formwork 10 is in. , a plurality of targets 52 collimated by a total station 51 , and a position detection sensor 53 .

The total station 51 is a generally widely used surveying instrument that measures the horizontal angle, vertical angle, and distance by sighting or automatically tracking the target 52, converts these into three-dimensional coordinates, and calculates the three-dimensional coordinates of the target 52. Find the target position. In this embodiment, a total station 51 is placed on the ground at a construction site, and a target 52 is installed in a concrete formwork 10.

If the total station 51 can be placed on the back side of the concrete formwork 10, the targets 52 can be placed at the four corners of the back side of the concrete formwork 10 and in the middle of the back side, for example, as shown in FIG. It is recommended to install it at a total of 5 locations apart from the center point O. This is to calculate the position and orientation information of the concrete formwork 10 described above based on the position coordinates of at least three targets 52 sighted or automatically tracked by the total station 51.

Therefore, the three targets 52 may be installed at any position on the back side of the formwork panel 11 as long as they form a closure (positions that do not form a linear row), and any number of targets may be installed. .

On the other hand, depending on the situation at the construction site, the total station 51 cannot be placed on the back side of the concrete formwork 10, but if it can be placed on the side, at least two targets 52 are placed on the side end surface or the top surface of the concrete formwork 10. It may be arranged in more than one place. In this case, it is placed 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 obtained. .

Therefore, as shown in FIG. 8, when the concrete formwork 10 is located near the planned pouring area C and its lower end is in contact with the existing concrete A, The position coordinates of each of the two corners located above the concrete formwork 10 when pouring the existing concrete part A located below the concrete formwork 10 located near the planned pouring area C. It is regarded as the position coordinates of each of the two corners.

Furthermore, as shown in FIG. 1, when the concrete formwork 10 is located away from the planned pouring area C and is suspended by the trolley 23, the concrete formwork 10 is viewed from the total station 51 as described above. The positional coordinates of each of the four upper and lower corners of the concrete formwork 10 are calculated based on the survey results using at least three targets 52 according to the method.

Thereby, in any case, the position coordinates of each of the four corners of the concrete formwork 10 can be detected, so that the position and orientation information can be calculated. Furthermore, if the total station 51 cannot be installed on the ground surface on either the back side or the side side of the concrete formwork 10, GNSS surveying is performed using the position detection sensor 53.

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 ends of the upper end of the formwork panel 11. Two of these are arranged in order to perform relative positioning, which is generally known as a method of determining the 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 obtained as follows. As shown in FIG. 8, when the lower end of the concrete formwork 10 is in a position where it is in contact with the existing concrete A, each of the two upper corners of the concrete formwork 10 when the existing concrete part A is poured The position coordinates of are regarded as the position coordinates of each of the two lower corners. As shown in FIG. 1, when the concrete formwork 10 is located away from the planned pouring area C, surveying such as separately aiming at the target 52 near the lower end is performed so that at least one spot on the concrete formwork 10 Measure the position coordinates of the points and calculate the position coordinates of each of the two lower corners.

According to the formwork device 110 configured as described above, the concrete formwork 10 can be slid by the traveling mechanism 20 while checking the position and orientation information of the concrete formwork 10 based on the surveying means 50. As a result, not only can the manual work by site workers be greatly reduced, but even when the concrete formwork 10 is being erected at a high place, such as above the existing concrete part A, the work at height can be greatly reduced. It becomes possible to improve work safety.

A plurality of concrete forms 10 can be erected simultaneously via the traveling mechanism 20. Therefore, compared to the case where adjacent concrete formworks 10 are erected individually, it is possible to minimize the displacement of the erecting positions between adjacent concrete formworks 10, and improve the erecting accuracy. At the same time, it is possible to shorten the working time.

Furthermore, by providing the formwork device 110 on the elevating scaffold 90, the concrete formwork 10 can be raised to a height near the planned pouring area C by raising the elevating scaffold 90, and the traveling mechanism 20 can be raised. can be used to slide toward the expected pouring area C. Thereby, a series of operations when erecting the concrete formwork 10 can be carried out without relying on human power, making it possible to save labor and shorten the working time.

Therefore, as shown in Fig. 5, the planned pouring area C located above the existing concrete part A is divided into a plurality of blocks of a size corresponding to the area of one pouring, and concrete is sequentially poured and constructed. When adopted for the construction of a large-scale concrete structure D, it becomes possible to improve the construction accuracy of the concrete formwork 10 for each block and to greatly improve the construction efficiency.

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

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

The formwork movement control device 40 is installed in a business office or a construction office at a construction site, and is a device that 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, etc., and the output device 42 is a display, a printer, etc. The central processing unit 43 is a computer having a CPU, a GPU, a ROM, a RAM, a hardware interface, and the like.

The file device 44 is a storage device such as a semiconductor memory or a hard disk drive, and the 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, a model A frame position information file 445, construction information file 446, etc. are stored.

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

As shown in FIG. 2, the information processing terminal 60 is an information processing device that is capable of mutual data communication with the formwork movement control device 40 and can be carried by site workers, construction managers, etc. Any terminal device having a data processing function or communication function, such as a tablet terminal, a notebook computer, or a smartphone, can be used. Further, although 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 wired or wireless dedicated line. Further, the formwork movement control device 40, the total station 51 and the position detection sensor 53 of the surveying means 50, and the information processing terminal 60 are connected via any existing network line 70 such as the Internet.

Therefore, the formwork movement control device 40 installed in a business office or a construction office at a construction site, and the information processing terminal 60 that can be carried by site workers, construction managers, etc., communicate data with each other via the network line 70. is possible. Alternatively, the formwork automatic installation system 100 may be configured to include the 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. Thereby, 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.

In this way, field workers and construction managers can use the information processing terminal 60 to view the information centrally managed by the formwork movement control device 40, and use the formwork automatic installation system 100 to install concrete formwork. It becomes possible to easily provide information support related to the 10 construction work.

According to the formwork automatic installation system 100 configured as described above, the position and orientation information of the concrete formwork 10 is grasped using the surveying means 50 and the formwork movement control device 40, and the erection standards are determined based on this position and orientation information. The amount of movement L1 to the position is calculated. Furthermore, the concrete formwork 10 can be slid by moving the traveling mechanism 20 based on the movement amount L1, and it is possible to save labor while ensuring the accuracy of setting the concrete formwork 10. Become.

Further, it is possible to check the consistency between the position and orientation information of the concrete formwork 10 after it has been erected and the reference position for erecting which has been set in advance, on site in real time. Therefore, if consistency cannot be confirmed, the position and orientation of the concrete formwork 10 can be adjusted on the spot, making it possible to ensure more stable erection accuracy.

≪Automatic installation method of concrete formwork≫
Therefore, we will explain the procedure for automatically installing the concrete formwork 10 of the formwork device 110 at the construction standard position specified at the time of construction planning using the formwork automatic installation system 100, together with the details of the formwork movement control device 40. This will be explained with reference to the flow diagram in FIG.

In this embodiment, a case is described in which the formwork device 110 is installed on the elevating scaffold 90, concrete is poured into the planned pouring area C above the existing concrete section A, and the process of constructing the new concrete section B is repeated. Let me give you an example.

<Pretreatment>
At the construction planning stage, the position coordinates of the concrete formwork 10 to be installed each time concrete is poured are calculated in advance, and this is defined as the reference position for erecting the concrete formwork 10. Calculate the allowable tolerance for

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

Then, it is stored in the construction plan information file 442 of the file device 44 that constitutes the formwork movement control device 40, as shown in FIG. Note that the construction plan information file 442 preferably stores specification information such as the dimensions (height and length) of the concrete formwork 10 and other necessary information. The calculation formula storage file 443 of the file device 44 stores a movement amount calculation formula for calculating the movement amount L1 for erecting the concrete formwork 10 at the erection reference position, and parameter information necessary for the movement amount calculation formula. I'll keep it.

<Calculate the position information P1 of the concrete formwork before movement: STEP 1>
As shown in FIG. 1, the lifting device 91 raises the lifting scaffold 90 and places the concrete formwork 10 at a height facing the area C where concrete is to be placed. Perform 10 measurements.

If the total station 51 can be installed on the back side of the concrete formwork 10 and can sight or track three or more targets 52, the network line 70 is connected using the position coordinates of these targets 52 as survey information. The information 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 pouring area number.

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

In addition, if the total station 51 cannot be installed on the back side of the concrete formwork 10, as described above, the total station 51 is placed on the side, and placed at at least two places on the side end surface or the top surface of the concrete formwork 10. Survey information is obtained using the target 52. Alternatively, survey information regarding the concrete form 10 is obtained based on the position coordinates obtained by the two GNSS antennas 531 and 532 and the position coordinates of at least one point on the concrete form 10 obtained by other surveying means. The information is then inputted from the input device 41 to the formwork movement control device 40 .

<Calculate the movement amount L1 of the concrete formwork: STEP 2>
When the pre-movement position information P1 of the concrete formwork 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 updates the calculation formula storage file in the file device 44. The movement amount calculation formula and parameter information stored in 443 are output to the information processing terminal 60 via the network line 70. In addition, the information processing terminal also displays the pre-movement position information P1 of the concrete formwork 10 and the construction reference position corresponding to the pouring area number stored in the construction plan information file 442 and assigned to the pre-movement position information P1. Output to 60.

The construction manager, while referring to the pre-movement position information P1 and the reference construction position outputted to the information processing terminal 60, takes into account the site situation, the performance of the trolley 23, etc., and sets the optimum value of the parameter on 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 values of the parameters have been input, the central processing unit 43 receives a command from the movement amount calculation unit 453 stored in the main memory 45, and calculates each information (pre-movement position information P1, construction reference position, movement amount calculation (formula, optimum value of parameters, etc.), the amount of movement L1 of the concrete formwork 10 is calculated. The calculated movement amount L1 is stored in the movement amount information file 444 of the file device 44 together with the pouring area number, and is output to the information processing terminal 60 via the network line 70.

<Slide the concrete formwork: STEP 3>
After confirming the movement amount L1, the construction manager inputs command information for causing the trolley 23 of the traveling mechanism 20 to travel into 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 travel amount L1 is input, the traveling mechanism control panel 30 operates the trolley 23 and moves the trolley 23 on the travel rail 22 by the input travel amount L1 toward the expected pouring area C. As a result, the concrete formwork 10 slides toward the expected pouring area C, as shown in FIG. At this time, confirm that the lower end of the concrete formwork 10 is in contact with the existing concrete part A located below the planned pouring area C. If this cannot be confirmed, operate the trolley 23 so that the lower end The concrete formwork 10 is slid until it comes into contact with the existing concrete part A.

<Verification of concrete formwork erection position: STEP 4>
As shown in FIG. 8, when the sliding movement of the concrete formwork 10 is completed, the surveying means 50 is used to survey the concrete formwork 10. The method for acquiring survey information is the same as in <STEP 1>, and the acquired survey information is input from the input device 41 to the formwork 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 construction position information P2, which is the position and orientation information (current position, orientation, and orientation) of , is calculated and stored in the formwork position information file 445 of the file device 44 together with the pouring area number.

Note that the survey information may be the position coordinates of each of the two GNSS antennas 531 and 532 obtained through GNSS survey, or the two targets 52 installed on both end faces of the concrete formwork 10 that are sighted or tracked by the total station 51. If the position coordinates were obtained by

The central processing unit 43 receives a command from the formwork position calculation unit 451 stored in the main memory 45, and as described above, calculates the position coordinates of the two points and the formwork position information file 445 of the file device 44. , acquires construction position information P2 to which a pouring area number immediately below the section where concrete formwork 10 construction work is currently being performed. Then, from the construction position information P2 given the pouring number immediately below, the position coordinates of each of the two corners located above the concrete form 10 used when constructing the existing concrete section A immediately below are determined. 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 construction position information P2 is currently being calculated. Then, using the position coordinates of these four points, the erection 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 pouring area number.

When the construction 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 updates the construction plan information file 442 of the file device 44. First, the setting error amount L2 is calculated based on the setting position information P2 and the setting standard position by referring to the setting standard position and the allowable error that are stored in the setting area number and assigned with the corresponding casting area number. do.

Next, the construction error amount L2 and the allowable error are compared, and information for determining whether position adjustment is necessary for the installed concrete formwork 10 is outputted to the output device 42 together with the construction error amount L2 and the tolerance error. At the same time, it is also output to the information processing terminal 60 via the network line 70. The construction error amount L2 is also stored in the movement amount information file 444 of the file device 44 together with the pouring area number.

The construction manager sends command information to start position adjustment or command information to end construction work to the information processing terminal 60 based on the construction error amount L2, the allowable error, and the determination information as to whether or not position adjustment is necessary. 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: STEP 5>
When command information to start position adjustment is input, the central processing unit 43 receives a command from the slide movement command unit 454 stored in the main memory 45, and outputs the calculated set-up error amount L2 via the output device 42. Input to the traveling mechanism control panel 30.

When the build-up error amount L2 is input, the traveling mechanism control panel 30 operates the trolley 23 to move it forward or backward on the travel rail 22 by the input build-up error amount L2. As a result, the concrete formwork 10 slides in the backward or forward direction with respect to the expected pouring area C.

Note that the position adjustment of the concrete formwork 10 may be performed manually by the construction manager activating a manual operation application for manually operating the trolley 23 stored in advance in the information processing terminal 60. Specifically, when a manual operation application is activated by a predetermined operation, an operation screen is output to the display.

Therefore, the construction manager takes into consideration the construction error amount L2, the allowable error, and the determination information as to whether or not position adjustment is necessary, output to the information processing terminal 60, the site situation, the performance of the trolley 23, etc. Perform operations to make the trolley 23 travel according to the operation screen. Operation information (input of information such as the amount of movement and direction of movement 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 instructions from the slide movement command section 454 stored in the main memory 45 by the central processing unit 43, and inputs the operation information by the construction manager. , is 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 accordance with the input operation information, and slides the concrete formwork 10.

<Verification of the adjusted position of concrete formwork: STEP 6>
When the position adjustment of the concrete formwork 10 is completed, the concrete formwork 10 is surveyed using the surveying means 50. The method for acquiring survey information is the same as in <STEP 1>, and the acquired survey information is input from the input device 41 to the formwork 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 adjusts the position of the concrete formwork 10. Adjusted position information P3, which is position and 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 pouring area number.

Note that the survey information may be the position coordinates of each of the two GNSS antennas 531 and 532 obtained through GNSS survey, or the two targets 52 installed on both end faces of the concrete formwork 10 that are sighted or tracked by the total station 51. If the position coordinates are obtained by

Thereafter, the central processing unit 43 receives a command from the formwork position verification unit 455 stored in the main memory 45, and the corresponding pouring area number stored in the construction plan information file 442 of the file device 44 is determined. Referring to the provided construction reference position and allowable error, first, the adjusted error amount L3 is calculated based on the adjusted position information P3 and the construction reference position.

Next, the adjusted error amount L3 and the allowable error are compared, and the device outputs determination information as to whether or not position adjustment is necessary for the concrete formwork 10 that has been erected, together with the adjusted error amount L3 and the allowable error. 42 and also 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 pouring area number.

The construction manager sends command information to start position adjustment or command information to end construction work to information processing terminal 60 based on the post-adjustment error amount L3, the allowable error, and the determination information as to whether position adjustment is necessary. 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 tolerance is not satisfied even after the position adjustment and command information to start position adjustment is input, return to <STEP 5>, operate the trolley 23, and move the trolley 22 on the travel rail 22 after the input adjustment. The operation of sliding the concrete formwork 10 by moving it forward or backward by the error amount L3 is repeated. When the adjusted error amount L3 falls within the allowable error, the concrete formwork 10 is fixed and the construction work is completed.

<Construction of new concrete section: STEP 7>
After this, as shown in FIG. 9, concrete is placed in the planned pouring area C where the concrete formwork 10 is erected, and after reinforcement work is performed as necessary, concrete is poured and hardened to achieve the desired result. Cured until compressive strength of . If concrete is to be poured over the newly constructed concrete section B, preparation work for raising the elevating scaffold 90 is carried out while the concrete is being hardened and cured.

After a predetermined curing period has elapsed, as shown in FIG. 10, the trolley 23 is moved backward on the running rail 22 to open the concrete form 10. To open the concrete formwork 10, the construction manager starts the aforementioned manual operation application on the information processing terminal 60 to output an operation screen, and then performs an operation to move the trolley 23 backward according to the operation screen. . 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 instructions from the slide movement command section 454 stored in the main memory 45 by the central processing unit 43, and inputs the operation information by the construction manager. , is input to the traveling mechanism control panel 30 via the output device 42. Then, the traveling mechanism control panel 30 operates the trolley 23 to move backward on the traveling rail 22, thereby opening the concrete form 10.

Thereafter, returning to <STEP 1>, the constructed new concrete section B is used as the existing concrete section A, and the lifting device 91 is operated to raise the lifting scaffold 90 along the wall surface of the existing concrete section A. Then, according to <STEP 2> to <STEP 7>, the concrete formwork 10 is erected, and the concrete pouring work is repeated until the concrete structure D reaches a desired height.

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

Of the information obtained at each stage of the above-mentioned lifting of the elevating scaffold 90, erection of the concrete formwork 31, and pouring of concrete into the planned pouring area C, the survey file 441, construction plan For example, the construction manager may input various other construction information data that is not stored in the information file 442, calculation formula storage file 443, movement amount information file 444, and formwork position information file 445 into the information processing terminal 60 as appropriate. It's 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 appropriate timing. When the construction information data is input, the formwork movement control device 40 receives instructions from the construction information acquisition unit 456 stored in the main memory 45 by the central processing unit 43, and stores the construction information data as necessary. It is converted and stored in the construction information file 446 of the file device 44.

Since this information is obtained for each of a plurality of blocks as shown in FIG. 5, the pouring area number assigned to each block is associated with it. Then, the construction information obtained when constructing the concrete structure D can be collected and centrally managed in the formwork movement control device 40.

Thereby, the concrete form 10 can be erected in the planned pouring area C adjacent to the existing concrete part A while referring to the information on the installation of the concrete form 10 in the previously constructed existing concrete part A. Moreover, it is possible to contribute to improving the accuracy of erection of the concrete formwork 10 by understanding in advance the parts etc. where defects may occur during erection 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, direction, posture, etc. of the concrete formwork 10 can be determined using the surveying means 50 and the formwork movement control device 40. The position and orientation information is grasped, and based on this position and orientation information, the amount of movement L1 to the construction reference position is calculated. Furthermore, the concrete formwork 10 can be slid by moving the traveling mechanism 20 based on the movement amount L1, and it is possible to save labor while ensuring the accuracy of setting the concrete formwork 10. Become.

The formwork apparatus 110 and the formwork automatic installation system 100 of the present invention are not limited to the above-described embodiments, and various changes 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 part A, but the present invention is not necessarily limited to this, and the stage scaffold that moves on the ground surface. It may also be installed on.

Furthermore, the number of concrete formworks 10 to be erected by the formwork automatic installation system 100 may be one or three concrete formworks 10, as shown in FIG. 4, for example. In this case, as described above, by removably connecting the three concrete forms 10 via the connecting member 141, they can be slid simultaneously by the trolley 23 of the traveling mechanism 20.

At this time, the trolleys 23 that suspend each of the three concrete forms 10 are preferably synchronized. Furthermore, after the concrete formwork 10 has been slid by the amount of movement L1 and is erected, if it is necessary to perform the position adjustment as in <STEP 5> to <STEP 6>, the connecting member 141 is removed and the concrete formwork 10 is moved. It is also possible to adjust the position one by one.

Furthermore, if 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. This makes it possible to finely adjust the concrete formwork 10 using the casters 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 rib 13 Vertical rib 14 Vertical rib connection material 141 Connection member 15 Caster 20 Traveling mechanism 21 Guide member 22 Traveling rail 23 Trolley 24 Lifting device 25 Encoder 30 Travel mechanism control panel 40 Formwork movement control device 41 Input device 42 Output device 43 Central processing unit 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 Elevating scaffolding 91 Elevating device 92 Work stage 93 Frame scaffolding

A Existing concrete section B New concrete section C Placement area D Concrete structure

Claims (5)

Concrete formwork placed opposite the side of the area where concrete is to be poured;
Slide the concrete formwork toward the side of the planned pouring area so that it can move forward and backward.
a traveling mechanism,
surveying means for surveying the positions of a plurality of side points set on the concrete form;
A formwork device comprising:
The surveying means is
a plurality of targets provided in the concrete form;
a total station that sights the target;
A position detection sensor consisting of two GNSS antennas arranged at a distance,
A formwork device comprising: The formwork apparatus according to claim 1 ,
The formwork device is characterized in that the concrete formwork is arranged such that concrete casting surfaces form the same plane, and a plurality of the concrete formworks are connected via removable connection members. The formwork device according to claim 1 or 2 ,
A formwork device characterized in that the traveling mechanism is installed on a lifting scaffold that can move up and down the side of the existing concrete. A concrete formwork placed opposite to the side surface of the area where concrete is planned to be poured; a traveling mechanism that slides the concrete formwork toward the side surface of the area where concrete is planned to be poured; a formwork device equipped with a surveying means for surveying the positions of the plurality of set side points ;
a formwork movement control device that controls sliding movement of a concrete formwork provided in the formwork device;
Equipped with
The formwork movement control device,
a formwork position calculation unit that calculates positional information of the concrete formwork based on the survey results obtained from the surveying means;
a movement amount calculation unit that calculates a movement amount of the concrete formwork to a construction reference position based on the calculated position information;
a slide movement command center that causes the travel mechanism to travel based on the calculated movement amount and slide the concrete formwork;
An automatic formwork installation system characterized by comprising: The formwork automatic installation system according to claim 4,
An automatic formwork installation system comprising the formwork movement control device and an information processing terminal that can communicate with each other via a network line.

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