Bidirectional telescopic clamping type U-shaped segmental beam automatic lifting device and construction method thereof

Abstract

The present invention discloses a bidirectional telescopic clamping type U-shaped segment beam automatic lifting appliance and its construction method, which includes a rotary lifting box, a bidirectional amplitude-changing mechanism, a lateral telescopic clamping mechanism, a matching balance beam, and a longitudinal telescopic clamping mechanism; the lower end of the rotary lifting box is connected to the bidirectional amplitude-changing mechanism, which is used for large-angle rotation of the lifted U-shaped segment beam in the horizontal direction; the lower end of the bidirectional amplitude-changing mechanism is hinged to the lateral telescopic clamping mechanism, the bidirectional amplitude-changing mechanism is configured to control the horizontal inclination angle of its lower structure, the lateral telescopic clamping mechanism is configured to perform lateral positioning of the U-shaped segment beam, the matching balance beam is fixed on the lateral telescopic clamping mechanism and is used for bearing the U-shaped segment beam, and the longitudinal telescopic clamping mechanism is configured to perform longitudinal positioning of the U-shaped segment beam. The present invention solves the problems of labor-intensive, low efficiency, and high safety risks in the whole process of hoisting operation of U-shaped segment beams.

Description

Technical Field

[0001] The present invention relates to the field of segmental beam lifting and handling equipment. More specifically, the present invention relates to a bidirectional telescopic clamping type U-shaped segmental beam automatic sling and its construction method. Background Art

[0002] The U-shaped beam is a new product in urban transportation, having excellent structural mechanical properties. The structure itself has the function of blocking wheel-rail noise, and can shorten the construction period and reduce the project cost. The application of the U-shaped segmental beam in the segmental assembly process has broad application prospects in the precast segmental beam precast and assembly construction.

[0003] In the prior art, when the U-shaped segmental beam is transported, a sling with a precision rolled threaded steel suspension rod is generally used for hoisting. When installing the sling, manual assistance is required for alignment to make the precision rolled threaded steel suspension rod pass through the lifting holes reserved on the bottom plate or the two side top plates of the U-shaped segmental beam. Then, manual installation and pre-tightening of the end anchor fittings are carried out under the bottom plate or under the two side top plates. After the lifting equipment hoists the lifted U-shaped segmental beam to the designated position, it is necessary to manually remove the end anchor fittings under the bottom plate or under the two side top plates. The lifting equipment lifts the sling to the next working position to complete a hoisting operation.

[0004] For the traditional U-shaped segmental beam from the precast beam yard to the construction site and then to the installation position of the designated segment, it needs to go through multiple transfers and stackings, which means that the U-shaped segmental beam needs to experience repeated hoistings during the process from precast to use. There are problems such as cumbersome hoisting operation process, large number of construction personnel required, long hoisting period and safety hazards during a single hoisting. After repeated hoistings, it means problems such as long overall process operation period, too high labor cost and high safety risk. Summary of the Invention

[0005] The purpose of the present invention is to provide a bidirectional telescopic clamping type U-shaped segmental beam automatic sling and its construction method, which solves the problems of labor-intensive, low efficiency and high safety risk in the whole process hoisting operation of the U-shaped segmental beam.

[0006] The technical solution adopted by the present invention to solve this technical problem is: a bidirectional telescopic clamping type U-shaped segmental beam automatic sling, characterized in that it includes a rotary lifting box, a bidirectional luffing mechanism, a transverse telescopic clamping mechanism, a matching balance beam, and a longitudinal telescopic clamping mechanism;

[0007] The rotary hoisting box is connected to a two-way amplitude-changing mechanism at its lower end, which is used for large-angle rotation of the hoisted U-shaped segment girder in the horizontal direction; the lower end of the two-way amplitude-changing mechanism is hinged to a transverse telescopic clamping mechanism. The two-way amplitude-changing mechanism is configured to control the horizontal inclination angle of its lower structure, and the transverse telescopic clamping mechanism is configured to laterally position the U-shaped segment girder. The adapted balance beam is fixed to the transverse telescopic clamping mechanism and is used to bear the U-shaped segment girder. The longitudinal telescopic clamping mechanism is configured to longitudinally position the U-shaped segment girder.

[0008] Preferably, the rotary hoisting box includes: a hoisting box, a pulley block, a motor reduction unit, a rotary hoisting ear, and a rotary gear set;

[0009] The pulley block is arranged inside the hoisting box and is used for connecting the hoisting wire rope;

[0010] The motor reduction unit drives the rotary gear set, and the rotary gear set drives the rotary hoisting ear to perform large-angle rotation in the horizontal direction.

[0011] Preferably, the two-way amplitude-changing mechanism includes: a transverse amplitude-changing base, a transverse amplitude-changing balance beam, a transverse amplitude-changing oil cylinder, and a longitudinal amplitude-changing oil cylinder;

[0012] The upper part of the transverse amplitude-changing base is hinged to the rotary hoisting ear, and the lower part of the transverse amplitude-changing base is hinged to the transverse amplitude-changing balance beam; both ends of the transverse amplitude-changing oil cylinder are respectively hinged to the transverse amplitude-changing base and the transverse amplitude-changing balance beam and are used to adjust the transverse slope angle; both ends of the longitudinal amplitude-changing oil cylinder are respectively hinged to the transverse amplitude-changing balance beam and the transverse telescopic outer sleeve and are used to adjust the longitudinal slope angle.

[0013] Preferably, the transverse telescopic clamping mechanism includes: a transverse telescopic outer sleeve, a transverse telescopic inner sleeve, a transverse telescopic wear-resistant plate, a transverse clamping base, a transverse clamping column, and a transverse telescopic oil cylinder;

[0014] The upper part of the transverse telescopic outer sleeve is hinged to the transverse amplitude-changing balance beam, and the inner walls at both ends of the transverse telescopic outer sleeve are in contact and cooperation with two groups of transverse telescopic inner sleeves through the transverse telescopic wear-resistant plate; the transverse clamping base is arranged inside the end of the transverse telescopic inner sleeve, and the transverse clamping column is fixed above the transverse clamping base; both ends of the transverse telescopic oil cylinder are respectively hinged to the transverse telescopic outer sleeve and the transverse telescopic inner sleeve.

[0015] Preferably, two adapted balance beams are symmetrically arranged on the transverse telescopic inner sleeves at both ends. The adapted balance beam includes: a balance beam hinge base, a balance beam, an adapted load-bearing inclined surface, a balance beam first pin shaft, and a balance beam second pin shaft;

[0016] Above a balance beam, two groups of adaptable inclined planes are symmetrically fixed. Below the balance beam, a balance beam hinge base is fixed. The middle hole of the balance beam hinge base of one balance beam is hinged to the base of the corresponding horizontally telescopic inner sleeve through a first balance beam pin shaft, and the two end holes of the balance beam hinge base of the other balance beam are hinged to the base of the corresponding horizontally telescopic inner sleeve through two second balance beam pin shafts.

[0017] Preferably, there are four groups of longitudinal telescopic clamping mechanisms, and each longitudinal telescopic clamping mechanism includes: a longitudinal telescopic clamping mechanism bottom plate, a longitudinal telescopic linear bearing, a longitudinal telescopic L-shaped claw, and a longitudinal telescopic electric push rod.

[0018] The longitudinal telescopic clamping mechanism bottom plates are symmetrically installed below the horizontally telescopic outer sleeve; the longitudinal telescopic linear bearings are fixedly installed below the longitudinal telescopic clamping mechanism bottom plates, and the longitudinal telescopic L-shaped claws penetrate into the central holes of the longitudinal telescopic linear bearings; both ends of the longitudinal telescopic electric push rod are respectively hinged to the longitudinal telescopic clamping mechanism bottom plate and the longitudinal telescopic L-shaped claw, and are used to drive the action of the longitudinal telescopic clamping mechanism.

[0019] Preferably, it further includes a sensing system, which includes: a horizontal position radar probe, a longitudinal position radar probe, a vertical position distance sensor, a biaxial inclination sensor, a 360° panoramic camera, a displacement sensor, and a pressure sensor.

[0020] The horizontal position radar probes are symmetrically installed at the ends of the horizontally telescopic inner sleeve; the longitudinal position radar probe is installed at the bottom end of the longitudinal telescopic L-shaped claw; the vertical position distance sensors are symmetrically installed on the lower surface of the horizontally telescopic outer sleeve; the biaxial inclination sensor is installed on one side of the upper surface of the horizontally telescopic outer sleeve; the 360° panoramic camera is installed on the lower surface of the lifting suspension box.

[0021] Both the horizontally telescopic oil cylinder and the longitudinal telescopic electric push rod are equipped with displacement sensors, and the oil inlet and outlet of the horizontally telescopic oil cylinder are equipped with pressure sensors.

[0022] Preferably, it further includes an electro-hydraulic control system, which includes: a hydraulic pump station, an electro-hydraulic proportional control valve group, an electric control box, hydraulic pipelines, and communication lines.

[0023] The present invention also provides a construction method using the two-way telescopic clamping type U-shaped segment beam automatic lifting device, including the following steps:

[0024] 1) Use a lifting device to adjust the U-shaped segment beam automatic lifting device to a position above the U-shaped segment beam to be lifted.

[0025] 2) The displacement sensor monitors whether the stroke of the horizontally telescopic oil cylinder of the automatic lifting device is at the minimum, and whether the stroke of the longitudinal telescopic electric push rod is within the specified range. If so, slowly lower the lifting device.

[0026] 3) During the lowering process, the lateral position radar probe monitors whether the end of the spreader is approaching the upper top plates on both sides of the U-shaped segment beam. If not, continue to lower the spreader. The longitudinal position radar probe monitors whether the lower end of the longitudinally telescopic L-shaped claw is approaching the edge of the bottom plate of the U-shaped segment beam. If not, continue to lower the spreader. The vertical position distance sensor monitors the distance between the bottom of the spreader and the bottom plate of the U-shaped segment beam. When the specified distance range is reached, stop lowering the spreader;

[0027] 4) The longitudinally telescopic electric push rod retracts by a specified distance, and the longitudinally telescopic clamping mechanism clamps the lower bottom plate of the U-shaped segment beam. The laterally telescopic oil cylinder extends, driving the laterally telescopic clamping mechanism to clamp the upper top plates on both sides of the U-shaped segment beam. The pressure sensor monitors the pressure in the working chamber of the laterally telescopic oil cylinder to avoid excessive clamping force;

[0028] 5) The lifting equipment lifts the spreader, hoists the U-shaped segment beam above the specified position, and adjusts the horizontal rotation angle of the U-shaped segment beam according to the stacking or installation angle requirements by rotating the lifting suspension box;

[0029] 6) Slowly lower the spreader until the tension on the hoisting wire rope drops to the no-load tension, then the longitudinally telescopic electric push rod extends a certain distance, the longitudinally telescopic clamping mechanism releases the bottom plate of the U-shaped segment beam, the laterally telescopic oil cylinder retracts to the minimum stroke, and the laterally telescopic clamping mechanism releases the top plates on both sides of the U-shaped segment beam;

[0030] 7) The 360° panoramic camera monitors the position of the automated spreader relative to the U-shaped segment beam. If the lifting requirements are met, the lifting equipment slowly lifts the automated spreader to the specified height, completing one hoisting operation and preparing for the next hoisting operation.

[0031] Repeat steps 1)-7) for the next hoisting operation.

[0032] The present invention has at least the following beneficial effects:

[0033] 1. By using a 360° rotating lifting suspension box equipped with a two-way amplitude-changing mechanism, it can achieve a large range of adjustment of the horizontal rotation angle and real-time control of the lateral and longitudinal tilts during the hoisting operation of the U-shaped segment beam, effectively ensuring the attitude adjustment of the U-shaped segment beam during the hoisting process;

[0034] 2. By adopting a three-point support type balance beam structure with an adaptable inclined plane provided on the balance beam, it can adaptively contact the lower surfaces of the top plates on both sides of the U-shaped beam, realizing stable contact between the spreader and the U-shaped segment beam during the hoisting operation, eliminating the two processes of prefabricating and repairing the lifting holes;

[0035] 3. By adopting a two-way telescopic clamping mechanism, with a laterally telescopic sleeve carrying a clamping column and the longitudinal clamping mechanism arranged bilaterally symmetrically, it realizes the lateral and longitudinal positioning of the spreader relative to the U-shaped segment beam, eliminating the construction personnel for auxiliary alignment during the hoisting operation;

[0036] 4. Adopt a multi - point and multi - type sensing fusion perception system to realize the monitoring of the position information of the spreader relative to the segmental girder and the operating state of the automated spreader, which can effectively ensure the real - time, high - efficiency and safety of the hoisting operation;

[0037] 5. The bidirectional telescopic clamping - type U - shaped segmental girder automated spreader and its construction method solve the problems of labor - intensive, low efficiency and high safety risks in the whole - process hoisting operation of U - shaped segmental girders.

[0038] Other advantages, objectives and features of the present invention will be partially reflected by the following description and partially understood by those skilled in the art through the research and practice of the present invention. Brief Description of the Drawings

[0039] Figure 1 is the front view of the bidirectional telescopic clamping - type U - shaped segmental girder automated spreader example of the present invention;

[0040] Figure 2 is the side view of the bidirectional telescopic clamping - type U - shaped segmental girder automated spreader example of an embodiment of the present invention;

[0041] Figure 3 is the top view of the bidirectional telescopic clamping - type U - shaped segmental girder automated spreader example of an embodiment of the present invention;

[0042] Figure 4 is the bottom - up axonometric view of the bidirectional telescopic clamping - type U - shaped segmental girder automated spreader example of an embodiment of the present invention;

[0043] Figure 5 is the top - down axonometric view of the bidirectional telescopic clamping - type U - shaped segmental girder automated spreader example of an embodiment of the present invention;

[0044] Figure 6 is the adapted balance beam of the bidirectional telescopic clamping - type U - shaped segmental girder automated spreader example of an embodiment of the present invention;

[0045] Figure 7 is the longitudinal telescopic clamping mechanism of the bidirectional telescopic clamping - type U - shaped segmental girder automated spreader example of an embodiment of the present invention;

[0046] Figure 8 is the front view of step 4 in the construction method of the bidirectional telescopic clamping - type U - shaped segmental girder automated spreader of an embodiment of the present invention;

[0047] Figure 9 is the side view of step 4 in the construction method of the bidirectional telescopic clamping - type U - shaped segmental girder automated spreader of an embodiment of the present invention;

[0048] Figure 10It is an isometric view of step 4 in the construction method of the bidirectional telescopic clamping U-shaped segment girder automatic lifting tool according to an embodiment of the present invention;

[0049] Description of reference numerals:

[0050] A - U-shaped segment girder; 1 - slewing hoisting box; 101 - hoisting box; 102 - pulley block; 103 - motor reduction unit; 104 - slewing hoisting lug; 105 - slewing gear set; 2 - bidirectional luffing mechanism; 201 - transverse luffing base; 202 - transverse luffing shoulder beam; 203 - transverse luffing oil cylinder; 204 - longitudinal luffing oil cylinder; 3 - transverse telescopic clamping mechanism; 301 - transverse telescopic outer sleeve; 302 - transverse telescopic inner sleeve; 303 - transverse telescopic wear-resistant plate; 304 - transverse clamping base; 305 - transverse clamping column; 306 - transverse telescopic oil cylinder; 4 - adapter balance beam; 401 - balance beam hinge base; 402 - balance beam; 403 - adaptable load-bearing inclined plane; 404 - first balance beam pin shaft; 405 - second balance beam pin shaft; 5 - longitudinal telescopic clamping mechanism; 501 - longitudinal telescopic clamping mechanism bottom plate; 502 - longitudinal telescopic linear bearing; 503 - longitudinal telescopic L-shaped claw; 504 - longitudinal telescopic electric push rod; 601 - transverse position radar probe; 602 - longitudinal position radar probe; 603 - vertical position distance sensor; 604 - biaxial inclination sensor; 605 - 360° panoramic camera; 7 - electro-hydraulic control system; 701 - hydraulic pump station; 702 - electro-hydraulic proportional control valve group; 703 - electric control box. Detailed implementation manners

[0051] The present invention will be described in detail and completely below with reference to the accompanying drawings. Those of ordinary skill in the art will be able to implement the present invention based on these descriptions. Before describing the present invention in conjunction with the accompanying drawings, it should be particularly noted that: the technical solutions and technical features provided in each part including the following descriptions of the present invention can be combined with each other without conflict.

[0052] In addition, the embodiments of the present invention involved in the following descriptions are usually only some embodiments of the present invention, rather than all embodiments. Therefore, all other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts should fall within the protection scope of the present invention.

[0053] The following further describes the present invention in detail with reference to the accompanying drawings and embodiments, and the specific implementation process is as follows:

[0054] As Figures 1 to 10As shown in the figure, the present invention provides a two-way telescopic clamping type U-shaped segment beam automatic lifting device, which includes a rotary lifting box, a two-way amplitude-changing mechanism, a lateral telescopic clamping mechanism, a matching balance beam, and a longitudinal telescopic clamping mechanism;

[0055] The lower end of the rotary lifting box is connected to the two-way amplitude-changing mechanism, which is used for the large-angle rotation of the lifted U-shaped segment beam in the horizontal direction; the lower end of the two-way amplitude-changing mechanism is hinged to the lateral telescopic clamping mechanism. The two-way amplitude-changing mechanism is set to control the horizontal inclination angle of its lower structure, and the lateral telescopic clamping mechanism is set to laterally position the U-shaped segment beam. The matching balance beam is fixed on the lateral telescopic clamping mechanism and is used to bear the U-shaped segment beam. The longitudinal telescopic clamping mechanism is set to longitudinally position the U-shaped segment beam.

[0056] This technical solution may also include the following technical details to better achieve the technical effect: The rotary lifting box is connected to a lifting wire rope at the upper part and the two-way amplitude-changing mechanism at the lower part, and can realize the large-angle rotation of the lifted U-shaped segment beam in the horizontal direction during the hoisting operation. The rotary lifting box includes: a lifting box 101, a pulley group 102, a motor reduction unit 103, a rotary lifting lug 104, and a rotary gear set 105;

[0057] The pulley groups are symmetrically arranged inside the grid of the lifting box 101 and are used to access the lifting wire rope;

[0058] The motor reduction unit drives the rotary gear set, and the rotary gear set drives the large-angle rotation of the rotary lifting lug in the horizontal direction; specifically: the rotary gear set includes a driving gear and a driven gear that mesh with each other. The motor reduction unit drives the driving gear, and the meshing driven gear drives the rotary lifting lug connected thereto to perform a rotary motion. Preferably, in this embodiment, two groups of motor reduction units are symmetrically arranged on both sides of the lifting box to drive the rotary motion. The rotary lifting lug is arranged in the middle of the lifting box and is used to connect the lower structure of the lifting device; the rotary gear set is arranged below the lifting box and is used for power transmission between the motor reduction unit and the rotary lifting lug. Each motor reduction unit drives a driving gear, and the driving gear drives the driven gear.

[0059] This technical solution may also include the following technical details to better achieve the technical effect: The two-way amplitude-changing mechanism 2 can control the horizontal inclination angle of the lower structure of the lifting device in real time. The two-way amplitude-changing mechanism 2 includes: a lateral amplitude-changing base 201, a lateral amplitude-changing cross beam 202, a lateral amplitude-changing oil cylinder 203, and a longitudinal amplitude-changing oil cylinder 204;

[0060] Above the lateral amplitude-changing base 201, it is hinged to the slewing lifting lug 104, and below the lateral amplitude-changing base, it is hinged to the lateral amplitude-changing balance beam 202; both ends of the lateral amplitude-changing oil cylinder 203 are respectively hinged to the lateral amplitude-changing base 201 and the lateral amplitude-changing balance beam 202, and are used to adjust the lateral slope angle; both ends of the longitudinal amplitude-changing oil cylinder 204 are respectively hinged to the lateral amplitude-changing balance beam 202 and the lateral telescopic outer sleeve 301, and are used to adjust the longitudinal slope angle.

[0061] The present technical solution may further include the following technical details to better achieve the technical effect: The lateral telescopic positioning mechanism 3 is used to realize the lateral positioning of the spreader relative to the U-shaped segment beam. The lateral telescopic positioning mechanism 3 includes: a lateral telescopic outer sleeve 301, a lateral telescopic inner sleeve 302, a lateral telescopic wear-resistant plate 303, a lateral positioning base 304, a lateral positioning column 305, and a lateral telescopic oil cylinder 306;

[0062] Above the lateral telescopic outer sleeve 301, it is hinged to the lateral amplitude-changing balance beam 202. The inner walls at both ends of the lateral telescopic outer sleeve are in contact and cooperate with two groups of lateral telescopic inner sleeves 302 through the lateral telescopic wear-resistant plate 303, and the two groups of lateral telescopic inner sleeves 302 are symmetrically arranged; the lateral positioning base 304 is arranged inside the end of the lateral telescopic inner sleeve 302, and the lateral positioning column 305 is fixed above the lateral positioning base; both ends of the lateral telescopic oil cylinder 306 are respectively hinged to the lateral telescopic outer sleeve 301 and the lateral telescopic inner sleeve 302, and are used to drive the action of the lateral telescopic positioning mechanism 3, that is, the relative movement between the lateral telescopic outer sleeve 301 and the lateral telescopic inner sleeve. In this embodiment, the lateral telescopic positioning mechanism 3 includes two groups of lateral telescopic outer sleeves arranged parallel to each other longitudinally, and each lateral telescopic outer sleeve is provided with a lateral telescopic inner sleeve that can move relatively.

[0063] The present technical solution may further include the following technical details to better achieve the technical effect: The adaptor balance beam 4 is in direct contact with the U-shaped segment beam to form a force-bearing surface. Two adaptor balance beams are symmetrically arranged on the lateral telescopic inner sleeves at both ends. The adaptor balance beam 4 includes: a balance beam hinge base 401, a balance beam 402, an adaptable load-bearing inclined surface 403, a balance beam first pin 404, and a balance beam second pin 405;

[0064] Above one balance beam, two groups of adaptable inclined surfaces are symmetrically fixed. The four groups of adaptable load-bearing inclined surfaces 403 on the two balance beams 402 are in contact with the lower surfaces of the two side top plates of the U-shaped segment beam to form four-point contact; the balance beam hinge base 401 is fixed below the balance beam 402. The middle hole of the balance beam hinge base of one balance beam is hinged to the base of the corresponding lateral telescopic inner sleeve through the balance beam first pin 404, and the two end holes of the balance beam hinge base of the other balance beam are hinged to the base of the corresponding lateral telescopic inner sleeve through two balance beam second pins 405.

[0065] There are three hinge holes provided on the balance beam hinge base 401. The middle hinge hole installs the first balance beam pin 404, and the two side hinge holes install the second balance beam pins 405; One matching balance beam 4 and a group of transverse telescopic inner sleeves 302 are hinged through a first balance beam pin 404, and the other matching balance beam 4 and another group of transverse telescopic inner sleeves 302 are fixedly connected through two second balance beam pins 405. The two matching balance beams 4 form a three-point support under the action of these three support points (one first pin and two second pins), ensuring the stability of the contact between the matching balance beam 4 and the U-shaped segment beam.

[0066] This technical solution may also include the following technical details to better achieve the technical effect: There are four groups of longitudinal telescopic positioning mechanisms 5, which act synchronously to jointly achieve the longitudinal positioning of the spreader relative to the U-shaped segment beam. The longitudinal telescopic positioning mechanism 5 includes: a longitudinal telescopic positioning mechanism bottom plate 501, a longitudinal telescopic linear bearing 502, a longitudinal telescopic L-shaped claw 503, and a longitudinal telescopic electric push rod 504;

[0067] The longitudinal telescopic positioning mechanism bottom plate 501 is symmetrically installed below the transverse telescopic outer sleeve 301; The longitudinal telescopic linear bearing 502 is fixedly installed below the longitudinal telescopic positioning mechanism bottom plate 501, and the longitudinal telescopic L-shaped claw 503 passes through the central hole of the longitudinal telescopic linear bearing 502; The two ends of the longitudinal telescopic electric push rod 504 are respectively hinged to the longitudinal telescopic positioning mechanism bottom plate 501 and the longitudinal telescopic L-shaped claw 503, and are used to drive the action of the longitudinal telescopic positioning mechanism 5.

[0068] This technical solution may also include the following technical details to better achieve the technical effect: It also includes a sensing system, which includes: a lateral position radar probe 601, a longitudinal position radar probe 602, a vertical position distance sensor 603, a biaxial inclination sensor 604, a 360° panoramic camera 605, a displacement sensor, and a pressure sensor; The sensing system 6 uses multi-point and various types of sensors to comprehensively monitor the position information of the spreader relative to the U-shaped segment beam to be lifted and the operating state of the automated spreader.

[0069] The lateral position radar probe 601 is symmetrically installed at the end of the transverse telescopic inner sleeve 302; The longitudinal position radar probe 602 is installed at the bottom end of the longitudinal telescopic L-shaped claw 503; The vertical position distance sensor 603 is symmetrically installed on the lower surface of the transverse telescopic outer sleeve 301; The biaxial inclination sensor 604 is installed on one side of the upper surface of the transverse telescopic outer sleeve 301; The 360° panoramic camera 605 is installed on the lower surface of the lifting hoist box 101;

[0070] Both the transverse telescopic oil cylinder 306 and the longitudinal telescopic electric push rod 504 are equipped with displacement sensors, and the oil inlet and outlet of the transverse telescopic oil cylinder 306 are equipped with pressure sensors.

[0071] The technical solution may further include the following technical details to better achieve the technical effect: It further includes an electro-hydraulic control system 7, which includes: a hydraulic pump station 701, an electro-hydraulic proportional control valve group 702, an electric control box 703, hydraulic pipelines, communication lines, etc. The electro-hydraulic control system 7 is used to provide power for each actuator and perform feedback adjustment control on the operation of each mechanism. The hydraulic pump station 701 is arranged on the upper surface of the transverse telescopic outer sleeve 301, and the electro-hydraulic proportional control valve group 702 is arranged on the upper surface of the hydraulic pump station 701; the electric control box 703 is arranged on the upper surface of the transverse telescopic outer sleeve 301 for processing various feedback signals and issuing command signals.

[0072] The present invention also provides a construction method using the bidirectional telescopic clamping type U-shaped segment beam automatic lifting tool, including the following steps:

[0073] 1) Use a lifting device to adjust the U-shaped segment beam automatic lifting tool to a position above the U-shaped segment beam to be lifted;

[0074] 2) The displacement sensor monitors whether the stroke of the transverse telescopic oil cylinder 306 of the automatic lifting tool is at the minimum, and whether the stroke of the longitudinal telescopic electric push rod 504 is within the specified range. If so, slowly lower the lifting tool;

[0075] 3) During the lowering process, the transverse position radar probe 601 monitors whether the end of the lifting tool is approaching the upper top plates on both sides of the U-shaped segment beam. If not, continue to lower the lifting tool. The longitudinal position radar probe 602 monitors whether the lower end of the longitudinal telescopic L-shaped claw 503 is approaching the edge of the bottom plate of the U-shaped segment beam. If not, continue to lower the lifting tool. The vertical position distance sensor 603 monitors the distance between the bottom of the lifting tool and the bottom plate of the U-shaped segment beam. When the specified distance range is reached, stop lowering the lifting tool;

[0076] 4) The longitudinal telescopic electric push rod 504 retracts a specified distance, the longitudinal telescopic clamping mechanism 5 clamps the lower bottom plate of the U-shaped segment beam, the transverse telescopic oil cylinder 306 extends, driving the transverse telescopic clamping mechanism 3 to clamp the upper top plates on both sides of the U-shaped segment beam, and the pressure sensor monitors the pressure in the working chamber of the transverse telescopic oil cylinder 306 to avoid generating excessive clamping force;

[0077] 5) The lifting device lifts the lifting tool, hoists the U-shaped segment beam above the specified position, and adjusts the horizontal rotation angle of the U-shaped segment beam according to the stacking or installation angle requirements by rotating the lifting hoist box 1;

[0078] 6) Slowly lower the lifting tool until the tension on the lifting wire rope drops to the no-load tension, then the longitudinal telescopic electric push rod 504 extends a certain distance, the longitudinal telescopic clamping mechanism 5 releases the bottom plate of the U-shaped segment beam, the transverse telescopic oil cylinder 306 retracts to the minimum stroke, and the transverse telescopic clamping mechanism 3 releases the top plates on both sides of the U-shaped segment beam;

[0079] 7) The 360° panoramic camera 605 monitors the position of the automated spreader relative to the U-shaped segmental girder. If the lifting requirements are met, the lifting equipment slowly lifts the automated spreader to the specified height, completing one hoisting operation and preparing for the next hoisting operation.

[0080] Repeat steps 1)-7) to perform the next hoisting operation.

[0081] Although the embodiments of the present invention have been disclosed as above, they are not limited to only the applications listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the field, additional modifications can be easily made. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to the specific details and the embodiments shown and described here.

Claims

1. An automated sling for a two-way telescopic clamping U-shaped segmental beam, characterized in that, It includes a slewing lifting box, a two-way luffing mechanism, a lateral telescopic clamping mechanism, a matching balance beam, a longitudinal telescopic clamping mechanism, a sensing system, and an electro-hydraulic control system; The lower end of the slewing lifting box is connected to the two-way luffing mechanism, which is used for the large-angle slewing of the suspended U-shaped segment girder in the horizontal direction; the lower end of the two-way luffing mechanism is hinged to the lateral telescopic clamping mechanism. The two-way luffing mechanism is set to control the horizontal inclination angle of its lower structure, and the lateral telescopic clamping mechanism is set to laterally position the U-shaped segment girder. The matching balance beam is fixed on the lateral telescopic clamping mechanism and is used to bear the U-shaped segment girder. The longitudinal telescopic clamping mechanism is set to longitudinally position the U-shaped segment girder; the sensing system includes a lateral position radar probe, a longitudinal position radar probe, a vertical position distance sensor, a biaxial inclination sensor, a 360° panoramic camera, a displacement sensor, and a pressure sensor, which are used to monitor the position information of the spreader relative to the to-be-lifted U-shaped segment girder and the operating state of the automatic spreader; the electro-hydraulic control system includes a hydraulic pump station, an electro-hydraulic proportional control valve group, an electric control box, hydraulic pipelines, and communication lines, which are used to provide power for each actuator and perform feedback adjustment control on the operation of each mechanism.

2. The bidirectional telescopic clamping U-shaped segment girder automatic lifting device according to claim 1, characterized in that, The slewing lifting box includes: a lifting box, a pulley block, a motor reduction unit, a slewing lifting lug, and a slewing gear set; The pulley block is arranged inside the lifting box and is used to access the hoisting steel wire rope; The motor reduction unit drives the slewing gear set, and the slewing gear set drives the slewing lifting lug to perform large-angle slewing in the horizontal direction.

3. The two-way telescopic clamping U-shaped segment beam automatic lifting device according to claim 2, characterized in that The two-way luffing mechanism includes: a lateral luffing base, a lateral luffing cross beam, a lateral luffing oil cylinder, and a longitudinal luffing oil cylinder; The upper part of the lateral luffing base is hinged to the slewing lifting lug, and the lower part of the lateral luffing base is hinged to the lateral luffing cross beam; both ends of the lateral luffing oil cylinder are respectively hinged to the lateral luffing base and the lateral luffing cross beam and are used to adjust the lateral slope angle; both ends of the longitudinal luffing oil cylinder are respectively hinged to the lateral luffing cross beam and the lateral telescopic outer sleeve and are used to adjust the longitudinal slope angle.

4. The bidirectional telescopic clamping type U-shaped segment beam automatic lifting appliance according to claim 3, wherein The lateral telescopic clamping mechanism includes: a lateral telescopic outer sleeve, a lateral telescopic inner sleeve, a lateral telescopic wear-resistant plate, a lateral clamping base, a lateral clamping column, and a lateral telescopic oil cylinder; The upper part of the lateral telescopic outer sleeve is hinged to the lateral luffing cross beam, and the inner walls at both ends of the lateral telescopic outer sleeve are in contact and cooperation with two groups of lateral telescopic inner sleeves through lateral telescopic wear-resistant plates; the lateral clamping base is arranged inside the end of the lateral telescopic inner sleeve, and the lateral clamping column is fixed above the lateral clamping base; both ends of the lateral telescopic oil cylinder are respectively hinged to the lateral telescopic outer sleeve and the lateral telescopic inner sleeve.

5. The bidirectional telescopic clamping U-shaped segment beam automatic lifting tool according to claim 4, wherein, Two matching balance beams are symmetrically arranged on the lateral telescopic inner sleeves at both ends. The matching balance beam includes: a balance beam hinge base, a balance beam, a matching load-bearing inclined plane, a balance beam first pin shaft, and a balance beam second pin shaft; Above a balance beam, two groups of adaptable inclined planes are symmetrically fixed. Below the balance beam, a balance beam hinge base is fixed. The middle hole of the balance beam hinge base of one balance beam is hinged to the base of the corresponding horizontally telescopic inner sleeve through a first balance beam pin shaft, and the two end holes of the balance beam hinge base of the other balance beam are hinged to the base of the corresponding horizontally telescopic inner sleeve through two second balance beam pin shafts.

6. The bidirectional telescopic clamping U-shaped segment girder automatic lifting device according to claim 5, wherein There are four groups of the longitudinal telescopic clamping mechanisms, and each longitudinal telescopic clamping mechanism includes: a longitudinal telescopic clamping mechanism bottom plate, a longitudinal telescopic linear bearing, a longitudinal telescopic L-shaped claw, and a longitudinal telescopic electric push rod; The longitudinal telescopic clamping mechanism bottom plates are symmetrically installed below the horizontally telescopic outer sleeve; the longitudinal telescopic linear bearings are fixedly installed below the longitudinal telescopic clamping mechanism bottom plates, and the longitudinal telescopic L-shaped claws penetrate into the central holes of the longitudinal telescopic linear bearings; both ends of the longitudinal telescopic electric push rod are respectively hinged to the longitudinal telescopic clamping mechanism bottom plate and the longitudinal telescopic L-shaped claw, and are used to drive the action of the longitudinal telescopic clamping mechanism.

7. The two-way telescopic clamping type U-shaped segment beam automatic lifting device according to claim 6, wherein The horizontal position radar probes are symmetrically installed at the ends of the horizontally telescopic inner sleeve; the longitudinal position radar probe is installed at the bottom end of the longitudinal telescopic L-shaped claw; the vertical position distance sensors are symmetrically installed on the lower surface of the horizontally telescopic outer sleeve; the two-axis inclination sensor is installed on one side of the upper surface of the horizontally telescopic outer sleeve; the 360° panoramic camera is installed on the lower surface of the lifting hanging box; Both the horizontally telescopic oil cylinder and the longitudinal telescopic electric push rod are equipped with displacement sensors, and the oil inlet and outlet of the horizontally telescopic oil cylinder are equipped with pressure sensors.

8. A construction method using the bidirectional telescopic clamping U-shaped segment beam automatic lifting device as described in any one of claims 1 to 7, characterized in that, It includes the following steps: 1) The lifting equipment adjusts the U-shaped segment beam automatic lifting device to a position above the U-shaped segment beam to be lifted; 2) The displacement sensors monitor whether the stroke of the horizontally telescopic oil cylinder of the automatic lifting device is at the minimum, and whether the stroke of the longitudinal telescopic electric push rod is within the specified range. If so, the lifting device is slowly lowered; 3) During the lowering process, the horizontal position radar probe monitors whether the end of the lifting device is close to the upper top plates on both sides of the U-shaped segment beam. If not, the lifting device continues to be lowered. The longitudinal position radar probe monitors whether the lower end of the longitudinal telescopic L-shaped claw is close to the bottom plate edge of the U-shaped segment beam. If not, the lifting device continues to be lowered. The vertical position distance sensor monitors the distance between the bottom of the lifting device and the bottom plate of the U-shaped segment beam. When the specified distance range is reached, the lowering of the lifting device stops; 4) The longitudinal telescopic electric push rod retracts by a specified distance, and the longitudinal telescopic clamping mechanism clamps the lower bottom plate of the U-shaped segment beam. The horizontally telescopic oil cylinder extends, driving the horizontally telescopic clamping mechanism to clamp the upper top plates on both sides of the U-shaped segment beam. The pressure sensor monitors the pressure in the working chamber of the horizontally telescopic oil cylinder to avoid generating excessive clamping force; 5) The lifting equipment lifts the lifting device, hoists the U-shaped segment beam to a position above the specified position, and adjusts the horizontal rotation angle of the U-shaped segment beam by rotating the lifting hanging box according to the stacking or installation angle requirements; 6) Slowly lower the spreader until the tension on the hoisting wire rope is reduced to the no-load tension, then the longitudinal telescopic electric push rod extends a certain distance, the longitudinal telescopic clamping mechanism releases the bottom plate of the U-shaped segment girder, the transverse telescopic oil cylinder retracts to the minimum stroke, and the transverse telescopic clamping mechanism releases the top plates on both sides of the U-shaped segment girder; 7) The 360° panoramic camera monitors the position of the automatic spreader relative to the U-shaped segment girder. If the lifting requirements are met, the hoisting equipment slowly lifts the automatic spreader to the specified height, completes one hoisting operation, and prepares for the next hoisting operation; Repeat steps 1)-7) to perform the next hoisting operation.

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