Automatic aligning and hinging device and method for whole-section steel truss girder

Abstract

The invention discloses an automatic aligning and hinging device and method for a whole-section steel truss girder. The device comprises a main cable transverse opposite-pulling system, a monitoring system, a hoisting system, a local aligning auxiliary tool, an adjusting control system, a temporary hinging device and a fine adjusting device. The monitoring system collects data such as spatial positions and attitude angles of the steel truss girder sections in real time and feeds back information to the adjusting control system; the adjusting control system generates a control instruction based on the information, coordinates the hoisting system to adjust the overall posture and position of the steel truss girder, controls the temporary hinge device to realize flexible connection of the upper chord, and controls the fine adjustment device at the lower chord interface to automatically adjust the longitudinal position and the vertical elevation to ensure accurate closure; the local alignment auxiliary tool is used for solving the problem of difficulty in butt joint of individual rod pieces; the main cable transverse opposite-pulling system dynamically adjusts transverse deviation of the main cable, the stable structure in the hoisting process is guaranteed, all the systems work cooperatively, and efficient, safe and full-automatic alignment and hinging of the whole section of steel truss girder are achieved.

Description

Technical Field

[0001] This invention belongs to the field of bridge construction technology, and more specifically, relates to an automatic alignment hinge device and method for a whole segment of steel truss girder. Background Technology

[0002] As bridge engineering develops towards longer spans and heavier loads, steel truss structures, due to their high strength, lightweight, and adaptability to complex working conditions, have become the preferred solution for key projects such as cable-stayed bridges for both road and rail use and cross-sea bridges. In the construction of long-span steel truss bridge structures, the splicing process of the steel beams requires extremely high construction precision, especially during the mid-span splicing. Excessive splicing errors can affect the overall stiffness and strength of the beams, and may even compromise the safety of the bridge. Traditional construction methods typically rely on large hoisting equipment and manual adjustments at height, resulting in lower connection accuracy. Furthermore, these methods require manual operation and are easily affected by environmental and weather factors, potentially leading to significant accuracy deviations. This not only results in low efficiency and high costs but also poses safety risks. Summary of the Invention

[0003] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides an automatic alignment and hinge device and method for whole-segment steel trusses. By utilizing a GPS measurement system and an inclinometer or other monitoring system, the position and orientation of each steel truss segment are monitored and fed back in real time. The adjustment and control system controls the temporary hinge device and the fine-tuning device to automatically splice the steel trusses together, thereby achieving efficient, safe, and fully automatic alignment and hinge functions for whole-segment steel trusses.

[0004] To achieve the above objectives, according to one aspect of the present invention, an automatic alignment and hinged connection method for a whole segment of steel truss girder is provided, comprising the following specific steps:

[0005] S100: Install the first main cable transverse tie system in the middle of the span;

[0006] S200: Assemble the lifting gear and install an inclinometer on it. After the lifting gear is assembled, it is connected to the lower frame of the cable crane through a spreader beam. The cable crane lifts the lifting gear to an appropriate height, adjusts its posture, and moves to transport the lifting gear to the beam segment to be lifted.

[0007] S300: A GPS system and an inclinometer are installed on the steel truss girder segment to be hoisted. The pre-assembled steel truss girder segment is transported to the hoisting position using a beam transport trolley. Then, a cable crane is used to slowly lower the hook so that the lower end of the lifting device is connected to the lifting lug of the upper chord of the steel truss girder, and pins and safety devices are installed.

[0008] S400: Lifting steel truss segments. During the process, the bridge deck GPS system and inclinometer monitor the position and attitude of each steel truss segment in real time. The inclinometer of the lifting equipment system monitors the angle deviation of the lifting equipment in real time and feeds the monitoring data back to the adjustment and control system. The position and movement of the lifting system are automatically adjusted in real time to ensure that the steel truss reaches the design position accurately.

[0009] S500: After being hoisted to the design position, the upper chord is temporarily hinged and dynamically adjusted using a temporary hinge device. At the same time, a fine-tuning device is installed on the lower chord to adjust the vertical elevation. When the lower chord gradually closes, the intelligent hydraulic jacks on the tie rods are activated according to the monitoring data to assist in completing the closure and connection of the lower chord.

[0010] S600: After the pre-set number of mid-span beam segments are symmetrically erected, the second and third main cable transverse tie systems are symmetrically installed behind the newly erected beam segment. Continue to erect subsequent beam segments according to steps S300 to S600 until the closure is completed.

[0011] S700: Complete the splicing and alignment of all erected steel truss segments and the connection of the main truss high bolts, the welding of the bridge deck, and remove the temporary hinge devices and fine-tuning devices through tooling measures.

[0012] Further, step S400 includes:

[0013] S401: Use a cable crane to vertically lift the entire steel truss section to a position 10-20cm above the design elevation and connect the permanent slings;

[0014] S402: Data is collected in real time through a monitoring system, specifically,

[0015] (1) The position of the hoisted steel truss is tracked in real time by the GPS system, the absolute elevation of the four corners of the steel truss is measured by the GPS, the inclination angle of the steel truss in the X and Y directions and the inclination angle of the hoisting device are measured by the inclination meter, and the data information is fed back to the adjustment and control system.

[0016] (2) The specific location, node elevation and deviation of the steel truss beam are measured in real time using a total station;

[0017] S403: The adjustment and control system receives multi-source data from GPS, inclinometer, and total station, calculates the height difference of the four corners of the top surface of the steel truss, the rotation angle of the bridge deck axis, and the height difference between the two ends of the lifting equipment, and quickly identifies any positional deviation and tilting posture of the steel truss segment. If the adjustment and control system detects that the steel truss segment is tilted or deviates from the design trajectory, the adjustment and control system activates the adjustment mechanism to adjust the tension of the lifting equipment in a timely manner, and recalibrates the angle and position of the lifting equipment and the steel truss segment to ensure that the steel truss segment can be lifted smoothly and accurately to the design position during the lifting process.

[0018] Furthermore, the height difference between the four corners of the top surface of the steel truss beam in step S403 is calculated as follows:

[0019] Change in corner elevation caused by inclination angle:

[0020] △H i，倾角 =tan(θ) x )·x i +tan(θ y )·y i

[0021] Measured elevation difference at corner i:

[0022] △h i =H i -△H i，倾角

[0023] Calculate the relative height difference of the four corners using corner point 1 as the reference:

[0024] δh j =△h j -△h1(j=2,3,4)

[0025] Among them, H i The absolute elevation of corner point i is measured by GPS; i = 1, 2, 3, 4 correspond to the four corner points; θx, θy are the longitudinal bridge X-axis and transverse bridge Y-axis tilt angles measured by the inclinometer; (x i y i () represents the local coordinates of the corner point relative to the center of the beam;

[0026] Furthermore, the rotation angle of the bridge deck axis in step S403 is calculated as follows:

[0027] Design axis vector:

[0028]

[0029] Measured axis vector:

[0030]

[0031] Where (X1,Y1) and (X2,Y2) are the planar coordinates of the two GPS control points before hoisting; (X1′,Y1′) and (X2′,Y2′) are the measured planar coordinates of the same two GPS points during hoisting;

[0032] Calculate the rotation angle Δα using the formulas for the cross product and dot product of vectors:

[0033]

[0034] Final rotation angle:

[0035] △α=atan2(sin(△α),cos(△α))

[0036] Furthermore, the height difference between the two ends of the lifting device in step S403 is obtained by measuring the angle with an inclinometer and the dimensions of the lifting device during the lifting process:

[0037] △h=L·sin0

[0038] Where L is the total length of the lifting device, and θ is the inclination angle of the midpoint of the lifting device.

[0039] Furthermore, the temporary hinge device is dynamically adjusted in step S500 as follows:

[0040] (1) Rotation angle and bending moment control: The hydraulic locking force of the dynamic locking pin is obtained based on data from displacement and torque sensors to limit the rotation angle and bending moment, and avoid overload.

[0041]

[0042] Where θ is the angle data of the miniature displacement sensor, F lock K is the hydraulic locking force for dynamically locking the pin. p K d For proportional and differential gain;

[0043] When M≥M allow When this occurs, an emergency lockout is triggered, where M represents torque sensor data.

[0044] (2) Lateral displacement adjustment: The lateral sliding of the connecting plate is achieved by an electric linear actuator.

[0045] V=K p (x target -x)+K i ∫(x target -x)dt

[0046] Where, x target Let x be the target displacement, x be the actual displacement, and V be the driver control voltage.

[0047] Furthermore, the fine-tuning device is aligned and adjusted in step S500 as follows:

[0048] (1) Vertical elevation adjustment

[0049]

[0050] F support =F jack -W segment

[0051] Wherein: F jack For the lifting force of the jack, F supportThe top support reaction force is EI, the flexural stiffness of the beam segment is L, the span is ρ, the material density is A, and the cross-sectional area is W. segment The self-weight of the segment is given by Δh, which is the height difference between the two beam segments at the lower chord.

[0052] The lifting force of the jack at time t is dynamically adjusted using PID control.

[0053]

[0054] Among them, K p K i K d This is the gain coefficient;

[0055] (2) Closure and docking

[0056] Closure conditions:

[0057] |△L|≤δ tol

[0058] Where, δ tol Tolerance;

[0059]

[0060] Where ΔL is the longitudinal misalignment, T is the tension of the tie rod, K is the stiffness coefficient, and C is the damping coefficient.

[0061] Furthermore, it also includes using chain hoists and small tooling to assist in the local assembly and alignment of members when it is difficult to align some chords / diagonal members after the overall alignment of the steel truss girder segments is completed.

[0062] According to another aspect of the present invention, the present invention provides an automatic alignment hinge device for a whole segment steel truss girder, used to implement the steps of the automatic alignment hinge method for a whole segment steel truss girder as described in any of the above claims, including:

[0063] The main cable lateral tensioning system includes high-strength steel strands, hydraulic jacks and special cable clamps. The two ends of the steel strands are anchored to the main cable cable clamps, and the hydraulic jacks are set in the middle for dynamic tension adjustment. At least three main cable lateral tensioning systems are arranged in stages at the mid-span and behind the symmetrically erected beam segments to form multi-level lateral constraints.

[0064] The hoisting system, including cable cranes and lifting equipment, is used to hoist the steel truss and adjust its position and attitude.

[0065] A temporary hinge device is used to achieve a temporary flexible connection of the upper chord. It includes a hinge pin system, a dynamic locking pin, and a layered connecting plate. The hinge pin system integrates a miniature displacement sensor and a torque sensor to monitor the rotation angle and bending moment load in real time. The upper sliding plate of the connecting plate is controlled to slide laterally by an electric linear actuator, and the lower fixed plate is connected to the steel truss beam by high-strength bolts. The dynamic locking pin is hydraulically driven to adjust the locking force and automatically lock the hinged state.

[0066] The fine-tuning device, located at the lower chord interface, includes an intelligent hydraulic jack, an adaptive anti-jacking support, and a tie rod, used to automatically adjust the vertical elevation of adjacent beam segments to be erected and already erected beam segments and align and close them.

[0067] The monitoring system, including a GPS system, a total station, and an inclinometer, is used to monitor the spatial attitude, elevation, axis deflection, and tilt angle of the steel truss girder segments in real time, so as to achieve dynamic monitoring of the entire process and continuous data collection.

[0068] The adjustment and control system, including the control unit and human-machine interface, is used to receive data from the monitoring system and generate instructions to control the hoisting system, temporary articulation device and fine-tuning device to coordinate their actions, so as to realize the position and attitude adjustment, dynamic alignment and closing locking of the steel truss girder segments.

[0069] Furthermore, it also includes: local alignment auxiliary tooling, including chain hoists and small tooling, for lateral or longitudinal assembly and alignment when local chord / diagonal member alignment is difficult.

[0070] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0071] 1. The automatic alignment and hinge device for whole-segment steel truss girders of the present invention collects data such as the spatial position, attitude angle, interface deviation, and lifting tool tilt angle of the steel truss girder segments in real time through a monitoring system, and feeds the information back to the adjustment and control system to generate control commands. This coordinates the lifting system to adjust the overall attitude and position of the steel truss girder, controls the temporary hinge device to achieve flexible connection of the upper chord, and allows moderate rotation between segments to adapt to docking requirements. It also controls the fine-tuning device at the lower chord joint to automatically adjust the longitudinal position and vertical elevation to ensure precise closure. The coordinated linkage between the components forms a closed-loop control process of "perception-analysis-decision-execution", realizing high-precision automatic alignment and hinge of the steel truss girder segments and ensuring smooth erection.

[0072] 2. The automatic alignment and hinge device for whole-section steel truss beams of the present invention automatically adjusts the docking status through an automatic monitoring system and a human-machine interface, while also supporting manual intervention. Construction personnel can remotely operate the equipment, reducing the risk of accidents during high-altitude operations and hoisting, and ensuring construction safety.

[0073] 3. The automatic alignment and hinge device for whole-section steel truss beams of the present invention reduces labor and material costs through automated operation, while improving construction efficiency and reducing overall costs. Attached Figure Description

[0074] Figure 1 This is a schematic diagram of a lifting device system for an automatic alignment hinged joint device for an integral steel truss girder according to an embodiment of the present invention, used for lifting steel truss girders.

[0075] Figure 2 This is a schematic diagram of the temporary hinge of the upper chord of a steel truss beam according to an embodiment of the present invention, which is an automatic alignment hinge device for an entire steel truss beam.

[0076] Figure 3 This is a schematic diagram of the lower chord alignment fine-tuning device of a steel truss girder in an embodiment of the present invention, which is an automatic alignment hinge device for a whole segment steel truss girder.

[0077] Figure 4 This is a schematic diagram of the GPS system and inclinometer layout of an automatic alignment hinge device for a whole section of steel truss girder according to an embodiment of the present invention.

[0078] Figure 5 This is a schematic diagram showing the placement of the inclination meter of the lifting device for an automatic alignment hinged device for an entire steel truss girder segment, according to an embodiment of the present invention.

[0079] Figure 6 This is a flowchart of an automatic alignment and hinged connection method for a whole segment steel truss beam according to an embodiment of the present invention.

[0080] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1-cable crane, 2-lifting tool, 3-lifting lug, 4-temporary articulation device, 5-beam segment to be erected, 6-beam segment already erected, 7-lower chord interface, 8-intelligent hydraulic jack, 9-adaptive anti-jacking support, 10-pull rod, 11-bracket, 12-GPS system, 13-tilt meter. Detailed Implementation

[0081] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0082] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0083] In this invention, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0084] Example 1

[0085] This invention provides an automatic alignment and hinge device for a whole-segment steel truss girder, including a main cable transverse tensioning system, a monitoring system, a hoisting system, local alignment auxiliary tooling, an adjustment and control system, a temporary hinge device, and a fine-tuning device.

[0086] The main cable lateral tensioning system includes high-strength steel strands, hydraulic jacks, and specialized cable clamps. The two ends of the steel strands are anchored to the main cable clamps, and hydraulic jacks are installed in the middle for tension adjustment, dynamically controlling the lateral deviation of the main cable to ensure that the temporary lateral rotation angle of the suspenders at the steel truss girder interface meets design requirements. During the mid-span steel truss girder erection phase, three main cable lateral tensioning systems are installed in stages to form multi-level constraints and improve overall stability. The specific installation timing of the main cable lateral tensioning system is as follows:

[0087] (1) The first main cable transverse tie system is installed in the middle of the span. The tie system is retained from the cable clamp installation stage.

[0088] (2) Symmetrically erect a predetermined number (e.g., 10-12) of steel truss beam segments;

[0089] (3) The second and third main cable transverse tie systems are symmetrically installed behind the newly erected beam segment;

[0090] (4) Continue to erect subsequent beam segments until closure.

[0091] The monitoring system includes a GPS system 12, a total station, and an inclinometer 13. From lifting to docking completion, it continuously collects data, achieving dynamic monitoring throughout the entire process and feeding the data back to the adjustment and control system. The GPS system is deployed at key nodes of the steel truss girder. These locations typically include, but are not limited to, both ends of the steel truss girder and certain specific structural points in the middle, to ensure comprehensive coverage of the spatial attitude of the entire steel truss girder segment. It monitors the position, elevation, and bridge deck axis deflection of the steel truss girder segment in real time. Inclinometers are also deployed at the corners of the steel truss girder segments, such as... Figure 4 The diagram shown is a schematic of the GPS system and inclinometer layout on the bridge deck.

[0092] The hoisting system includes a cable crane 1 and a lifting device 2, the lower end of which is connected to the upper chord lifting lug 3 of the steel truss (e.g., ...). Figure 1 As shown), a single-direction inclinometer 13 is installed at the midpoint of the lifting device (as shown). Figure 5 As shown, it realizes tilt sensing and feedback control during the hoisting process, and receives instructions from the adjustment and control system to adjust the position and height of the hoisting points in real time to maintain the balance of the steel truss beam.

[0093] The local alignment auxiliary tooling includes a chain hoist and small tooling, used for lateral or longitudinal assembly and alignment when it is difficult to align local chords / diagonal members.

[0094] The temporary hinge device 4 includes a hinge pin system, a dynamic locking pin, and a connecting plate, used to achieve a temporary flexible connection of the upper chord (e.g., Figure 2 As shown, this design allows for moderate rotation and movement between steel truss segments, preventing excessive bending moments or internal forces while maintaining flexibility. It provides necessary alignment adjustment space for each segment during hoisting, ensuring precise final connection until the connection is complete and secured. The articulated pin system uses a combination of high-strength alloy steel articulated pins and self-lubricating bearings, internally integrating a miniature displacement sensor (accuracy 0.1mm) and a torque sensor to monitor rotation angle (±15° range) and bending moment load in real time. The connecting plate adopts a layered design; the upper sliding plate is a transverse slide rail with a PTFE wear-resistant coating (adjustment range ±50mm), with horizontal displacement controlled by an electric linear actuator. The lower fixing plate is connected to the steel truss segments via high-strength bolts. The dynamic locking pins are hydraulically driven; adjusting the locking force automatically locks the articulated state.

[0095] The fine-tuning device is located at the lower chord interface 7, and includes an intelligent hydraulic jack 8, an adaptive anti-jacking support 9, and a pull rod 10 (e.g., Figure 3 (As shown). The intelligent hydraulic jack 8 and the adaptive anti-jacking support 9 form a vertical adjustment device to adjust the vertical elevation of adjacent beam segments 5 to be erected and 6 already erected. When there is a deviation on both sides, the intelligent hydraulic jack is installed on the side that is too high, and the adaptive anti-jacking support is installed on the side that is too low. The GPS system 12 on the steel truss beam provides feedback data, and under the command of the adjustment control system, the elevation of the steel truss beams on both sides is automatically adjusted to be consistent. The tie rod 10 adjusts the longitudinal position to achieve precise alignment of the lower chord interface 7. During the erection process, the upper chord is hinged through the temporary hinge device 4. As the steel truss beam is erected, the lower chord gradually closes. According to the monitoring data of the monitoring system, when it is close to closing, the tie rod is used to control the automatic closure and docking of the lower chord of the steel truss beam through the intelligent hydraulic jack.

[0096] The adjustment and control system includes a control unit and a human-machine interface. It receives feedback data from the monitoring system and generates control commands to control the actions of actuators such as the hoisting system, temporary articulation device, and fine-tuning device. It automatically adjusts the posture of the hoisting equipment to ensure that the height difference at the four corners of the hoisted steel truss bridge deck and the bridge deck axis meet the hoisting requirements during the hoisting process. It ensures that the steel truss segments can accurately reach the design position, automatically adjusts the flexible connection and angle adaptive adjustment of the temporary articulation device and locks the steel truss on both sides, and automatically adjusts the fine-tuning device to accurately complete the vertical and longitudinal docking of the beam segments. At the same time, the adjustment and docking status is displayed on the human-machine interface, and manual intervention is supported.

[0097] Example 2

[0098] like Figure 6 As shown, based on the above-described device, this embodiment of the invention provides a method for automatic alignment and hinged connection of an entire steel truss segment, comprising the following specific steps:

[0099] S100: Install the first main cable lateral tie-down system at the mid-span: High-strength steel strands are installed on both sides of the main cable at the mid-span and anchored to the main cable using special cable clamps. Hydraulic jacks are installed in the middle of the steel strands to adjust the tension and dynamically control the lateral offset of the main cable. Tension adjustment ensures that the lateral rotation angle of the suspenders at the steel truss girder interface meets design requirements.

[0100] S200: Assemble the lifting gear and install an inclinometer on it. After the lifting gear is assembled, it is connected to the lower frame of the cable crane through a spreader beam. The cable crane lifts the lifting gear to an appropriate height, adjusts its posture, and moves to transport the lifting gear to the beam segment to be lifted.

[0101] S300: A GPS system and inclinometer (e.g., ...) are installed on the steel truss segment to be hoisted. Figure 3 As shown), the position, elevation and bridge deck axis deflection angle of the steel truss are monitored in real time. The pre-assembled steel truss segments are transported to the lifting position using a beam transport trolley. Then, a cable crane is used to slowly lower the hook so that the lower end of the lifting device is connected to the upper chord lifting lug of the steel truss and the pin and safety device are installed.

[0102] S400: During the lifting of steel truss segments, the bridge deck GPS system and inclinometer monitor the position and attitude of each segment in real time. The inclinometer on the lifting equipment system also monitors the angular deviation of the lifting equipment in real time. This monitoring data is fed back to the adjustment and control system, which automatically adjusts the position and actions of the lifting system in real time to ensure the steel truss accurately reaches the design position, including:

[0103] S401: Use a cable crane to vertically lift the entire steel truss section to a position 10-20cm above the design elevation, reserving operational space for subsequent permanent sling connection and attitude fine-tuning;

[0104] S402: Data is collected in real time through a monitoring system, specifically,

[0105] (1) The position of the hoisted steel truss is tracked in real time by the GPS system, the absolute elevation of the four corners of the steel truss is measured by the GPS, the inclination angle of the steel truss in the X and Y directions and the inclination angle of the hoisting device are measured by the inclination meter, and the data information is fed back to the adjustment and control system.

[0106] (2) The specific location, node elevation and deviation of the steel truss beam are measured in real time using a total station high-precision measuring tool.

[0107] The total station can accurately measure the horizontal, vertical, and connection accuracy of the steel truss girder during the erection process, ensuring that each segment of the steel truss girder maintains correct alignment and levelness. When a steel truss girder segment is about to be connected with the next segment, the measuring instrument will calculate the deviation between the two segments in real time and feed it back to the adjustment and control system, so that the hoisting equipment can make fine adjustments within a precise range to ensure that the segments can be accurately connected and achieve error-free connection.

[0108] Specific control measures:

[0109] At appropriate elevations on the upstream and downstream axes of the suspension bridge, a steel beam axis observation station is set up on each bank to observe the steel beam axis on the top surface of the upper chord of the segment being hoisted. Before the steel beam is hoisted, a triangular mark with a white base and red outline is affixed to the top surface of the axis of each segment.

[0110] A measuring station and a backsight point are set up on the cable tower in a direction perpendicular to the bridge axis. A fixed scale is set up on both the upstream and downstream sides of the top surface of the cable tower. During hoisting, the total station is set up at the measuring station, the backsight is aligned, and the reading on the fixed scale is directly read. This reading is then compared with the initial reading to obtain the offset value. The measuring station and backsight point must be set up firmly and reliably, and the scale numbers must be clear and easy to find.

[0111] S403: The adjustment and control system receives multi-source data from GPS, inclinometer, and total station, calculates the height difference at the four corners of the top surface of the steel truss, the rotation angle of the bridge deck axis, and the height difference between the two ends of the lifting equipment, and quickly identifies any positional deviation and tilting posture of the steel truss segment. If the adjustment and control system detects that the steel truss segment is tilted or deviates from the design trajectory, the adjustment and control system activates the adjustment mechanism to adjust the tension of the lifting equipment in a timely manner, and recalibrates the angle and position of the lifting equipment and the steel truss segment to ensure that the steel truss segment can be smoothly and accurately lifted to the design position during the lifting process.

[0112] The elevation difference at the four corners of the top surface of the steel truss beam is calculated using the absolute elevation measured by GPS and the inclination angles in the X and Y directions measured by an inclinometer, as follows:

[0113] Change in corner elevation caused by inclination angle:

[0114] △H i，倾角=tan(θ) x )·x i +tan(θ y )·y i

[0115] Measured elevation difference at corner i:

[0116] △h i =H i -△H i，倾角

[0117] Relative height difference at the four corners (based on corner point 1):

[0118] δh j =△h j -△h1(j=2,3,4)

[0119] Among them, H i Here, θx and θy represent the absolute elevation of corner point i as measured by GPS (i = 1, 2, 3, 4 correspond to the four corner points), and the inclination angles X (longitudinal bridge direction) and Y (transverse bridge direction) as measured by the inclinometer; (x i y i Let (x1, y1) be the local coordinates of the corner point relative to the center of the beam, where (x1, y1) = (L... x / 2,L y / 2); (x2, y2) = (L x / 2, -L y / 2); (x3, y3) = (-L x / 2,L y / 2); (x4, y4) = (-L x / 2, -L y / 2); L x L y For the steel beam length (longitudinal direction) and width (transverse direction),

[0120] The rotation angle of the bridge deck axis is calculated by comparing the measured GPS azimuth angles during the hoisting process with the two GPS azimuth angles before the start of hoisting, as follows:

[0121] Design axis vector:

[0122]

[0123] Measured axis vector:

[0124]

[0125] Where (X1,Y1) and (X2,Y2) are the plane coordinates (design values) of the two GPS control points before hoisting, and (X1′,Y1′) and (X2′,Y2′) are the measured plane coordinates of the same two GPS points during hoisting;

[0126] Calculate the rotation angle Δα using the formulas for the cross product and dot product of vectors:

[0127]

[0128] Final rotation angle:

[0129] △α=atan2(sin(△α),cos(△α))

[0130] The height difference between the two ends of the lifting device is obtained by measuring the angle with an inclinometer and the dimensions of the lifting device during the lifting process.

[0131] △h=L·sin0

[0132] Where L is the total length of the lifting device, and θ is the inclination angle of the midpoint of the lifting device.

[0133] If the height difference or tilt angle exceeds the threshold, the adjustment and control system will be triggered to adjust the tension of the slings through the PID algorithm, thereby adjusting the position and attitude of the steel truss girder to ensure that the height difference at the four corners of the bridge deck and the bridge deck axis meet the hoisting requirements.

[0134] S500: After being hoisted to the design position, a temporary hinge device is used to temporarily hinge and dynamically adjust the upper chord. Simultaneously, a fine-tuning device is installed on the lower chord for vertical elevation adjustment. With each new steel truss segment being hoisted, it is connected to the previously erected segment via the temporary hinge device. As the lower chord gradually closes, intelligent hydraulic jacks on the tie rods are activated based on monitoring data to assist in completing the lower chord's closure and connection. For vertical deviations, adaptive anti-jacking supports and intelligent hydraulic jacks are used for adjustment.

[0135] The temporary hinge device is aligned and adjusted as follows:

[0136] (1) Rotation angle and bending moment control: The hydraulic locking force of the dynamic locking pin is obtained based on data from displacement and torque sensors to limit the rotation angle and bending moment, and avoid overload.

[0137]

[0138] When M≥M allow At that time, an emergency lockout was triggered.

[0139] Where θ represents the angle data from the miniature displacement sensor, and M represents the torque sensor data; F lock K is the hydraulic locking force for dynamically locking the pin. p K d For proportional and differential gains.

[0140] (2) Lateral displacement adjustment: The connecting plate can be laterally slid by ±50mm via an electric linear actuator.

[0141] V=K p (x target -x)+K i ∫(x target -x)dt

[0142] Where, x target x is the target displacement (from the alignment requirement), x is the actual displacement (sensor feedback), and V is the driver control voltage.

[0143] The fine-tuning device is aligned and adjusted as follows:

[0144] (1) Vertical elevation adjustment

[0145]

[0146] F support =F jack -W segment

[0147] Wherein: F jack For the lifting force of the jack, F support The top support reaction force is EI, the flexural stiffness of the beam segment is L, the span is ρ, the material density is A, and the cross-sectional area is W. segment The value is the segment's self-weight, and Δh is the height difference between the two beam segments at the lower chord.

[0148] The lifting force of the jack at time t is dynamically adjusted using PID control.

[0149]

[0150] Among them, K p K i K d This is the gain coefficient.

[0151] (2) Closure and docking

[0152] Closure conditions:

[0153] |△L|≤δ tol

[0154] Where, δ tol This is the allowable error.

[0155]

[0156] Where ΔL is the longitudinal misalignment, T is the tension of the tie rod, K is the stiffness coefficient, and C is the damping coefficient.

[0157] S600: After the overall alignment of the steel truss girder segments is completed, if it is difficult to align some chords / diagonal members, a chain hoist + small tooling is used to assist in the local assembly and alignment of the members. Specifically, a 10t chain hoist is installed diagonally on the top surface of the two chords to be connected. Tightening the chain hoist can adjust the position of the members.

[0158] S700: After 11 beam segments are erected symmetrically in the mid-span, the second and third main cable transverse tie systems are symmetrically installed behind the newly erected beam segments. The subsequent beam segments are erected according to steps S300 to S600 until the closure is completed.

[0159] S800: Complete the splicing and alignment of all erected steel truss segments and the connection of the main truss high bolts, the welding of the bridge deck, and remove the temporary hinge devices and fine-tuning devices through tooling measures.

[0160] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for automatic alignment and hinged connection of a whole segment of steel truss girder, characterized in that, The specific steps include the following: S100: Install the first main cable transverse tie system in the middle of the span; S200: Assemble the lifting gear and install an inclinometer on it. After the lifting gear is assembled, it is connected to the lower frame of the cable crane through a spreader beam. The cable crane lifts the lifting gear to an appropriate height, adjusts its posture, and moves to transport the lifting gear to the beam segment to be lifted. S300: A GPS system and an inclinometer are installed on the steel truss girder segment to be hoisted. The pre-assembled steel truss girder segment is transported to the hoisting position using a beam transport trolley. Then, a cable crane is used to slowly lower the hook so that the lower end of the lifting device is connected to the lifting lug of the upper chord of the steel truss girder, and pins and safety devices are installed. S400: Lifting steel truss segments. During the process, the bridge deck GPS system and inclinometer monitor the position and attitude of each steel truss segment in real time. The inclinometer of the lifting equipment system monitors the angle deviation of the lifting equipment in real time and feeds the monitoring data back to the adjustment and control system. The position and movement of the lifting system are automatically adjusted in real time to ensure that the steel truss reaches the design position accurately. S500: After being hoisted to the design position, the upper chord is temporarily hinged and dynamically adjusted using a temporary hinge device. At the same time, a fine-tuning device is installed on the lower chord to adjust the vertical elevation. When the lower chord gradually closes, the intelligent hydraulic jacks on the tie rods are activated according to the monitoring data to assist in completing the closure and connection of the lower chord. S600: After the pre-set number of mid-span beam segments are symmetrically erected, the second and third main cable transverse tie systems are symmetrically installed behind the newly erected beam segment. Continue to erect subsequent beam segments according to steps S300 to S600 until the closure is completed. S700: Complete the splicing and alignment of all erected steel truss segments and the connection of the main truss high bolts, the welding of the bridge deck, and remove the temporary hinge devices and fine-tuning devices through tooling measures.

2. The automatic alignment and hinged connection method for a whole segment steel truss girder according to claim 1, characterized in that, Step S400 includes: S401: Use a cable crane to vertically lift the entire steel truss section to a position 10-20cm above the design elevation and connect the permanent slings; S402: Data is collected in real time through a monitoring system, specifically, (1) The position of the hoisted steel truss is tracked in real time by the GPS system, the absolute elevation of the four corners of the steel truss is measured by the GPS, the inclination angle of the steel truss in the X and Y directions and the inclination angle of the hoisting device are measured by the inclination meter, and the data information is fed back to the adjustment and control system. (2) The specific location, node elevation and deviation of the steel truss beam are measured in real time using a total station; S403: The adjustment and control system receives multi-source data from GPS, inclinometer, and total station, calculates the height difference at the four corners of the top surface of the steel truss, the rotation angle of the bridge deck axis, and the height difference between the two ends of the lifting equipment, and quickly identifies any positional deviation and tilting posture of the steel truss segment. If the adjustment and control system detects that the steel truss segment is tilted or deviates from the design trajectory, the adjustment and control system activates the adjustment mechanism to adjust the tension of the lifting equipment in a timely manner, and recalibrates the angle and position of the lifting equipment and the steel truss segment to ensure that the steel truss segment can be smoothly and accurately lifted to the design position during the lifting process.

3. The automatic alignment and hinged connection method for a whole segment steel truss girder according to claim 2, characterized in that, The height difference between the four corners of the top surface of the steel truss beam in step S403 is calculated as follows: Change in corner elevation caused by inclination angle: △H i，倾角 =tan(θ x )·x i +tan(θ y )·and i Measured elevation difference at corner i: Δh i =H i -ΔH i，倾角 Calculate the relative height difference of the four corners using corner point 1 as the reference: δh j =△h j -△h1(j=2,3,4) Among them, H i The absolute elevation of corner point i is measured by GPS; i = 1, 2, 3, 4 correspond to the four corner points; θx, θy are the longitudinal bridge X and transverse bridge Y tilt angles measured by the inclinometer; (x i y i ) represents the local coordinates of the corner point relative to the center of the beam.

4. The automatic alignment and hinged connection method for a whole segment steel truss girder according to claim 3, characterized in that, The rotation angle of the bridge deck axis in step S403 is calculated as follows: Design axis vector: Measured axis vector: Where (X1,Y1) and (X2,Y2) are the planar coordinates of the two GPS control points before hoisting; (X1′,Y1′) and (X2′,Y2′) are the measured planar coordinates of the same two GPS points during hoisting; Calculate the rotation angle Δα using the formulas for the cross product and dot product of vectors: Final rotation angle: Δα=atan2(sin(Δα),cos(Δα)).

5. The automatic alignment and hinged connection method for a whole segment steel truss girder according to claim 4, characterized in that, The height difference between the two ends of the lifting device in step S403 is obtained by measuring the angle with an inclinometer and the dimensions of the lifting device during the lifting process. Δh=L·sinθ Where L is the total length of the lifting device, and θ is the inclination angle of the midpoint of the lifting device.

6. The automatic alignment and hinged connection method for a whole segment steel truss girder according to claim 1, characterized in that, The temporary hinge device is dynamically adjusted in step S500 as follows: (1) Rotation angle and bending moment control: The hydraulic locking force of the dynamic locking pin is obtained based on data from displacement and torque sensors to limit the rotation angle and bending moment, and avoid overload. Where θ is the angle data of the miniature displacement sensor, F lock K is the hydraulic locking force for dynamically locking the pin. p K d For proportional and differential gain; When M≥M allow When this occurs, an emergency lockout is triggered, where M represents torque sensor data; (2) Lateral displacement adjustment: The lateral sliding of the connecting plate is achieved by an electric linear actuator. V=K p (x target -x)+K i ∫(x target -x)dt Where, x target Let x be the target displacement, x be the actual displacement, and V be the driver control voltage.

7. The automatic alignment and hinged connection method for a whole segment steel truss girder according to claim 6, characterized in that, The fine-tuning device is aligned and adjusted in step S500 as follows: (1) Vertical elevation adjustment F support =F jack -W segment Wherein: F jack For the lifting force of the jack, F support The top support reaction force is EI, the flexural stiffness of the beam segment is L, the span is ρ, the material density is A, and the cross-sectional area is W. segment The self-weight of the segment is given by Δh, which is the height difference between the two beam segments at the lower chord. The lifting force of the jack at time t is dynamically adjusted using PID control. Among them, K p K i K d This is the gain coefficient; (2) Closure and docking Closure conditions: |ΔL|≤δ tol Where, δ tol Tolerance; Where ΔL is the longitudinal misalignment, T is the tension of the tie rod, K is the stiffness coefficient, and C is the damping coefficient.

8. A method for automatic alignment and hinged connection of a whole segment steel truss girder according to any one of claims 1-7, characterized in that, It also includes using chain hoists and small tooling to assist in the local assembly and alignment of members when it is difficult to align some chords / diagonal members after the overall alignment of the steel truss girder segments is completed.

9. An automatic alignment hinge device for a whole-segment steel truss girder, used to implement the steps of the automatic alignment hinge method for a whole-segment steel truss girder as described in any one of claims 1-8, characterized in that, include: The main cable lateral tensioning system includes high-strength steel strands, hydraulic jacks and special cable clamps. The two ends of the steel strands are anchored to the main cable cable clamps, and the hydraulic jacks are set in the middle for dynamic tension adjustment. At least three main cable lateral tensioning systems are arranged in stages at the mid-span and behind the symmetrically erected beam segments to form multi-level lateral constraints. The hoisting system includes a cable crane (1) and a lifting device (2) for hoisting the steel truss and adjusting its position and attitude; A temporary hinge device (4) is used to realize a temporary flexible connection of the upper chord, including a hinge pin system, a dynamic locking pin, and a layered connecting plate. The hinge pin system integrates a micro displacement sensor and a torque sensor to monitor the rotation angle and bending moment load in real time. The upper sliding plate of the connecting plate is controlled to slide laterally by an electric linear actuator, and the lower fixed plate is connected to the steel truss beam by high-strength bolts. The dynamic locking pin is hydraulically driven to adjust the locking force and automatically lock the hinge state. The fine-tuning device, located at the lower chord interface (7), includes an intelligent hydraulic jack (8), an adaptive anti-jacking support (9), and a tie rod (10), which is used to automatically adjust the vertical elevation of the adjacent beam segments to be erected (5) and the beam segments already erected (6) and align and close them. The monitoring system includes a GPS system (12), a total station and an inclinometer (13), which are used to monitor the spatial attitude, elevation, axis deflection and tilt angle of the steel truss girder segments in real time, realize dynamic monitoring of the whole process and continuously collect data; The adjustment and control system, including the control unit and human-machine interface, is used to receive data from the monitoring system and generate instructions to control the hoisting system, temporary articulation device and fine-tuning device to coordinate their actions, so as to realize the position and attitude adjustment, dynamic alignment and closing locking of the steel truss girder segments.

10. The automatic alignment hinge device for a whole-segment steel truss girder according to claim 9, characterized in that, Also includes: Partial alignment auxiliary tools, including chain hoists and small tools, are used for lateral or longitudinal assembly and alignment when it is difficult to align local chords / diagonal members.

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