Pier column formwork self-leveling system
The self-leveling system, composed of IMU sensors and servo electric cylinders, automatically adjusts the verticality of the pier formwork, solving the problems of cumbersome and easily interfered with by traditional methods. It achieves efficient and precise verticality control of the pier formwork, improving construction quality and structural safety.
Patent Information
- Application Number
- CN202520069198.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-13
- Publication Date
- 2025-12-16
- Estimated Expiration
- 2035-01-13
AI Technical Summary
Traditional methods for controlling the verticality of pier formwork are cumbersome and susceptible to human error, leading to accumulated errors that affect construction quality and structural safety.
The self-leveling system, consisting of an IMU sensor, a servo electric cylinder, a force sensor, a central control unit, and a servo driver, enables automatic measurement and adjustment of the pier column formwork. The IMU sensor monitors the tilt angle in real time, the servo electric cylinder makes automatic adjustments, the force sensor detects the force, the central control unit calculates the adjustment amount, and the servo driver controls the servo electric cylinder to maintain verticality.
It reduces human error, improves construction efficiency and the verticality control accuracy of pier formwork, and ensures structural safety and stability.
Smart Images
Figure CN223675172U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the technical field of highway and bridge construction, concretely is pier column formwork self leveling system. BACKGROUND
[0002] Pier column is the key load-bearing component of bridge, tunnel and other large-scale infrastructure, and its role is very important. It needs to directly bear various loads from the upper structure and stably transmit these loads to the foundation, which is the root of ensuring the stability of the whole structure. During the construction process of the pier column, its perpendicularity becomes the core key index for measuring the construction quality and structural performance. The advantages and disadvantages of this index are closely related to the safety, durability and service life of the structure. Once the perpendicularity of the pier column deviates, it is likely to cause a series of serious consequences, such as uneven stress of the structure, local stress concentration, etc., and further endanger the safety and stability of the whole structure.
[0003] In the current construction scene, the traditional method is to use plumb line and laser measuring instrument to measure the perpendicularity of the pier column formwork. During the operation, the ground workers need to constantly monitor the inclination angle displayed by the measuring instrument, manually operate the pull rope and jack to adjust the perpendicularity of the formwork. However, this traditional operation method has many disadvantages. On the one hand, the whole measurement and adjustment process is very tedious, which requires a lot of manpower and time cost, greatly reducing the construction efficiency. On the other hand, due to the many manual operation links, it is easy to be disturbed by human factors, which leads to the generation of operation errors. These errors accumulate continuously, which will eventually seriously affect the final perpendicularity of the pier column and pose a hidden danger to the structure safety. SUMMARY
[0004] In view of the problems existing in the prior art, the utility model provides a pier column formwork self leveling system, which realizes automatic measurement and adjustment of the perpendicularity of the pier column formwork.
[0005] The technical scheme adopted by the utility model is as follows: a pier column formwork self leveling system, comprising a pier column formwork, an IMU sensor, a servo electric cylinder, a force sensor, a central control unit and a servo driver;
[0006] The IMU sensor is installed on the pier column formwork and is used to monitor the three-axis inclination angle of the pier column formwork in real time;
[0007] The servo electric cylinder is provided with a plurality of servo electric cylinders and is arranged in a plurality of directions of the pier column formwork, and is used to support and lift the pier column formwork;
[0008] The force sensor is used to detect the stress condition of the servo electric cylinder;
[0009] The central control unit is connected with the IMU sensor and the force sensor, for receiving the inclination angle data from the IMU sensor and the force feedback data from the force sensor, and calculating the adjustment amount of the servo electric cylinder;
[0010] The servo driver is connected with the central control unit, for receiving the control signal sent by the central control unit, and controlling the servo electric cylinder to adjust the height, so as to keep the pier formwork vertical.
[0011] Further, the number of servo electric cylinders is three, and the three servo electric cylinders are arranged at an interval of 120° around the axis of the pier formwork, and are uniformly distributed in three different directions.
[0012] Further, the force sensor is installed at the bottom of the servo electric cylinder, for detecting the force condition of each servo electric cylinder in real time, and transmitting the force feedback data to the central control unit.
[0013] Further, the joint structure with adjustable angle is arranged at the connection between the servo electric cylinder and the pier formwork, for compensating the influence of non-vertical installation of the servo electric cylinder on the leveling effect.
[0014] Further, the servo electric cylinder comprises an encoder, for monitoring the linear displacement of the servo electric cylinder in real time, and transmitting the feedback signal to the servo driver and the central control unit.
[0015] Further, the IMU sensor is fixed at the top central position or the side central position of the pier formwork, so that the XYZ axis direction of the IMU sensor is consistent with the geometric center of the pier formwork.
[0016] Further, the central control unit is a Raspberry Pi development board, and the central control unit calculates the adjustment stroke of each servo electric cylinder based on the feedback data of the IMU sensor and the force sensor, and generates a control signal to send to the servo driver.
[0017] Further, a power management module is further included, for providing power support for the IMU sensor, the force sensor, the servo electric cylinder and the central control unit.
[0018] The utility model discloses beneficial effect lies in: the utility model discloses through the IMU sensor of installation on pier formwork, can continuously monitor the inclination angle and position information of pier formwork, and the data feedback to central control unit, and then through servo driver and servo motorized cylinder automatic adjustment pier formwork's angle and height, adjusting device is based on feedback control principle, when detecting that pier formwork appears the deviation, the system will automatically start the adjusting function, and the position of pier formwork is corrected, makes it restore to vertical state, compared with traditional manual correction mode, the utility model reduces the degree of dependence on construction personnel in the construction process, reduces the error caused by artificial operation, the system can carry out dynamic adjustment according to the preset parameter, and the adjusting demand of different formwork height and angle is adapted to, thereby continuously provides stable, efficient adjusting effect in uninterrupted construction process. BRIEF DESCRIPTION OF DRAWINGS
[0019] Figure 1 It is the structural schematic diagram of the utility model. DETAILED DESCRIPTION
[0020] In order to facilitate understanding the utility model, the following will be combined with the description of the drawings and preferable embodiment more comprehensive, detailedly described the utility model, but the protection scope of the utility model is not limited to the following specific embodiment.
[0021] As Figure 1 The utility model discloses pier formwork self-leveling system, including pier formwork 1, IMU sensor 3, servo motorized cylinder 2, force sensor, central control unit 4, servo driver, power management module.
[0022] IMU sensor 3 installs on pier formwork 1, for real-time monitoring the three-axis inclination angle of pier formwork 1.IMU sensor 3 can use bolt or shockproof glue firmly fixed in the top central position or side central position of pier formwork 1, ensure that the XYZ axis direction of IMU sensor 3 is consistent with the geometric center of pier formwork 1.IMU sensor 3 is connected with central control unit 4 through I2C interface, and inclination data is transmitted to central control unit 4.
[0023] The servo motor cylinder 2 is provided with a plurality of servo motor cylinders 2 arranged in multiple directions of the pier formwork 1 for supporting the lifting of the pier formwork 1. In this embodiment, the number of servo motor cylinders 2 is three, and the three servo motor cylinders 2 are arranged at an interval of 120° around the axis of the pier formwork 1, and are uniformly distributed in three different directions. The supporting surface of the servo motor cylinder 2 is in close contact with the bottom of the pier formwork, which ensures that it can work stably under stress and ensures that the installation height of each servo motor cylinder 2 is consistent to facilitate subsequent leveling operation. The connection between the servo motor cylinder 2 and the pier formwork 1 is provided with an adjustable angle joint structure for compensating the influence of the leveling effect when the servo motor cylinder 2 is not installed vertically. The servo motor cylinder 2 includes an encoder for real-time monitoring of the linear displacement of the servo motor cylinder 2 and transmitting feedback signals to the servo driver and the central control unit.
[0024] A force sensor is installed at the bottom of each servo motor cylinder 2 for real-time detection of the stress of each servo motor cylinder 2, and force feedback data is transmitted to the central control unit 4 through CAN bus or analog signal.
[0025] The central control unit 4 is connected with the IMU sensor 3 and the force sensor, for receiving the inclination angle data from the IMU sensor 3 and the force feedback data from the force sensor, and calculating the adjustment amount of the servo motor cylinder 2. The central control unit 4 is a Raspberry Pi development board or other controller, and the central control unit 4 calculates the adjustment stroke of each servo motor cylinder 2 based on the feedback data of the IMU sensor 3 and the force sensor, and generates a control signal to send to the servo driver. The central control unit 4 can execute a force feedback control algorithm, which can dynamically adjust the action of the servo motor cylinder according to the real-time force sensor data and inclination feedback data, to ensure that the pier formwork remains vertical when subjected to uneven stress or bottom settlement. It can also execute an inclination compensation algorithm to compensate for the inclination angle of the servo motor cylinder 2, to ensure that the out-of-cylinder stroke meets the expected adjustment amount when the servo motor cylinder 2 is not installed vertically.
[0026] The servo driver is connected with the central control unit 4 for receiving the control signal sent by the central control unit 4 to control the servo motor cylinder 2 to adjust the height, so that the pier formwork 1 remains vertical.
[0027] The power management module is used to provide power support for the IMU sensor 3, the force sensor, the servo motor cylinder 2 and the central control unit 4.
[0028] The automatic leveling process of the pier formwork self-leveling system is as follows: starting the system, the IMU sensor starts to detect the inclination angle of the pier formwork, the force sensor monitors the force condition of each servo electric cylinder, and the real-time inclination angle and force feedback; the IMU sensor detects the inclination angle of the pier formwork and transmits data to the central control unit, the force sensor detects the force data of each servo electric cylinder in real time, and ensures the bottom load balance; the force data and the inclination angle data are used as the basis for leveling control. According to the data of the IMU and the force sensor, combined with the set vertical standard, the central control unit calculates the adjustment amount of each servo electric cylinder, converts the calculated adjustment amount into a control signal, and drives the servo electric cylinder to push up or down through the servo driver. During the process, the force sensor and the IMU sensor feedback the adjustment effect in real time, and ensure that the angle and height of the pier formwork gradually reach the predetermined target. If the pier formwork is not completely vertical after adjustment, the central control unit will continue to adjust according to the data of the IMU sensor and the force sensor until the pier formwork reaches the set vertical standard. The system continuously feeds back data and adjusts, forms a closed loop control, and ensures that the pier formwork remains accurate and vertical during the construction process.
[0029] Many modifications and other embodiments of the present application will come to mind to one skilled in the art to which the present application pertains having the benefit of the teachings presented in the foregoing description and the associated drawings. Therefore, it is to be understood that the application is not to be limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the appended claims. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims
1. A self-leveling system for a pier form, comprising a pier form (1), characterized in that: Also include IMU sensor (3), servo electric cylinder (2), force sensor, central control unit (4), servo driver; The IMU sensor (3) is installed on the pier column formwork (1), and is used for real-time monitoring of the three-axis inclination angle of the pier column formwork (1); The servo electric cylinder (2) is provided with a plurality of servo electric cylinders (2) and is arranged in a plurality of directions of the pier column formwork (1), and is used for supporting and lifting the pier column formwork (1); The force sensor is used for detecting the force of the servo electric cylinder (2); The central control unit (4) is connected with the IMU sensor (3) and the force sensor, and is used for receiving the inclination angle data from the IMU sensor (3) and the force feedback data from the force sensor, and calculating the adjustment amount of the servo electric cylinder (2); The servo driver is connected with the central control unit (4), and is used for receiving the control signal sent by the central control unit (4) to control the servo electric cylinder (2) to adjust the height, so that the pier column formwork (1) remains vertical.
2. The pier form self-leveling system of claim 1, wherein: The number of servo electric cylinders (2) is three, and the three servo electric cylinders (2) are arranged at an equal interval of 120° around the axis of the pier column formwork (1) and are uniformly distributed in three different directions.
3. The pier form self-leveling system of claim 1, wherein: The force sensor is installed at the bottom of the servo electric cylinder (2), and is used for real-time detection of the force of each servo electric cylinder (2) and transmission of the force feedback data to the central control unit (4).
4. The pier form self-leveling system of claim 1, wherein: The connection between the servo electric cylinder (2) and the pier column formwork (1) is provided with an adjustable angle joint structure, which is used for compensating the influence of non-vertical installation of the servo electric cylinder (2) on the leveling effect.
5. The column formwork self-leveling system according to any one of claims 1-4, characterized in that: The servo electric cylinder (2) comprises an encoder, which is used for real-time monitoring of the linear displacement of the servo electric cylinder (2) and transmitting feedback signals to the servo driver and the central control.
6. The pier form self-leveling system of claim 1, wherein: The IMU sensor (3) is fixed at the top central position or the side central position of the pier column formwork (1), so that the XYZ axis direction of the IMU sensor (3) is consistent with the geometric center of the pier column formwork (1).
7. The pier form self-leveling system of claim 1, wherein: The central control unit (4) is a Raspberry Pi development board, and the central control unit (4) calculates the adjustment stroke of each servo electric cylinder (2) based on the feedback data of the IMU sensor (3) and the force sensor, and generates a control signal to send to the servo driver.
8. The pier form self-leveling system of claim 1, wherein: Also include a power management module for providing power support for the IMU sensor (3), the force sensor, the servo electric cylinder (2) and the central control unit (4).