An unmanned segment girder lifting device and its construction method

Abstract

The present invention discloses an unmanned grasping segment girder sling and its construction method, including: a hoisting beam; a distribution beam which is arranged parallel to the lower side of the hoisting beam; a plurality of transverse moving mechanisms which are arranged at intervals at the bottom of the distribution beam, and any one of the transverse moving mechanisms slides along the length direction of the distribution beam; a plurality of longitudinal moving mechanisms which are arranged at intervals on the corresponding transverse moving mechanisms, and any one of the longitudinal moving mechanisms slides along the width direction of the distribution beam; a plurality of hanging lock suspension rods which are respectively connected with the plurality of longitudinal moving mechanisms, and any one of the hanging lock suspension rods is used for automatically locking the segment girder hanging holes; a plurality of groups of auxiliary alignment devices, and the contact wheels thereof press the side walls of the segment girder inwardly from both sides. The present invention ensures the hoisting stability through the cooperation of the distribution beam and the multi-point hoisting structure, realizes the rapid alignment adjustment of the hanging lock suspension rods and the segment girder hanging holes through the cooperation of the transverse moving and longitudinal moving mechanisms and the auxiliary alignment devices, and the hanging lock suspension rods can be automatically locked or unlocked with the segment girder, greatly reducing the manual workload and improving the hoisting efficiency and hoisting quality.

Description

Technical Field

[0001] The present invention relates to the technical field of segmental beam lifting and handling. More specifically, the present invention relates to a segmental beam grab-free sling and its construction method. Background Art

[0002] In the prefabrication and assembly construction of concrete segmental beams, the positions of the segmental beam lifting holes are affected by various factors and have large distribution differences. Therefore, in traditional segmental beam hoisting methods, slings with manually driven sliding suspension rods are usually used. The suspension rods generally have a structural form of end anchor fittings installed at the ends of high-strength cold-rolled ribbed steel bars. When using the above slings, construction workers need to manually adjust the distance between the suspension rods to adapt to the distance between the segmental beam lifting holes. The adjustment process requires the assistance of multiple people and cannot be adjusted in place at one time; construction workers need to stand on the top surface of the segmental beam to push the segmental beam sling and assist in aligning the suspension rods to enter the lifting holes; construction workers need to enter the inner cavity of the segmental beam to install the end anchor fittings and wedge-shaped pads of the high-strength cold-rolled ribbed steel bars to form a stable stress surface. Therefore, during the segmental beam hoisting process, construction workers need to repeatedly enter and exit the inner cavity of the segmental beam for auxiliary positioning, installation, and disassembly work, which is time-consuming and laborious.

[0003] At the same time, traditional segmental beam hoisting generally uses a four-suspension rod sling, that is, four-point hoisting. According to the principle that three points determine a plane, four-point hoisting has only one statically indeterminate problem. If appropriate pre-tightening force is added to the suspension rods or the method of using a distribution beam is adopted before segmental beam hoisting, the "virtual rod" phenomenon caused by the deformation of the segmental beam sling and the segmental beam body can be avoided. Therefore, four-point hoisting has good force uniformity and stability and is widely used. However, for segmental beams with a large tonnage and a long and wide width, when using four-point hoisting, the local load of each stress point is large and the support stiffness is small. When lifting, it will cause a large deflection of the segmental beam, and it is very easy to cause varying degrees of damage to the segmental beam body structure during the hoisting process.

[0004] In addition, traditional segmental beams need to go through multiple transfers and stackings from the precast beam yard to the construction site and then to the installation position of the designated segment. That is to say, the segmental beam needs to experience repeated hoistings during the process from production to use. There are problems such as cumbersome hoisting operation processes, a large number of construction workers required, high labor costs, long hoisting cycles, long overall construction periods, easy damage to the body structure, and relatively high safety risks.

[0005] To solve the above problems, it is necessary to design a segmental beam grab-free sling and its construction method to reduce the number of construction workers required for segmental beam hoisting, and at the same time improve the hoisting efficiency and hoisting quality. Summary of the Invention

[0006] The object of the present invention is to provide an unmanned grasping segment beam spreader and its construction method. By the cooperation of the distribution beam and the multi-point hoisting structure, the support strength and hoisting stability are ensured. Through the cooperation of the transverse movement mechanism, the longitudinal movement mechanism and the auxiliary alignment device, the quick alignment adjustment of the hanging lock suspension rod with the segment beam hanging hole in the horizontal direction is realized. At the same time, the hanging lock suspension rod can be automatically locked or unlocked with the segment beam, greatly reducing the manual workload and operation intensity, and improving the hoisting efficiency and hoisting quality.

[0007] To achieve these objects and other advantages according to the present invention, there is provided an unmanned grasping segment beam spreader, comprising:

[0008] A hoisting beam, whose top is detachably connected to a hoisting device;

[0009] A distribution beam, which is arranged parallel to and detachably connected to the hoisting beam directly below it;

[0010] A plurality of transverse movement mechanisms, which are arranged at intervals along the length direction at the bottom of the distribution beam. Any one of the transverse movement mechanisms slides along the length direction of the distribution beam through a second sliding mechanism;

[0011] A plurality of groups of longitudinal movement mechanisms, which correspond to the plurality of transverse movement mechanisms one by one. Any one group of longitudinal movement mechanisms includes a plurality of longitudinal movement mechanisms, which are arranged at intervals along the width direction on the corresponding transverse movement mechanism. Any one of the longitudinal movement mechanisms slides along the width direction of the distribution beam through a third sliding mechanism;

[0012] A plurality of groups of hanging lock suspension rods, which correspond to the plurality of groups of longitudinal movement mechanisms one by one. Any one group of hanging lock suspension rods includes a plurality of hanging lock suspension rods, which are respectively connected to the plurality of longitudinal movement mechanisms in the corresponding group. Any one of the hanging lock suspension rods is vertically arranged and used for automatically locking the segment beam hanging hole;

[0013] A plurality of groups of auxiliary alignment devices, which are arranged at intervals along the length direction of the distribution beam. Any one group of auxiliary alignment devices includes two auxiliary alignment devices, which are symmetrically arranged on both sides of the distribution beam. Any one of the auxiliary alignment devices includes a multi-axis serial manipulator, whose fixed end is hinged to the side wall of the distribution beam; a contact wheel, which is arranged at the free end of the multi-axis serial manipulator and is arranged to press against the side wall of the segment beam.

[0014] Preferably, the unmanned grasping segment girder lifting device further includes a plurality of hanging beams, which are arranged at intervals along the length direction on the lifting beam. Any one of the hanging beams includes two hanging shoulders I, which are symmetrically arranged on both sides of the top of the lifting beam; a hanging main beam, which is in a portal structure. The horizontal part of the hanging main beam is erected on the tops of the two hanging shoulders I and is slidably connected thereto. The bottom end of the vertical part extends inward and is clamped at the bottom of the hanging shoulder I on the same side; a first sliding mechanism, which is configured to drive the hanging main beam to move along the length direction of the lifting beam; two hanging shoulders II, which are respectively arranged at the bottom ends of the two vertical parts of the hanging main beam. The top surface of any one of the hanging shoulders II is in contact with and slidably connected to the bottom surface of the hanging shoulder I on the same side; a hanging joint, which is arranged on the top of the hanging main beam.

[0015] Preferably, for the unmanned grasping segment girder lifting device, the distribution beam is detachably connected to the lifting beam through a pin device. The pin device includes a plurality of pin holes, which are arranged at intervals along the length direction on the lifting beam. Any one of the pin holes penetrates through the lifting beam along the width direction; multiple groups of pin plates, which correspond to the multiple pin holes one by one. Any one group of pin plates includes two pin plates, which are located at both ends of the corresponding pin hole and are fixed on both sides of the distribution beam; a plurality of plug-and-pull pin shafts, which correspond to the multiple pin holes one by one. Any one of the plug-and-pull pin shafts passes through the corresponding pin hole, and both ends of the plug-and-pull pin shaft are respectively connected to the corresponding two pin plates.

[0016] Preferably, for the unmanned grasping segment girder lifting device, the transverse movement mechanism includes two hanging shoulders III, which are symmetrically arranged on both sides of the bottom of the distribution beam; a transverse movement beam, which is arranged below the distribution beam along the width direction thereof; two groups of hanging boxes, which are symmetrically arranged at both ends of the transverse movement beam. Any one group of hanging boxes includes a plurality of hanging boxes, which are fixedly arranged at intervals on the top of the transverse movement beam. Any one of the hanging boxes is hung on the hanging shoulder III on the same side and is slidably connected thereto.

[0017] The second sliding mechanism includes a transverse movement lead screw, which is arranged at the bottom of the distribution beam along the length direction thereof. The transverse movement lead screw passes through the transverse movement beam and is threadedly connected thereto; a transverse movement motor, which is configured to drive the transverse movement lead screw to rotate along its axial direction.

[0018] Preferably, for the unmanned grasping segment girder lifting device, a plurality of guiding grooves are arranged on the transverse movement beam, which correspond to the multiple longitudinal movement mechanisms of the corresponding group one by one. Any one of the guiding grooves is arranged along the length direction of the transverse movement beam and penetrates through the transverse movement beam vertically.

[0019] The longitudinal movement mechanism includes a longitudinal movement base, which is clamped on the top of the corresponding guiding groove and is slidably connected thereto. One end of the hanging lock suspension rod is connected to the longitudinal movement base, and the other end vertically passes through the guiding groove and extends downward.

[0020] The third sliding mechanism includes a longitudinal moving push rod, which is arranged on the transverse moving beam, and the longitudinal moving push rod is configured to drive the longitudinal moving base to move along the length direction of the guiding groove.

[0021] Preferably, the unmanned grasping segment beam sling further includes multiple groups of lifting mechanisms, which correspond to the multiple groups of longitudinal moving mechanisms one by one. Any group of lifting mechanisms includes multiple lifting mechanisms, which correspond to the multiple longitudinal moving mechanisms of the corresponding group one by one. Any lifting mechanism includes a sleeve, which is arranged on the longitudinal moving base of the corresponding longitudinal moving mechanism and is rotatably connected thereto. The sleeve is sleeved on the hanging lock suspension rod and is threadedly connected thereto; a lifting driving device, which is configured to drive the sleeve to rotate along its axial direction; a limiting clamping seat, which is sleeved outside the sleeve and fixed on the top of the longitudinal moving base. The limiting clamping seat is clamped with the clamping groove on the hanging lock suspension rod through a shoulder and is slidably connected thereto in the vertical direction.

[0022] Preferably, for the unmanned grasping segment beam sling, the hanging lock suspension rod includes:

[0023] A pull rod, which is a vertically arranged hollow structure, the upper part of which is sleeved in the sleeve and the top end of which passes through the sleeve;

[0024] A perforated end head, which is connected to the bottom of the pull rod and is vertically provided with a perforation inside that is communicated with the inside of the pull rod. The lower part of the perforated end head is vertically provided with a hanging lock groove, and the hanging lock groove laterally penetrates the perforated end head and is communicated with the perforation;

[0025] An eccentric hanging lock, which is arranged in the hanging lock groove and is hinged to the perforated end head through a load-bearing shaft;

[0026] An active cable pulling mechanism, which includes a cable pulling base, which is fixed to the top end of the pull rod, and a cable pulling groove is provided on the cable pulling base; a cable pulling plate, which is arranged in the cable pulling groove and is slidably connected thereto; a cable pulling driving device, which is configured to drive the cable pulling plate to move along the length direction of the cable pulling groove; an upper cable, one end of which is fixed to the cable pulling plate, and the other end of which sequentially passes through the pull rod, the perforation downward and penetrates into the hanging lock groove to be connected to the middle part of the eccentric hanging lock;

[0027] A passive cable pulling mechanism, which includes a gravity hammer, which is located below the perforated end head; a lower cable, one end of which is connected to the bottom of the eccentric hanging lock, and the other end of which passes through the perforation at the lower part of the perforated end head downward and is fixed to the gravity hammer;

[0028] Wherein, when the wire pulling plate is in the initial position, the eccentric padlock coincides with the padlock groove. The cross-sectional length of the eccentric padlock is less than the diameter of the segment beam lifting hole, and the eccentric padlock is in a closed state. When the wire pulling driving device drives the wire pulling plate to move to the designated position, the eccentric padlock rotates to be perpendicular to the padlock groove. The cross-sectional length of the eccentric padlock is greater than the diameter of the segment beam lifting hole, and the eccentric padlock is in an open state.

[0029] Preferably, the unmanned grasping segment beam lifting tool further includes a sensing system, which includes a positioning vision unit configured to detect the horizontal position and height position of the perforated end relative to the segment beam lifting hole; and a padlock vision unit configured to detect the position state of the eccentric padlock.

[0030] The present invention also provides a construction method for an unmanned grasping segment beam lifting tool, including:

[0031] S1. Use a lifting device to move the unmanned grasping segment beam lifting tool above the segment beam to be lifted;

[0032] S2. According to the transverse and longitudinal distribution of the segment beam lifting holes on the segment beam to be lifted, adjust the positions of multiple transverse movement mechanisms and multiple groups of longitudinal movement mechanisms so that multiple hanging lock suspension rods correspond to multiple segment beam lifting holes one by one. Then adjust multiple groups of lifting mechanisms to lower the multiple hanging lock suspension rods to a low position;

[0033] S3. Use the lifting device to continue lowering the unmanned grasping segment beam lifting tool. When the positioning vision unit detects that the perforated end is lowered to the designated height, multiple groups of auxiliary positioning devices act jointly. The contact wheels press the side walls of the segment beam to be lifted inward from both sides, and adjust the angle of the distribution beam on the horizontal plane to be parallel to the segment beam to be lifted;

[0034] S4. Keep the contact wheels pressing against the segment beam to be lifted, drive the multiple groups of auxiliary positioning devices to longitudinally translate the distribution beam, and then drive the multiple transverse movement mechanisms to horizontally translate the multiple hanging lock suspension rods as a whole, so that the perforated end of any hanging lock suspension rod aligns with the corresponding segment beam lifting hole;

[0035] S5. Continue to lower the unmanned grasping segment beam lifting tool. When the positioning vision unit detects that the perforated end extends into the segment beam lifting hole to the designated height, drive the multiple groups of auxiliary positioning devices to reset;

[0036] S6. Continue to lower the unmanned grasping segment beam lifting tool to the set position, drive the active wire pulling mechanism to act, so that the eccentric padlock is converted from the closed state to the open state, and use the padlock vision unit to detect whether the eccentric padlock is opened in place;

[0037] S7. Adjust the multiple sets of lifting mechanisms to synchronously lift the multiple padlock hanging rods to a high position, so that the eccentric padlocks are clamped in the inner cavity of the segment beam;

[0038] S8. Use a lifting device to lift the unmanned grasping segment beam lifting tool. After hoisting the segment beam to be hoisted to the designated position, adjust the multiple sets of lifting mechanisms to lower the multiple padlock hanging rods to a low position, then drive the active cable mechanism to reset, so that the eccentric padlocks rotate to the closed state, and use the padlock vision unit to detect whether the eccentric padlocks are closed in place;

[0039] S9. Continue to lift the unmanned grasping segment beam lifting tool until the perforated end head disengages from the segment beam lifting hole, that is, complete one hoisting operation;

[0040] S10. Repeat the content of S1 - S9 to perform the next hoisting operation.

[0041] The present invention has at least the following beneficial effects:

[0042] 1. The present invention uses a multi - point hoisting structure of multiple padlock hanging rods to ensure the support stiffness, and cooperates with the distribution beam structure to effectively avoid the "virtual rod" phenomenon caused by the deformation of the segment beam body and the lifting tool during the multi - lifting - point hoisting process. At the same time, through the cooperation of the transverse movement mechanism, longitudinal movement mechanism and auxiliary alignment device, the quick alignment adjustment of the padlock hanging rods in the horizontal direction with the segment beam lifting holes is realized, and the padlock hanging rods can be automatically locked or unlocked with the segment beam, solving the problems of labor - intensive, low efficiency, easy damage to the segment beam body structure and high safety risks in the whole - process hoisting construction of the segment beam;

[0043] 2. The present invention adopts multiple sets of auxiliary alignment devices. On the one hand, it can actively adjust the relative horizontal position of the overall segment beam lifting tool and the segment beam, and assist the padlock hanging rods to accurately penetrate into the segment beam lifting holes. On the other hand, it can assist in adjusting the overall longitudinal displacement of the distribution beam and the padlock hanging rods, and further align them as a whole with the segment beam lifting holes after the relative positions of the multiple padlock hanging rods are adjusted, further improving the alignment speed and accuracy;

[0044] 3. The present invention uses a lifting mechanism to adjust the displacement of the padlock hanging rods in the height direction. Cooperating with the active and passive cable mechanisms of the padlock hanging rods, the stable constraint and disengagement of the padlock hanging rods and the segment beam lifting holes can be realized, which is beneficial to the flexible switching of the working state of the eccentric padlocks and the position state of the padlock hanging rods, and further improves the construction convenience.

[0045] Other advantages, objectives and features of the present invention will be partially reflected by the following description, and partially will also be understood by those skilled in the art through the research and practice of the present invention. Description of the Drawings

[0046] Figure 1Front structural schematic diagram of a segment girder lifting device with unmanned grasping according to an embodiment of the present invention;

[0047] Figure 2 Planar structural schematic diagram of the segment girder lifting device with unmanned grasping described in the above embodiment;

[0048] Figure 3 Side structural schematic diagram of the segment girder lifting device with unmanned grasping described in the above embodiment;

[0049] Figure 4 Axonometric view of the segment girder lifting device with unmanned grasping described in the above embodiment;

[0050] Figure 5 Bottom-up axonometric view of the segment girder lifting device with unmanned grasping described in the above embodiment;

[0051] Figure 6 Side structural schematic diagram of the transverse movement mechanism, the longitudinal movement mechanism, and the locking suspension rod described in the above embodiment;

[0052] Figure 7 Front structural schematic diagram of the transverse movement mechanism, the longitudinal movement mechanism, and the locking suspension rod described in the above embodiment;

[0053] Figure 8 Planar structural schematic diagram of the transverse movement mechanism, the longitudinal movement mechanism, and the locking suspension rod described in the above embodiment;

[0054] Figure 9 Axonometric view of the transverse movement mechanism, the longitudinal movement mechanism, and the locking suspension rod described in the above embodiment;

[0055] Figure 10 Side structural schematic diagram of the eccentric lock in the closed state described in the above embodiment;

[0056] Figure 11 Front structural schematic diagram of the eccentric lock in the closed state described in the above embodiment;

[0057] Figure 12 Axonometric view of the eccentric lock in the closed state described in the above embodiment;

[0058] Figure 13 Axonometric view of the eccentric lock in the open state described in the above embodiment;

[0059] Figure 14 Side structural schematic diagram of the auxiliary alignment device described in the above embodiment;

[0060] Figure 15 Axonometric view of the auxiliary alignment device described in the above embodiment;

[0061] Figure 16 Isometric view of a segment beam lifting device with unmanned grasping for another embodiment of the present invention;

[0062] Figure 17 Schematic construction diagram of S1 - S2 in the construction method of a segment beam lifting device with unmanned grasping for an embodiment of the present invention;

[0063] Figure 18 Schematic construction diagram of S3 - S4 in the above - mentioned embodiment;

[0064] Figure 19 Schematic construction diagram of S5 in the above - mentioned embodiment;

[0065] Figure 20 Schematic construction diagram of S6 in the above - mentioned embodiment;

[0066] Figure 21 Schematic construction diagram of S7 in the above - mentioned embodiment;

[0067] Figure 22 Side - view structural diagram of the swivel - lifting mechanism lifting the hanging - lock suspension rod to a high position in the above - mentioned embodiment;

[0068] Figure 23 Isometric view of the swivel - lifting mechanism lifting the hanging - lock suspension rod to a high position in the above - mentioned embodiment.

[0069] Explanation of reference numerals:

[0070] 1. Lifting beam; 101. Lifting main beam; 102. Lifting ear plate; 103. Guide rod; 104. Hanging shoulder 1; 105. Slide plate; 2. Suspension beam; 201. Suspension main beam; 202. Suspension joint; 3. Distribution beam; 301. Pin plate; 302. Installation hole; 303. Hanging shoulder 3; 304. Plug and pull pin shaft; 4. Transverse movement mechanism; 401. Transverse movement motor; 402. Motor base; 403. Transverse movement lead screw; 404. Lead screw base; 405. Nut sleeve; 406. Nut sleeve pressure plate; 410. Transverse movement longitudinal beam; 411. Transverse movement main beam; 412. Hanging box; 413. Guide groove; 5. Longitudinal movement mechanism; 501. Longitudinal movement base; 502. Longitudinal movement push rod; 503. First ear plate; 504. Second ear plate; 6. Lifting mechanism; 601. Limit clamping seat; 610. Motor gear set; 620. Lifting gear set; 621. Sleeve; 622. Lifting gear; 7. Hanging lock suspension rod; 701. Pull rod; 702. Perforated end; 703. Eccentric hanging lock; 704. Load-bearing shaft; 705. Card slot; 706. Limit mechanism; 707. Hanging lock slot; 708. Bearing surface; 711. Electric push rod; 712. Pull wire plate; 713. Pull wire base; 714. Fixed pulley; 715. Upper pull wire; 721. Gravity hammer; 722. Lower pull wire; 730. Displacement compensation device; 8. Auxiliary alignment device; 801. Robot arm base; 802. First robot arm; 803. Second robot arm; 804. Third robot arm; 805. Contact wheel; 806. First joint motor; 807. Second joint motor; 808. Third joint motor; 9. Sensing system; 901. Electric control box; 902. Alignment vision unit; 903. Hanging lock vision unit. Detailed implementation mode

[0071] The following further describes the present invention in detail with reference to the drawings, so that those skilled in the art can implement it according to the description in the specification.

[0072] It should be noted that the experimental methods described in the following implementation schemes are all conventional methods unless otherwise specified, and the reagents and materials can be obtained from commercial channels unless otherwise specified; in the description of the present invention, the orientation or positional relationship indicated by the terms "horizontal", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0073] As Figure 1-23 shown, the present invention provides a segment beam lifting device for unmanned grasping, including:

[0074] A hoisting beam, whose top is detachably connected to a hoisting device;

[0075] A distributing beam, which is arranged parallel to and detachably connected to the hoisting beam directly below it;

[0076] A plurality of transverse movement mechanisms, which are arranged at intervals along the length direction at the bottom of the distributing beam, and any one of the transverse movement mechanisms slides along the length direction of the distributing beam through a second sliding mechanism;

[0077] A plurality of groups of longitudinal movement mechanisms, which correspond to the plurality of transverse movement mechanisms one by one. Any one group of longitudinal movement mechanisms includes a plurality of longitudinal movement mechanisms, which are arranged at intervals along the width direction on the corresponding transverse movement mechanism, and any one of the longitudinal movement mechanisms slides along the width direction of the distributing beam through a third sliding mechanism;

[0078] A plurality of groups of hanging lock suspension rods, which correspond to the plurality of groups of longitudinal movement mechanisms one by one. Any one group of hanging lock suspension rods includes a plurality of hanging lock suspension rods, which are respectively connected to the plurality of longitudinal movement mechanisms in the corresponding group, and any one of the hanging lock suspension rods is arranged vertically and is used for automatically locking the hoisting holes of the segment beam;

[0079] A plurality of groups of auxiliary alignment devices, which are arranged at intervals along the length direction of the distributing beam. Any one group of auxiliary alignment devices includes two auxiliary alignment devices, which are symmetrically arranged on both sides of the distributing beam. Any one of the auxiliary alignment devices includes a multi-axis series manipulator, whose fixed end is hinged to the side wall of the distributing beam; a contact wheel, which is arranged at the free end of the multi-axis series manipulator and is arranged to press against the side wall of the segment beam.

[0080] In the above technical solution, the hoisting beam plays a role of connecting the upper and lower parts, and the distributing beam plays a role of evenly distributing the load during the hoisting of the segment beam. A plurality of longitudinal movement mechanisms and a plurality of hanging lock suspension rods are correspondingly arranged on any one of the transverse movement mechanisms. The longitudinal movement mechanisms and the hanging lock suspension rods correspond to each other one by one. The above transverse movement mechanism and the corresponding plurality of longitudinal movement mechanisms and a plurality of hanging lock suspension rods jointly form a transverse movement unit. Under the action of the second sliding mechanism, the transverse movement unit can integrally move along the length direction of the distributing beam. In the auxiliary alignment device, the multi-axis series manipulator can control the multi-directional displacement of the contact wheel in space. After the manipulator opens outwards and downwards, it can control the contact wheels on both sides to press inwards against the side wall of the segment beam below. Among them, the auxiliary alignment device is used to realize the stable and parallel alignment of the hoisting beam and the distributing beam with the segment beam during construction. On this basis, the transverse movement mechanism is used to realize the transverse movement (the length direction of the distributing beam) of the hanging lock suspension rod relative to the hoisting beam and the distributing beam, and the longitudinal movement mechanism is used to realize the longitudinal movement (the width direction of the distributing beam) of the hanging lock suspension rod relative to the distributing beam. Thus, it can realize the rapid and precise alignment adjustment of the hanging lock suspension rod with the hoisting hole of the segment beam in the horizontal direction.

[0081] In this embodiment, the hoisting beam includes a hoisting main beam and a hoisting ear plate. The two hoisting ear plates are symmetrically fixed at both ends of the top surface of the hoisting main beam, and are hinged with the upper lifting equipment through a pin during the hoisting operation. The multiple transverse movement mechanisms are four transverse movement mechanisms, and correspondingly, four groups of longitudinal movement mechanisms are provided, and any group of longitudinal movement mechanisms includes two longitudinal movement mechanisms. Four groups of padlock suspension rods are provided, and any group of padlock suspension rods includes two padlock suspension rods. Thus, an eight-hanging point hoisting structure is formed under the distribution beam. In conjunction with the distribution beam structure, it can better adapt to the hoisting construction of large-sized and heavy segmental beams, effectively avoid deformation of the segmental beam body or the hoisting equipment, and improve the hoisting quality. The multiple sets of auxiliary alignment devices are two sets of auxiliary alignment devices, and the multi-axis serial robot arm is a three-axis serial robot arm, which includes a robot arm base, which is fixed on the side wall of the distribution beam; a first robot arm, whose head end is hinged to the robot arm base through a first joint motor; a second robot arm, whose head end is hinged to the tail end of the first robot arm through a second joint motor; and a third robot arm, whose head end is hinged to the tail end of the second robot arm through a third joint motor. The contact wheel is fixed to the tail end of the third robot arm, and contacts the side of the segment beam to form a fulcrum during the auxiliary alignment operation. The auxiliary alignment device starts to work when the perforated end of the padlock suspension rod is a certain distance away from the upper surface of the segment beam, changes from the initial posture to the open posture, and makes the contact wheel contact with the side of the segment beam to form a force point (pressing), which can realize the horizontal rotation of the segment beam hanger within a certain range; while keeping the contact wheel pressed against the side of the segment beam, further adjust the open posture of the multi-axis serial robot arm, which can realize the horizontal and longitudinal translation of the segment beam hanger within a certain range, so as to better cooperate with the transverse movement mechanism and the longitudinal movement mechanism to realize the precise alignment of the padlock suspension rod and the segment beam hanging hole. At the same time, after the padlock suspension rod is quickly aligned through the transverse movement mechanism and the longitudinal movement mechanism, it can extend downward into the preset segment beam hanging hole and automatically lock, and there is no need for construction personnel to repeatedly enter and exit the inner cavity of the segment beam to install and adjust the suspension rod, which greatly saves labor and improves the lifting efficiency. In addition, the segmental beam hanger of the present invention is also equipped with a control system, which includes a controller, which is electrically connected to the transverse movement mechanism, the longitudinal movement mechanism, the auxiliary alignment device, and the padlock hanger. In actual construction, semi-automatic control of each component in the segmental beam hanger can be achieved through the controller. The controller can be set at a position convenient for construction personnel to operate, and there is no need for construction personnel to enter the segmental beam to perform operations. The movement or working state adjustment of different components can be controlled by inputting corresponding instructions into the controller, thereby further improving the lifting construction efficiency while ensuring construction safety.

[0082] In another technical solution, the unmanned grasping segment girder sling further includes a plurality of hanging beams, which are arranged at intervals along the length direction on the hoisting beam. Any hanging beam includes two hanging shoulders I, which are symmetrically arranged on both sides of the top of the hoisting beam; a hanging main beam, which is of a portal structure. The horizontal part of the hanging main beam is erected on the tops of the two hanging shoulders I and is slidably connected thereto. The bottom end of the vertical part extends inward and is clamped at the bottom of the hanging shoulder I on the same side; a first sliding mechanism, which is arranged to drive the hanging main beam to move along the length direction of the hoisting beam; two hanging shoulders II, which are respectively arranged at the bottom ends of the two vertical parts of the hanging main beam. The top surface of any hanging shoulder II is in contact with and slidably connected to the bottom surface of the hanging shoulder I on the same side; a hanging joint, which is arranged at the top of the hanging main beam. Among them, the hanging beam is used for the process of the bridge erecting machine to suspend and assemble the segment girder. The upper part of the hanging main beam is hinged to the lower part of the hanging joint, and the upper part of the hanging joint is connected to the main beam of the bridge erecting machine through fine-threaded steel bars or steel wires. During operation, the segment girder sling and the suspended segment girder are suspended as a whole under the main beam of the bridge erecting machine; the bottom end of the vertical part of the hanging main beam is concave, and is matched and clamped with the hanging shoulder I protruding from both sides of the hoisting beam, so that the hanging main beam can be stably hung on the hoisting beam. The bottom end of the hanging main beam is designed with a hanging shoulder II, which contacts the lower surface of the hanging shoulder I on the hoisting beam during the hanging operation to form a stable stress surface, bearing the weight of the segment girder sling and the suspended segment girder, and at the same time allowing the hanging beam to slide along the length direction of the hanging shoulder I under the drive of the first sliding mechanism. In this embodiment, the plurality of hanging beams are two hanging beams symmetrically arranged at both ends of the hoisting beam. The first sliding mechanism includes two sliding plates, which are symmetrically arranged on the tops of the two hanging shoulders I. Any sliding plate is arranged along the length direction of the hoisting beam and is flush with the edge of the corresponding hanging shoulder I. The hanging main beam is erected on the two sliding plates and slides along its length direction; a guiding rod, which is arranged along the length direction on the top surface of the hoisting beam. Fixing plates are respectively arranged at both ends of the guiding rod, which are fixed on the hoisting beam and are rotatably connected to the guiding rod. The guiding rod vertically passes through the horizontal part of the hanging main beam and is threadedly connected thereto; a guiding motor, the output shaft of which is fixed to one end of the guiding rod. When the guiding motor works, the guiding rod rotates along its axial direction, driving the hanging main beam to slide along the length direction of the hoisting beam on the sliding plate. Thus, the adjustment of the lateral relative displacement between the hanging beam and the hoisting beam is realized. During the above sliding process, the clamping structure of the sliding plate, the hanging shoulder I and the hanging main beam and the guiding rod jointly play a role in limiting the movement of the hanging beam and jointly restrict the movement direction of the hanging beam. The hanging beam does not function during the transfer and stacking hoisting of the segment girder.

[0083] In another technical solution, for the unmanned grasping segment girder spreader, the distribution beam is detachably connected to the hoisting beam through a pin device. The pin device includes a plurality of pin holes which are arranged at intervals along the length direction on the hoisting beam, and any one of the pin holes penetrates through the hoisting beam in the width direction; a plurality of groups of pin plates which correspond to the plurality of pin holes one by one. Any one group of pin plates includes two pin plates which are located at both ends of the corresponding pin hole and are fixed on both sides of the distribution beam; a plurality of plugging pins which correspond to the plurality of pin holes one by one. Any one plugging pin passes through the corresponding pin hole, and both ends of the plugging pin are respectively connected to the corresponding two pin plates. Specifically, the pin holes are arranged at the lower part of the hoisting beam. Any one pin hole is a group and can include three or more perforations which are arranged in parallel at intervals along the length direction of the hoisting beam. Correspondingly, a plurality of mounting holes are provided on any one pin plate, which are arranged at intervals along the length direction of the distribution beam and correspond to the plurality of perforations in the same group one by one. The size of any one mounting hole is the same as that of the perforation and matches the size of the plugging pin. The distribution beam plays a role when hoisting the segment girder. By using the cooperation of the perforations and mounting holes at different positions, it plays a certain role in distributing the force of the lateral movement units near the plugging pins, so that the forces of different lateral movement units are relatively uniform. For segment girders of different lengths, the installation positions of the plugging pins are different. In this embodiment, there are two groups of pin plates. One group of pin plates is located between the two lateral movement units on the left side, and the other group of pin plates is located between the two lateral movement units on the right side. When the width (length) of the segment girder is small, the plugging pin is installed by using the cooperation of the inner perforation and the mounting hole (as shown in Figure 4 ); in another embodiment, when the width (length) of the segment girder is large, the plugging pin is installed by using the cooperation of the outer perforation and the mounting hole (as shown in Figure 16 ), so that it can more flexibly adapt to the change of the width of the segment girder.

[0084] In another technical solution, for the unmanned grasping segment girder spreader, the transverse movement mechanism includes two hanging shoulders III which are symmetrically arranged on both sides of the bottom of the distribution beam; a transverse movement beam which is arranged below the distribution beam along the width direction of the distribution beam; two groups of hanging boxes which are symmetrically arranged at both ends of the transverse movement beam. Any one group of hanging boxes includes a plurality of hanging boxes which are fixedly arranged at intervals on the top of the transverse movement beam. Any one hanging box is hung on the same-side hanging shoulder III and is slidably connected to it;

[0085] The second sliding mechanism includes a transverse movement lead screw which is arranged at the bottom of the distribution beam along the length direction of the distribution beam. The transverse movement lead screw passes through the transverse movement beam and is threadedly connected to it; a transverse movement motor which is arranged to drive the transverse movement lead screw to rotate along its axial direction.

[0086] In this embodiment, the hanging shoulders III of two adjacent transverse movement mechanisms in the middle can be shared, that is, a total of six hanging shoulders III are provided, and they are symmetrically arranged in pairs on both sides of the distribution beam. The transverse movement beam includes a transverse movement main beam and a transverse movement longitudinal beam. The transverse movement main beam is of an I-shaped structure, which is arranged along the width direction of the distribution beam and both ends extend out of the edge of the distribution beam. A plurality of transverse movement longitudinal beams are arranged in parallel at intervals along the length direction of the transverse movement main beam. Any transverse movement longitudinal beam is fixedly arranged between the top beam and the bottom beam (horizontal part) of the transverse movement main beam and is perpendicular to the transverse movement main beam. Four transverse movement mechanisms are arranged at intervals below the distribution beam. The transverse movement motor is fixed below the distribution beam through a motor base, the transverse movement lead screw is assembled below the distribution beam through a lead screw base, and the output shaft of the transverse movement motor is connected to the transverse movement lead screw through a coupling for transmission; a bushing is arranged at the connection between the web (vertical part) of the transverse movement main beam and the transverse movement lead screw, and the bushing is fixed on the main web of the transverse movement through a bushing pressing plate. The transverse movement lead screw is in threaded connection with the transverse movement main beam through the bushing. When the transverse movement motor works, the transverse movement lead screw rotates axially to drive the transverse movement beam to translate along the length direction of the transverse movement lead screw. Four hanging boxes are provided on the top of the transverse movement main beam (extending out of the edge of the distribution beam). The bottom of any hanging box is fixed on the transverse movement main beam. The hanging box is of an inverted L-shaped structure, and the L-shaped groove thereof is in fitting and clamping connection with the part of the hanging shoulder III protruding from the side wall of the distribution beam on the same side. Thus, the transverse movement beam is stably hung on the hanging shoulder III of the distribution beam through two groups of hanging boxes. At the same time, the hanging box contacts the upper surface of the hanging shoulder III to form a moving pair, and when the transverse movement motor works, it can drive the transverse movement beam to slide transversely along the distribution beam.

[0087] In another technical solution, for the unmanned segment girder grab hoist, a plurality of guide grooves are provided on the transverse movement beam, which correspond to a plurality of longitudinal movement mechanisms in corresponding groups one by one. Any guide groove is arranged along the length direction of the transverse movement beam and vertically penetrates the transverse movement beam;

[0088] The longitudinal movement mechanism includes a longitudinal movement base, which is clamped on the top of the corresponding guide groove and is slidably connected thereto. One end of the hanging lock suspension rod is connected to the longitudinal movement base, and the other end vertically passes through the guide groove and extends downward;

[0089] The third sliding mechanism includes a longitudinal movement push rod, which is arranged on the transverse movement beam. The longitudinal movement push rod is arranged to drive the longitudinal movement base to move along the length direction of the guide groove.

[0090] In this embodiment, two longitudinal movement mechanisms are mounted on a transverse movement mechanism. The longitudinal movement base is arranged above the transverse movement main beam. The lower boss of the longitudinal movement base is inserted into the corresponding guide groove and can slide longitudinally (in the width direction of the distribution beam). The longitudinal movement push rod is arranged inside the transverse movement main beam (on the bottom surface of the top beam). The fixed end of the longitudinal movement push rod is connected to the transverse movement main beam through a first ear plate, and the pushing end is connected to the lower boss of the longitudinal movement base through a second ear plate. The longitudinal movement push rod is arranged in the width direction of the distribution beam. Thus, when the pushing end of the longitudinal movement push rod moves, it can push the longitudinal movement base to move along the length direction of the guide groove. The guide groove is located outside the hanging box to avoid interference during operation.

[0091] In another technical solution, the unmanned grasping segment beam sling further includes multiple groups of lifting mechanisms, which correspond to the multiple groups of longitudinal movement mechanisms one by one. Any group of lifting mechanisms includes multiple lifting mechanisms, which correspond to the multiple longitudinal movement mechanisms in the corresponding group one by one. Any lifting mechanism includes a sleeve, which is arranged on the longitudinal movement base of the corresponding longitudinal movement mechanism and is rotatably connected thereto. The sleeve is sleeved on the hanging lock suspension rod and is threadedly connected thereto; a lifting driving device, which is arranged to drive the sleeve to rotate along its axial direction; a limit clamping seat, which is sleeved outside the sleeve and fixed on the top of the longitudinal movement base. The limit clamping seat is clamped with the clamping groove on the hanging lock suspension rod through a shoulder and is slidably connected thereto in the vertical direction. In the above technical solution, the longitudinal movement mechanism carries the lifting mechanism and the corresponding hanging lock suspension rod for longitudinal movement, and the lifting mechanism is used to control the vertical lifting and lowering of the corresponding hanging lock suspension rod. Specifically, the lifting driving device includes a lifting gear set and a motor gear set. The lifting gear set includes a lifting gear, which is coaxially sleeved outside the sleeve and is fixedly connected thereto. The lifting gear is horizontally arranged on the longitudinal movement base and is rotatably connected thereto; the motor gear set includes two motor gears, which are arranged on the longitudinal movement base and are respectively located on both sides of the lifting gear. Any motor gear is in contact transmission with the lifting gear in an external meshing manner. A motor is provided on the motor gear. The output shaft of the motor is coaxially and fixedly connected to the motor gear. The motor is used to drive the motor gear to rotate along the axial direction. The rotation of the motor gear drives the rotation of the lifting gear, thereby driving the rotation of the sleeve. The limit clamping seat is fixed directly above the longitudinal movement base and does not contact the sleeve. The lifting gear set and the sleeve do not drive the limit clamping seat to rotate when rotating. The limit clamping seat is arranged to limit the axial rotation of the hanging lock suspension rod. The upper side wall of the hanging lock suspension rod is provided with an external thread, which is in threaded connection with the internal thread of the sleeve. A clamping groove is also provided on the section of the hanging lock suspension rod with the external thread. The clamping groove is arranged in the vertical direction and its length is greater than the height of the threaded section. The limit clamping seat is sleeved outside the sleeve. The top plate of the limit clamping seat is higher than the top end of the sleeve. A shoulder is provided on the top plate in the radial direction. The shoulder extends into the clamping groove from the outside and is clamped therewith. Thus, when the sleeve rotates, the hanging lock suspension rod will not rotate under the limitation of the shoulder and will move in the vertical direction under the rotation of the sleeve. At the same time, the shoulder moves relative to the clamping groove in the vertical direction. The above technical solution converts the rotation of the lifting driving device into the vertical movement of the hanging lock suspension rod, and can adjust the height position of the hanging lock suspension rod without changing the height of the transverse movement mechanism and the longitudinal movement mechanism, which is convenient for subsequent construction in cooperation with the hanging lock suspension rod.

[0092] In another technical solution, for the unmanned grasping segment beam sling, the hanging lock suspension rod includes:

[0093] A pull rod, which is a vertically arranged hollow structure. Its upper part is sleeved in the sleeve and its top end extends out of the sleeve;

[0094] A perforated end head, which is connected to the bottom of the pull rod and is vertically provided with a perforation inside that communicates with the inside of the pull rod. A padlock groove is vertically provided at the lower part of the perforated end head, and the padlock groove penetrates the perforated end head laterally and communicates with the perforation.

[0095] An eccentric padlock, which is arranged in the padlock groove and is hinged to the perforated end head through a load-bearing shaft.

[0096] A driving wire-pulling mechanism, which includes a wire-pulling base fixed to the top end of the pull rod, and a wire-pulling groove is provided on the wire-pulling base; a wire-pulling plate arranged in the wire-pulling groove and slidably connected thereto; a wire-pulling driving device configured to drive the wire-pulling plate to move along the length direction of the wire-pulling groove; an upper wire-pulling, one end of which is fixed to the wire-pulling plate, and the other end sequentially passes through the pull rod, the perforation downward and penetrates into the padlock groove to be connected to the middle part of the eccentric padlock.

[0097] A driven wire-pulling mechanism, which includes a gravity hammer located below the perforated end head; a lower wire-pulling, one end of which is connected to the bottom of the eccentric padlock, and the other end passes through the perforation at the lower part of the perforated end head downward and is fixed to the gravity hammer.

[0098] Wherein, when the wire-pulling plate is in the initial position, the eccentric padlock coincides with the padlock groove, the cross-sectional length of the eccentric padlock is smaller than the diameter of the segment beam lifting hole, and the eccentric padlock is in a closed state; when the wire-pulling driving device drives the wire-pulling plate to move to a specified position, the eccentric padlock rotates to be perpendicular to the padlock groove, the cross-sectional length of the eccentric padlock is larger than the diameter of the segment beam lifting hole, and the eccentric padlock is in an open state.

[0099] In the above technical solution, an external thread is provided on the outer side of the pull rod, and it is sleeved in the sleeve and threadedly connected thereto. A perforated end head is fixedly provided at the bottom of the pull rod. The perforation is coaxially arranged with the perforated end head. The padlock groove divides the perforation into upper and lower parts. A padlock groove is provided at a position slightly below the middle of the perforated end head. The eccentric padlock has an asymmetric geometric shape, so its center of gravity does not coincide with its axis. The eccentric padlock is hinged to the perforated end head through a load-bearing shaft, enabling the eccentric padlock to rotate at a large angle within the padlock groove. The wire-pulling driving device includes an electric push rod, whose fixed end is arranged on the wire-pulling base, and the pushing end is fixedly connected to the wire-pulling plate, and the pushing direction is the same as the length direction of the wire-pulling groove. The working mode of the wire-pulling driving device is as follows: In the initial state, the wire-pulling plate is located at one end of the wire-pulling groove close to the pull rod. At this time, the stroke of the electric push rod is the smallest, and the wire-pulling plate is in the initial position. The active wire-pulling mechanism does not exert an additional force on the eccentric padlock. The eccentric padlock is stably in the vertical closed state under the combined action of its own eccentric moment and the passive wire-pulling mechanism. In the working state, the electric push rod pushes the wire-pulling plate along the wire-pulling groove to a specified position, driving the vertical part of the upper wire-pulling to move upward (take up the wire), and driving the eccentric padlock to rotate to a substantially horizontal position, and the eccentric padlock switches to the open state. When the eccentric padlock needs to be reset (return to the closed state), the electric push rod is used again to drive the wire-pulling plate back to the initial position. Since the wire-pulling plate is located on one side of the perforation and needs to move along the wire-pulling groove, the upper wire-pulling needs to change direction at the hollow opening of the pull rod. Therefore, a fixed pulley 74 is also provided on the wire-pulling base to facilitate the smooth change of direction of the upper wire-pulling.

[0100] The padlock hanging rod further includes a displacement compensation device, which is arranged in the perforation at the upper part of the perforated end head. The displacement compensation device includes:

[0101] Two guiding units, which are symmetrically arranged along the vertical direction. Any one of the guiding units includes a fixed plate; a moving plate, which is arranged at an interval from the fixed plate along the vertical direction; a guiding rod, which is vertically arranged and fixedly connected to the fixed plate and the moving plate at both ends respectively. Among them, the moving plate of the guiding unit is located between the fixed plate and the moving plate of the other guiding unit and is slidably connected to the guiding rod of the other guiding unit;

[0102] A pre-tightening spring, which is vertically arranged between the moving plates of the two guiding units and fixedly connected to the corresponding moving plates at both ends respectively;

[0103] The upper wire-pulling includes wire-pulling one, one end of which is fixedly connected to the wire-pulling driving device, and the other end penetrates downward into the perforation at the upper part of the perforated end head and is connected to the fixed plate of the guiding unit located above; wire-pulling two, one end of which is connected to the fixed plate of the guiding unit located below, and the other end penetrates downward into the padlock groove and is connected to the middle part of the eccentric padlock.

[0104] When the active wire-pulling mechanism is not working, the upper wire does not exert an additional pulling force on the eccentric padlock. The eccentric padlock is vertically arranged and completely located within the padlock slot (without protruding from the padlock slot), and the eccentric padlock is in a closed state. At this time, the displacement compensation device is in an initial state (pre-tightened state). The two moving plates slide outward along the corresponding guide rods under the action of the pre-tightening spring, and the pre-tightening spring is in a compressed state. The upper wire is divided into two segments, namely wire segment one and wire segment two. Both wire segment one and wire segment two are tightened by the reverse acting force (pre-tightening force) of the pre-tightening spring and maintain a relatively balanced state. When the active wire-pulling mechanism works, the vertical part of the upper wire undergoes an upward displacement. After being stressed, the displacement compensation device moves upward with the upper wire. Wire segment one exerts an upward pulling force on the upper guide unit, and wire segment two exerts a downward pulling force on the displacement compensation device under the action of the eccentric padlock. During the above process, due to the large pre-tightening force of the displacement compensation device, the above pulling forces are balanced by the pre-tightening force of the pre-tightening spring, and the two guide units do not produce relative displacement. Set the upper surface of the eccentric padlock when it rotates to the open state as the bearing surface. After the eccentric padlock is in the open state and the padlock hanging rod is further lifted, the bearing surface of the eccentric padlock moves upward and comes into adaptive contact with the inner cavity of the segment beam and forms a force-bearing surface. At this time, the eccentric padlock is in an adaptive fitting state. When the padlock switches from the open state to the adaptive fitting state, the bearing surface of the eccentric padlock is adaptively fitted with the inner cavity surface of the segment beam. Correspondingly, the eccentric padlock will rotate by a certain angle. When the wire-pulling driving device remains stationary (in the original tightened state), an additional pulling force from the eccentric padlock is applied to the lower part of the upper wire. At this time, the external pulling force exceeds the range of the internal pre-tightening force of the displacement compensation device. The pre-tightening spring in the displacement compensation device needs to be further compressed to balance the external pulling force. That is, after the corresponding guide unit is stressed, its moving plate slides along the corresponding guide rod (the guide rod of the other guide unit) and compresses the pre-tightening spring inward until the elastic force of the pre-tightening spring balances the external pulling force. During the above process, the displacement compensation device is in a displacement compensation state, and the two guide units produce an outward relative displacement to adaptively compensate for the stretching of the upper wire caused by the rotation of the eccentric padlock.

[0105] The padlock suspension rod further includes a limiting mechanism, which includes a limiting shaft fixed inside the eccentric padlock and protruding from the end of the eccentric padlock. The limiting shaft is arranged parallel to the load-bearing shaft, and the length of the limiting shaft is greater than the width of the padlock slot; a limiting groove is arranged on the side wall of the perforated end. The limiting groove is located on the same side of the padlock slot and communicates with it. When the eccentric padlock is in the closed state, the limiting shaft is correspondingly clamped in the limiting groove. Among them, the limiting mechanism is used to limit the excessive rotation of the eccentric padlock. In this embodiment, the eccentric padlock can be rotated clockwise from the closed state to the open state under the action of the wire-pulling driving device. When the eccentric padlock needs to be reset, the eccentric padlock rotates counterclockwise. Without limitation, the eccentric padlock can freely rotate 360° in the padlock slot. During rotation, the eccentric padlock is prone to excessive rotation under the action of gravity, resulting in the eccentric padlock still shaking at a certain angle in the padlock slot after reset, which is not conducive to the subsequent construction. Therefore, a limiting shaft is arranged on the same side where the eccentric padlock is connected to the wire-pulling mechanism. It vertically penetrates the side wall of the eccentric padlock, and both ends extend a certain distance from the eccentric padlock. Corresponding to the position of the limiting shaft on the eccentric padlock, a limiting groove is arranged on the side wall of the perforated end, so that when the eccentric padlock is reset, the limiting shaft can rotate into the padlock slot together with the eccentric padlock and cannot further rotate counterclockwise under the action of the limiting groove. Thus, the eccentric padlock can be stably returned to the closed state.

[0106] In another technical solution, the unmanned grasping segment girder lifting device further includes a sensing system, which includes a positioning vision unit configured to detect the horizontal position and height position of the perforated end relative to the segment girder lifting hole; a padlock vision unit configured to detect the position state of the eccentric padlock. Among them, the positioning vision unit is arranged at the bottom of the transverse moving main beam and close to the guiding groove, so as to monitor the horizontal position and height position of the perforated end of the padlock suspension rod relative to the segment girder lifting hole in real time and feedback to the control system; the padlock vision unit is arranged at the upper end of the padlock slot, so as to monitor the position state of the eccentric padlock in real time and feedback to the control system. Any vision unit can select an image recognition module including a lens and an image sensor. The lens is arranged facing the component to be detected, and the image sensor converts the collected optical signal into an electrical signal and then feedbacks it to the control system. Each actuator in the present invention is equipped with an encoder, which can monitor its stroke state in real time and feedback to the control system. In this embodiment, a control box is arranged on the top of the distribution beam, and the controller is arranged inside the control box for collecting the feedback signals of each sensor. The controller is equipped with software for analyzing and processing the feedback information and issues command signals to each actuator to monitor the operation state of the overall segment girder lifting device in real time. Thus, the automation degree and operation accuracy of the segment girder lifting device are further improved, and the operation efficiency and operation quality are improved.

[0107] The present invention also provides a construction method for an unmanned grasping segment girder lifting device, including:

[0108] S1. Use the lifting equipment to move the unmanned grasping segment beam spreader above the segment beam to be lifted and control the lifting beam to be basically parallel to the segment beam to be lifted;

[0109] S2. According to the transverse and longitudinal distribution of the segment beam lifting holes on the segment beam to be lifted (according to the design drawings), adjust the positions of multiple transverse movement mechanisms and multiple groups of longitudinal movement mechanisms so that multiple hanging lock suspension rods correspond one by one to multiple segment beam lifting holes (that is, adjust the transverse and longitudinal spacings between multiple hanging lock suspension rods to be the same as the transverse and longitudinal spacings between multiple segment beam lifting holes), and then adjust multiple groups of lifting mechanisms to lower the multiple hanging lock suspension rods to a low position;

[0110] S3. Use the lifting equipment to continue lowering the unmanned grasping segment beam spreader. When the alignment vision unit detects that the perforated end head is lowered to the specified height, slow down the lowering speed. Multiple groups of auxiliary alignment devices act jointly, the multi-axis series manipulator opens, and adjust the contact wheels to press against the side walls of the segment beam to be lifted from both sides, and adjust the angle of the distribution beam on the horizontal plane to be parallel to the segment beam to be lifted;

[0111] S4. Keep the contact wheels pressing against the segment beam to be lifted, drive the multiple groups of auxiliary alignment devices to longitudinally translate the distribution beam, and then drive the multiple transverse movement mechanisms to horizontally translate the multiple hanging lock suspension rods as a whole so that the perforated end head of any hanging lock suspension rod aligns with the corresponding segment beam lifting hole (preliminary alignment);

[0112] S5. Continue to slowly lower the unmanned grasping segment beam spreader. The alignment vision unit detects the horizontal deviation between the perforated end head and the segment beam lifting hole, the auxiliary alignment device finely adjusts the horizontal rotation deviation, the transverse movement mechanism finely adjusts the horizontal lateral deviation, and the longitudinal movement mechanism finely adjusts the horizontal longitudinal deviation to ensure that the perforated end head can smoothly enter the segment beam lifting hole;

[0113] Detected in real time by the alignment vision unit. When the alignment vision unit detects that the perforated end head extends into the segment beam lifting hole to the specified height (the top of the eccentric hanging lock is lower than the bottom of the segment beam lifting hole), drive the multiple groups of auxiliary alignment devices to reset (return to the initial state), and the contact wheels leave the side walls of the segment beam;

[0114] S6. Continue to lower the unmanned grasping segment beam spreader to the set position (the lowest position within the allowable range), drive the active cable pulling mechanism to act, so that the eccentric hanging lock is converted from the closed state to the open state, and use the hanging lock vision unit to detect whether the eccentric hanging lock is opened in place. Only after confirming that the eccentric hanging lock is opened in place can the next step be carried out;

[0115] S7. Adjust the multiple sets of lifting mechanisms to synchronously lift the multiple padlock suspension rods to a high position, bring the padlock suspension rods into contact with the inner cavity of the segment girder, convert the eccentric padlock from the open state to an adaptively fitted state, and at the same time, stably lock the eccentric padlock in the inner cavity of the segment girder;

[0116] S8. Use a lifting device to lift the unmanned grasping segment girder sling. After hoisting the segment girder to be hoisted to the designated position, adjust the multiple sets of lifting mechanisms to lower the multiple padlock suspension rods to a low position, then drive the active cable mechanism to reset, rotate the eccentric padlock to the closed state, and use the padlock vision unit to detect whether the eccentric padlock is closed in place. Only after confirming that the eccentric padlock is closed in place can the next step be carried out;

[0117] S9. Continue to use the lifting device to lift the unmanned grasping segment girder sling until the perforated end disengages from the segment girder lifting hole, thus completing one hoisting operation;

[0118] S10. Repeat the content of S1 - S9 to carry out the next hoisting operation.

[0119] In the above technical solution, the action instructions of each component can be issued by the control system to realize the full - process automatic control of the segment girder hoisting.

[0120] Although the embodiments of the present invention have been disclosed as above, it is not limited to only the applications listed in the specification and 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 their equivalents, the present invention is not limited to the specific details and the examples shown and described herein.

Claims

1. An unmanned grasping segment girder sling, characterized in that, Comprising: A hoisting beam, the top of which is detachably connected to a hoisting device; A distributing beam, which is arranged parallel to and detachably connected to the hoisting beam directly below it; A plurality of transverse movement mechanisms, which are arranged at intervals along the length direction at the bottom of the distributing beam. Any one of the transverse movement mechanisms slides along the length direction of the distributing beam through a second sliding mechanism. The transverse movement mechanism includes two hanging shoulders three, which are symmetrically arranged on both sides of the bottom of the distributing beam; a transverse movement beam, which is arranged below the distributing beam along the width direction of the distributing beam; two groups of hanging boxes, which are symmetrically arranged at both ends of the transverse movement beam. Any one group of hanging boxes includes a plurality of hanging boxes, which are fixedly arranged at intervals on the top of the transverse movement beam. Any one hanging box is hung on the hanging shoulder three on the same side and is slidably connected to it; A plurality of groups of longitudinal movement mechanisms, which correspond to the plurality of transverse movement mechanisms one by one. Any one group of longitudinal movement mechanisms includes a plurality of longitudinal movement mechanisms, which are arranged at intervals along the width direction on the corresponding transverse movement mechanism. Any one longitudinal movement mechanism slides along the width direction of the distributing beam through a third sliding mechanism; A plurality of groups of hanging lock suspension rods, which correspond to the plurality of groups of longitudinal movement mechanisms one by one. Any one group of hanging lock suspension rods includes a plurality of hanging lock suspension rods, which are respectively connected to the plurality of longitudinal movement mechanisms in the corresponding group. Any one hanging lock suspension rod is vertically arranged and is used for automatically locking the lifting hole of the segment beam; a plurality of guiding grooves are arranged on the transverse movement beam, which correspond to the plurality of longitudinal movement mechanisms in the corresponding group one by one. Any one guiding groove is arranged along the length direction of the transverse movement beam and vertically penetrates the transverse movement beam; the longitudinal movement mechanism includes a longitudinal movement base, which is clamped on the top of the corresponding guiding groove and is slidably connected to it. One end of the hanging lock suspension rod is connected to the longitudinal movement base, and the other end vertically passes through the guiding groove and extends downward; A plurality of groups of auxiliary alignment devices, which are arranged at intervals along the length direction of the distributing beam. Any one group of auxiliary alignment devices includes two auxiliary alignment devices, which are symmetrically arranged on both sides of the distributing beam. Any one auxiliary alignment device includes a multi-axis series manipulator, the fixed end of which is hinged to the side wall of the distributing beam; a contact wheel, which is arranged at the free end of the multi-axis series manipulator and is arranged to press against the side wall of the segment beam; A plurality of groups of lifting mechanisms, which correspond to the plurality of groups of longitudinal movement mechanisms one by one. Any one group of lifting mechanisms includes a plurality of lifting mechanisms, which correspond to the plurality of longitudinal movement mechanisms in the corresponding group one by one. Any one lifting mechanism includes a sleeve, which is arranged on the longitudinal movement base of the corresponding longitudinal movement mechanism and is rotatably connected to it. The sleeve is sleeved on the hanging lock suspension rod and is threadedly connected to it; a lifting driving device, which is arranged to drive the sleeve to rotate along its axial direction; a limit clamping seat, which is sleeved outside the sleeve and fixed on the top of the longitudinal movement base. The limit clamping seat is clamped with the clamping groove on the hanging lock suspension rod through a clamping shoulder and is slidably connected to it along the vertical direction; The hanging lock suspension rod includes: A pull rod, which is a vertically arranged hollow structure, the upper part of which is sleeved in the sleeve and the top end of which passes through the sleeve; A perforated end head, which is connected to the bottom of the pull rod and is vertically provided with a perforation inside that is communicated with the inside of the pull rod. The lower part of the perforated end head is vertically provided with a hanging lock groove, and the hanging lock groove laterally penetrates the perforated end head and is communicated with the perforation; An eccentric padlock is arranged in the padlock groove and is hinged to the perforated end through a load-bearing shaft; The active cable pulling mechanism includes a cable pulling base fixed to the top end of the pull rod, and a cable pulling groove is provided on the cable pulling base; a cable pulling plate is arranged in the cable pulling groove and is slidably connected thereto; a cable pulling driving device is arranged to drive the cable pulling plate to move along the length direction of the cable pulling groove; an upper cable is fixed at one end to the cable pulling plate, and the other end sequentially passes through the pull rod, the perforation downward and penetrates into the padlock groove to be connected to the middle part of the eccentric padlock; The passive cable pulling mechanism includes a gravity hammer located below the perforated end; a lower cable is connected to the bottom of the eccentric padlock at one end, and the other end passes through the perforation below the perforated end downward and is fixedly connected to the gravity hammer; Wherein, when the cable pulling plate is in the initial position, the eccentric padlock coincides with the padlock groove, the cross-sectional length of the eccentric padlock is smaller than the diameter of the segment beam lifting hole, and the eccentric padlock is in a closed state; when the cable pulling driving device drives the cable pulling plate to move to a specified position, the eccentric padlock rotates to be perpendicular to the padlock groove, the cross-sectional length of the eccentric padlock is larger than the diameter of the segment beam lifting hole, and the eccentric padlock is in an open state.

2. The unmanned grasping segment girder sling according to claim 1, characterized in that, It further includes a plurality of hanging beams which are arranged at intervals along the length direction on the hoisting beam. Any one of the hanging beams includes two hanging shoulders one which are symmetrically arranged on both sides of the top of the hoisting beam; a hanging main beam which is of a portal structure, the horizontal part of the hanging main beam is erected on the tops of the two hanging shoulders one and is slidably connected thereto, and the bottom end of the vertical part extends inwards and is clamped at the bottom of the same-side hanging shoulder one; The first sliding mechanism is arranged to drive the hanging main beam to move along the length direction of the hoisting beam; two hanging shoulders two are respectively arranged at the bottom ends of the two vertical parts of the hanging main beam, and the top surface of any one of the hanging shoulders two is attached to and slidably connected to the bottom surface of the same-side hanging shoulder one; a hanging joint is arranged on the top of the hanging main beam.

3. The unmanned segment girder lifting device according to claim 1, characterized in that, The distribution beam is detachably connected to the hoisting beam through a pin device. The pin device includes a plurality of pin holes which are arranged at intervals along the length direction on the hoisting beam, and any one of the pin holes penetrates through the hoisting beam along the width direction; multiple groups of pin plates which correspond to the multiple pin holes one by one. Any one group of pin plates includes two pin plates which are located at both ends of the corresponding pin hole and are fixed on both sides of the distribution beam; a plurality of plug-and-pull pin shafts which correspond to the multiple pin holes one by one. Any one plug-and-pull pin shaft passes through the corresponding pin hole, and both ends of the plug-and-pull pin shaft are respectively connected to the corresponding two pin plates.

4. The unmanned segment girder lifting device according to claim 1, characterized in that, The second sliding mechanism includes a transverse movement lead screw which is arranged at the bottom of the distribution beam along the length direction thereof, and the transverse movement lead screw passes through the transverse movement beam and is threadedly connected thereto; a transverse movement motor which is arranged to drive the transverse movement lead screw to rotate along its axial direction.

5. The unmanned grasping segment girder sling according to claim 1, wherein, The third sliding mechanism includes a longitudinal movement push rod which is arranged on the transverse movement beam, and the longitudinal movement push rod is arranged to drive the longitudinal movement base to move along the length direction of the guide groove.

6. The unmanned segment girder lifting tool according to claim 1, characterized in that It further includes a sensing system, which includes a positioning vision unit configured to detect the horizontal position and height position of the perforated end relative to the segment beam lifting hole; and a padlock vision unit configured to detect the position state of the eccentric padlock.

7. A construction method of the unmanned grasping segment beam sling as described in any one of claims 1-6, characterized in that, It includes: S1. Move the unmanned grasping segment beam lifting tool above the segment beam to be lifted by a lifting device; S2. According to the transverse and longitudinal distribution of the segment beam lifting holes on the segment beam to be lifted, adjust the positions of multiple transverse movement mechanisms and multiple groups of longitudinal movement mechanisms so that multiple hanging lock suspension rods correspond to multiple segment beam lifting holes one by one, and then adjust multiple groups of lifting mechanisms to lower the multiple hanging lock suspension rods to a low position; S3. Continue to lower the unmanned grasping segment beam lifting tool by the lifting device. When the positioning vision unit detects that the perforated end is lowered to a specified height, multiple groups of auxiliary positioning devices act jointly. The contact wheels press the side walls of the segment beam to be lifted inward from both sides, and adjust the angle of the distribution beam on the horizontal plane to be parallel to the segment beam to be lifted; S4. Keep the contact wheels pressing against the segment beam to be lifted, drive the multiple groups of auxiliary positioning devices to longitudinally translate the distribution beam, and then drive the multiple transverse movement mechanisms to horizontally translate the multiple hanging lock suspension rods as a whole, so that the perforated end of any hanging lock suspension rod is aligned with the corresponding segment beam lifting hole; S5. Continue to lower the unmanned grasping segment beam lifting tool. When the positioning vision unit detects that the perforated end extends into the segment beam lifting hole to a specified height, drive the multiple groups of auxiliary positioning devices to reset; S6. Continue to lower the unmanned grasping segment beam lifting tool to a set position, drive the active cable mechanism to act, so that the eccentric padlock is converted from a closed state to an open state, and use the padlock vision unit to detect whether the eccentric padlock is opened in place; S7. Adjust the multiple groups of lifting mechanisms to synchronously lift the multiple hanging lock suspension rods to a high position, so that the eccentric padlock is clamped in the segment beam inner cavity; S8. Use the lifting device to lift the unmanned grasping segment beam lifting tool. After lifting the segment beam to be lifted to a specified position, adjust the multiple groups of lifting mechanisms to lower the multiple hanging lock suspension rods to a low position, and then drive the active cable mechanism to reset, so that the eccentric padlock rotates to a closed state, and use the padlock vision unit to detect whether the eccentric padlock is closed in place; S9. Continue to lift the unmanned grasping segment beam lifting tool until the perforated end disengages from the segment beam lifting hole, that is, complete one lifting operation; S10. Repeat the content of S1 - S9 to perform the next lifting operation.

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