A bending member support, support positioning method and intelligent terminal

Abstract

The present invention relates to a support for a bending member, a support positioning method, and an intelligent terminal, and relates to the field of construction engineering technology. The support comprises a lower support plate, the lower support plate being provided with a plurality of first positioning holes for bolts to pass through; a basin body fixedly connected to the lower support plate, the basin body being provided with mounting holes coaxially arranged with the basin body; a first adjustment assembly provided on the lower support plate for moving the position of the lower support plate; a second adjustment assembly provided on the basin body for moving the position of the upper support plate; an upper support plate provided on a cross module as a connector for connecting to the bending member, the upper support plate being provided with a plurality of second positioning holes for bolts to pass through; and a positioning assembly provided in the first positioning holes and the second positioning holes, the positioning assembly including a distance measuring sensor. The present invention has the effect of simulating the process of manual alignment through machine automatic learning, eliminating the need for manual operation, reducing the cost of manual operation, and freeing up a large amount of labor.

Description

Technical Field

[0001] The present invention relates to the field of construction engineering technology, and in particular to a bending member support, a support positioning method and an intelligent terminal. Background Art

[0002] A flexural member is a member whose cross-section is typically subject to a combination of bending moment and shear forces, while axial forces are negligible. It primarily bears transverse loads, acting perpendicularly to the member's longitudinal axis, causing bending deformation. In general engineering flexural members (typically beams, plates, or walls), for example, beams can be divided into webs and flanges.

[0003] In related technologies, to ensure the stability and safety of flexural members, supports are typically installed underneath. A basin-type support typically consists of an upper support plate, a lower support plate (steel basin), a pressure-bearing rubber plate, a rubber seal, a steel clamp, and anchor bolts. The upper and lower support plates are then connected to the flexural member and the base, respectively, to complete the support installation.

[0004] Regarding the above-mentioned related technologies, since the support installation process relies entirely on manual positioning, it is easy to cause incorrect hole positions. Especially when the support is replaced, the distance between the bending member and the corresponding base is small, and the position of the positioning hole cannot be clearly seen, resulting in frequent movement of the support during alignment and low efficiency. Summary of the Invention

[0005] In order to solve the problem that the distance between the bending member and the corresponding base is small, the position of the positioning hole cannot be clearly seen, resulting in frequent movement and low efficiency during the support alignment process, the present invention provides a bending member support positioning method, system and intelligent terminal.

[0006] In a first aspect, the present invention provides a support for a flexural member, which adopts the following technical solution:

[0007] A bending member support, comprising:

[0008] A lower support plate, serving as a connecting member connected to the base, wherein the lower support plate is provided with a plurality of first positioning holes for bolts to pass through;

[0009] The basin body is fixedly connected to the lower support plate, and the basin body is provided with a mounting hole coaxially arranged with the basin body;

[0010] A first adjustment component is provided on the lower support plate and is used to move the position of the lower support plate;

[0011] A second adjustment component is provided on the basin body and is used to move the position of the upper support plate;

[0012] An upper support plate, provided on the cross module, serving as a connector for the bending member, wherein the upper support plate is provided with a plurality of second positioning holes for bolts to pass through; and

[0013] The positioning component is arranged in the first positioning hole and the second positioning hole, and the positioning component includes a distance measuring sensor threadedly installed in the first positioning hole and the second positioning hole.

[0014] By adopting the above technical solution, by detecting the height between the lower support plate and the base, when the height is the height of the embedded bolt, it means that the first positioning hole is just aligned with the embedded bolt. When all the first positioning holes are aligned with the embedded bolt, it means that the support is in place. The machine automatically learns to simulate the process of manual alignment, without the need for manual operation, reducing the cost of manual operation and freeing up a lot of labor.

[0015] In a second aspect, the present invention provides a support positioning method, which adopts the following technical solution:

[0016] A support positioning method, applied to a flexural member support as described above, comprises:

[0017] Step 100: Receiving a lower sensing distance in response to a preset installation trigger signal or a replacement trigger signal;

[0018] Step 101: When the lower sensing distance is not equal to the preset lower embedded bolt distance, the support is controlled to continue to move or rotate by the first adjusting component;

[0019] Step 102: When all the lower sensing distances are equal to the lower embedded bolt distances, a preset first alignment standby signal is issued, wherein the first alignment standby signal is a signal indicating that all four first positioning holes are aligned with the embedded bolts;

[0020] Step 103: When a preset lower removal signal is received, the first adjustment component is used to move upward along the basin body so that the embedded bolt enters the first positioning hole. The lower removal signal is a signal for the staff to remove the distance sensor threadedly connected to the first positioning hole.

[0021] By adopting the above technical solution, by detecting the height between the lower support plate and the base, when the height is the height of the embedded bolt, it means that the first positioning hole is just aligned with the embedded bolt. When all the first positioning holes are aligned with the embedded bolt, it means that the support is in place. The machine automatically learns to simulate the process of manual alignment, without the need for manual operation, reducing the cost of manual operation and freeing up a lot of labor.

[0022] Optionally, also include:

[0023] Step 200: Receive an upper sensing distance after the first adjustment component moves upward along the basin;

[0024] Step 201: When the upper sensing distance is not equal to the preset upper embedded bolt distance, the support is controlled to continue to move or rotate by the second adjustment component;

[0025] Step 202: When all the upper sensing distances are equal to the upper embedded bolt distances, a second alignment standby signal is issued, wherein the second alignment standby signal is a signal indicating that all four second positioning holes are aligned with the embedded bolts;

[0026] Step 203: When a preset upper removal signal is received, the movement is stopped until the external jack is withdrawn and the embedded bolt enters the second positioning hole.

[0027] By adopting the above technical solution, by detecting the height between the lower support plate and the bending member, when the height is the height of the embedded bolt, it means that the second positioning hole is just aligned with the embedded bolt. When all the second positioning holes are aligned with the embedded bolt, it means that the support is in place. The process of manual alignment is simulated by machine automatic learning, and no manual operation is required, which reduces the cost of manual operation and liberates a lot of labor.

[0028] Optionally, when the lower sensing distance is not equal to the lower embedded bolt distance, the method of using the first adjustment component to control the support to continue to move or rotate includes:

[0029] Step 300: Determine the distance sensor number when any of the lower sensing distances is equal to the lower embedded bolt distance during the movement or rotation process;

[0030] Step 301: Determine the relative central axis based on the ranging sensor number;

[0031] Step 302: Rotate around the axis with the relative central axis as the axis until all the lower sensing distances are equal to the lower embedded bolt distances.

[0032] By adopting the above technical solution, since the relative position of any one of the first positioning holes is fixed, when one of them is aligned with the embedded bolt below, all the positioning holes can be quickly aligned by rotating with this point as the central axis, thereby improving the positioning efficiency.

[0033] Optionally, a method for checking whether the lower sensing distance is equal to the lower embedded bolt distance is further included, the method comprising:

[0034] Step 400: Calculating a distance difference based on the lower sensing distance and the lower embedded bolt distance;

[0035] Step 401: When the distance difference is greater than a preset error threshold, outputting that the lower sensing distance is not equal to the lower embedded bolt distance;

[0036] Step 402: When the distance difference is less than the error threshold, the lower sensing distance is defined as a pre-verification distance, and the lower sensing distance is temporarily considered to be equal to the lower embedded bolt distance, and a relative center axis is generated, and the relative center axis is defined as a temporary relative center axis;

[0037] Step 403: rotating around the axis with the temporary relative central axis as the axis;

[0038] Step 404: when all the differences between the lower sensing distance and the lower embedded bolt distance are less than the error threshold during the rotation process, output that the lower sensing distance is equal to the lower embedded bolt distance;

[0039] Step 405 : When not all differences between the lower sensing distance and the lower embedded bolt distance are smaller than the error threshold during the rotation process, output that the lower sensing distance is not equal to the lower embedded bolt distance.

[0040] By adopting the above technical solution, when the relative distance of one of the positioning holes is basically close to the height of the embedded bolt extending out of the base, it is possible that the bolt is damaged or the support is tilted. At this time, it should be regarded as a case of alignment of the positioning holes, which improves the accuracy of judging whether the positioning holes are aligned with the embedded bolts.

[0041] Optionally, a specific method of rotating around the axis with the relative central axis as the axis includes:

[0042] Step 500: receiving absolute coordinates, current horizontal angle, and base movement range based on the ranging sensor number;

[0043] Step 501: simulating a mechanical equilibrium angle based on the absolute coordinates, the base movement range, and preset support overall parameters;

[0044] Step 502: determining a rotation angle range based on the mechanical equilibrium angle when the mechanical equilibrium angle exists;

[0045] Step 503: Determine a clockwise rotation sub-range and a counterclockwise rotation sub-range based on the rotation angle range and the current horizontal angle;

[0046] Step 504: When the range corresponding to the clockwise rotation sub-range is larger than the range corresponding to the counterclockwise rotation sub-range, counterclockwise rotation is performed around the relative central axis until one of the mechanical equilibrium angles is reached or all the lower sensing distances are equal to the lower embedded bolt distances;

[0047] Step 505: When one of the mechanical equilibrium angles is reached, rotating clockwise around the relative central axis until all the lower sensing distances are equal to the lower embedded bolt distances;

[0048] Step 506: When the range corresponding to the clockwise rotation sub-range is smaller than the range corresponding to the counterclockwise rotation sub-range, clockwise rotation is performed around the relative central axis until one of the mechanical equilibrium angles is reached or all the lower sensing distances are equal to the lower embedded bolt distances;

[0049] Step 507: When one of the mechanical equilibrium angles is reached, rotating counterclockwise around the relative central axis until all the lower sensing distances are equal to the lower embedded bolt distances;

[0050] Step 508: When the mechanical equilibrium angle does not exist, directly rotate the relative central axis in either clockwise or counterclockwise direction around the axis until all the lower sensing distances are equal to the lower embedded bolt distances.

[0051] By adopting the above technical solution, if there is an area that cannot rotate during the rotation process, the rotation range will be limited at this time, and a small range will be preferentially detected within the rotation range, so that when it is not within the previously detected range, the area passed through during the return process is smaller, thereby improving positioning efficiency.

[0052] Optionally, a specific method for simulating the mechanical equilibrium angle is also included, and the method includes:

[0053] Step 600: Determine the support range based on the absolute coordinates, the preset support outline dimensions and any placement angle;

[0054] Step 601: Determine an intersecting vertical plane and an intersecting base rotation axis based on the support range and the base movement range;

[0055] Step 602: Tilt the preset support model based on the intersecting vertical plane and the absolute coordinates to obtain a tilted support model;

[0056] Step 603: simulating a placement state in finite element software based on the tilt support model and the intersecting base rotation axis;

[0057] Step 604: When the placement state is a preset forward rotation state, reselecting a placement angle so that the support range is further outside the base movement range, wherein the forward rotation state is a state of rotation toward the plane where the base is located;

[0058] Step 605: reselecting a placement angle when the placement state is a preset reverse rotation state, so that the support range is closer to the base movement range, wherein the reverse rotation state is a state of rotation outward from the base;

[0059] Step 606: When the placement state is a preset equilibrium state, the placement angle at this time is defined as a mechanical equilibrium angle.

[0060] Optionally, the method further includes controlling the support to continue to move or rotate by using the first adjustment component if the lower sensing distances are not equal to the lower embedded bolt distances, the method comprising:

[0061] Step 700: Receive the forward air pressure of the roller and the corresponding roller number during the movement or rotation process;

[0062] Step 701: When the forward air pressure of the roller is less than a preset fluctuating impurity air pressure, if one of the lower sensing distances is equal to the lower embedded bolt distance, rotating around the relative central axis as an axis until all the lower sensing distances are equal to the lower embedded bolt distance;

[0063] Step 702: When the forward air pressure of the roller is less than the fluctuating impurity air pressure and the lower sensing distance is not equal to the lower embedded bolt distance, continue to move or rotate;

[0064] Step 703: When the forward pressure of the roller is greater than the fluctuating impurity pressure, a corresponding adjustment relative vector is searched from a preset adjustment database based on the roller number;

[0065] Step 704: Use the first adjustment component to control the support to move according to the adjustment relative vector so that one of the lower sensing distances is equal to the lower embedded bolt distance.

[0066] By adopting the above technical solution, when one of the rollers hits the embedded bolt, it can move according to the current support angle and the distance and direction between the hit roller and the corresponding positioning hole, providing a moving reference and improving the efficiency of rapid positioning.

[0067] Optionally, the specific method of receiving the current horizontal angle when the forward air pressure of the roller is greater than the fluctuating impurity air pressure includes:

[0068] Step 800: When the forward air pressure of the roller is greater than the fluctuating impurity air pressure, the corresponding air pressure axis relative position is searched from a preset axis database based on the roller number;

[0069] Step 801: Using the first adjustment component to control the support to rotate relative to the air pressure axis and continue to receive the forward air pressure of the roller, and defining the forward air pressure of the roller as the detected forward air pressure;

[0070] Step 802: Continue rotating when the detected forward air pressure gradually increases;

[0071] Step 803: When the detected forward air pressure decreases, the rotation is reversed until the detected forward air pressure decreases in both directions;

[0072] Step 804: Receive the current horizontal angle when detecting that the forward air pressure decreases during rotation in both directions.

[0073] By adopting the above technical solution, when the forward air pressure is the largest, it means that the roller is facing the direction of the embedded bolt. At this time, the distance and direction of movement according to the relative vector are the most accurate, thereby improving the accuracy of movement.

[0074] In a third aspect, the present invention provides an intelligent terminal, which adopts the following technical solution:

[0075] An intelligent terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any one of the methods described above.

[0076] By adopting the above technical solution, by detecting the height between the lower support plate and the base, when the height is the height of the embedded bolt, it means that the first positioning hole is just aligned with the embedded bolt. When all the first positioning holes are aligned with the embedded bolt, it means that the support is in place. The machine automatically learns to simulate the process of manual alignment, without the need for manual operation, reducing the cost of manual operation and freeing up a lot of labor.

[0077] In summary, the present invention includes at least one of the following beneficial technical effects:

[0078] By detecting the height between the lower support plate and the base, it is determined whether the support is in place. The machine automatically learns and simulates the manual alignment process, eliminating the need for manual operation, reducing the cost of manual operation and freeing up a lot of labor.

[0079] All the positioning holes are quickly aligned by rotating with one of the embedded bolts aligned with the lower one as the central axis, which improves the efficiency of positioning.

[0080] When one of the rollers hits the embedded bolt, it can move according to the current support angle and the distance and direction between the hit roller and the corresponding positioning hole, providing a moving reference and improving the efficiency of rapid positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] Figure 1 It is a structural schematic diagram of a bending member support in an embodiment of the present application.

[0082] Figure 2 It is an exploded schematic diagram of a bending member support in an embodiment of the present application.

[0083] Figure 3 It is a top view of the lower support plate and the base in the embodiment of the present application.

[0084] Figure 4 It is a top view of the roller of the support in the embodiment of the present application abutting against the embedded bolt.

[0085] The names of the parts indicated by the numerical labels in the above drawings are as follows: 1. Lower support plate; 11. First positioning hole; 2. Basin; 21. Mounting hole; 3. First adjustment component; 31. Rolling bracket; 32. Roller; 33. First rotating cylinder; 34. Rotating disk; 4. Second adjustment component; 41. Cross module; 42. Second rotating cylinder; 5. Upper support plate; 51. Second positioning hole; 6. Positioning component; 61. Distance sensor. DETAILED DESCRIPTION

[0086] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0087] An embodiment of the present invention discloses a support positioning method. The support positioning method includes:

[0088] Step 100: In response to a preset installation trigger signal or a replacement trigger signal, receiving a lower sensing distance.

[0089] like Figure 1 and Figure 2 As shown, the method is applied to a bending member support, which includes a lower support plate 1, a basin 2, a first adjustment component 3, a second adjustment component 4, an upper support plate 5 and a positioning component 6.

[0090] The lower support plate 1 has several first positioning holes 11 for bolts, primarily for inserting pre-embedded bolts from the base. The base can be a pier, corbel, column base, or platform, serving as the foundation of a building, elevated above the ground. The basin 2 is fixedly connected to the lower support plate 1. A mounting hole 21 is coaxially defined within the basin 2 for mounting other accessories.

[0091] The first adjustment component 3 is installed on the lower support plate 1 and is used to move the position of the lower support plate 1. Here, after the support is installed, the first adjustment component 3 can be disassembled from the basin body 2. The first adjustment component 3 includes a rolling support 31, a driving source, a roller 32 and a first rotary cylinder 33. The rolling support 31 is slidably connected to the basin body 2 along the axis direction of the basin body 2. Here, the rolling support 31 can be supported and slid by the lifting of a cylinder. The roller 32 is rotatably connected to the rolling support 31. Here, the roller 32 can be arranged around the lower support plate 1 so that the entire support can be moved anywhere on the horizontal plane. The driving source is fixedly connected inside the rolling support 31 and drives the roller 32 to roll. When movement is required, the rolling support 31 approaches the lower support plate 1 and the roller 32 abuts against the base; when movement is not required or the embedded bolt is inserted into the first positioning hole 11, the rolling support 31 moves away from the lower support plate 1 and the lower support plate 1 abuts against the base. The first rotary cylinder 33 is fixedly connected to the basin body 2 and the piston rod is arranged downward. A rotating disk 34 that abuts against the base is fixedly connected to the piston rod of the first rotary cylinder 33. Here, the first rotary cylinder 33 can also be made to be slidably connected in the mounting hole 21 of the basin body 2, and then the piston rod of the first rotary cylinder 33 is extended or retracted into the lower support plate 1 through a cylinder.

[0092] The second adjustment component 4 is installed on the basin body 2 and is used to move the position of the upper support plate 5. The second adjustment component 4 includes a cross module 41 and a second rotary cylinder 42. The second rotary cylinder 42 is fixedly connected to the basin body 2 and the piston rod is arranged upward. Here, the second rotary cylinder 42 can also be made to be slidably connected in the mounting hole 21 of the basin body 2, and then the piston rod of the second rotary cylinder 42 is extended or retracted into the upper support plate 5 through a cylinder so that the upper support plate 5 abuts against the lower side of the flexural member. The cross module 41 is fixedly connected to the piston rod of the second rotary cylinder 42. The cross module 41 is a Cartesian robot composed of two linear modules combined in the X-axis direction and the Y-axis direction, and is usually also called an axis slide table, an XY-axis slide table, an XZ-axis slide table, etc. When the midpoint of the X-axis coincides with the Y-axis, it looks like the Chinese character "十" in appearance. The upper support plate 5 is installed on the cross module 41 to serve as a connecting member for connecting with the flexural member. A plurality of second positioning holes 51 are provided on the upper support plate 5 for the embedded bolts on the flexural member to pass through.

[0093] The positioning component 6 is installed in the first positioning hole 11 and the second positioning hole 51. The positioning component 6 includes a distance measuring sensor 61. The distance measuring sensor 61 is threadedly connected in the first positioning hole 11 and the second positioning hole 51 to measure the distance below the first positioning hole 11 and the second positioning hole 51.

[0094] The installation trigger signal indicates that the support has been placed on the base and needs to be moved between the base and the bending member. The replacement trigger signal indicates that the support has been placed on the base and needs to be moved between the base and the bending member to replace the original support. There is no difference between the two here, and they can be triggered by a single button.

[0095] The lower sensing distance is the distance sensed by the distance measuring sensor 61 installed in the first positioning hole 11 and is obtained by the distance measuring sensor 61.

[0096] Step 101: When there is a lower sensing distance that is not equal to the preset lower embedded bolt distance, the first adjustment component 3 is used to control the support to continue to move or rotate.

[0097] The lower embedded bolt distance is the distance measured when the first positioning hole 11 is aligned with the embedded bolt on the base. Figure 2 As shown, there are basically two distances measured on the base, one is the distance from the base plane to the distance sensor 61, and the other is the distance from the end of the embedded bolt extending out of the base to the distance sensor 61. Therefore, when it is equal to the lower embedded bolt distance, it means that the first positioning hole 11 is aligned with the embedded bolt.

[0098] When there is a lower sensing distance that is not equal to the lower embedded bolt distance, it means that at least one of all the first positioning holes 11 has not been aligned with the embedded bolt, and the movement continues.

[0099] Step 102: When all lower sensing distances are equal to the lower embedded bolt distances, a preset first alignment standby signal is issued.

[0100] The first alignment standby signal is the signal that all four first locating holes 11 are aligned with the embedded bolt. The mode that sends now can be the mode that green light shows, to remind the staff that support has been aligned.

[0101] When all the lower sensing distances are equal to the lower embedded bolt distances, it means that the four first positioning holes 11 are aligned with the embedded bolts.

[0102] Step 103 : When a preset downward removal signal is received, the first adjustment component 3 is moved upward along the basin body 2 so that the embedded bolt enters the first positioning hole 11 .

[0103] The take-out signal is a signal when the staff takes out the distance measuring sensor 61 that is threadedly connected to the first positioning hole 11. The receiving method can be to manually press a corresponding button to trigger the signal.

[0104] When the removal signal is received, it means that the staff has removed the distance sensor 61. At this time, there is nothing in the first positioning hole 11. Then, the first adjustment component 3 is moved upward along the basin body 2 to allow the embedded bolt to enter the first positioning hole 11 to complete the installation of the support.

[0105] Also includes:

[0106] Step 200 : Receive an upper sensing distance after the first adjustment component 3 is moved upward along the basin body 2 .

[0107] The upper sensing distance is the distance sensed by the distance measuring sensor 61 installed in the second positioning hole 51 and is obtained by the distance measuring sensor 61.

[0108] The steps performed here are after step 103 .

[0109] Step 201: When there is an upper sensing distance that is not equal to the preset upper embedded bolt distance, the second adjustment component 4 is used to control the support to continue to move or rotate.

[0110] The upper embedded bolt distance is the distance measured when the second positioning hole 51 is aligned with the embedded bolt on the bending member. There are essentially two distances measured on the bending member: one is the distance from the bending member plane to the distance sensor 61, and the other is the distance from the end of the embedded bolt extending from the bending member to the distance sensor 61. Therefore, when the upper sensing distance equals the upper embedded bolt distance, it indicates that the second positioning hole 51 is aligned with the embedded bolt.

[0111] Step 202: When all upper sensing distances are equal to the upper embedded bolt distances, a second alignment standby signal is issued.

[0112] The second alignment standby signal is the signal that four second locating holes 51 are all aligned with the embedded bolt. The mode sent now can be the mode of green light display, to remind the staff that the support has been aligned.

[0113] When all the upper sensing distances are equal to the upper embedded bolt distances, it means that the four second positioning holes 51 are aligned with the embedded bolts.

[0114] Step 203 : When a preset upper removal signal is received, the movement is stopped until the external jack is withdrawn and the embedded bolt enters the second positioning hole 51 .

[0115] The upper take-out signal is a signal that the staff takes out the distance measuring sensor 61 that is threadedly connected to the second positioning hole 51. The receiving method can be to manually press the corresponding button to trigger the signal.

[0116] When the upper removal signal is received, it means that the staff has removed the distance sensor 61. At this time, there is nothing in the second positioning hole 51. Then, after the external jack is removed, the bending member sinks under its own gravity, and the embedded bolts on the bending member enter the second positioning hole 51.

[0117] After the support is installed, the staff will disassemble the first adjustment component 3 to facilitate the second use of the first adjustment component 3.

[0118] The method of controlling the support to continue to move or rotate by using the first adjustment component 3 when there is a lower sensing distance that is not equal to the lower embedded bolt distance includes:

[0119] Step 300: Determine the distance sensor number when any lower sensing distance is equal to the lower embedded bolt distance during the movement or rotation process.

[0120] The distance measuring sensor number is the number of the distance measuring sensor 61 with the received lower sensing distance equal to the lower embedded bolt distance. Here, the number is determined in such a way that when the lower sensing distance is equal to the lower embedded bolt distance, the number of the sensor is automatically sent to the system.

[0121] Step 301: Determine the relative central axis based on the ranging sensor number.

[0122] The relative central axis is the central axis with the support itself as the reference system. This can be determined using a database that stores a mapping between distance sensor numbers and relative central axes. When staff number each distance sensor 61 installed in a positioning hole, they automatically measure and record the three-dimensional coordinates of the relative central axis using a certain point on the support as the coordinate origin. When the system receives the corresponding distance sensor number, it automatically searches the database for the corresponding relative central axis and outputs it.

[0123] Step 302: Rotate around the axis relative to the central axis until all lower sensing distances are equal to the lower embedded bolt distances.

[0124] It should be noted here that the four first positioning holes 11 on the lower support plate 1 cooperate to form the corners of a square, so the distances between adjacent first positioning holes 11 along the edge direction of the lower support plate 1 are the same, so when one of them is aligned, it is as shown in FIG. Figure 3 As shown, the dotted circle is the first positioning hole 11, and the solid circle is the embedded bolt. When one of them is aligned, it rotates around the aligned hole, and all the lower sensing distances are equal to the lower embedded bolt distance.

[0125] Although the first rotating cylinder 33 is in the middle of the lower support plate 1 and rotates around the axis with the relative center axis as the axis, it cannot be completed only by the first rotating cylinder 33. The rotation method here means that the final position is the position after rotating around the axis with the relative center axis as the axis.

[0126] The method also includes a method for checking whether the lower sensing distance is equal to the lower embedded bolt distance, the method comprising:

[0127] Step 400: Calculate the distance difference based on the lower sensing distance and the lower embedded bolt distance.

[0128] The distance difference is the absolute difference between the lower sensing distance and the lower embedded bolt distance. It is calculated by subtracting the two and taking the absolute value.

[0129] Step 401: When the distance difference is greater than a preset error threshold, outputting that the lower sensing distance is not equal to the lower embedded bolt distance.

[0130] The error threshold indicates that the actual distance measurement may deviate due to loose structural components or unevenness on the base. This value is manually set. If it exceeds the error threshold, it indicates that the actual distance measurement deviation is not caused by loose structural components or unevenness on the base. Therefore, the output is directly that the lower sensing distance is not equal to the lower embedded bolt distance.

[0131] Step 402: When the distance difference is less than the error threshold, the lower sensing distance is defined as a pre-verification distance, and the lower sensing distance is temporarily regarded as equal to the lower embedded bolt distance, and a relative center axis is generated, and the relative center axis is defined as a temporary relative center axis.

[0132] When the distance difference is less than the error threshold, it means that there may be an error or a stone or other object nearby. In order to judge the error, subsequent steps need to be taken for verification.

[0133] Here, the distance difference being less than the error threshold includes the distance difference being equal to 0.

[0134] Step 403: Rotate around the axis with the temporary relative central axis as the axis.

[0135] Step 404 : When all differences between the lower sensing distance and the lower embedded bolt distance are less than the error threshold during the rotation process, output that the lower sensing distance is equal to the lower embedded bolt distance.

[0136] Here, if the differences between all the lower sensing distances and the lower embedded bolt distances are less than the error threshold, then the situation where there is a stone or other object nearby is excluded, and the only possible situation is an error. That is, although there is a distance difference, in fact, the first positioning hole 11 is still aligned with the embedded bolt, and the result of the lower sensing distance being equal to the lower embedded bolt distance is output.

[0137] Step 405 : When not all differences between the lower sensing distance and the lower embedded bolt distance are smaller than the error threshold during the rotation process, output that the lower sensing distance is not equal to the lower embedded bolt distance.

[0138] If the difference between the lower sensing distance and the lower embedded bolt distance is not less than the error threshold during the rotation process, it means that there is only a stone here rather than an error, and the result that the lower sensing distance is not equal to the lower embedded bolt distance is output.

[0139] The specific methods of rotating around the axis with the relative central axis as the axis include:

[0140] Step 500: Receive absolute coordinates, current horizontal angle, and base movement range based on the ranging sensor number.

[0141] The absolute coordinate is the coordinate of the first positioning hole 11 corresponding to the distance sensor number. Here, the coordinate uses a point on the base as a reference system, such as Figure 3 As shown, the point at the lower left corner of the base is used as the origin of the coordinate system, the horizontal direction is the X-axis, and the vertical direction is the Y-axis. The acquisition method can be a distance sensor, which can measure the distance value to both sides and then convert it into a coordinate value. The current horizontal angle is the angle of the support on the horizontal plane where the current base is located. Here, the angle is also the angle between a certain direction of the base as the 0° direction and the dotted line in the support, for example, the positive direction of the X-axis is 0°. The acquisition method can be an angle sensor. The base movement range is the range within which the base can move, such as Figure 3 Shown is the outline of the base.

[0142] Step 501: Simulate the mechanical equilibrium angle based on the absolute coordinates, the base movement range and the preset support overall parameters.

[0143] The mechanical equilibrium angle is the angle at which the support, after moving to the edge of the base, partially extends outside the base and partially rests on the base, maintaining mechanical equilibrium and preventing rotation. A position on one side of the mechanical equilibrium angle would cause the support to rotate and fall, while the other side would not. The overall support parameters include the size, density, and weight of each structure, as well as the positional relationships between structures. These are inputted through manual measurement.

[0144] The simulation method is introduced in the subsequent steps and will not be described in detail here.

[0145] Step 502: Determine a rotation angle range based on a mechanical equilibrium angle when a mechanical equilibrium angle exists.

[0146] The rotation angle range is the range within which the support can rotate. The range between the two mechanical equilibrium angles is the rotation angle range.

[0147] When a mechanical equilibrium angle exists, it means that there is a boundary line and some angles cannot be reached, so the achievable rotation angle range is determined.

[0148] Step 503: Determine a clockwise rotation sub-range and a counterclockwise rotation sub-range based on the rotation angle range and the current horizontal angle.

[0149] The clockwise rotation range is the range that can be achieved by rotating the camera clockwise. It is calculated from the current horizontal angle to the smaller of the two values ​​in the rotation angle range. The counterclockwise rotation range is the range that can be achieved by rotating the camera counterclockwise. It is calculated from the current horizontal angle to the larger of the two values ​​in the rotation angle range.

[0150] It should be noted that the positive direction of the X axis is 0°. Figure 3 The angles shown decrease in a clockwise direction and increase in a counterclockwise direction.

[0151] Step 504: When the range corresponding to the clockwise rotation range is larger than the range corresponding to the counterclockwise rotation range, rotate counterclockwise around the axis relative to the central axis until one of the mechanical equilibrium angles is reached or all the lower sensing distances are equal to the lower embedded bolt distances.

[0152] When the range corresponding to the clockwise rotation sub-range is larger than the range corresponding to the counterclockwise rotation sub-range, it means that the angle of clockwise rotation is larger, so counterclockwise rotation is performed first.

[0153] Step 505: When one of the mechanical equilibrium angles is reached, rotate clockwise around the axis relative to the central axis until all lower sensing distances are equal to the lower embedded bolt distances.

[0154] When the mechanical balance angle is reached, it means that the counterclockwise rotation range cannot meet the requirement that all lower sensing distances are equal to the lower embedded bolt distance, so the rotation is performed in the opposite direction.

[0155] Step 506: When the range size corresponding to the clockwise rotation sub-range is smaller than the range size corresponding to the counterclockwise rotation sub-range, rotate clockwise around the axis relative to the central axis until one of the mechanical equilibrium angles is reached or all the lower sensing distances are equal to the lower embedded bolt distances.

[0156] If the range corresponding to the clockwise rotation range is smaller than the range corresponding to the counterclockwise rotation range, it means that the angle of counterclockwise rotation is larger, so rotate clockwise first.

[0157] Step 507: When one of the mechanical equilibrium angles is reached, rotate counterclockwise around the axis relative to the central axis until all lower sensing distances are equal to the lower embedded bolt distances.

[0158] When the mechanical balance angle is reached, it means that the requirement that all lower sensing distances are equal to the lower embedded bolt distance cannot be achieved within the clockwise rotation range, so rotation is performed in the opposite direction.

[0159] Step 508: When there is no mechanical equilibrium angle, directly rotate the relative central axis in either clockwise or counterclockwise direction around the axis until all lower sensing distances are equal to the lower embedded bolt distances.

[0160] When there is no mechanical equilibrium angle, it means that it can rotate at any angle. If there is no smaller angle in any direction, it can rotate in any direction.

[0161] Also included is a specific method for simulating the mechanical equilibrium angle, the method comprising:

[0162] Step 600: Determine the support range based on absolute coordinates, preset support outline dimensions and arbitrary placement angles.

[0163] The support outline size is the size of the support outline. It is obtained by manual measurement. The placement angle is the angle at which the support is placed on the base, here the angle is the angle between the support and the positive direction of the X axis. The support range is the coordinate range of the support, such as Figure 3 shown.

[0164] Step 601: Determine the intersecting vertical plane and the intersecting base rotation axis based on the support range and the base movement range.

[0165] The intersecting vertical plane is the vertical plane formed by the straight line intersecting the boundary lines of the support and base movement range. The intersecting base rotation axis is the straight line intersecting the boundary lines of the support and base movement range. The method of determination here is to Figure 3 The support in the middle rotates, and when the boundary line of the base movement range enters the support range, the boundary line is the intersecting vertical plane.

[0166] It should be noted that the intersecting vertical planes and the intersecting base rotation axis are both for generating corresponding planes and corresponding rotation axes on the support range.

[0167] Step 602: Tilt the preset support model based on the intersecting vertical plane and the absolute coordinates to obtain an inclined support model.

[0168] The support model is a model of the support. The model here is simulated by finite element analysis software. According to the actual size and shape of the support, an accurate geometric model is established. For complex support structures, parametric modeling may be required. Then meshing is performed: select the appropriate unit type (such as tetrahedral unit, hexahedral unit, etc.) for meshing to ensure the quality of the mesh, and finally define the material properties: according to the mechanical properties of the support material (such as rubber, steel, etc.), define the material's elastic modulus, Poisson's ratio, yield strength and other parameters. Then tilt the model according to the intersecting vertical planes so that the bottom surface of the lower support plate 1 contacts the intersecting base rotation axis, thereby obtaining an inclined support model.

[0169] Step 603: Simulate the placement state in finite element software based on the tilted support model and the intersecting base rotation axis.

[0170] The placement state refers to the deformation of the corresponding inclined support model when the inclined support model is placed on the intersecting base rotation axis and the corresponding gravity is applied.

[0171] The simulation process here involves: 1. Applying vertical, horizontal, or combined loads based on the actual load conditions on the supports; 2. Defining the connection between the supports, beams, and bases, such as fixed and sliding constraints. The corresponding deformation contours can then be viewed to assess the corresponding deformation and rotational states.

[0172] Step 604: When the placement state is the preset forward rotation state, reselect the placement angle so that the support range is further outside the base movement range.

[0173] The forward rotation state is the state of rotation toward the plane of the base. When the placement state is in the forward rotation state, it means that in the actual scene, due to the limitations of the base, it is stable on the base, and there is still room for further outward rotation. Therefore, the placement angle is reselected, but the selected placement angle is more inclined to the outside of the base.

[0174] Step 605: When the placement state is the preset reverse rotation state, reselect the placement angle so that the support range is closer to the base movement range.

[0175] The reverse rotation state is a state of rotation toward the outside of the base. When the placement state is reverse rotation, it means that in actual scenarios, it will fall off the base. In this case, a new placement angle is selected, but the selected placement angle will be more inclined toward the inside of the base.

[0176] Step 606: When the placement state is a preset equilibrium state, the placement angle at this time is defined as a mechanical equilibrium angle.

[0177] The equilibrium state is a state where the gravitational torques on the left and right sides are equal, and no rotation occurs. When the placement state is in equilibrium, it means that the boundary has been reached, and the placement angle at this time is defined as the mechanical equilibrium angle.

[0178] The method further includes a method of controlling the support to continue to move or rotate by using the first adjustment component 3 if the lower sensing distances are not equal to the lower embedded bolt distances, the method comprising:

[0179] Step 700: Receive the forward air pressure of the roller and the corresponding roller number during the movement or rotation process.

[0180] The forward pressure of the roller is the pressure felt on the roller 32. Here, the pressure can be obtained by the pressure sensor on the roller 32 that detects the inside of the roller 32. That is, when the roller moves forward on the base without encountering any obstacles, the pressure sensor receives a stable pressure. When it collides with a bolt and the internal pressure increases due to the obstruction of the embedded bolt, it receives another pressure. These pressures are regarded as the forward pressure of the roller. The roller number is the number of the roller 32 where the pressure sensor that sends the forward pressure of the roller is located. When the pressure sensor sends the corresponding pressure, the system automatically identifies the pressure sensor that sent it and identifies the corresponding roller number.

[0181] Step 701: When the forward air pressure of the roller is less than the preset fluctuating impurity air pressure, if one of the lower sensing distances is equal to the lower embedded bolt distance, rotate around the axis relative to the central axis until all the lower sensing distances are equal to the lower embedded bolt distance.

[0182] Fluctuating impurity pressure is caused by the presence of particulate matter on the base due to environmental factors, which squeezes the roller 32 and causes fluctuating air pressure. This pressure is artificially set and is obtained by testing particles smaller than 1 cubic centimeter under the roller 32. It can also be obtained by testing based on a defined critical particle size.

[0183] When the forward air pressure of the roller is less than the fluctuating impurity air pressure, it means that the air pressure change is not large, and the roller 32 does not contact the embedded bolt, but one of the lower sensing distances is equal to the lower embedded bolt distance, which means that a first positioning hole 11 has appeared and is aligned with the embedded bolt, and steps 300-302 can be executed.

[0184] Step 702: When the forward air pressure of the roller is less than the fluctuating impurity air pressure and the lower sensing distance is not equal to the lower embedded bolt distance, continue to move or rotate.

[0185] The forward air pressure of the roller is less than the fluctuating impurity air pressure and the lower sensing distance is not equal to the lower embedded bolt distance, which means that the roller 32 does not contact the embedded bolt and that one of the first positioning holes 11 is not aligned with the embedded bolt. At this time, it continues to move or rotate.

[0186] Step 703 : When the roller forward pressure is greater than the fluctuating impurity pressure, a corresponding adjustment relative vector is searched from a preset adjustment database based on the roller number.

[0187] Adjusting the relative vector means moving the support relative to the first positioning hole 11 near the roller 32 corresponding to the roller number aligns with the vector of the embedded bolt. No matter where the support is, once a roller 32 of the support abuts against a certain embedded bolt, the position is fixed relative to the support, and the first positioning hole 11 is also fixed relative to the support. Therefore, the support only needs to move according to its own relative direction. Figure 4 As shown, the roller 32 below the support abuts against the embedded bolt, and the relative position of the roller 32's abutment surface to the first positioning hole 11 is fixed. A database stores the mapping between roller numbers and relative adjustment vectors. After each roller 32 is numbered by personnel in this field, the distance between the abutment surface of each roller 32 and the first positioning hole 11 is measured and recorded. When the system receives the corresponding roller number, it automatically retrieves the corresponding relative adjustment vector from the database and outputs it.

[0188] It should be noted that the abutting surfaces of the two rollers 32 on the same side are opposite to each other.

[0189] Step 704: Use the first adjustment component 3 to control the support to move according to the adjustment relative vector so that one of the lower sensing distances is equal to the lower embedded bolt distance.

[0190] The specific method of receiving the current horizontal angle when the forward pressure of the roller is greater than the fluctuating impurity pressure includes:

[0191] Step 800: When the forward pressure of the roller is greater than the fluctuating impurity pressure, the corresponding relative position of the air pressure axis is searched from a preset axis database based on the roller number.

[0192] The relative position of the pneumatic axis is the relative position of the pneumatic axis relative to the support, using that position as the rotation axis. A database stores a mapping between roller numbers and relative positions of the pneumatic axis. Personnel skilled in the art record the end face of each roller 32 as the corresponding rotation axis. When the system receives the corresponding roller number, it automatically searches the database for the corresponding relative position of the pneumatic axis and outputs it.

[0193] Step 801: Use the first adjustment component 3 to control the support to rotate around the relative position of the air pressure axis and continue to receive the forward air pressure of the roller, and define the forward air pressure of the roller as the detected forward air pressure.

[0194] It should be noted that each rotation will squeeze forward, but the relative position of the air pressure axis does not change.

[0195] Step 802: Continue rotating when detecting that the forward air pressure gradually increases.

[0196] Here, the detection of the gradual increase in forward air pressure means that the air pressure is increasing relative to the previous rotation angle. When it gradually increases, it means that the contact surface between the roller 32 and the embedded bolt is getting larger and larger, which means that the roller 32 is increasingly aligned with the embedded bolt, and continues to rotate in this direction.

[0197] Step 803: When the forward air pressure is detected to be decreasing, the motor rotates in the opposite direction until the forward air pressure is detected to be decreasing in both directions.

[0198] When the air pressure before detection becomes smaller, it means that the contact surface between the roller 32 and the embedded bolt is getting smaller and smaller, which means that the roller 32 is increasingly misaligned with the embedded bolt and needs to be rotated in the opposite direction.

[0199] Step 804: Receive the current horizontal angle when detecting that the forward air pressure decreases during rotation in both directions.

[0200] When the forward air pressure is detected to be smaller during rotation in both directions, it indicates that the contact surface between the roller 32 and the embedded bolt is at its maximum, and thus the contact surface is aligned, and the current horizontal angle is received.

[0201] At this time, the distance and direction when moving according to the relative vector are the most accurate, which improves the accuracy of movement.

[0202] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a method for positioning a support for a bending member.

[0203] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0204] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A support for a bending member, characterized in that: include: A lower support plate (1) serving as a connecting member connected to the base, wherein the lower support plate (1) is provided with a plurality of first positioning holes (11) for bolts to pass through; A basin body (2) is fixedly connected to the lower support plate (1), and a mounting hole (21) is provided in the basin body (2) and is coaxially arranged with the basin body (2); a first adjusting component (3) provided on the lower support plate (1) and used for moving the position of the lower support plate (1); the first adjusting component (3) comprising a rolling bracket (31), a driving source, a roller (32) and a first rotating cylinder (33); the rolling bracket (31) is slidably connected to the basin body (2) along the axial direction of the basin body (2); the roller (32) is rotatably connected to the rolling bracket (31); the rollers (32) are arranged around the lower support plate (1); the driving source is fixedly connected to the rolling bracket (31) and drives the roller (32) to roll; the first rotating cylinder (33) is fixedly connected to the basin body (2) and the piston rod is arranged downward; the piston rod of the first rotating cylinder (33) is fixedly connected to a rotating disk (34) abutting against the base; a second adjusting assembly (4) disposed on the basin body (2) and used for moving the position of the upper support plate (5); the second adjusting assembly (4) comprises a cross module (41) and a second rotary cylinder (42); the second rotary cylinder (42) is fixedly connected to the basin body (2) and has a piston rod facing upward; the cross module (41) is fixedly connected to the piston rod of the second rotary cylinder (42); An upper support plate (5) is provided on the cross module (41) and serves as a connecting member connected to the bending member. The upper support plate (5) is provided with a plurality of second positioning holes (51) for bolts to pass through; and A positioning assembly (6) is disposed in the first positioning hole (11) and the second positioning hole (51), and the positioning assembly (6) comprises a distance measuring sensor (61) threadedly mounted in the first positioning hole (11) and the second positioning hole (51).

2. A support positioning method, applied to a bending member support according to claim 1, characterized in that: include: Step 100: Receiving a lower sensing distance in response to a preset installation trigger signal or a replacement trigger signal; Step 101: When the lower sensing distance is not equal to the preset lower embedded bolt distance, the first adjusting component (3) is used to control the support to continue to move or rotate; Step 102: When all the lower sensing distances are equal to the lower embedded bolt distances, a preset first alignment standby signal is issued, wherein the first alignment standby signal is a signal indicating that all four first positioning holes (11) are aligned with the embedded bolts; Step 103: When a preset lower removal signal is received, the first adjustment component (3) is used to move upward along the basin body (2) so that the embedded bolt enters the first positioning hole (11). The lower removal signal is a signal for the staff to remove the distance sensor (61) threadedly connected to the first positioning hole (11).

3. A support positioning method according to claim 2, characterized in that: Also includes: Step 200: receiving an upper sensing distance after the first adjusting component (3) is moved upward along the basin body (2); Step 201: When the upper sensing distance is not equal to the preset upper embedded bolt distance, the second adjusting component (4) is used to control the support to continue to move or rotate; Step 202: When all the upper sensing distances are equal to the upper embedded bolt distances, a second alignment standby signal is issued, wherein the second alignment standby signal is a signal indicating that all four second positioning holes (51) are aligned with the embedded bolts; Step 203: When a preset upper removal signal is received, the movement is stopped until the external jack is withdrawn and the embedded bolt enters the second positioning hole (51).

4. A support positioning method according to claim 2, characterized in that: The method of controlling the support to continue to move or rotate using the first adjustment component (3) when the lower sensing distance is not equal to the lower embedded bolt distance comprises: Step 300: Determine the distance sensor number when any of the lower sensing distances is equal to the lower embedded bolt distance during the movement or rotation process; Step 301: Determine the relative central axis based on the distance measuring sensor number; Step 302: Rotate around the axis with the relative central axis as the axis until all the lower sensing distances are equal to the lower embedded bolt distances.

5. A support positioning method according to claim 4, characterized in that: Also included is a method for checking whether the lower sensing distance is equal to the lower embedded bolt distance, the method comprising: Step 400: Calculating a distance difference based on the lower sensing distance and the lower embedded bolt distance; Step 401: When the distance difference is greater than a preset error threshold, outputting that the lower sensing distance is not equal to the lower embedded bolt distance; Step 402: When the distance difference is less than the error threshold, the lower sensing distance is defined as a pre-verification distance, and the lower sensing distance is temporarily considered to be equal to the lower embedded bolt distance, and a relative center axis is generated, and the relative center axis is defined as a temporary relative center axis; Step 403: rotating around the axis with the temporary relative central axis as the axis; Step 404: when all the differences between the lower sensing distance and the lower embedded bolt distance are less than the error threshold during the rotation process, output that the lower sensing distance is equal to the lower embedded bolt distance; Step 405 : When not all differences between the lower sensing distance and the lower embedded bolt distance are smaller than the error threshold during the rotation process, output that the lower sensing distance is not equal to the lower embedded bolt distance.

6. A support positioning method according to claim 4, characterized in that: The specific method of rotating around the axis with the relative central axis as the axis includes: Step 500: receiving absolute coordinates, current horizontal angle, and base movement range based on the ranging sensor number; Step 501: simulating a mechanical equilibrium angle based on the absolute coordinates, the base movement range, and preset support overall parameters; Step 502: determining a rotation angle range based on the mechanical equilibrium angle when the mechanical equilibrium angle exists; Step 503: Determine a clockwise rotation sub-range and a counterclockwise rotation sub-range based on the rotation angle range and the current horizontal angle; Step 504: When the range corresponding to the clockwise rotation sub-range is larger than the range corresponding to the counterclockwise rotation sub-range, counterclockwise rotation is performed around the relative central axis until one of the mechanical equilibrium angles is reached or all the lower sensing distances are equal to the lower embedded bolt distances; Step 505: When one of the mechanical equilibrium angles is reached, rotating clockwise around the relative central axis until all the lower sensing distances are equal to the lower embedded bolt distances; Step 506: When the range corresponding to the clockwise rotation sub-range is smaller than the range corresponding to the counterclockwise rotation sub-range, clockwise rotation is performed around the relative central axis until one of the mechanical equilibrium angles is reached or all the lower sensing distances are equal to the lower embedded bolt distances; Step 507: When one of the mechanical equilibrium angles is reached, rotating counterclockwise around the relative central axis until all the lower sensing distances are equal to the lower embedded bolt distances; Step 508: When the mechanical equilibrium angle does not exist, directly rotate the relative central axis in either clockwise or counterclockwise direction around the axis until all the lower sensing distances are equal to the lower embedded bolt distances.

7. A support positioning method according to claim 6, characterized in that: Also included is a specific method for simulating the mechanical equilibrium angle, the method comprising: Step 600: Determine the support range based on the absolute coordinates, the preset support outline dimensions and any placement angle; Step 601: Determine an intersecting vertical plane and an intersecting base rotation axis based on the support range and the base movement range; Step 602: Tilt the preset support model based on the intersecting vertical plane and the absolute coordinates to obtain a tilted support model; Step 603: simulating a placement state in finite element software based on the tilt support model and the intersecting base rotation axis; Step 604: When the placement state is a preset forward rotation state, reselecting a placement angle so that the support range is further outside the base movement range, wherein the forward rotation state is a state of rotation toward the plane where the base is located; Step 605: reselecting a placement angle when the placement state is a preset reverse rotation state, so that the support range is closer to the base movement range, wherein the reverse rotation state is a state of rotation outward from the base; Step 606: When the placement state is a preset equilibrium state, the placement angle at this time is defined as a mechanical equilibrium angle.

8. A support positioning method according to claim 6, characterized in that: The method also includes a method for controlling the support to continue to move or rotate using the first adjustment component (3) if the lower sensing distance is not equal to the lower embedded bolt distance, the method comprising: Step 700: Receive the forward air pressure of the roller and the corresponding roller number during the movement or rotation process; Step 701: When the forward air pressure of the roller is less than a preset fluctuating impurity air pressure, if one of the lower sensing distances is equal to the lower embedded bolt distance, rotating around the relative central axis as an axis until all the lower sensing distances are equal to the lower embedded bolt distance; Step 702: If the forward air pressure of the roller is less than the fluctuating impurity air pressure and the lower sensing distance is not equal to the lower embedded bolt distance, continue to move or rotate; Step 703: When the forward pressure of the roller is greater than the fluctuating impurity pressure, a corresponding adjustment relative vector is searched from a preset adjustment database based on the roller number; Step 704: Using the first adjustment component (3) to control the support to move according to the adjustment relative vector so that one of the lower sensing distances is equal to the lower embedded bolt distance.

9. A support positioning method according to claim 8, characterized in that: The method further includes a specific method for receiving the current horizontal angle when the forward air pressure of the roller is greater than the fluctuating impurity air pressure, the method comprising: Step 800: When the forward pressure of the roller is greater than the fluctuating impurity pressure, the corresponding relative position of the pressure axis is searched from a preset axis database based on the roller number; Step 801: using the first regulating component (3) to control the support to rotate relative to the air pressure axis and continue to receive the forward air pressure of the roller, and defining the forward air pressure of the roller as the detected forward air pressure; Step 802: When the detected forward air pressure gradually increases, the support is controlled to continue rotating; Step 803: When the detected forward air pressure decreases, the support is controlled to rotate in the opposite direction until the detected forward air pressure decreases in both directions; Step 804: Receive the current horizontal angle when detecting that the forward air pressure decreases during rotation in both directions.

10. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes the method according to any one of claims 2 to 9.

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