Template positioning and placement device

Abstract

The utility model relates to template positioning and placing device, relate to the technical field of building equipment, and template positioning and placing device includes: travelling device, hoist arm, push -and -pull arm and device main part. Travelling device sets up at the bottom of device main part, and with device main part fixed connection, is used for driving template positioning and placing device to remove, and one end of hoist arm passes through the top of first side surface of device main part and stretches into the inside of device main part, and the other end of hoist arm is used for grabbing template, and hoist arm is used for under the action of first drive arrangement, and hoist template, and one end of push -and -pull arm passes through the middle part of first side surface and stretches into the inside of device main part, and with the second drive arrangement of inside of device main part is connected, and the other end of push -and -pull arm fixes template, and push -and -pull arm is used for under the action of second drive arrangement, and adjusts the inclination angle of template. The application improves the safety in template grabbing and hoisting process, template grabbing and hoisting efficiency and template grabbing and hoisting accuracy.

Description

Technical Field

[0001] This utility model relates to the field of building equipment technology, and in particular to a template positioning and placement device. Background Technology

[0002] In modern construction engineering, formwork installation is a crucial step in concrete pouring, widely used in various fields such as building construction, bridge construction, and water conservancy projects. The installation accuracy of the formwork directly affects the dimensional accuracy and construction quality of the concrete structure. In actual construction, the formwork needs to be accurately placed in the designated position and adjusted to a specific angle to ensure the smooth progress of subsequent pouring work.

[0003] Currently, the traditional method of formwork installation involves using a crane to lift the formwork and slowly lower it. When the formwork is close to the installation position, workers on the ground or work surface manually receive it and adjust its position and angle manually until the installation requirements are met.

[0004] However, the existing formwork installation method requires workers to operate below the formwork, posing safety hazards such as formwork detachment or shaking, endangering personal safety. The entire installation process relies on the slow movement of cranes and repeated manual adjustments, resulting in low efficiency and a long construction period. Utility Model Content

[0005] The purpose of this application is to provide a template positioning and placement device that improves the safety, efficiency, and accuracy of template lifting during the template lifting process.

[0006] A template positioning and placement device includes: a traveling device, a lifting arm, a push-pull arm, and a device body; the traveling device is disposed at the bottom of the device body and fixedly connected to the device body, and is used to drive the template positioning and placement device to move.

[0007] One end of the lifting arm extends into the interior of the device body through the top of the first side of the device body and is connected to the first drive device inside the device body. The other end of the lifting arm is used to grab the template. The lifting arm is used to lift the template under the action of the first drive device.

[0008] One end of the push-pull arm extends into the interior of the device body through the middle of the first side and is connected to the second drive device inside the device body. The other end of the push-pull arm fixes the template. The push-pull arm is used to adjust the tilt angle of the template under the action of the second drive device.

[0009] Optionally, the lifting boom includes: a first lifting section, a first telescopic section, and a first head;

[0010] The first side of the main body of the device is provided with a first groove that penetrates the top. The first lifting section is the other end of the lifting arm and is disposed in the first groove. The first lifting section is also connected to the first driving device. The first lifting section is also retractably connected to the tail of the first telescopic section. The head of the first telescopic section is rotatably connected to the first head, which is the other end of the lifting arm.

[0011] Optionally, the main body of the device may further include: a first hydraulic rod, the first lifting section being fixedly connected to the first hydraulic rod, and the first hydraulic rod being connected to the first driving device.

[0012] Optionally, the first head includes: a first head body, a movable gripper, and a fixed gripper. The end of the first head body is rotatably connected to the head of the first telescopic section. The fixed gripper and the movable gripper are disposed opposite to each other on the top of the first head body. Anti-slip pads are provided on the opposite surfaces of the fixed gripper and the movable gripper.

[0013] Optionally, the end of the first head body is rotatably connected to the head of the first telescopic section via a first bearing.

[0014] Optionally, the push-pull arm includes: a second lifting section, a second telescopic section, and a second head; the second lifting section is disposed inside the main body of the device;

[0015] The first side of the main body of the device is also provided with a second groove extending in a preset vertical direction. The tail of the second telescopic section extends into the interior of the main body of the device through the second groove and is rotatably connected to the second lifting section. The head of the second telescopic section is rotatably connected to the second head, which is the other end of the push-pull arm.

[0016] Optionally, the main body of the device is further provided with a second hydraulic rod, the second lifting section is fixedly connected to the second hydraulic rod, and the second hydraulic rod is used to connect to the second driving device.

[0017] Optionally, the second head includes a second head body and a suction cup, wherein a first end of the second head body is rotatably connected to the head of the second telescopic section, and the suction cup is fixedly disposed at a second end of the second head body.

[0018] Optionally, the tail of the second telescopic section is rotatably connected to the second lifting section via a second bearing, and the head of the second telescopic section is rotatably connected to the second head via a third bearing.

[0019] Optionally, the template positioning and placement further includes: an anti-overturning bracket; one of the anti-overturning brackets is respectively provided at the front and rear of the main body of the device in the preset walking direction.

[0020] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0021] This application provides a template positioning and placement device, comprising: a traveling device, a lifting arm, a push-pull arm, and a device body; the traveling device is located at the bottom of the device body and fixedly connected to it, used to drive the template positioning and placement device to move; one end of the lifting arm extends into the interior of the device body through the top of the first side of the device body and is connected to a first drive device inside the device body, the other end of the lifting arm is used to grab the template, and the lifting arm is used to lift the template under the action of the first drive device; one end of the push-pull arm extends into the interior of the device body through the middle of the first side of the device body and is connected to a second drive device inside the device body, the other end of the push-pull arm fixes the template, and the push-pull arm is used to adjust the tilt angle of the template under the action of the second drive device. This application, through the template positioning and placement device, can grab and lift templates without manual operation, improving the safety, efficiency, and accuracy of template grabbing and lifting. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of a template positioning and placement device provided in an embodiment of this application;

[0024] Figure 2 This is a schematic diagram of the structure of a lifting arm in a template positioning and placement device provided in an embodiment of this application;

[0025] Figure 3 This is a schematic diagram of the structure of the first head in a template positioning and placement device provided in an embodiment of this application;

[0026] Figure 4 This is a schematic diagram of the structure of a push-pull arm in a template positioning and placement device provided in an embodiment of this application;

[0027] Figure 5 This is a schematic diagram of the structure of the second head in a template positioning and placement device provided in an embodiment of this application;

[0028] Figure 6 This is a schematic diagram of the structure of the second telescopic section in a template positioning and placement device provided in an embodiment of this application;

[0029] Figure 7 This is a schematic diagram of another template positioning and placement device provided in an embodiment of this application;

[0030] Figure 8 This is a control schematic diagram of a template positioning and placement device provided in an embodiment of this application;

[0031] Figure 9 This is a schematic diagram illustrating the calculation of the extension distance of a push-pull arm, provided as an embodiment of this application.

[0032] Figure label:

[0033] Template positioning and placement device - 1000; Walking device - 100; Lifting arm - 200; Push-pull arm - 300; Main body of device - 400; Template - 500; First lifting section - 201; First telescopic section - 202; First head - 203; First head body - 2031; Movable gripper - 2032; Fixed gripper - 2033; Second lifting section - 301; Second telescopic section - 302; Second head - 303; Second head body - 3031; Suction cup - 3032; Anti-tipping bracket - 600; First groove - 302; Second groove - 402; First bearing - 2021; Second bearing - 3021; ​​Third bearing - 3022; First hydraulic rod - 204; Second hydraulic rod - 304. Detailed Implementation

[0034] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.

[0035] The components of the present invention embodiments described and shown in the accompanying drawings can typically be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0036] Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0037] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0038] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0039] To clearly describe the template positioning and placement device provided in the embodiments of this application, the template positioning and placement device provided in the embodiments of this application will be described below with reference to several accompanying drawings. Figure 1 This is a schematic diagram of the structure of a template positioning and placement device provided in an embodiment of this application, as shown below. Figure 1 As shown, the template positioning and placement device 1000 includes: a traveling device 100, a lifting arm 200, a push-pull arm 300, and a device body 400; the traveling device 100 is located at the bottom of the device body 400 and is fixedly connected to the device body 400, and is used to drive the template positioning and placement device 1000 to move.

[0040] One end of the lifting arm 200 extends into the interior of the device body 400 through the top of the first side of the device body 400 and is connected to the first drive device inside the device body 400 (not shown in the figure). The other end of the lifting arm 200 is used to grab the template 500 and to lift the template 500 under the action of the first drive device.

[0041] One end of the push-pull arm 300 extends into the interior of the device body 400 through the middle of the first side and is connected to the second drive device inside the device body 400 (not shown in the figure). The other end of the push-pull arm 300 fixes the template 500. The push-pull arm 300 is used to adjust the tilt angle of the template 500 under the action of the second drive device.

[0042] The first drive device, located inside the main body 400, drives the lifting arm 200, allowing it to move up and down to adjust the height of the formwork 500. The second drive device, also located inside the main body 400, drives the push-pull arm 300, allowing it to move back and forth and up and down to adjust the angle of the formwork 500. The traveling device 100 drives the formwork positioning and placement device 1000 to move in any direction. The formwork 500 can be a temporary or semi-permanent mold structure used for pouring concrete in building construction. It primarily provides shape support for newly poured concrete, ensuring that the concrete maintains the designed geometric shape and dimensional accuracy during the solidification process.

[0043] Optionally, the process of the template positioning and placement device 1000 lifting the template 500 is as follows: the traveling device 100 moves to the vicinity of the template 500, the lifting arm 200 lifts the template 500, and the push-pull arm 300 fixes the template 500 to the side. When the lifting arm 200 lifts the template 500 to the preset height, the push-pull arm 300 adjusts the angle of the template 500 to the side of the template 500 so that the template 500 reaches the preset position.

[0044] In this embodiment, the template positioning and placement device includes: a traveling device, a lifting arm, a push-pull arm, and a device body. The traveling device is located at the bottom of the device body and is fixedly connected to the device body, used to drive the template positioning and placement device to move. One end of the lifting arm extends into the interior of the device body through the top of the first side of the device body and is connected to a first drive device inside the device body. The other end of the lifting arm is used to grab the template and lift it under the action of the first drive device. One end of the push-pull arm extends into the interior of the device body through the middle of the first side and is connected to a second drive device inside the device body. The other end of the push-pull arm fixes the template and adjusts the tilt angle of the template under the action of the second drive device. This application, through the template positioning and placement device, can grab and lift templates without manual operation, improving the safety, efficiency, and accuracy of template grabbing and lifting.

[0045] Based on the above embodiments, this application also provides a structure for the lifting arm in a template positioning and placement device. Figure 2 This is a schematic diagram of the structure of a lifting arm in a template positioning and placement device provided in an embodiment of this application, as shown below. Figure 2 The lifting boom 200 includes: a first lifting section 201, a first telescopic section 202, and a first head 203.

[0046] Combination Figure 1 as well as Figure 2It is known that the first side of the main body 400 of the device is provided with a first groove 401 that penetrates the top. The first lifting section 201 is the other end of the lifting arm 200 and is provided in the first groove 401. The first lifting section 201 is also connected to the first driving device. The first lifting section 201 is also retractably connected to the tail of the first telescopic section 202. The head of the first telescopic section 202 is rotatably connected to the first head 203, which is the other end of the lifting arm 200.

[0047] The number of first grooves 401 is the same as the number of first telescopic sections 202 and first heads 203. The number of first lifting sections 201 is twice the number of first grooves 401. When there are two first grooves 401, there are two first telescopic sections 202 and two first heads 203, and the number of first lifting sections 201 is four. When the first lifting section 201 is cylindrical, the device body 400 also contains the same number of cylindrical grooves as the first lifting sections 201 to fix the first lifting sections 201 inside the device body 400. By fixing the first lifting section 201 with cylindrical grooves and fixing the first telescopic section 202 with first grooves 401, the lifting arm 200 is fixed inside the device body 400. When the first lifting section 201 is of other shapes, the device body 400 also contains the same number of grooves of other shapes as the first lifting sections 201.

[0048] Optionally, the device body also includes a first hydraulic rod 204, with the first lifting section 201 fixedly connected to the first hydraulic rod 204, and the first hydraulic rod 204 connected to a first driving device. The first hydraulic rod 204 is located inside a groove in the device body 400 that has the same shape as the first lifting section 201, and is used to control the lifting of the first lifting section 201 via the first driving device.

[0049] In this embodiment, the lifting arm includes a first lifting section, a first telescopic section, and a first head. A first groove penetrating the top is provided on the first side of the main body of the device. The first lifting section, being the other end of the lifting arm, is disposed within the first groove. The first lifting section is also connected to a first driving device and is retractably connected to the tail of the first telescopic section. The head of the first telescopic section is rotatably connected to a first head, which is the other end of the lifting arm. In this application, the lifting arm is fixed using the first groove, improving the stability of the template positioning and placement device and reducing the risk of swaying. The combination of lifting and telescopic movement enhances the flexibility of the template positioning and placement device, covering multiple different operational scenarios.

[0050] Based on the above embodiments, this application also provides a structure for the first head in a template positioning and placement device. Figure 3 This is a schematic diagram of the structure of the first head in a template positioning and placement device provided in an embodiment of this application, as shown below. Figure 3As shown, the first head 203 includes: a first head body 2031, a movable gripper 2032 and a fixed gripper 2033. The end of the first head body 2031 is rotatably connected to the head of the first telescopic section 202. The fixed gripper 2033 and the movable gripper 2032 are disposed opposite to each other on the top of the first head body 2031. Anti-slip pads are provided on the opposite surfaces of the fixed gripper 2033 and the movable gripper 2032.

[0051] The number of the first head body 2031, movable gripper 2032 and fixed gripper 2033 is the same as the number of the crane boom. When there are two crane booms, the corresponding number of the first head body 2031, movable gripper 2032 and fixed gripper 2033 is two.

[0052] Optionally, the template is gripped by the movable gripper 2032 and brought close to the fixed gripper 2033, thereby fixing the template to the fixed gripper 2033 and the movable gripper 2032. By providing anti-slip pads on the opposite surfaces of the fixed gripper 2033 and the movable gripper 2032, the friction between the template and the fixed gripper 2033 and the movable gripper 2032 is increased, making the fixing of the template more stable.

[0053] Optionally, the end of the first head body 2031 is rotatably connected to the head of the first telescopic section 202 via the first bearing 2021, thereby improving the flexibility of the first head body 2031 and allowing the first head body 2031 to rotate within a larger range.

[0054] In this embodiment, the first head includes a first head body, a movable gripper, and a fixed gripper. The end of the first head body is rotatably connected to the head of the first telescopic section. The fixed gripper and the movable gripper are disposed opposite each other on the top of the first head body, and anti-slip pads are provided on the opposite surfaces of the fixed gripper and the movable gripper. The end of the first head body is rotatably connected to the head of the first telescopic section via a first bearing. This application improves the stability of template lifting by using the movable gripper and the fixed gripper, adapting to templates of different sizes. By providing anti-slip pads, displacement during lifting is avoided. The first bearing enables precise positioning of the template, adapting to different operating angle requirements.

[0055] Based on the above embodiments, this application also provides a structure for a push-pull arm in a template positioning and placement device. Figure 4 This is a schematic diagram of the push-pull arm in a template positioning and placement device provided in an embodiment of this application, as shown below. Figure 4 As shown, the push-pull arm 300 includes: a second lifting section 301, a second telescopic section 302, and a second head 303; the second lifting section 301 is disposed inside the main body of the device;

[0056] Combination Figure 1 as well as Figure 4It is known that the first side of the device body 400 is also provided with a second groove 402 extending in a preset vertical direction. The tail of the second telescopic section 302 extends into the interior of the device body 400 through the second groove 402 and is rotatably connected to the second lifting section 301. The head of the second telescopic section 302 is rotatably connected to the second head 303, which is the other end of the push-pull arm 300.

[0057] The number of second grooves 402 is the same as the number of second telescopic sections 302 and second heads 303. The number of second lifting sections 301 is twice the number of second grooves 402. When there is one second groove 402, there is one second telescopic section 302 and one second head 303, and two second lifting sections 301. When the second lifting section 301 is cylindrical, the device body 400 also contains cylindrical grooves of the same number as the second lifting sections 301 to fix the second lifting sections 301 inside the device body 400. By fixing the second lifting section 301 with cylindrical grooves and fixing the second telescopic section 302 with second grooves 402, the second telescopic section 302 is fixed inside the device body 400. When the second lifting section 301 is of other shapes, the device body 400 also contains grooves of other shapes of the same number as the second lifting sections 301.

[0058] Optionally, the device body also includes a second hydraulic rod 304, which is fixedly connected to the second lifting section 301 and connected to a second drive device. The second hydraulic rod 304 is located inside a groove in the device body 400 that has the same shape as the second lifting section 301, and is used to control the lifting of the second lifting section 301 via the second drive device.

[0059] In this embodiment, the push-pull arm includes a second lifting section, a second telescopic section, and a second head; the second lifting section is disposed inside the main body of the device. A second groove extending along a predetermined vertical direction is also provided on the first side of the main body of the device. The tail of the second telescopic section extends into the interior of the main body of the device through the second groove and is rotatably connected to the second lifting section. The head of the second telescopic section is rotatably connected to the second head, which is the other end of the push-pull arm. This application, by providing the second groove, achieves protection and fixation of the second telescopic section, extending its service life. Simultaneously, the combination of the lifting section and the telescopic section allows for adaptation to different heights and angles, improving the adaptability of the device and expanding its application scenarios.

[0060] Based on the above embodiments, this application also provides a structure for the second head in a template positioning and placement device. Figure 5 This is a schematic diagram of the structure of the second head in a template positioning and placement device provided in an embodiment of this application, as shown below. Figure 5As shown, the second head 303 includes: a second head body 3031 and a suction cup 3032. The first end of the second head body 3031 is rotatably connected to the head of the second telescopic section 302, and the suction cup 3032 is fixedly provided at the second end of the second head body 3031.

[0061] The number of suction cups 3032 is the same as the number of second head bodies 3031. When there is one second head body 3031, the corresponding number of suction cups 3032 is also one.

[0062] Optionally, by controlling the second telescopic section 302, the second head body 3031 is brought closer to the template. When the second head body 3031 is close to the template, the template is connected to the second head body 3031 by the suction cup 3032 to fix the template. Thus, the angle of the template can be adjusted by controlling the second telescopic section 302.

[0063] In this embodiment, the second head includes a second head body and a suction cup. The first end of the second head body is rotatably connected to the head of the second telescopic section, and the suction cup is fixedly disposed at the second end of the second head body. In this application, the template is fixed using the second head body and the suction cup to prevent template slippage and reduce the risk of template displacement.

[0064] Based on the above embodiments, this application also provides a structure for the second telescopic section in a template positioning and placement device. Figure 6 This is a schematic diagram of the structure of the second telescopic section in a template positioning and placement device provided in an embodiment of this application, as shown below. Figure 6 As shown, the tail of the second telescopic section 302 is rotatably connected to the second lifting section 301 via the second bearing 3021, and the head of the second telescopic section 302 is rotatably connected to the second head 303 via the third bearing 3022.

[0065] Optionally, the tail of the second telescopic section 302 is rotatably connected to the second lifting section 301 via the second bearing 3021, so that the angle of the second telescopic section 302 can be adjusted arbitrarily, thereby realizing flexible control of the second telescopic section 302. The head of the second telescopic section 302 is rotatably connected to the second head 303 via the third bearing 3022, so that the second head 303 can be flexibly adjusted, thereby realizing flexible control of the second head 303.

[0066] In this embodiment, the tail of the second telescopic section is rotatably connected to the second lifting section via a second bearing, and the head of the second telescopic section is rotatably connected to the second head via a third bearing. In this embodiment, the second telescopic section connects the second lifting section and the second head via the second and third bearings respectively, enabling placement and adjustment of the template at multiple angles. The suction cups prevent damage to objects and equipment, thus extending the device's lifespan.

[0067] Based on the above embodiments, this application also provides another structure for the template positioning and placement device. Figure 7 This is a schematic diagram of another template positioning and placement device provided in an embodiment of this application, as shown below. Figure 7 As shown, the template positioning also includes: an anti-overturning bracket 600; an anti-overturning bracket 600 is respectively installed at the front and rear of the device body 400 in the preset walking direction.

[0068] Among them, the front and rear anti-tipping supports 600 provide new force points for the main body 400 of the device by contacting the ground, and the descent height and angle of the front and rear anti-tipping supports 600 can be the same or different.

[0069] Optionally, after the main body 400 of the device stops, by controlling the two anti-overturning supports 600 to contact the ground, a new stress point is provided for the main body 400, preventing it from overturning during the control of the template. If the front and rear of the main body 400 are uneven, the stability of the main body is ensured by controlling the descent height of the front and rear anti-overturning supports 600.

[0070] In this embodiment of the application, by setting an anti-tipping bracket, the main body of the device can be fixed on multiple different ground surfaces, adapting to multiple different usage scenarios and ensuring the stability of the main body of the device.

[0071] To clearly describe the template positioning and placement device in this application, the following explanation is provided in conjunction with a specific usage process. First, a Building Information Model (BIM) is established based on the actual construction scenario, and simultaneously, a model of the template positioning and placement device is created. The travel route and stopping points of the template positioning and placement device are planned within the BIM, and the lifting and extension distances of the lifting arm and push-pull arm of the device are determined. The BIM data is then converted into the drive data format of the template positioning and placement device, and the drive data is imported into the device. Simultaneously, the positioning device is installed inside the main body of the template positioning and placement device.

[0072] Specifically, the template positioning and placement device controls the raising and lowering of the first hydraulic rod of the lifting arm, and uses the movable gripper in the first head to pick up the template, lifting it up. The first telescopic section of the lifting arm retracts, pulling the template back close to the main body of the device. According to the planned route, it moves to the stopping point via the traveling device. The anti-tipping bracket is then activated. The first hydraulic rod of the lifting arm controls the lifting of the entire lifting arm, raising the bottom of the template to a preset distance above the bottom foundation elevation. The second telescopic section of the push-pull arm extends, and upon contacting the template, a suction cup adheres the push-pull arm to the template. By controlling the extension and retraction of the second telescopic arm, the template angle is adjusted to the positioning angle. Controlling the extension of the first telescopic section of the lifting arm adjusts the horizontal coordinates (X) of the top two ends of the template. z1,Y z1 (X) y1 ,Y y1 Place it in the specified location (X) z0 ,Y z0 (X) y0 ,Y y0 Then, simultaneously controlling the first hydraulic rod of the crane boom and the second hydraulic rod of the push-pull arm to descend a preset distance above the foundation elevation, the formwork is placed in the designated position. After securing the placed formwork, the anti-tipping bracket is retracted, and the formwork positioning and placement device returns according to the planned path to retrieve the next formwork for transport and placement.

[0073] Example, Figure 8 This is a control schematic diagram of a template positioning and placement device provided in an embodiment of this application, as shown below. Figure 8 As shown, combined with Figure 8 As can be seen from -a, first, keep the crane boom stationary, calculate the extension distance of the push-pull arm, and adjust the template to the preset angle a. Figure 9 This application provides a schematic diagram for calculating the extension distance of a push-pull arm, as shown in the embodiment. Figure 9 As shown, based on the template length m, the distance h between the end of the push-pull arm connected to the main body of the device and the head of the lifting arm, the target position of the template and the vertical angle a, and the angle b between the line connecting the end of the push-pull arm connected to the main body of the device and the head of the lifting arm and the vertical direction, calculate the distance L1 after the push-pull arm is extended: L1 = (m2 + h2 - 2mh × cos(a + b)). 1 / 2 The extension distance ΔL = L1 - L0 of the push-pull arm is calculated based on the extended distance L1 and the original distance L0 of the push-pull arm.

[0074] like Figure 8 As shown, combined with Figure 8 -b indicates that by controlling the push-pull arm to extend and retract according to the extension distance △L, the angle of the template is the same as the preset angle. Combined with... Figure 8 -c indicates that controlling the extension of the lifting arm and push-pull arm will adjust the horizontal coordinates (X) of the top two ends of the template. z1 ,Y z1 (X) y1 ,Y y1 Adjust to the target position of the template (X) z0 ,Y z0 (X) y0 ,Y y0 ). Combination Figure 8 As indicated by -d, after the horizontal coordinates at both ends of the top of the template are adjusted to the target position, the vertical Z coordinate is adjusted to the target position by lowering the hydraulic rod, and the template can be accurately placed in place.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A template positioning and placement device, characterized in that, The template positioning and placement device includes: a traveling device, a lifting arm, a push-pull arm, and a device body; the traveling device is located at the bottom of the device body and is fixedly connected to the device body, and is used to drive the template positioning and placement device to move; One end of the lifting arm extends into the interior of the device body through the top of the first side of the device body and is connected to the first drive device inside the device body. The other end of the lifting arm is used to grab the template. The lifting arm is used to lift the template under the action of the first drive device. One end of the push-pull arm extends into the interior of the device body through the middle of the first side and is connected to the second drive device inside the device body. The other end of the push-pull arm fixes the template. The push-pull arm is used to adjust the tilt angle of the template under the action of the second drive device.

2. The apparatus according to claim 1, characterized in that, The lifting arm includes: a first lifting section, a first telescopic section, and a first head; The first side of the main body of the device is provided with a first groove that penetrates the top. The first lifting section is the other end of the lifting arm and is disposed in the first groove. The first lifting section is also connected to the first driving device. The first lifting section is also retractably connected to the tail of the first telescopic section. The head of the first telescopic section is rotatably connected to the first head, which is the other end of the lifting arm.

3. The apparatus according to claim 2, characterized in that, The device body also includes a first hydraulic rod, the first lifting section is fixedly connected to the first hydraulic rod, and the first hydraulic rod is connected to the first driving device.

4. The apparatus according to claim 2, characterized in that, The first head includes: a first head body, a movable gripper, and a fixed gripper. The end of the first head body is rotatably connected to the head of the first telescopic section. The fixed gripper and the movable gripper are disposed opposite to each other on the top of the first head body. Anti-slip pads are provided on the opposite surfaces of the fixed gripper and the movable gripper.

5. The apparatus according to claim 4, characterized in that, The end of the first head body is rotatably connected to the head of the first telescopic section via a first bearing.

6. The apparatus according to claim 1, characterized in that, The push-pull arm includes: a second lifting section, a second telescopic section, and a second head; the second lifting section is disposed inside the main body of the device; The first side of the main body of the device is also provided with a second groove extending in a preset vertical direction. The tail of the second telescopic section extends into the interior of the main body of the device through the second groove and is rotatably connected to the second lifting section. The head of the second telescopic section is rotatably connected to the second head, which is the other end of the push-pull arm.

7. The apparatus according to claim 6, characterized in that, The device body also includes a second hydraulic rod, which is fixedly connected to the second lifting section and is used to connect to the second drive device.

8. The apparatus according to claim 6, characterized in that, The second head includes a second head body and a suction cup. The first end of the second head body is rotatably connected to the head of the second telescopic section, and the suction cup is fixedly disposed on the second end of the second head body.

9. The apparatus according to claim 6, characterized in that, The tail end of the second telescopic section is rotatably connected to the second lifting section via a second bearing, and the head end of the second telescopic section is rotatably connected to the second head via a third bearing.

10. The apparatus according to claim 1, characterized in that, The template positioning and placement also includes: an anti-tipping bracket; one of the anti-tipping brackets is respectively set at the front and rear of the main body of the device in the preset walking direction.

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