Intelligent cable hoisting system and method without tower-rock anchor system

Abstract

An intelligent cable hoisting system without a tower-rock anchor system comprises a cable system, an anchorage, a winch and an intelligent monitoring command center. The cable system is connected with the anchorage through the sports car, and it is ensured that rope force is effectively transmitted to the anchorage in the cable hoisting process. The anchor is designed to be of a pre-stressed anchor structure, the pre-stressed anchor is directly anchored on a mountain, damage to the ecological environment is reduced, the green, low-carbon and environment-friendly construction concept is positively responded, and in addition, the pre-stressed anchor has high bearing capacity, can adapt to tension of different bearing cables, and is high in safety coefficient and small in risk; and the winch is connected with the hoisting cable and the traction cable of the cable system, so that the hoisting frame body can be rapidly and stably lifted and moved, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of bridge construction, and in particular relates to a tower-free rock anchor system intelligent cable hoisting system and method. Background Art

[0002] Bridges are important infrastructure in my country. With the development of bridge construction and the increasingly complex topography, large-span steel tube concrete arch bridges are mostly constructed by cable lifting method in current bridge construction. The cable lifting construction method has the advantages of strong vertical lifting capacity and long horizontal transportation distance. The arch ribs can be lifted to the designed position through the cable lifting system to achieve the closure of the steel tube concrete arch bridge.

[0003] However, during the arch rib hoisting process, the construction operation space will be greatly limited due to geographical factors, affecting the construction progress. In addition, due to the heavy weight of the arch rib hoisting, there are safety risks in the cable hanging anchor and the stability is lacking. In addition, the traditional cable hoisting method relies entirely on manual construction experience for command, and the hoisting accuracy and arch rib line shape are difficult to guarantee, and the degree of hoisting automation and informatization is low. Summary of the invention

[0004] The present invention provides a tower-free rock anchor system intelligent cable hoisting system and method, which can effectively solve the problems in the background technology.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A tower-free rock anchor system intelligent cable hoisting system, the intelligent cable hoisting system has a cable mechanism; the cable mechanism has a load-bearing cable, a lifting cable, a traction cable and a running car; the load-bearing cable is divided into two groups, and the two groups of load-bearing cables are respectively anchored on the anchoring systems on both sides of the bridge span; two running cars are arranged on each group of load-bearing cables, and the running cars are connected by connecting ropes; the verticality of the load-bearing cable is adjusted by a cable adjustment mechanism; the cable adjustment mechanism includes a rope clamp and a sliding rotating wheel, the load-bearing cable passes through the sliding rotating wheel of the cable adjustment mechanism, and the load-bearing cable is fixed by the rope clamp;

[0007] The anchor system is a prestressed anchor structure, the anchor center is on the center line of a single arch rib, and includes an anchoring steering wheel, an anchor beam, a prestressed anchor cable and an embedded part; the anchor beam is fixed to the anchor concrete surface by welding with the embedded part, and is anchored by a prestressed anchor cable; the anchor beam includes a main cable anchor beam and a traction hoist cable anchor beam, and a connection system is arranged between the main cable anchor beam and the traction hoist cable anchor beam to support the bottom surface of the anchor; the traction hoist cable anchor beam has a hole on the side surface through which a pin shaft is passed for the traction cable steering wheel anchor point;

[0008] The winch includes a hoisting rope winch and a traction rope winch, and the hoisting and traction of the cable hoisting system are realized by the winch; the hoisting rope winch adopts a drum winch, and the traction rope winch adopts a friction winch; a guide device is arranged in front of the winch platform to adjust the rope entry angle of the hoisting traction rope to avoid friction and collision when the hoisting traction rope enters the winch from the anchor;

[0009] The hoisting rope is led out from the hoisting rope winch on the long-distance shore, turned by the anchoring steering wheel, wound around the sports car in a fixed 6, moving 5, walking 10 manner, and anchored at the short-distance shore anchor; the traction rope passes through the traction rope winch and adopts a walking 4 arrangement;

[0010] The intelligent cable lifting system is also equipped with an intelligent monitoring and command center; the intelligent monitoring and command center includes a GNSS monitoring station, a wind speed monitor, a cable tension sensor, a winch monitoring system and a PLC main control platform. Through optical fiber transmission or radio transmission, the information of each intelligent monitoring device is processed and analyzed, and then all are integrated into the large screen of the monitoring and command center and the remote platform PC, realizing the interaction of big data of arch rib segment lifting, and ensuring intelligent monitoring and smart supervision of the entire process of arch rib installation and construction.

[0011] The GNSS monitoring station is installed on the cable hoist car, and locates the cable hoist car by collecting the motion coordinates of the car in real time, detects the running track of the car throughout the whole process, and realizes data interaction with the PLC main control platform. The wind speed monitor is installed on the anchor, which can measure the wind speed in real time, and display the current wind speed data and wind direction. It can be remotely monitored and managed through the Internet to realize all-weather detection of cable hoisting; the cable force sensor includes a lateral pressure sensor and a pin-type sensor. A lateral pressure sensor is installed at the end of the load-bearing cable, and a pin-type sensor is installed on the steering pulley of the traction cable and the lifting cable to monitor the tension of the wire rope in real time to ensure construction safety; the winch detection system can calculate the running speed, rope output, brake interlock and other signals of the winch in real time, and output DP signals to the PLC main control platform through the encoder to control and protect the running status of the winch.

[0012] A method for hoisting an intelligent cable without a tower-rock anchor system is as follows:

[0013] (1) Obtain the initial position coordinates and target position coordinates of the component lifting point through the GNSS monitoring station to form the target motion trajectory;

[0014] (2) During the arch rib hoisting process, the actual coordinates of the hoisting points are collected at a set frequency to obtain

[0015] Several coordinate points (x i , z i ), and generate the actual motion trajectory after fitting;

[0016] Specifically, the fitting is performed on a number of coordinate points to generate n functions f j (x) including:

[0017]

[0018] Where i is the subscript of the coordinate point, with a value from 1 to n; j is the number of fitting functions, with a value from 1 to n; a 10 to a n(n-1) To solve the coefficients;

[0019] The horizontal coordinate x of several actual coordinates will be collected i Substitute into function f respectively j (x), when i = j, f j (x i )=1; when i≠j, f j (x i )=0; that is:

[0020]

[0021] Solve for the constant coefficients in n functions and generate the fitting curve f(x):

[0022]

[0023] (3) By comparing and analyzing the target motion trajectory and the actual motion trajectory, and transmitting the deviation information of the two motion trajectories to the PLC main control platform, the hoisting machine operating parameters are regulated and the actual motion trajectory is corrected until the arch rib is hoisted to the target position to ensure the arch rib linear shape. Specifically, the horizontal and vertical coordinates of the target trajectory lifting point are subtracted from the horizontal and vertical coordinates of the actual trajectory lifting point to obtain the difference Δx and Δz of the corresponding lifting points. According to the difference, the horizontal movement distance Δx of the traction cable hoist and the vertical movement distance Δz of the lifting cable hoist are controlled respectively;

[0024] (4) By obtaining the x-axis component of the traction cable winch and the z-axis component of the hoisting cable winch at the time of acquisition, the relationship functions x(t) and z(t) of each component and time are established respectively; then the speed sensor of the winch detection system is extracted to obtain the relationship functions S1(t) and S2(t) of the actual speed of the traction hoisting cable winch and time; in order to eliminate the deviation caused by the cable hoisting arch rib and ensure the assembly line of the arch rib, it is necessary to superimpose the compensation rotation speed f1(t) and f2(t) of the winch to realize accurate deviation correction control during the hoisting process;

[0025]

[0026] Among them, R1 is the rotation radius of the traction rope winch, m; R2 is the rotation radius of the lifting rope winch, m.

[0027] The intelligent cable lifting method can run this calculation program on the PLC main control platform processor, store the calculation results, and execute the above method.

[0028] The present invention proposes a tower-free rock anchor system intelligent cable hoisting system and method, which adopts the above technical solution and has the following beneficial effects:

[0029] 1. A tower-free rock anchor system intelligent cable hoisting system uses prestressed rock anchors to directly anchor on the mountain, saving construction space, reducing damage to the environment, actively responding to the green, low-carbon and environmentally friendly construction concept, and effectively solving the problem of small construction sites and insufficient working surface space. After the anchor system of the present invention uses prestressed anchor cables, it has a strong bearing capacity, can adapt to the size of different load-bearing cable tensions, has a high safety factor and low risk.

[0030] 2. The cable hoisting provided by the present invention realizes the integration of multiple disciplines such as computers, communications, networks, sensors, etc. through the intelligent monitoring and command center, and has the characteristics of high digitization, informatization, and visualization; the computer data processing algorithm optimizes the hoisting process in real time, effectively improving the hoisting accuracy and bridge quality, and the entire process of arch rib installation realizes intelligent monitoring and intelligent supervision.

[0031] 3. An intelligent cable hoisting method provided by the present invention obtains the initial position coordinates and target position coordinates of the hoisting point through a GNSS monitoring station to form a target motion trajectory F(x); the actual motion trajectory f(x) is obtained by fitting the actual hoisting point coordinates; the two are compared and analyzed to determine the deviation from the target motion trajectory F(x); the winch speed is controlled by the PLC main control platform according to the deviation to achieve accurate deviation correction of the cable hoisting process without stopping the hoisting. After the deviation correction is completed, the hoisting process is carried out again. This hoisting method ensures the hoisting accuracy and greatly improves the hoisting efficiency, shortens the construction period, and has obvious social benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 The overall layout diagram of the intelligent cable hoisting system of the present invention;

[0033] Figure 2-1 , 2-2 It is the arrangement diagram of the load-bearing cables according to the present invention;

[0034] Figure 3 It is a diagram of the arrangement of the lifting cables according to the present invention;

[0035] Figure 4 This is a traction rope arrangement diagram of the present invention;

[0036] Figure 5 This is a layout diagram of the anchoring system described in the present invention;

[0037] Figure 6 for Figure 5 1-1 cross-sectional view.

[0038] Figure 7 This is a flow chart of the cable hoisting intelligent control system of the present invention;

[0039] Figure 8 This is a schematic diagram of the intelligent deviation correction principle of cable hoisting described in the present invention.

[0040] 1. Cable mechanism, 11. Load-bearing rope, 12. Lifting rope, 13. Traction rope, 14. Sports car, 111a. Rope clamp, 111b. Sliding rotating wheel, 141. Connecting rope;

[0041] 2. Anchoring system, 21. Anchoring wheel, 21a. Bearing cable anchoring wheel, 21b. Towing cable anchoring wheel, 21c. Hoisting cable anchoring wheel, 22. Steering wheel, 22b. Towing cable anchoring steering wheel, 22c. Hoisting cable anchoring steering wheel, 23. Anchor beam, 23a. Bearing cable anchor beam; 23b. Towing hoisting cable anchor beam, 24. Prestressed anchor cable, 25. Embedded parts;

[0042] 3. winch, 31. hoisting rope winch, 32. traction rope winch;

[0043] 4. Intelligent monitoring and command center, 41. GNSS displacement detection system, 42. Wind speed monitor, 43. Cable tension sensor, 44. Winch detection system, 45. PLC main control platform, 45a. Remote platform PC terminal, 45b. Command center large screen, 46. Data encoder, 47. Satellite transmitter, 48. Visual intelligent equipment. DETAILED DESCRIPTION

[0044] The following is a detailed description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] In this embodiment, Figure 1 As shown: This embodiment proposes a tower-free rock anchor system intelligent cable hoisting system and method, including a cable mechanism 1, an anchoring system 2, a winch 3 and an intelligent monitoring command center 4.

[0046] like Figures 3 to 5 As shown: the cable mechanism 1 includes a load-bearing cable 11, a lifting cable 12, a traction cable 13 and a sports car 14.

[0047] Furthermore, if Figure 3As shown: the load-bearing cables 11 are made of φ56mm (6×37S+FC) steel wire ropes, each group of cables consists of 8 steel wire ropes, the load-bearing cables 11 are supported by the anchoring system 2, and the load-bearing cables 11 are respectively anchored on the anchoring system 2 on both sides of the bridge span, two running cars 14 are arranged on each group of load-bearing cables 11, and the running cars are connected by a connecting rope 141, and the connecting rope is φ26mm (6×37S+FC) steel wire rope. At the anchoring end, each load-bearing cable 11 is fixed with a rope clamp 111a after the steel wire rope is passed around the load-bearing cable anchoring wheel 21a set at the end of the anchor box, and the verticality of the load-bearing cable 11 is adjusted by the rope adjusting mechanism 111.

[0048] Specifically, Figure 3 As shown, the cable adjusting mechanism 111 includes a rope clamp 111a and a sliding rotating wheel 111b. The load-bearing cable 11 passes through the sliding rotating wheel 111b of the cable adjusting mechanism 111, and the rope clamp 111a is used to fix the load-bearing cable 11. There are 14 groups of rope clamps 111a in total, and the spacing between the first 13 groups of rope clamps must be no less than 6 times the diameter of the wire rope. In this embodiment, the rope clamp spacing is set to 400mm, and the last group of rope clamps (on the side away from the anchoring system) is provided with a safety bend 111c with a spacing of 800mm.

[0049] Furthermore, if Figure 4 As shown: the hoisting cable 12 adopts φ22mm (6×37S+FC) steel wire rope, which is led out from the hoisting winch 31 of the large mileage shore, turned by the hoisting cable anchoring steering wheel 22c, and wound around the sports car 14 in a fixed 6 dynamic 5 walking 10 manner, and anchored in the anchoring system 2 of the small mileage shore.

[0050] Furthermore, if Figure 5 As shown: the traction rope 13 adopts φ26mm (6×37S+FC) steel wire rope, which is led out from the traction rope winch 32, and adopts a 4-way layout at the sports car 14, passes through the traction rope anchoring steering wheel 22b, and is connected to the traction rope winch 32.

[0051] like Figure 6 As shown, the anchor system 2 is designed as a prestressed anchor structure. The anchor 2 uses C30 concrete with a thickness of 50 cm. The anchor center is on the center line of the single arch rib. The anchor system 2 includes an anchor wheel 21, a steering wheel 22, an anchor beam 23, a prestressed anchor cable 24 and an embedded part 25.

[0052] Furthermore, the anchoring wheel 21 includes a load-bearing cable anchoring wheel 21a, a traction cable anchoring wheel 21b and a lifting cable anchoring wheel 21c; the steering wheel 22 includes a traction cable anchoring steering wheel 22b and a lifting cable anchoring steering wheel 22c, which are set to 20t; the anchor beam 23 includes a load-bearing cable anchor beam 23a and a traction and lifting cable anchor beam 23b, the load-bearing cable anchor beam 23a is arranged vertically, the traction and lifting cable anchor beam 23b is arranged horizontally, and a hole is opened on its side to pass a pin shaft for the traction cable steering wheel anchor point.

[0053] The anchor beam 23 is fixed to the concrete surface of the anchor 2 by welding with the embedded part 25, and is anchored by a prestressed anchor cable 24. Steel bars are arranged near the anchor beam, inserted into the concrete, and welded to the anchor beam to increase the shear resistance of the anchor.

[0054] The prestressed anchor cable 24 has 6 bundles of 9φ15.2 prestressed steel strands obliquely arranged at both ends of the load-bearing cable anchor beam 23a, wherein the prestressed anchor cable at the top of the load-bearing cable anchor beam 23a has a designed tonnage of 150T and a designed tonnage of 150T at the bottom; 3 bundles of 9φ15.2 prestressed steel strands are arranged at the traction hoisting cable anchor beam 23b, and the designed tonnage of each hole is 120T.

[0055] The angle of the prestressed anchor cable is adjusted according to the actual terrain, and the inclination angle is controlled at about 65°. The length of the 150T anchor cable is 34m, and the length of the 120T anchor cable is 30m. After the prestressed anchor cable is tensioned, it needs to be left to stand for 3 days before the load-bearing cable is anchored. If the anchor slips during the static process, additional tensioning is required.

[0056] The winch 3 includes a hoisting rope winch 31 and a traction rope winch 32, and the hoisting and traction of the cable hoisting system are achieved through the winch.

[0057] The hoisting rope winch 31 is a drum-type winch, and the traction rope winch 32 is a friction-type winch.

[0058] A guide device is arranged in front of the winch platform to adjust the rope entry angle of the lifting traction rope to avoid friction and collision when the lifting traction rope enters the winch from the anchor.

[0059] like Figure 7 As shown, the intelligent monitoring and command center 4 includes a GNSS displacement detection system 41, a wind speed monitor 42, a cable force sensor 43, a winch detection system 44 and a PLC main control platform 45. By adopting an intelligent control system for cable hoisting, the arch rib hoisting process is monitored in real time, the stress condition of the cable mechanism is dynamically sensed, and real-time data interaction and all-round control of the cable crane are achieved.

[0060] The GNSS displacement monitoring system 41 is installed on the cable-suspended sports car 14 , and locates the cable-suspended sports car by collecting the motion coordinates of the sports car 14 in real time, and detects the running trajectory of the sports car throughout the whole process, thereby realizing data interaction with the PLC main control platform 45 .

[0061] Furthermore, the GNSS displacement monitoring system 41 includes three parts: 1 GNSS base station, 2 GNSS monitoring stations and a monitoring center. After the GNSS monitoring system completes data collection, the corresponding data encoder 46 performs data signal analysis and conversion, and realizes data interaction through a satellite transmitter 47. The satellite data is transmitted wirelessly to a PLC main control platform 45. The PLC main control platform 45 performs logic judgment, threshold warning, data storage and other procedures to calculate the longitudinal and lateral displacements of the concrete arch bridge, thereby achieving the effect of precise correction of the arch rib assembly.

[0062] Furthermore, the wind speed monitor 42 is installed on the anchor, and can measure the wind speed in real time, and display the current wind speed data and wind direction, and perform remote monitoring and management through the Internet, thereby realizing all-weather detection of cable lifting.

[0063] Specifically, the wind speed monitor 42 can accurately monitor each segment of the arch rib hoisting. When the wind speed reaches above level 6, the threshold warning system of the PLC main control platform 45 is turned on, an alarm is sounded, and construction work is stopped.

[0064] Furthermore, the cable tension sensor 43 includes a lateral pressure sensor and a pin-type sensor. A lateral pressure sensor is installed at the end of the load-bearing cable 11, and a pin-type sensor is installed on the steering pulleys of the traction cable 12 and the lifting cable 13 to dynamically sense the cable tension of the cable mechanism and ensure construction safety.

[0065] Specifically, the data monitored by the rope tension sensor 43 is calculated and wirelessly transmitted to the PLC main control platform 45 through the data encoder 46. The PLC main control platform 45 sets the parameters of the rated tension of the wire rope and sets the overload alarm point. If the set threshold is exceeded, a forecast warning and shutdown interlocking function can be output.

[0066] Furthermore, the winch detection system 44 can calculate the operating speed, rope output, brake interlock and other signals of the winch 3 in real time, and output the DP signal to the PLC main control platform 45 through the data encoder 46 to control and protect the operating status of the winch.

[0067] Specifically, if an overspeed or overtravel state occurs, the PLC main control platform 45 participates in the control of the winch 3 mechanism, stops the winch, and can continue to operate after the fault is eliminated and reset. The alarm information and status can be displayed on the remote platform PC terminal 45a or the command center large screen 45b. In addition, the winch detection system 44 includes a brake detection switch, which can monitor the action status of the brake in real time, record the action of the brake, and display the current opening and closing status of the brake and interlocking protection in real time.

[0068] Furthermore, the PLC main control platform 45 can receive signals from the GNSS displacement detection system 41, the wind speed monitor 42, the cable tension sensor 43, and the winch detection system 44 through the satellite transmitter 47, and perform analysis and processing such as logical judgment, threshold warning and data storage on the signals, and transmit the cable lifting dynamic image to the remote terminal 45a or the command center large screen 45b through the visual intelligent device 48, thereby realizing remote wireless data signal visualization operation.

[0069] Furthermore, the present invention also provides an intelligent cable hoisting method, and the specific implementation scheme is as follows:

[0070] (1) The initial position coordinates and target position coordinates of the component lifting point are obtained through the GNSS monitoring station to form the target motion trajectory F(x).

[0071] The initial position coordinates are the arch rib hoisting position, and the target position coordinates are the arch rib closure position in the mid-span. The target motion trajectory F(x) is obtained according to the actual construction conditions and environment of the cable hoisting.

[0072] (2) During the arch rib hoisting process, the actual coordinates of the two crane hoisting points are collected at a set frequency to obtain several coordinate points, and the actual motion trajectory f is generated after fitting. j (x), and predict the coordinates of the downward lifting point according to the actual motion trajectory, and compare them with the lifting point coordinates of the target motion trajectory to determine the deviation between the two. It should be pointed out that when the arch rib segment is hoisted, the horizontal movement along the longitudinal direction and the vertical movement along the height direction have the greatest impact on the arch rib line shape. Therefore, a plane coordinate system in the x-axis direction and the z-axis direction is established to collect the required lifting point coordinates and obtain several actual coordinate points (x i , z i ).

[0073] In this embodiment, the actual coordinates (x i , z i ) is substituted into the actual motion trajectory f(x) to form n polynomial functions. The obtained fitting function takes 1 at the horizontal coordinate of the corresponding hanging point, and the fitting function at other positions takes 0, that is, when i=j, f j (x i)=1; when i≠j, f j (x i )=0.

[0074] Specifically, the coordinates of three hanging points are collected for detailed description:

[0075] When the first point (x1, z1) is collected, substitute the actual motion trajectory f1(x), and set f1(x1)=1, f1(x2)=f1(x3)=0:

[0076]

[0077] According to the above boundary conditions, we can solve for a 10 、a 11 and a 12 , and get the first curve f1(x). Similarly, when the second point (x2, z2) is collected, substitute the actual motion trajectory f2(x), and let f2(x2) = 1, f2(x1) = f2(x3) = 0;

[0078]

[0079] According to the above boundary conditions, we can solve for a 20 、a 21 and a 22 , and get the second curve f2(x). Similarly, when the third point (x3, z3) is collected, substitute the actual motion trajectory f3(x), and let f3(x3)=1, f3(x1)=f3(x2)=0;

[0080]

[0081] According to the above boundary conditions, we can solve for a 30 、a 31 and a 32 , and the third curve f3(x) is obtained. By collecting the actual coordinates of the three hanging points, according to the boundary conditions, three actual motion trajectories f1(x), f2(x) and f3(x) are obtained. The three curves are multiplied by the ordinates of the corresponding hanging points, and after superposition, the final fitting smooth curve is obtained: f(x) = z1f1(x) + z2f2(x) + z3f3(x). Similarly, when the coordinates of n actual hanging points are collected, n (n-1)-order polynomials can be formed. The coordinates of the n actual hanging points are substituted into the n curves. According to the boundary conditions, n solution curves are obtained. The n solution curves are multiplied by the ordinates of the corresponding actual hanging points, and after superposition, the motion trajectory curve f(x) passing through the n actual hanging points is obtained.

[0082] (3) By comparing and analyzing the target motion trajectory and the actual motion trajectory, the deviation information of the two motion trajectories is transmitted to the PLC main control platform 45, so as to adjust the operating parameters of the winch 3 and correct the actual motion trajectory until the arch rib is hoisted to the target position.

[0083] Specifically, the horizontal and vertical coordinates of the target trajectory lifting point are subtracted from the horizontal and vertical coordinates of the actual trajectory predicted lifting point to obtain the difference (Δx, Δz) of the corresponding lifting points, and the horizontal movement distance Δx of the traction cable winch and the vertical movement distance Δz of the lifting cable winch are controlled according to the difference.

[0084] The method for calculating the horizontal and vertical coordinates of the actual trajectory prediction suspension point is as follows: Figure 8 As shown in the figure, when collecting the actual lifting point, the coordinate points are collected at a fixed frequency, that is, the time intervals between the two collection points are equal. By multiplying the equal time interval by the rotation speed of the traction rope winch, the horizontal coordinate x of the predicted lifting point can be obtained. i , according to the actual motion trajectory f(x) obtained by fitting, the ordinate z of the corresponding predicted hanging point is obtained i , that is, the coordinates of the predicted hanging point are (x i , z i ).

[0085] Furthermore, in order to achieve precise control of the linear shape of the cable hoisting arch rib, it is necessary to introduce a time parameter t, superimpose a compensating rotation speed on the winch, and transform the control of the x-axis component and the z-axis component of the cable lifting point into the control of the rotation speed of the traction cable winch and the lifting cable winch. The control of the rotation speed of the winch 3 can be achieved by the PLC main control platform 45.

[0086] Specifically, by obtaining the x-axis component of the traction cable winch and the z-axis component of the hoisting cable winch at the time of acquisition, the relationship functions x(t) and z(t) of each component and time are established respectively; then the speed sensor of the winch detection system is extracted to obtain the relationship functions S1(t) and S2(t) of the actual speed of the traction hoisting cable winch and time. In order to eliminate the deviation caused by the cable hoisting arch rib and ensure the assembly line of the arch rib, a compensating rotation speed f1(t) and f2(t) need to be superimposed on the winch to achieve precise deviation correction control during the hoisting process.

[0087]

[0088] Among them, R1 is the rotation radius of the traction rope winch, m; R2 is the rotation radius of the lifting rope winch, m.

[0089] Preferably, the intelligent cable lifting method provided by the present invention can run this calculation program on the PLC main control platform 45 processor, store the calculation results, and execute the above method.

[0090] Preferably, the deviation correction principle of this embodiment is as follows: if the predicted lifting point position according to the actual motion trajectory f(x) is higher than the corresponding lifting point position of the target motion trajectory F(x), a compensation speed can be superimposed on the hoisting cable winch through the PLC main control platform 45, so that the speed of the hoisting cable winch is reduced, and accurate deviation correction of the arch rib hoisting is achieved. It is worth noting that the compensation speed should be adjusted in real time according to the actual deviation values ​​Δx and Δz to ensure that the x-axis component and the z-axis component correspond to the time relationship, so as to achieve smooth and safe hoisting of the arch rib. The above is only a preferred specific implementation of the present invention, and does not limit the patent scope of the present invention. Although the present invention has been described in detail through the above preferred embodiments, ordinary technicians in the relevant field should understand that various changes, modifications, substitutions and variations can be made to the specific implementation of the present invention with reference to the above embodiments, which are all included in the patent protection scope of the present invention.

Claims

1. A tower-free rock anchor system intelligent cable hoisting system, characterized by: The intelligent cable hoisting system has a cable mechanism; the cable mechanism has a load-bearing cable, a lifting cable, a traction cable and a running car; the load-bearing cable is divided into two groups, and the two groups of load-bearing cables are respectively anchored on the anchoring systems on both sides of the bridge span; two running cars are arranged on each group of load-bearing cables, and the running cars are connected by connecting ropes; the verticality of the load-bearing cable is adjusted by a cable adjustment mechanism; the cable adjustment mechanism includes a rope clamp and a sliding rotating wheel, the load-bearing cable passes through the sliding rotating wheel of the cable adjustment mechanism, and the load-bearing cable is fixed by the rope clamp; The anchor system is a prestressed anchor structure, the anchor center is on the center line of a single arch rib, and includes an anchoring steering wheel, an anchor beam, a prestressed anchor cable and an embedded part; the anchor beam is fixed to the anchor concrete surface by welding with the embedded part, and is anchored by a prestressed anchor cable; the anchor beam includes a main cable anchor beam and a traction hoist cable anchor beam, and a connection system is arranged between the main cable anchor beam and the traction hoist cable anchor beam to support the bottom surface of the anchor; the traction hoist cable anchor beam has a hole on the side surface through which a pin shaft is passed for the traction cable steering wheel anchor point; The winch includes a hoisting rope winch and a traction rope winch, and the hoisting and traction of the cable hoisting system are realized by the winch; the hoisting rope winch adopts a drum winch, and the traction rope winch adopts a friction winch; a guide device is arranged in front of the winch platform to adjust the rope entry angle of the hoisting traction rope to avoid friction and collision when the hoisting traction rope enters the winch from the anchor; The hoisting rope is led out from the hoisting rope winch on the long-distance shore, turned by the anchoring steering wheel, wound around the sports car in a fixed 6, moving 5, walking 10 manner, and anchored at the short-distance shore anchor; the traction rope passes through the traction rope winch and adopts a walking 4 arrangement; The intelligent cable lifting system is also equipped with an intelligent monitoring and command center; the intelligent monitoring and command center includes a GNSS monitoring station, a wind speed monitor, a cable tension sensor, a winch monitoring system and a PLC main control platform. Through optical fiber transmission or radio transmission, the information of each intelligent monitoring device is processed and analyzed, and then all are integrated into the large screen of the monitoring and command center and the remote platform PC, realizing the interaction of big data of arch rib segment lifting, and ensuring intelligent monitoring and smart supervision of the entire process of arch rib installation and construction.

2. The intelligent cable hoisting system without tower and rock anchor system as claimed in claim 1, characterized in that: The GNSS monitoring station is installed on the cable hoist car. It locates the cable hoist car by collecting the motion coordinates of the car in real time, detects the running trajectory of the car throughout the whole process, and realizes data interaction with the PLC main control platform; the wind speed monitor is installed on the anchor, which can measure the wind speed in real time, and display the current wind speed data and wind direction, and remotely monitor and manage through the Internet to realize all-weather detection of cable lifting; the cable force sensor includes a lateral pressure sensor and a pin-type sensor. A lateral pressure sensor is installed at the end of the load-bearing cable, and a pin-type sensor is installed on the steering pulley of the traction cable and the lifting cable to monitor the tension of the wire rope in real time to ensure construction safety; the winch detection system can calculate the running speed, rope output, brake interlock and other signals of the winch in real time, and output DP signals to the PLC main control platform through the encoder to control and protect the running status of the winch.

3. A method for hoisting using a tower-free rock anchor system intelligent cable hoisting system according to any one of claims 1 to 2, characterized in that ：： (1) Obtain the initial position coordinates and target position coordinates of the component lifting point through the GNSS monitoring station. Forming a target motion trajectory; (2) During the arch rib hoisting process, the actual coordinates of the hoisting points are collected at a set frequency to obtain several coordinate points (x i , z i ), and generate the actual motion trajectory after fitting; Specifically, the fitting is performed on a number of coordinate points to generate n functions f j (x) including: Where i is the subscript of the coordinate point, with a value from 1 to n; j is the number of fitting functions, with a value from 1 to n; a 10 to a n(n-1) To solve the coefficients; The horizontal coordinate x of several actual coordinates will be collected i Substitute into function f respectively j (x), when i = j, f j (x i )=1; when i≠j, f j (x i )=0; that is: Solve for the constant coefficients in n functions and generate the fitting curve f(x): (3) By comparing and analyzing the target motion trajectory and the actual motion trajectory, and transmitting the deviation information of the two motion trajectories to the PLC main control platform, the hoisting machine operating parameters are regulated and the actual motion trajectory is corrected until the arch rib is hoisted to the target position to ensure the arch rib linear shape. Specifically, the horizontal and vertical coordinates of the target trajectory lifting point are subtracted from the horizontal and vertical coordinates of the actual trajectory lifting point to obtain the difference Δx and Δz of the corresponding lifting points. According to the difference, the horizontal movement distance Δx of the traction cable hoist and the vertical movement distance Δz of the lifting cable hoist are controlled respectively; (4) By obtaining the x-axis component of the traction cable winch and the z-axis component of the hoisting cable winch at the time of acquisition, the relationship functions x(t) and z(t) of each component and time are established respectively; then the speed sensor of the winch detection system is extracted to obtain the relationship functions S1(t) and S2(t) of the actual speed of the traction hoisting cable winch and time; in order to eliminate the deviation caused by the cable hoisting arch rib and ensure the assembly line of the arch rib, it is necessary to superimpose the compensation rotation speed f1(t) and f2(t) of the winch to realize accurate deviation correction control during the hoisting process; Among them, R1 is the rotation radius of the traction rope winch, m; R2 is the rotation radius of the lifting rope winch, m.

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