Automated formwork positioning system, method and lining trolley

Abstract

The application provides an automatic formwork positioning system, a method and a lining trolley, and relates to the technical field of lining trolleys. The automatic formwork positioning system comprises a visual identification module, an automatic unfolding and folding mechanism and a docking structure. The docking structure is fixedly installed on a base ground. The automatic unfolding and folding mechanism is hinged to the bottom of a formwork and is used for docking and fixing with the docking structure installed on the base ground. The visual identification module is used for acquiring image information of the docking structure, so that the automatic unfolding and folding mechanism is adjusted according to the image information, thereby realizing the docking and fixing of the automatic unfolding and folding mechanism and the docking structure. The automatic formwork positioning system can realize full-automatic formwork erection, is favorable for improving the automation degree of the lining trolley in formwork erection, reducing the workload of construction personnel, reducing the time consumption, improving the work efficiency and reducing the influence of subjective factors on the construction quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field, in particular to an automatic formwork supporting precise positioning system, method and lining trolley. BACKGROUND

[0002] After the lining trolley is positioned, the forms need to be erected, and the left and right side forms are opened to make the lower edges of the left and right side forms align with the edges of the foundation that have been poured in advance. In order to ensure that the lower edges of the forms and the foundation do not burst due to the pressure of the slurry, a supporting lead screw needs to be installed at the lower edge of the side form to firmly connect the formwork to the foundation, supporting the weight of the formwork and transmitting the pressure of the concrete to the foundation during work to ensure the pouring quality. The installation of the supporting lead screw is usually manually assembled by workers. One end of the supporting lead screw is hinged to the hinge seat at the lower edge of the formwork through a mounting seat, and the other end is installed on the foundation through expansion screws or fixed anchors. The number of supporting lead screws is multiple, and it takes a lot of time and effort to complete the assembly of these supporting lead screws. The existing positioning operation process is as follows: 1. trolley walking, transverse positioning; 2. erecting the left and right side forms and the top form; 3. during the expansion and erection of the left and right side forms, the operator observes the real-time distance between the lower edge of the formwork and the edges of the poured foundation; 4. stop when the formwork is close to the edge of the foundation; 5. multiple operators install multiple parallel supporting lead screws evenly distributed along the axis of the trolley one by one, including hinging with the hinge seat of the lower edge of the formwork with a pin, and drilling holes in the foundation and fixing; 6. after fixing, adjust the length of each lead screw so that there is a certain pressure between the lower edge of the formwork and the edge of the foundation.

[0003] This positioning operation is time-consuming and labor-intensive. There are usually nearly 20 parallel supporting lead screws in the axial direction, and each of them needs to be fixed at both ends, especially the foundation needs to be drilled first and then fixed. During the entire fixing process, other processes need to wait for the fixing to be completed. This greatly affects the lining efficiency. And the adjustment process is basically based on subjective judgment, which has a lot of uncertainty. SUMMARY

[0004] The purpose of the present application includes, for example, to provide an automatic formwork supporting precise positioning system, method and lining trolley, which can realize full-automatic formwork erection, is conducive to improving the automation degree of the lining trolley for formwork supporting, reducing the workload of construction personnel; at the same time, can reduce the time-consuming, improve the work efficiency, and reduce the influence of subjective factors on the construction quality.

[0005] Embodiments of the present application can be implemented as follows:

[0006] In a first aspect, the embodiments of the present application provide an automatic formwork positioning system for a lining trolley, which comprises a visual recognition module, an automatic unfolding and folding mechanism and a docking structure. The docking structure is fixedly installed on a base ground. The automatic unfolding and folding mechanism is hinged to the bottom of a formwork and is used to be fixedly docked with the docking structure installed on the base ground. The visual recognition module is used to acquire image information of the docking structure, so that the automatic unfolding and folding mechanism is adjusted according to the image information, thereby realizing the fixed docking of the automatic unfolding and folding mechanism with the docking structure. The automatic formwork positioning system provided by the embodiments can acquire the image information of the automatic unfolding and folding mechanism and the docking structure by the visual recognition module, so as to adjust the position of the automatic unfolding and folding mechanism and realize the fixed docking of the automatic unfolding and folding mechanism with the docking structure. The automatic formwork positioning system can realize the automatic docking of the automatic unfolding and folding mechanism with the docking structure, realize full-automatic formwork erection, improve the automation degree of the lining trolley in formwork erection, reduce the workload of construction personnel, reduce the time consumption, improve the work efficiency and reduce the influence of subjective factors on the construction quality.

[0007] Further, in optional embodiments, the visual recognition module comprises a visual mechanical arm and an image acquisition camera. The image acquisition camera is installed on the visual mechanical arm. The visual mechanical arm can adjust the spatial position of the image acquisition camera. The image acquisition camera can acquire the image information of the docking structure.

[0008] Further, in optional embodiments, the visual recognition module further comprises a mechanical arm moving track. The visual mechanical arm is in sliding connection with the mechanical arm moving track and can slide along the mechanical arm moving track.

[0009] Further, in optional embodiments, the automatic unfolding and folding mechanism comprises a driving assembly, a connecting rod mechanism, a telescopic assembly and a docking head. The driving assembly and the connecting rod mechanism are both hinged to the bottom of the formwork. The driving assembly is in transmission connection with the connecting rod mechanism, so as to make the connecting rod mechanism unfold or shrink. The telescopic assembly is connected with the connecting rod mechanism and is in transmission connection with the docking head, so as to drive the docking head to telescopically move relative to the connecting rod mechanism. The docking head can be fixedly docked with the docking structure.

[0010] Further, in optional embodiments, the connecting rod mechanism comprises a first connecting rod and a second connecting rod. The first connecting rod is hinged to the bottom of the formwork. The second connecting rod is in telescopic cooperation with the first connecting rod. The driving assembly comprises a first oil cylinder and a second oil cylinder. The first oil cylinder is hinged to the bottom of the formwork and the other end thereof is hinged to the first connecting rod. The second oil cylinder is hinged to the bottom of the formwork and the other end thereof is hinged to the second connecting rod. The telescopic assembly is connected with the second connecting rod.

[0011] Further, in the optional embodiment, the telescopic assembly comprises a telescopic drive motor and a motorized screw rod, the butt joint is connected with the motorized screw rod, the telescopic drive motor is installed on the second connecting rod and is in transmission connection with the motorized screw rod, and the telescopic drive motor is used to drive the motorized screw rod and the butt joint to telescope.

[0012] Further, in the optional embodiment, the butt joint structure comprises a support seat and a pressure sensor, the pressure sensor is arranged on the surface of the support seat or the end of the automatic expansion and contraction mechanism, and is used to obtain the stress of the butt joint of the automatic expansion and contraction mechanism and the butt joint structure, so as to adjust the automatic expansion and contraction mechanism.

[0013] In the second aspect, the embodiments of the present application provide an automatic formwork positioning method, which utilizes the automatic formwork positioning system of any of the preceding embodiments, and the automatic formwork positioning method comprises the following steps:

[0014] The butt joint structure is installed and fixed on the ground of the base body.

[0015] The image information of the butt joint structure is obtained by the visual recognition module.

[0016] The automatic expansion and contraction mechanism is controlled according to the image information, so that the automatic expansion and contraction mechanism is butt jointed and fixed with the butt joint structure. The automatic formwork positioning system provided in the embodiments can obtain the image information of the automatic expansion and contraction mechanism and the butt joint structure by the visual recognition module, so as to adjust the position of the automatic expansion and contraction mechanism, and make the automatic expansion and contraction mechanism butt jointed and fixed with the butt joint structure. The automatic formwork positioning system can realize the automatic butt jointing and fixing of the automatic expansion and contraction mechanism and the butt joint structure, and can realize full-automatic formwork erection, which is beneficial to improving the automation degree of the formwork erection of the lining trolley, reducing the workload of the construction personnel, reducing the time consumption, improving the work efficiency, and reducing the influence of subjective factors on the construction quality.

[0017] Further, in the optional embodiment, in the step of controlling the automatic expansion and contraction mechanism according to the image information, so that the automatic expansion and contraction mechanism is butt jointed and fixed with the butt joint structure, whether the automatic expansion and contraction mechanism is butt jointed in place with the butt joint structure is calculated according to the image information.

[0018] Further, in the optional embodiment, the butt joint structure comprises a support seat and a pressure sensor, and in the step of controlling the automatic expansion and contraction mechanism according to the image information, so that the automatic expansion and contraction mechanism is butt jointed and fixed with the butt joint structure, the butt joint stress of the automatic expansion and contraction mechanism and the butt joint surface of the support seat is obtained by the pressure sensor, and the automatic expansion and contraction mechanism is controlled according to the butt joint stress.

[0019] In a third aspect, the embodiments of the present application provide a lining trolley comprising the automatic formwork positioning system of any of the preceding embodiments. The lining trolley can realize full-automatic formwork erection, which is conducive to improving the automation degree of formwork erection of the lining trolley, reducing the workload of construction personnel, reducing the time consumption, improving the work efficiency, and reducing the influence of subjective factors on the construction quality. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0021] Figure 1 Structure diagram of the automatic formwork positioning system according to the embodiments of the present application;

[0022] Figure 2 Structure diagram of the visual recognition module according to the embodiments of the present application;

[0023] Figure 3 Structure diagram of the automatic unfolding and folding mechanism according to the embodiments of the present application;

[0024] Figure 4 Schematic diagram of the automatic formwork positioning method according to the embodiments of the present application;

[0025] Figure 5 Schematic diagram of the working process of the automatic formwork positioning system.

[0026] Legend: 100-automatic formwork positioning system; 110-visual recognition module; 112-visual mechanical arm; 114-image acquisition camera; 116-mechanical arm moving track; 120-automatic unfolding and folding mechanism; 121-driving assembly; 1211-first oil cylinder; 1212-second oil cylinder; 122-linkage mechanism; 1221-first linkage; 1222-second linkage; 123-telescopic assembly; 1231-telescopic driving motor; 1232-electric screw; 124-butting joint; 130-butting structure; 131-supporting seat; 132-pressure sensor. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings.

[0028] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0030] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0031] It should be noted that: the features in the embodiments of the present application can be combined with each other without conflict.

[0032] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0033] Please refer to Figure 1 The present embodiment provides an automatic formwork positioning system 100, which can realize full-automatic formwork erection, is beneficial to improve the automation degree of the lining trolley for formwork erection, reduce the workload of construction personnel, reduce the time consumption, improve the work efficiency, and reduce the influence of subjective factors on the construction quality.

[0034] It should be noted that the automatic formwork supporting precise positioning system 100 provided by the embodiment of the present application can realize full-automatic formwork erection and pre-tightening. In the prior art, after the lining trolley is positioned, formwork erection is needed. The left and right side forms are opened to make the lower edges of the left and right side forms abut the edges of the foundation which has been cast in advance. In order to ensure that the lower edges of the formwork and the foundation do not burst due to the pressure of the slurry, a supporting lead screw is installed at the lower edge of the side form, so that the mold is firmly connected with the foundation, and the weight of the supporting formwork is transmitted to the foundation during work, thereby ensuring the pouring quality. The installation of the supporting lead screw is usually manually assembled. One end of the supporting lead screw is hinged to the lower edge of the formwork through a hinge seat, and the other end is installed on the foundation through an expansion screw or a fixed anchor. The number of supporting lead screws is more, and it takes more time and effort to complete the assembly of these supporting lead screws. The automatic formwork supporting precise positioning system 100 provided by the embodiment of the present application can realize full-automatic assembly of the supporting lead screw, thereby reducing the time consumption, improving the work efficiency, and being beneficial to improving the automation degree of the lining trolley for formwork supporting. In the embodiment of the present application, the automatic formwork supporting precise positioning system 100 comprises a visual recognition module 110, an automatic expansion and contraction mechanism 120, and a docking structure 130. The docking structure 130 is fixedly installed on the ground of the base body. The automatic expansion and contraction mechanism 120 is hinged to the bottom of the formwork and is used for docking and fixing with the docking structure 130 installed on the ground of the base body. The visual recognition module 110 is used for acquiring image information of the docking structure 130, so that the automatic expansion and contraction mechanism 120 is adjusted according to the image information, thereby realizing the docking and fixing of the automatic expansion and contraction mechanism 120 and the docking structure 130.

[0035] It should be noted that in the embodiment of the present application, the visual recognition module 110 can acquire image information of the automatic expansion and contraction mechanism 120 and the docking structure 130, so as to adjust the position of the automatic expansion and contraction mechanism 120, so that the automatic expansion and contraction mechanism 120 is docked and fixed with the docking structure 130. The present application can realize the automatic docking and fixing of the automatic expansion and contraction mechanism 120 and the docking structure 130, can realize full-automatic formwork erection, is beneficial to improving the automation degree of the lining trolley for formwork supporting, and reduces the workload of the construction personnel. At the same time, the time consumption is reduced, the work efficiency is improved, and the influence of subjective factors on the construction quality is reduced.

[0036] Please refer to Figure 2 In the optional embodiment, the visual recognition module 110 comprises a visual mechanical arm 112 and an image acquisition camera 114. The image acquisition camera 114 is installed on the visual mechanical arm 112. The visual mechanical arm 112 can adjust the spatial position of the image acquisition camera 114. The image acquisition camera 114 can acquire image information of the docking structure 130.

[0037] It should be understood that the image acquisition camera 114 is installed on the visual mechanical arm 112, and the visual mechanical arm 112 can adjust the spatial position of the image acquisition camera 114, so that the image acquisition camera 114 can obtain the image information of the automatic folding and unfolding mechanism and the docking structure 130, so that the automatic folding and unfolding mechanism can be more accurately docked and fixed with the docking structure 130, and the automation degree of the lining trolley is improved.

[0038] Further, the visual recognition module 110 can further include a mechanical arm moving track 116, and the visual mechanical arm 112 is slidably connected with the mechanical arm moving track 116 and can slide along the mechanical arm moving track 116.

[0039] The mechanical arm moving track 116 can be arranged on the left and right side forms, and the visual mechanical arm 112 can move along the mechanical arm moving track 116, so that the docking state of the automatic folding and unfolding mechanism 120 and the docking structure 130 at each position can be obtained, so that the automatic folding and unfolding mechanism 120 and the docking structure 130 can be accurately positioned and fixed, and the overall automation degree is improved.

[0040] It should be pointed out that the connection mode between the mechanical arm moving track 116 and the visual mechanical arm 112 is not specifically required and limited in the embodiment of the present application. Alternatively, the visual mechanical arm 112 and the mechanical arm moving track 116 can be connected in the form of a conveyor belt, a slide rail or the like. Of course, the visual mechanical arm 112 and the mechanical arm moving track 116 can also be connected in other possible connection modes.

[0041] In addition, it should be pointed out that the visual mechanical arm 112 and the image acquisition camera 114 installed on the visual mechanical arm 112 can also be used to detect the pouring quality of the concrete, and the image acquisition camera 114 can be set as an infrared imaging instrument, or the necessary equipment for ultrasonic detection such as an ultrasonic transmitter, a receiver and the like can be additionally arranged on the visual mechanical arm 112.

[0042] Please refer to Figure 3 In the optional embodiment, the above-mentioned automatic folding and unfolding mechanism 120 can include a driving assembly 121, a connecting rod mechanism 122, a telescopic assembly 123 and a docking head 124, the driving assembly 121 and the connecting rod mechanism 122 are both hinged to the bottom of the formwork, the driving assembly 121 is in transmission connection with the connecting rod mechanism 122, and is used to make the connecting rod mechanism 122 unfold or shrink, the telescopic assembly 123 is connected with the connecting rod mechanism 122 and is in transmission connection with the docking head 124, and is used to drive the docking head 124 to extend or shrink relative to the connecting rod mechanism 122, and the docking head 124 can be docked and fixed with the docking structure 130.

[0043] It should be noted that in the embodiment of the present application, the driving assembly 121 and the connecting rod mechanism 122 are both hinged to the formwork bottom, wherein the connecting rod mechanism 122 can rotate relative to the formwork bottom, and the driving assembly 121 is used to drive the connecting rod mechanism 122 to rotate. The driving assembly 121 drives the connecting rod mechanism 122 to rotate, so as to adjust the position of the connecting rod mechanism 122 and the docking joint 124. The telescopic assembly 123 is used to drive the docking joint 124 to telescope relative to the connecting rod mechanism 122, so as to fix the docking with the docking structure 130.

[0044] Further, the connecting rod mechanism 122 described above can include a first connecting rod 1221 and a second connecting rod 1222, the first connecting rod 1221 is hinged to the formwork bottom, the second connecting rod 1222 is in telescopic cooperation with the first connecting rod 1221, the driving assembly 121 includes a first oil cylinder 1211 and a second oil cylinder 1212, the first oil cylinder 1211 is hinged to the formwork bottom, and the other end is hinged to the first connecting rod 1221, the second oil cylinder 1212 is hinged to the formwork bottom, and the other end is hinged to the second connecting rod 1222, and the telescopic assembly 123 is connected with the second connecting rod 1222.

[0045] Of course, it is not limited to this, in other embodiments of the present application, the connecting rod mechanism 122 can also include a plurality of connecting rods, and the present application does not make specific requirements and limitations on the number of connecting rods. In the embodiment, the connecting rod mechanism 122 includes a first connecting rod and a second connecting rod 1222, and the first oil cylinder 1211 and the second oil cylinder 1212 can drive the first connecting rod 1221 and the second connecting rod 1222 to adjust the position of the first connecting rod 1221 and the second connecting rod 1222. At the same time, in the supporting state, the first oil cylinder 1211 and the second oil cylinder 1212 can also provide supporting stress, so as to ensure the supporting effect of the connecting rod mechanism 122, and ensure that the lower edge of the formwork and the foundation will not burst due to the pressure of the slurry, and at the same time supporting the weight of the formwork, the concrete pressure in the work is transmitted to the foundation, so as to ensure the pouring quality.

[0046] Further, the telescopic assembly 123 described above can include a telescopic driving motor 1231 and an electric screw 1232, the docking joint 124 is connected with the electric screw 1232, the telescopic driving motor 1231 is installed on the second connecting rod 1222 and is in transmission connection with the electric screw 1232, and is used to drive the electric screw 1232 and the docking joint 124 to telescope.

[0047] In the optional embodiment, the docking structure 130 described above can include a support seat 131 and a pressure sensor 132, the pressure sensor 132 is arranged on the surface of the support seat 131 or arranged at the end of the automatic folding and unfolding mechanism, and is used to obtain the stress of the automatic folding and unfolding mechanism and the docking structure 130, so as to adjust the automatic folding and unfolding mechanism.

[0048] It should be noted that the pressure sensor 132 is arranged on the surface of the support seat 131 or the end of the automatic folding mechanism to detect the stress of the butt joint of the two. The pressure sensor 132 can be a strain pressure sensor 132 which can be fixed on the surface of the support seat 131 or the surface of the butt joint 124 by pasting. When the butt joint 124 is butt jointed with the support seat 131, the strain pressure sensor 132 can obtain the stress of the butt joint of the butt joint 124, so as to control the stop of the telescopic drive motor 1231 when the stress meets the requirement, and complete the butt joint of the butt joint 124 and the support seat 131.

[0049] The automatic formwork positioning system 100 provided by the embodiment can obtain the image information of the automatic folding mechanism 120 and the butt joint structure 130 through the visual identification module 110, so as to adjust the position of the automatic folding mechanism 120 to make the automatic folding mechanism 120 butt jointed and fixed with the butt joint structure 130. The automatic butt joint and fixation of the automatic folding mechanism 120 and the butt joint structure 130 can be realized, and full-automatic formwork erection can be realized, which is beneficial to improve the automation degree of the lining trolley for formwork erection and reduce the workload of the construction personnel. At the same time, the time consumption can be reduced, the work efficiency can be improved, and the influence of subjective factors on the construction quality can be reduced.

[0050] Please refer to Figure 4 The embodiment of the present application provides an automatic formwork positioning method, which utilizes the automatic formwork positioning system 100 to realize full-automatic formwork erection, which is beneficial to improve the automation degree of the lining trolley for formwork erection and reduce the workload of the construction personnel. At the same time, the time consumption can be reduced, the work efficiency can be improved, and the influence of subjective factors on the construction quality can be reduced.

[0051] In the embodiment of the present application, the automatic formwork positioning method comprises the following steps: S100, installing and fixing the butt joint structure 130 on the ground; S200, obtaining the image information of the butt joint structure 130 through the visual identification module 110; S300, controlling the automatic folding mechanism 120 according to the image information to make the automatic folding mechanism 120 butt jointed and fixed with the butt joint structure 130.

[0052] It should be noted that in the step S300 of controlling the automatic deployment mechanism 120 according to the image information to make the automatic deployment mechanism 120 dock with the docking structure 130, whether the automatic deployment mechanism 120 and the docking structure 130 are docked in place is calculated through the image information. That is, when the automatic deployment mechanism 120 comprises the driving assembly 121, the linkage mechanism 122, the telescopic assembly 123 and the docking head 124, the image information collected by the image collection camera 114 can be used to control the driving assembly 121 to adjust the linkage mechanism 122. When the linkage mechanism 122 comprises the first linkage 1221 and the second linkage 1222, and the driving assembly 121 comprises the first oil cylinder 1211 and the second oil cylinder 1212, the first oil cylinder 1211 and the second oil cylinder 1212 are controlled to adjust the first linkage 1221 and the second linkage 1222.

[0053] In an optional embodiment, the docking structure 130 comprises a support seat 131 and a pressure sensor 132, and in the step of controlling the automatic deployment mechanism 120 according to the image information to make the automatic deployment mechanism 120 dock with the docking structure 130, the docking stress of the automatic deployment mechanism 120 and the docking surface on the support seat 131 is obtained through the pressure sensor 132, and the automatic deployment mechanism 120 is controlled according to the docking stress.

[0054] It should be noted that, please refer to Figure 5In the embodiment of the present application, during the lining process of the previous section, the standby lead screw butt joint fixing seat is installed in advance to the corresponding position of the ground of the next section (the left and right positions are manually measured approximately accurately); after the lining of the previous section is completed and walking to the position of the next section, after walking and transverse movement, the instruction is sent to the formwork system to start the formwork. After the top formwork is completed, the main formwork structure starts to work, and the side formwork is expanded. The image acquisition camera 114 shoots the distance between the lower edge of the side formwork and the edge of the concrete base. After the main support is completed, the bottom support rod driving hydraulic cylinder starts to work, so that the connecting rod mechanism 122 is straightened, and the connecting rod end (butt joint 124) is inserted into the corresponding position of the support seat 131 installed in advance on the ground; at this time, the camera is adjusted to the position aligned with the support seat 131 by the mechanical arm, and real-time imaging and calculation are performed to determine whether the support is in place. After that, the telescopic drive motor 1231 on the connecting rod starts to work, so that the template is tightly clamped between the base; the strain pressure sensor 132 pasted on the surface of the connecting rod collects the size of the clamping force in real time; when the preset pre-tightening force is reached, the motor stops working, and the formwork is completed. The automatic formwork positioning method provided in the embodiment: the visual recognition module 110 can acquire image information of the automatic expansion and contraction mechanism 120 and the butt joint structure 130, so as to adjust the position of the automatic expansion and contraction mechanism 120, so that the automatic expansion and contraction mechanism 120 is butt jointed and fixed with the butt joint structure 130. The present application can realize the automatic butt jointing and fixing of the automatic expansion and contraction mechanism 120 and the butt joint structure 130, can realize full-automatic formwork, is helpful to improve the automation degree of the lining trolley for formwork, reduces the workload of the construction personnel; at the same time, the time-consuming can be reduced, the work efficiency is improved, and the influence of subjective factors on the construction quality is reduced.

[0055] In the embodiment of the present application, a lining trolley is also provided. The lining trolley comprises the automatic formwork positioning system 100 of any one of the preceding embodiments. The lining trolley can realize full-automatic formwork, is helpful to improve the automation degree of the lining trolley for formwork, reduces the workload of the construction personnel; at the same time, the time-consuming can be reduced, the work efficiency is improved, and the influence of subjective factors on the construction quality is reduced.

[0056] The automatic formwork positioning system 100 provided in the embodiment: in the embodiment of the present application, the visual recognition module 110 can acquire image information of the automatic expansion and contraction mechanism 120 and the butt joint structure 130, so as to adjust the position of the automatic expansion and contraction mechanism 120, so that the automatic expansion and contraction mechanism 120 is butt jointed and fixed with the butt joint structure 130. The present application can realize the automatic butt jointing and fixing of the automatic expansion and contraction mechanism 120 and the butt joint structure 130, can realize full-automatic formwork, is helpful to improve the automation degree of the lining trolley for formwork, reduces the workload of the construction personnel; at the same time, the time-consuming can be reduced, the work efficiency is improved, and the influence of subjective factors on the construction quality is reduced.

[0057] It should be noted that in the description of the present application, the terms "upper", "lower", "inner", "outer", "left", "right" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly understood by those skilled in the art, or the orientation or positional relationship commonly understood by those skilled in the art, or the orientation or positional relationship commonly understood by those skilled in the art, only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0058] In addition, the terms "first", "second" and the like are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance. It should be noted that in the description of the present application, unless otherwise specified and limited, the terms "provided", "connected" and the like should be broadly understood, for example, "connected" can be fixedly connected, or can be detachably connected, or integrally connected; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium, or can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0059] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, therefore the protection scope of the present application should be limited by the scope defined by the claims.

Claims

1. An automated formwork precision positioning system (100) for a lining trolley, characterized in that, The automatic formwork positioning system (100) comprises a visual recognition module (110), an automatic unfolding and folding mechanism (120) and a docking structure (130), the docking structure (130) is fixedly installed on a base ground, the automatic unfolding and folding mechanism (120) is hinged to the bottom of a formwork and is used for docking and fixing with the docking structure (130) installed on the base ground, the visual recognition module (110) is used for acquiring image information of the docking structure (130) so that the automatic unfolding and folding mechanism (120) is adjusted according to the image information, thereby realizing the docking and fixing of the automatic unfolding and folding mechanism (120) and the docking structure (130). The automatic unfolding and folding mechanism (120) comprises a driving assembly (121), a connecting rod mechanism (122), a telescopic assembly (123) and a docking head (124), the driving assembly (121) and the connecting rod mechanism (122) are both hinged to the bottom of the formwork, the driving assembly (121) is in transmission connection with the connecting rod mechanism (122) and is used for unfolding or folding the connecting rod mechanism (122), the telescopic assembly (123) is connected with the connecting rod mechanism (122) and is in transmission connection with the docking head (124) and is used for driving the docking head (124) to telescopically move relative to the connecting rod mechanism (122), and the docking head (124) can be docked and fixed with the docking structure (130). The connecting rod mechanism (122) comprises a first connecting rod (1221) and a second connecting rod (1222), the first connecting rod (1221) is hinged to the bottom of the formwork, the second connecting rod (1222) is telescopically matched with the first connecting rod (1221), the driving assembly (121) comprises a first oil cylinder (1211) and a second oil cylinder (1212), the first oil cylinder (1211) is hinged to the bottom of the formwork and is hinged to the first connecting rod (1221) at the other end, the second oil cylinder (1212) is hinged to the bottom of the formwork and is hinged to the second connecting rod (1222) at the other end, and the telescopic assembly (123) is connected with the second connecting rod (1222), in a supporting state, the first oil cylinder (1211) and the second oil cylinder (1212) provide supporting stress to guarantee the supporting effect of the connecting rod mechanism (122) on the formwork. The docking structure (130) comprises a supporting seat (131) and a pressure sensor (132), the pressure sensor (132) is arranged on the surface of the supporting seat (131) or the end of the automatic unfolding and folding mechanism (120) and is used for acquiring stress of the automatic unfolding and folding mechanism (120) and the docking structure (130) in docking, thereby adjusting the automatic unfolding and folding mechanism (120).

2. The automated shoring template precision positioning system (100) according to claim 1, characterized in that, The visual recognition module (110) comprises a visual mechanical arm (112) and an image acquisition camera (114), the image acquisition camera (114) is installed on the visual mechanical arm (112), the visual mechanical arm (112) can adjust the spatial position of the image acquisition camera (114), and the image acquisition camera (114) can acquire image information of the docking structure (130).

3. The automated mold-handling precision positioning system (100) of claim 2, wherein, The visual recognition module (110) further comprises a mechanical arm moving track (116), the visual mechanical arm (112) is in sliding connection with the mechanical arm moving track (116) and can slide along the mechanical arm moving track (116).

4. The automated mold-handling precision positioning system (100) of claim 1, wherein, The telescopic assembly (123) comprises a telescopic driving motor (1231) and a motorized lead screw (1232), the docking head (124) is connected with the motorized lead screw (1232), the telescopic driving motor (1231) is installed on the second connecting rod (1222) and is in transmission connection with the motorized lead screw (1232), and the telescopic driving motor (1231) is used for driving the motorized lead screw (1232) and the docking head (124) to telescope.

5. An automated formwork positioning method using the automated formwork positioning system (100) according to any one of claims 1 to 4, characterized in that, The automatic formwork supporting precise positioning method comprises the following steps: The docking structure (130) is installed and fixed on the ground of a base body; Image information of the docking structure (130) is acquired by the visual recognition module (110); The automatic expansion and contraction mechanism (120) is controlled according to the image information, so that the automatic expansion and contraction mechanism (120) is docked with the docking structure (130).

6. The automated mold positioning method according to claim 5, wherein, The docking structure (130) comprises a supporting seat (131) and a pressure sensor (132), in the step of controlling the automatic expansion and contraction mechanism (120) according to the image information, so that the automatic expansion and contraction mechanism (120) is docked with the docking structure (130), the docking stress of the automatic expansion and contraction mechanism (120) and the docking surface on the supporting seat (131) is acquired by the pressure sensor (132), and when the docking stress is greater than or equal to a preset stress, the automatic expansion and contraction mechanism (120) is controlled to stop docking.

7. A lining trolley characterised in that, The automatic formwork supporting precise positioning system (100) comprises the automatic formwork supporting precise positioning system (100) according to any one of claims 1-4. The visual recognition module (110) comprises a visual mechanical arm (112) and an image acquisition camera (114), the image acquisition camera (114) is installed on the visual mechanical arm (112), the visual mechanical arm (112) can adjust the spatial position of the image acquisition camera (114), and the image acquisition camera (114) can acquire image information of the docking structure (130). The visual recognition module (110) further comprises a mechanical arm moving track (116), the visual mechanical arm (112) is in sliding connection with the mechanical arm moving track (116) and can slide along the mechanical arm moving track (116). The telescopic assembly (123) comprises a telescopic driving motor (1231) and a motorized lead screw (1232), the docking head (124) is connected with the motorized lead screw (1232), the telescopic driving motor (1231) is installed on the second connecting rod (1222) and is in transmission connection with the motorized lead screw (1232), and the telescopic driving motor (1231) is used for driving the motorized lead screw (1232) and the docking head (124) to telescope. The automatic formwork supporting precise positioning method comprises the following steps: The docking structure (130) is installed and fixed on the ground of a base body; Image information of the docking structure (130) is acquired by the visual recognition module (110); The automatic expansion and contraction mechanism (120) is controlled according to the image information, so that the automatic expansion and contraction mechanism (120) is docked with the docking structure (130). The docking structure (130) comprises a supporting seat (131) and a pressure sensor (132), in the step of controlling the automatic expansion and contraction mechanism (120) according to the image information, so that the automatic expansion and contraction mechanism (120) is docked with the docking structure (130), the docking stress of the automatic expansion and contraction mechanism (120) and the docking surface on the supporting seat (131) is acquired by the pressure sensor (132), and when the docking stress is greater than or equal to a preset stress, the automatic expansion and contraction mechanism (120) is controlled to stop docking. The automatic formwork supporting precise positioning system (100) comprises the automatic formwork supporting precise positioning system (100) according to any one of claims 1-4.

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