A bridge crane for intelligent erection and auxiliary cable adjustment of a cable-stayed bridge and a construction method thereof

Abstract

The present invention provides a bridge crane for intelligent erection and auxiliary cable adjustment of a cable-stayed bridge and a construction method thereof, the construction method comprising: S100, lifting a beam to be erected, and controlling the beam to be erected to move to a preliminary positioning position; S200, actively capturing the beam to be erected; S300, actively guiding the beam to be erected to be spliced ​​with an erected beam; S400, the bridge crane moves to the beam to be erected; S500, auxiliary cable hanging construction; the bridge crane comprises an auxiliary cable hanging device and a carrying device arranged on the bridge crane, the carrying device is provided with a measuring device for measuring, the measuring device is slidably arranged on the carrying device, and the auxiliary cable hanging device is used for auxiliary cable hanging construction. The bridge crane and the construction method can improve the alignment efficiency of the beam to be erected, reduce interference in bridge deck construction operations, and improve the safety of construction workers.

Description

Technical Field

[0001] The invention relates to the field of bridge erection and installation, and in particular to a bridge deck crane for intelligent erection and auxiliary cable adjustment of a cable-stayed bridge and a construction method thereof. Background Art

[0002] The erection of cable-stayed bridge sections and the construction of cable-stayed cables, whether it is a dual-use bridge for road and railway or a highway bridge, will have problems such as mutual interference in on-site operations and lack of guaranteed operation safety, especially the erection of upper and lower steel truss segmental beams. Since the erected beams are affected by the deadweight of the bridge deck crane and the bending load of the beams to be erected, the upper bridge deck at the interface of the erected beams is deformed upward with low sides and high in the middle. The upper bridge deck at the interface of the beams to be erected is deformed downward with high sides and low in the middle under the deadweight and the lifting of the bridge deck crane. The inconsistent deformation of the bridge deck at the interface makes it difficult to match the bolt holes, and a large force is needed to force alignment. At present, the segmental beam alignment construction adopts hand winches, crowbars, yard plates and other construction machinery and tools in conjunction with lifting equipment to repeatedly adjust to complete the segmental beam alignment installation, and the cable-stayed cable hanging construction adopts the method of automobile crane and hand winch frame cooperating with each other to complete the hanging construction.

[0003] The above-mentioned segmental beam alignment and cable hanging construction methods have the following problems: 1. The segmental beam alignment needs to be repeatedly adjusted with a variety of construction machinery, and the alignment efficiency is low; 2. The connection part between the beam to be installed and the installed beam is a workplace where on-site construction personnel gather, but the edge protection of the connection part between the installation beam and the installed beam is difficult to set up, and the protection is generally missing, and the safety risk of personnel construction is high; 3. The cable hanging construction of the cable-stayed bridge and the bridge deck crane hoisting construction work surface are highly overlapped, and the working space is limited. In particular, the front-end cable hanging construction automobile crane auxiliary operation will interfere with the bridge deck crane, and there are many contradictions in on-site construction. The hand-pulled hoist frame needs to be re-installed and disassembled every time it is hung, and the limited working space is further occupied when hanging the cable. The construction is quite cumbersome, the cable hanging construction is inefficient, and the time-consuming; 4. The use of automobile cranes and hand-pulled hoists will increase the construction load on the beam surface, the bridge line shape control is difficult, and the investment cost of construction machinery and manual operations is high; 5. The alignment and assembly of steel beams needs to be carried out at a specific temperature, usually at night, which is a test of the energy and physical strength of personnel, with high labor intensity and great environmental influence factors. Summary of the invention

[0004] The technical problem that the present invention intends to solve is to provide a bridge crane and a construction method for the intelligent erection and auxiliary cable adjustment of a cable-stayed bridge. The bridge crane and the construction method can solve the problems of low efficiency in segmental beam alignment, large interference in bridge deck construction operations, and lack of safety guarantee for construction workers.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a construction method for intelligent erection and auxiliary cable adjustment of a cable-stayed bridge, comprising the following steps:

[0006] S100, lifting the beam to be erected, and controlling the beam to be erected to move to a preliminary positioning position;

[0007] S200, actively capture the beam to be erected;

[0008] S300, actively guiding the beams to be erected to be spliced ​​with the erected beams;

[0009] S400, the bridge crane moves to the place where the beam is to be erected;

[0010] S500, auxiliary hanging cable construction.

[0011] Furthermore, the step S100 includes:

[0012] S101, the bridge crane 100 lifts the beam to be erected, and the measuring device moves to the preliminary positioning and measuring position;

[0013] S102, the beam to be erected rises to the recognition range of the measuring device, the measuring device measures the relative displacement coordinates and angle coordinates between the erected beam and the beam to be erected, and calculates the positioning parameters of the beam to be erected;

[0014] S103. Based on the positioning parameters, the bridge crane controls the beam to be erected to move to a preliminary positioning position.

[0015] Furthermore, the initial positioning position of the beam to be erected is a position where the guide mother seat can actively capture the guide seat.

[0016] Furthermore, the step S200 includes: the guide mother seat on the erected beam actively captures the guide seat on the beam to be erected and connects with the guide seat.

[0017] Further, in step S200, the guide seat includes a first guide seat arranged on the lower chord rod and a second guide seat arranged on the upper chord rod, and the guide seat includes a first guide seat arranged on the lower chord rod and a second guide seat arranged on the upper chord rod, and the first guide seat and the second guide seat respectively capture the first guide seat and the second guide seat simultaneously.

[0018] Furthermore, in the step S300, the guide base actively guides the splicing of the beam to be erected and the erected beam.

[0019] Furthermore, the step S300 includes:

[0020] S301, the measuring device moves to the measuring range of the lower chord of the beam to be erected and the erected beam;

[0021] S302, the beam to be erected is moved to the guiding range of the first guide base, and the first guide base guides the beam to be erected 502 to be aligned and spliced ​​with the lower chord of the erected beam;

[0022] S303, the measuring device is moved to the measuring range of the diagonal bars of the beams to be erected and the erected beams;

[0023] S304, the second guide base guides the beam to be erected to align and splice with the diagonal rods and upper chord rods of the erected beams in sequence.

[0024] Furthermore, the step S304 includes: the second guide base guides the beam to be erected to the first stage and aligns and splices it with the diagonal rod of the erected beam, and the second guide base guides the beam to be erected to the second stage and aligns and splices it with the upper chord rod of the erected beam.

[0025] Furthermore, the step S400 includes:

[0026] S410, the carrying device is turned toward the inner side of the bridge crane;

[0027] S430, the bridge crane moves to the place where the beams are to be erected.

[0028] Furthermore, the step S410 includes:

[0029] S411, cancel the fixed carrying rod, and control the carrying rod to move to the first station;

[0030] S412, fix the carrying rod, and fold the first crossbeam and the second crossbeam of the carrying device toward the inner side of the bridge crane.

[0031] Furthermore, an auxiliary cable hanging device is provided on the bridge crane to assist the cable hanging construction; the step S400 also includes a step S420, and the step S420 includes: the auxiliary cable hanging device is folded toward the inside of the bridge crane.

[0032] Furthermore, the step S500 includes:

[0033] Step S501, the auxiliary cable hanging mechanism is folded toward the outside of the bridge crane;

[0034] Step S502, lifting the stay cable;

[0035] Step S503: adjust the beam end anchor of the inclined cable, insert the beam end anchor into the cableway tube and connect with the beam end anchor device in the cableway tube.

[0036] The present invention also provides a bridge crane, comprising an auxiliary cable hanging device and a carrying device arranged on the bridge crane, wherein the carrying device is provided with a measuring device for measuring, the measuring device is slidably arranged on the carrying device, and the auxiliary cable hanging device is used for assisting cable hanging construction.

[0037] Furthermore, the carrying device includes a first carrying mechanism and a second carrying mechanism, the first carrying mechanism is arranged above the second carrying mechanism, a carrying rod is suspended on the first carrying mechanism, the first carrying mechanism is used to control the lifting and lowering of the carrying rod, the second carrying mechanism is used to fix the carrying rod, and the measuring device is slidably arranged on the carrying rod.

[0038] Furthermore, the carrying device is arranged on both sides of the bridge crane, the first carrying mechanism includes a first supporting seat, a first folding device, a first beam and a first lifting device for controlling the lifting of the carrying rod, one end of the first beam is hinged to the first supporting seat, the first lifting device is arranged on the first beam, the second carrying mechanism includes a second supporting seat, a second folding device and a second beam, one end of the second beam is hinged to the second supporting seat, a fixing device for fixing the carrying rod is arranged at one end of the second beam away from the bridge crane, the first supporting seat and the second supporting seat are both fixed on the bridge crane, the first folding device and the second folding device are used to control the synchronous rotation of the first beam and the second beam.

[0039] Furthermore, the auxiliary cable hanging device includes a bracket fixed on the bridge crane, a third folding device arranged on the bracket, and a lifting device slidably arranged on the third folding device. The lifting device is used to assist in completing the beam end hanging of the inclined cable by lifting the inclined cable, and the third folding device is used to fold the lifting device out of the bracket and fold it back into the bracket.

[0040] Beneficial effects of the present invention:

[0041] 1. The present invention uses a guide device assembly to actively connect the erected beam with the beam to be erected, and synchronously controls the movement of the beam to be erected through the first oil cylinder and the bridge crane, guides the guide base and the guide base to be completely docked through the first guide surface and the second guide surface, and can provide a forced force to correct the docking interface deviation of the erected beam and the beam to be erected, so that the segment beam can be accurately aligned at one time. This alignment method can avoid repeated adjustments of the beam to be erected, and has accurate alignment and high efficiency;

[0042] 2. The guide seat and the guide base of the guide device assembly of the present invention are both flexibly hinged, with strong tolerance capability, low requirements for the initial positioning accuracy of the beam to be erected, and improved alignment efficiency. Different tolerance capabilities are set for the guide device assemblies of the upper chord and the lower chord, thereby avoiding interference of the guide device assembly of the upper chord on the lower chord when the lower chord is docked. Therefore, through the flexible docking method, the requirements for the initial positioning accuracy of the beam to be erected can be reduced. Even if the beam to be erected is misaligned with the erected beam, as long as the deviation is within the tolerance capability of the guide device assembly, it can be directly connected for guidance and alignment;

[0043] 3. The present invention uses a measuring device to replace the traditional level, measures the targets on the beams to be erected and the erected beams through the measuring device, and uses the measurement results to calculate the positioning parameters of the beams to be erected, thereby assisting in controlling the bridge crane to move the beams to be erected. Therefore, through the photogrammetry method, unmanned, automated, and intelligent positioning guidance is realized;

[0044] 4. The present invention arranges the measuring device on the carrying device, and the measuring device can move vertically on the carrying device, so as to complete the measurement of multiple points such as preliminary positioning measurement, lower chord measurement, inclined rod measurement, upper chord measurement, etc., without manually adjusting the position of the measuring device. The method of automatically controlling the measuring device to perform measurement realizes the measurement of multiple points of the erected beams and the beams to be erected by a set of devices, with high measurement efficiency, without the need for on-site measurement by surveyors, and the carrying device is an auxiliary mechanism of the bridge crane, and the equipment operator can operate the measuring device in the driver's cab, which is conducive to the integration of equipment control operation and improves the degree of automation and intelligent operation of the equipment;

[0045] 5. The present invention integrates the auxiliary cable hanging device at the tail of the bridge crane to save the cable hanging operation space, realize the mechanized cable hanging operation on the beam surface, and improve the cable hanging operation efficiency; through the method of auxiliary cable hanging by the bridge crane, the beam erection and cable hanging operations are completed in an integrated manner, which can effectively reduce the mutual operation disturbance, and also reduce the on-site cable hanging construction machinery and tools, saving on-site operation space, making the operation surface layout more reasonable, reducing the bridge construction load, and facilitating the adjustment of the entire bridge line shape;

[0046] 6. The present invention uses a carrying device and an auxiliary cable hanging device that can be folded to the inside of the bridge crane, so that the bridge crane can effectively avoid the hanging cables when traveling, reducing the interference with other construction operations, and the auxiliary cable hanging device is arranged at the tail of the bridge crane to play the role of counterweight, thereby improving the longitudinal stability of the bridge crane, effectively reducing the rear anchor tension without increasing the support reaction force of the front support point, and the whole machine mechanism is reasonably stressed;

[0047] 7. The construction method of the present invention is an integrated operation of erecting beams and hanging cables, which can reduce a shift of workers, promote the optimal allocation of on-site personnel, and reduce the number of on-site construction workers. Most of the operation processes are mechanized operations and construction, and the safety of the workers can be effectively guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a construction flow chart of the present invention;

[0049] Figure 2 It is a side view of the construction status of the bridge deck crane of the present invention;

[0050] Figure 3 It is a front view of the construction status of the bridge crane of the present invention;

[0051] Figure 4 It is a side view of the bridge crane of the present invention in the walking state;

[0052] Figure 5 It is a front view of the bridge crane of the present invention in the walking state;

[0053] Figure 6 It is a structural schematic diagram of the guide female seat of the present invention;

[0054] Figure 7 It is a structural schematic diagram of the guide seat of the present invention;

[0055] Figure 8 A side view showing the arrangement of the guide device assembly of the present invention on a segment beam;

[0056] Fig. 9 A top view of the guide device assembly of the present invention arranged on a segment beam;

[0057] Fig.10 This is a working state diagram of the guiding device assembly of the present invention;

[0058] Fig.11 It is a structural schematic diagram of the guide female seat and the guide seat of the present invention being completely connected;

[0059] Fig.12 It is a front view of a first carrying mechanism of the carrying device of the present invention;

[0060] Fig.13 A top view of a first loading mechanism of the loading device of the present invention;

[0061] Fig.14 It is a front view of the second carrying mechanism of the carrying device of the present invention;

[0062] Fig.15 A top view of a second loading mechanism of the loading device of the present invention;

[0063] Fig.16 A side view of a second loading mechanism of the loading device of the present invention;

[0064] Fig.17 It is a side view of the auxiliary lanyard device of the present invention in working state;

[0065] Fig.18 It is a front view of the auxiliary lanyard device of the present invention in working state;

[0066] Fig.19 A top view of the auxiliary lanyard device of the present invention in working state;

[0067] Fig. 20 It is a side view of the auxiliary lanyard device of the present invention in a non-working state;

[0068] Fig.21This is a front view of the auxiliary lanyard device of the present invention in a non-working state;

[0069] Description of reference numerals:

[0070] A bridge crane 100, an upper frame of the bridge crane 101, and a front support rod 102 of the bridge crane;

[0071] The guide device assembly 200, the guide base 201, the guide base 202, the first outer cylinder 203, the first inner cylinder 204, the second guide surface 205, the first ball seat 206, the end cover 207, the first support portion 208, the guide tube 209, the first hemisphere 210, the first spring assembly 211, the first spring adjustment device 212, the fixing plate 213, the stopper 214, the first spring 215, the electromagnet 216, the shear member 217, the second spring 218, the second outer cylinder 21 9. The second inner cylinder 220, the first guide surface 221, the cylinder seat 222, the first ear plate 223, the first cylinder 224, the second spring assembly 225, the second spring adjustment device 226, the second cylinder 227, the end plate 228, the second support portion 229, the second ball seat 230, the spring seat 231, the third spring assembly 232, the third spring adjustment device 233, the guide shaft 234, the second hemisphere 235, the tension member 236, the guide female seat 237, and the guide seat 238;

[0072] Carrying device 300; first carrying mechanism 301; second carrying mechanism 302; carrying rod 303; second ear plate 304; first lifting device 305; second lifting device 306; first crossbeam 307; first support seat 308; second crossbeam 309; second support seat 310; fixing sleeve 311; automatic plug-in pin 312; first fixing hole 313; second fixing hole 314; third fixing hole 315; first folding device 316; second folding device 317;

[0073] Auxiliary hanging rope device 400; bracket 401; third folding device 402; lifting device 403; track beam 404; outwardly extending beam 405; column 406; first inclined rod 407; second inclined rod 408; driving device 409; sling 410;

[0074] Cable-stayed bridge 500, erected beams 501, beams to be erected 502, inclined cables 503, upper bridge deck 504; lower bridge deck 505; upper chord 506; diagonal bars 507; lower chord 508;

[0075] Measuring device 600. DETAILED DESCRIPTION

[0076] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0077] The present invention is applicable to various bridges such as highway-railway dual-purpose bridges and road bridges. The following is a detailed description of the highway-railway dual-purpose cable-stayed bridge. Figure 2 , 3 As shown in the figure, the structures of the bridge crane 100 and the cable-stayed bridge 500 are faded to highlight other structures. The segmental beam of the highway-railway dual-purpose cable-stayed bridge 500 includes an upper bridge deck 504 and a lower bridge deck 505. The upper bridge deck 504 is provided with upper chords 506 on both sides along the length direction, and the lower bridge deck 505 is provided with lower chords 508 on both sides along the length direction. An oblique rod 507 is provided between the upper chord 506 and the lower chord 508. When the segmental beam is butt-jointed, four measurements and alignments are required, namely, preliminary alignment of the beam 502 to be erected, precise alignment of the lower chord 508, precise alignment of the oblique rod 507 and precise alignment of the upper chord 506. After the segmental beam alignment is completed, cable hanging construction is required.

[0078] The bridge crane 100 includes an auxiliary cable hanging device 400 and a carrying device 300 provided on the bridge crane 100. The carrying device 300 is provided with a measuring device 600 for measuring, and the measuring device 600 is slidably provided on the carrying device 300. The auxiliary cable hanging device 400 is used to assist in cable hanging construction. A guide device assembly 200 is provided on the segment beam. During the alignment process of the beam 502 to be erected, the bridge crane 100 is used to lift and control the movement, the measuring device 600 carried by the carrying device 300 is used to perform the measurement work, and the guide device assembly 200 is used to guide the alignment of the beam 502 to be erected. During the cable hanging construction process, the auxiliary cable hanging device 400 is used to assist in the cable hanging construction of the inclined cable 503 at the beam end.

[0079] like Figure 8 , 9 As shown, the guide device assembly 200 includes a guide base 201 and a guide seat 202 matched with the guide base 201. The guide base 201 is arranged on the erected beam 501, and the guide seat 202 is correspondingly arranged on the beam to be erected 502. The guide base 201 is used to actively connect with the guide seat 202 and guide the guide seat 202 to dock with the guide base 201 to achieve the alignment and splicing of the beam to be erected 502 and the erected beam 501. The guide device assembly 200 is provided with two groups, which are respectively located at positions close to both sides of the segment beam. The guide base 201 is arranged at one end of the erected beam 501 close to the beam to be erected 502, and the guide seat 202 is arranged at one end of the beam to be erected 502 close to the erected beam 501. The guide base 201 corresponds to the guide seat 202 one by one.

[0080] like Figure 6As shown, the guide base 201 includes a guide base 237, an active guide mechanism disposed on the guide base 237, and a first oil cylinder 224, wherein the first oil cylinder 224 is used to control the active guide mechanism to move along the axis of the guide base 237. The guide base 202 includes a guide base 238 and a passive guide mechanism disposed on the guide base 238, and both the guide base 237 and the guide base 238 are circular cylindrical structures.

[0081] like Figure 7 As shown, the guide seat 238 includes a first outer cylinder 203 and a first inner cylinder 204. The first outer cylinder 203 is fixed on the beam 502 to be mounted through a base. The outer wall of the first outer cylinder 203 is close to the diameter of the guide base 201 and gradually shrinks outward to form a second guide surface 205. The first inner cylinder 204 is coaxially arranged in the first outer cylinder 203. Both ends of the first inner cylinder 204 are open. The first inner cylinder 204 and the first outer cylinder 203 are connected by welding. The diameter of the first inner cylinder 204 is equal to the diameter of the first outer cylinder 203 close to the guide base 201.

[0082] The passive guiding mechanism is arranged in the first inner cylinder 204, and the passive guiding mechanism includes a second guide box arranged at the end of the first outer cylinder 203 away from the guide mother seat 201, and a guide tube 209 coaxial with the first inner cylinder 204. A first hemisphere 210 is arranged at one end of the guide tube 209, and the first hemisphere 210 is hinged in the second guide box. The end of the guide tube 209 close to the guide mother seat 201 is trumpet-shaped and extends out of the guide seat 202. A first support part 208 for limiting the axial movement of the first hemisphere 210 along the guide seat 238 is arranged in the second guide box, one end of the first support part 208 is connected to the spherical surface of the first hemisphere 210, and the first support part 208 is coaxially arranged with the guide tube 209.

[0083] The second guide box includes a first ball seat 206, an inner spherical surface connected to the spherical surface of the first hemisphere 210 is arranged inside the first ball seat 206, the outer edge of the first ball seat 206 is fixed to the outer side of the opening of the first outer cylinder 203 away from the guide female seat 201, an end cover 207 is arranged outside the first ball seat 206, and a first support part 208 connected to the spherical surface of the center of the first hemisphere 210 is arranged inside the end cover 207, the first support part 208 supports the center of the first hemisphere 210 to limit the axial movement of the first hemisphere 210 along the guide seat 238, and the first hemisphere 210 can rotate around the end of the first support part 208. The first support part 208 is a screw with a ball head at one end.

[0084] A first centering mechanism is provided between the guide tube 209 and the first inner cylinder 204, and the first centering mechanism is used to control the guide tube 209 to be positioned on the axis of the guide seat 238 in the absence of external force. The first centering mechanism includes a plurality of first spring assemblies 211 perpendicular to the guide tube 209, and a first spring adjusting device 212 is provided at one end of the first spring assembly 211 away from the guide tube 209, and the first spring adjusting device 212 is provided on the inner wall of the guide seat 238, that is, on the cylinder wall of the first inner cylinder 204. The first spring assembly 211 is used to ensure that the guide tube 209 can rotate around the first ball seat 206 under the action of external force, and automatically returns to the middle position when the external force is removed, that is, returns to the axis of the guide seat 238. The first spring adjusting device 212 can adjust the force of the first spring assembly 211 on the guide tube 209, so that the guide tube 209 is positioned on the axis of the guide seat 238 in the absence of external force. The first spring assembly 211 is connected to the middle of the guide tube 209 . There are four first spring assemblies 211 , two of which are symmetrically arranged on both sides of the outer wall of the guide tube 209 in the horizontal direction, and the other two are symmetrically arranged on both sides of the outer wall of the guide tube 209 in the vertical direction.

[0085] The guide tube 209 is provided with a locking mechanism, and the locking mechanism is used to lock the tension member 236 extending into the guide tube 209. The guide tube 209 has a hole on its wall, and the hole of the guide tube 209 is located in the guide seat 202 and close to the bell mouth of the guide tube 209. The locking mechanism includes an electromagnet 216 provided on the outer wall of the hole of the guide tube 209 and a stopper 214 provided in the guide tube 209. The diameter of the stopper 214 is smaller than the inner diameter of the guide tube 209. The stopper 214 is connected to a fixing plate 213 through a first spring 215. The fixing plate 213 is perpendicular to the axis of the guide tube 209. The fixing plate 213 is fixed at a position close to the first hemisphere 210. The stopper 214 is provided at the first spring 215. 5 is located at the opening of the guide tube 209; the electromagnet 216 is connected with a shearing piece 217 through a second spring 218, and the shearing piece 217 passes through the opening of the guide tube 209 and abuts against the stopper 214 under the action of the second spring 218. When the active guiding mechanism extends into the guide tube 209 and pushes the stopper 214, the shearing piece 217 will extend into the guide tube 209 under the action of the second spring 218 and restrict part of the structure of the active guiding mechanism in the guide tube 209. If the electromagnet 216 is turned on, the electromagnet 216 will suck the shearing piece 217 out of the guide tube 209, and the active guiding mechanism can be retracted at this time.

[0086] The guide female seat 237 includes a second outer cylinder 219 and a second inner cylinder 220, the second outer cylinder 219 is fixed on the erected beam 501 through a base, the second outer cylinder 219 has openings at both ends, the second inner cylinder 220 has openings at both ends, the second outer cylinder 219 and the second inner cylinder 220 are connected by welding, the diameter of the second inner cylinder 220 close to one end of the guide seat 202 gradually expands to form a trumpet shape, the inner wall of the second inner cylinder 220 with a gradually expanding diameter is a first guide surface 221, the first guide surface 221 and the second guide surface 205 are both centrally symmetrical structures, and the first guide surface 221 and the second guide surface 205 can It fits perfectly. After the active guiding mechanism is connected to the passive guiding mechanism, under the joint action of the first oil cylinder 224 and the bridge crane 100, the guiding seat 238 gradually approaches the guiding mother seat 237. Under the guidance of the first guiding surface 221 and the second guiding surface 205, the guiding seat 238 and the guiding mother seat 237 are gradually aligned. When the first guiding surface 221 and the second guiding surface 205 are completely fitted, the guiding seat 238 and the guiding mother seat 237 are coaxial, and the guiding seat 238 and the guiding mother seat 237 are completely docked. At this time, the beam 502 to be erected is aligned with the erected beam 501, and the beam 502 to be erected has entered the range where it can be installed and spliced ​​with the erected beam 501.

[0087] A cylinder seat 222 is provided at one end of the second outer cylinder 219 away from the guide nut 237, and the cylinder seat 222 is cylindrical. One end of the cylinder seat 222 is fixed on the guide nut 201 and is connected with the second inner cylinder 220. A first ear plate 223 is vertically provided at one end of the cylinder seat 222 away from the guide nut 237. The first ear plate 223 is perpendicular to the end of the cylinder seat 222. A hole is opened on the first ear plate 223, and a joint bearing is provided in the hole of the first ear plate 223. The first cylinder 224 is arranged in the cylinder seat 222, and the tail of the first cylinder 224 is supported on the joint bearing through a pin shaft, so that the first cylinder 224 can rotate with the pin shaft as the rotation axis.

[0088] A second centering mechanism is provided between the first oil cylinder 224 and the oil cylinder seat 222. The second centering mechanism is close to the head of the first oil cylinder 224. The second centering mechanism includes a plurality of second spring assemblies 225 perpendicular to the first oil cylinder 224 and a floating support vertically provided between the first oil cylinder 224 and the oil cylinder seat 222. One end of the second spring assembly 225 abuts against the first oil cylinder 224, and the other end is provided with a second spring adjustment device 226. The second spring adjustment device 226 is fixed on the inner wall of the oil cylinder seat 222. The second spring assembly 225 is used to ensure that the first oil cylinder 224 is in a centering position without external force. Two second spring assemblies 225 are provided, which are symmetrically arranged on both sides of the outer wall of the first oil cylinder 224 in the horizontal direction. The second spring assembly 225 abuts against the outer wall of the first oil cylinder 224 near the head.

[0089] The floating support is a second oil cylinder 227, which is arranged at the front end below the first oil cylinder 224. The piston rod end of the second oil cylinder 227 abuts against the outer wall of the first oil cylinder 224 near the head, and is used to support the first oil cylinder 224 upward. Under the action of the joint bearing and the second oil cylinder 227, the first oil cylinder 224 can adaptively swing to a certain angle, ensuring that the first oil cylinder 224 is subjected to force in the axial direction to avoid the influence of lateral force on the piston rod and the seal of the first oil cylinder 224 and prevent the first oil cylinder 224 from deformation.

[0090] The active guiding mechanism includes a guide shaft 234, which is connected to the first cylinder 224 through a first guide box. A second hemisphere 235 is provided at one end of the guide shaft 234. The second hemisphere 235 is hinged in the first guide box. A second support portion 229 is provided in the first guide box to limit the axial movement of the second hemisphere 235 along the guide seat 237. One end of the second support portion 229 is connected to the spherical surface of the second hemisphere 235. The second support portion 229 is coaxially arranged with the guide shaft 234.

[0091] The first guide box includes an end plate 228 connected to the end of the piston rod of the first oil cylinder 224, and a second ball seat 230 is arranged on the end plate 228. The second ball seat 230 is provided with an inner spherical surface connected to the spherical surface of the second hemisphere 235. The second hemisphere 235 is hinged in the second ball seat 230. One end of the second support part 229 is fixed on the end plate 228, and the other end is against the center of the second hemisphere 235 and connected to the spherical surface of the second hemisphere 235. The second hemisphere 235 can rotate around the end of the second support part 229.

[0092] The active guiding mechanism also includes a third centering mechanism, which is used to control the guide shaft 234 to be positioned on the axis of the guide female seat 237 in the absence of external force. The third centering mechanism includes a spring seat 231 fixed on the second ball seat 230, a third spring adjustment device 233 arranged on the spring seat 231, and a third spring assembly 232 perpendicular to the guide shaft 234. One end of the third spring assembly 232 is connected to the third spring adjustment device 233, and the other end is abutted against the guide shaft 234. The third spring adjustment device 233 is used to adjust the elastic force of the third spring assembly 232.

[0093] The diameter of the guide shaft 234 is smaller than the inner diameter of the guide tube 209. The end of the guide shaft 234 away from the second ball seat 230 is provided with a tension piece 236. The tension piece 236 is integrally formed with the guide shaft 234. The diameter of the tension piece 236 is larger than the diameter of the guide shaft 234 and slightly smaller than the inner diameter of the guide tube 209. The end of the tension piece 236 close to the guide tube 209 is provided with a variable diameter section that matches the bell mouth of the guide tube 209. The variable diameter section gradually decreases from the first oil cylinder 224 to the guide tube 209. When the erected beam 501 and the beam to be erected 502 are misaligned, the variable diameter section of the tension piece 236 is convenient to extend from the bell mouth of the guide tube 209 into the guide tube 209. The diameter of the stopper 214 is slightly larger than the inner diameter of the tension piece 236, which can prevent the shearing piece 217 from getting stuck on the tension piece 236, so that the tension piece 236 can smoothly push the stopper 214.

[0094] Under the thrust of the first oil cylinder 224, the guide shaft 234 extends out of the second inner cylinder 220 and enters the guide tube 209 through the bell mouth of the guide tube 209. After the tension piece 236 enters the guide tube 209, it pushes the stopper 214. The shear piece 217 extends into the guide tube 209 and abuts against the surface of the tension piece 236 on the side close to the guide shaft 234. The shear piece 217 clamps the tension piece 236 in the guide tube 209, so that when the piston rod of the first oil cylinder 224 retracts, it drives the guide seat 202 to move toward the guide base 201, thereby realizing the alignment of the beam 502 to be erected to the erected beam 501.

[0095] like Figure 2 , 3As shown, the carrying device 300 is arranged on the bridge crane 100 and can be controlled in an integrated manner through the bridge crane 100. The carrying device 300 includes a first carrying mechanism 301 and a second carrying mechanism 302. The first carrying mechanism 301 is arranged on the outside of the upper frame 101 of the bridge crane, and the second carrying mechanism 302 is arranged at the lower part of the front support rod 102 of the bridge crane. A carrying rod 303 is suspended on the first carrying mechanism 301. The first carrying mechanism 301 is used to control the lifting and lowering of the carrying rod 303, and the second carrying mechanism 302 is used to fix the carrying rod 303. The carrying rod 303 is used to install a measuring device 600 that can slide on the carrying rod 303 to achieve measurement of multiple points. There are two carrying devices 300, which are respectively arranged on both sides of the bridge crane 100, and can measure both sides of the segment beam. The carrying rod 303 is close to the end of the erected beam 501, so that the measuring device 600 arranged on the carrying rod 303 can measure the deviation between the erected beam 501 and the beam to be erected 502.

[0096] like Fig.12 , 13 As shown, the first carrying mechanism 301 includes a first support seat 308, a first crossbeam 307, and a first lifting device 305 for controlling the lifting of the carrying rod 303. One end of the first crossbeam 307 is hinged to the first support seat 308 through a pin, and the first lifting device 305 is arranged on the first crossbeam 307. The first folding device 316 includes a third oil cylinder, one end of the third oil cylinder is connected to the bridge crane 100 through the second ear plate 304, and the other end is connected to the first crossbeam 307 through the second ear plate 304. Both ends of the third oil cylinder are hinged to the second ear plate 304. The first folding device 316 is used to control the first crossbeam 307 to fold to the outside or inside of the bridge crane 100.

[0097] The first support seat 308 is welded to the upper frame 101 of the bridge crane, the first crossbeam 307 is a guide rail beam, the first lifting device 305 is an electric hoist, the electric hoist can move on the guide rail beam, and the first lifting device 305 is connected to one end of the carrying rod 303 through a steel wire rope.

[0098] like Figures 14 to 16As shown, the second carrying mechanism 302 includes a second support seat 310 and a second cross beam 309 arranged at the lower part of the front support rod 102 of the bridge crane. One end of the second cross beam 309 is hinged to the first support seat 308, and the other end is provided with a fixing device for fixing the carrying rod 303. The second folding device 317 includes a fourth oil cylinder, one end of the fourth oil cylinder is connected to the second support seat 310 through the second ear plate 304, and the other end is connected to the second cross beam 309 through the second ear plate 304. Both ends of the fourth oil cylinder are hinged to the second ear plate 304. The second folding device 317 is used to control the second cross beam 309 to fold to the outside or inside of the bridge crane 100.

[0099] The fixing device includes a fixing sleeve 311 arranged at the end of the second beam 309 and an automatic plug-in pin 312 arranged inside the second beam 309. The carrying rod 303 is sleeved in the fixing sleeve 311. The upper and lower parts of the carrying rod 303 are respectively provided with a first fixing hole 313 and a second fixing hole 314. The fixing sleeve 311 is provided with a third fixing hole 315. The automatic plug-in pin 312 is used to extend into the first fixing hole 313 or the second fixing hole 314 through the third fixing hole 315 to fix the carrying rod 303.

[0100] The second support seat 310 is welded to the lower part of the front support rod 102 of the bridge crane. The fixing sleeve 311 is coaxial with the carrying rod 303, so that the fixing sleeve 311 can be sleeved in the carrying rod 303. The fixing sleeve 311 can limit the horizontal movement of the carrying rod 303. The automatic plug-in pin 312 can further fix the carrying rod 303, reduce the shaking of the carrying rod 303, and reduce the measurement error of the measuring device 600. When the automatic plug-in pin 312 is inserted into the first fixing hole 313 of the carrying rod 303, the carrying rod 303 is separated from the erected beam 501 and the beam to be erected 503. 02 is far away, the measuring device 600 performs preliminary measurement, and the operator controls the to-be-erected beam 502 through the bridge crane 100 to perform preliminary alignment according to the preliminary measurement results. When the automatic plug-in pin 312 is inserted into the second fixing hole 314 of the carrying rod 303, the carrying rod 303 is close to the erected beam 501 and the to-be-erected beam 502. The measuring device 600 moves up and down on the carrying rod 303 to measure the deviation of the upper chord 506, the diagonal rod 507 and the lower chord 508 between the erected beam 501 and the to-be-erected beam 502, and perform precise alignment.

[0101] The automatic plug-in pin 312 is extended and retracted by the control of the oil cylinder. A proximity switch is provided at one end of the automatic plug-in pin 312 close to the fixing sleeve 311. The proximity switch is used to detect whether the first fixing hole 313 or the second fixing hole 314 is aligned with the third fixing hole 315. When the proximity switch does not detect the carrying rod 303, it means that the first fixing hole 313 or the second fixing hole 314 is aligned with the third fixing hole 315. At this time, the automatic plug-in pin 312 can be controlled to extend.

[0102] During the process of the carrying device 300 extending and retracting the bridge crane 100 , the third cylinder and the fourth cylinder are synchronously extended and retracted to ensure that the first beam 307 and the second beam 309 rotate synchronously, so that the carrying rod 303 is extended or retracted as a whole to the bridge crane 100 . After the piston rods of the third and fourth oil cylinders are retracted, the first crossbeam 307 is perpendicular to the first support seat 308, the second crossbeam 309 is perpendicular to the second support seat 310, and the first crossbeam 307 and the second crossbeam 309 are parallel to the length direction of the segment beam. At this time, the carrying rod 303 is close to the column of the bridge crane 100, and will not interfere with the on-site construction equipment; after the piston rods of the third and fourth oil cylinders are extended, the first crossbeam 307 and the second crossbeam 309 are turned 90 degrees, the first crossbeam 307 is parallel to the first support seat 308, the second crossbeam 309 is parallel to the second support seat 310, and the first crossbeam 307 and the second crossbeam 309 are perpendicular to the length direction of the segment beam and are located on both sides of the segment beam. At this time, the electric hoist can be used to control the movement of the carrying rod 303 to perform preliminary positioning of the beam 502 to be erected. The third oil cylinder is not parallel to the first crossbeam 307, and the fourth oil cylinder is not parallel to the second crossbeam 309.

[0103] The carrying rod 303 is provided with a slideway, and the slideway is used to make the measuring device 600 slide vertically along the slideway. The carrying rod 303 is provided with a second lifting device 306, and the second lifting device 306 is used to control the sliding of the measuring device 600. The second lifting device 306 is an electric winch, and the electric winch is equipped with a double drum. The measuring device 600 is slidably arranged on the carrying rod 303 near the beam to be erected 502 through the first mounting seat, and the steel wire ropes at the upper and lower ends of the first mounting seat are respectively wound on their respective drums, so as to realize the rise and fall of the measuring device 600. The electric winch is installed on the carrying rod 303 through the second mounting seat, and the second mounting seat is welded to the carrying rod 303 away from the beam to be erected 502.

[0104] The ends of the lower chord 508, the diagonal rod 507 and the upper chord 506 of the erected beam 501 and the beam to be erected 502 are all provided with targets, and the measuring device 600 can capture the targets, measure the coordinates of the targets, and calculate the displacement and angle adjustment parameters of the beam to be erected 502. The measuring device 600 is an industrial camera.

[0105] like Fig.17 As shown, the auxiliary hanging device 400 includes a bracket 401 fixed on the bridge crane 100, a third folding device 402 arranged on the bracket 401, and a lifting device 403 slidably arranged on the third folding device 402, the lifting device 403 is used to assist in completing the beam end hanging of the inclined cable 503 by lifting the inclined cable 503, and the third folding device 402 is used to fold the lifting device 403 out of the bracket 401 and fold it back into the bracket 401.

[0106] like Figure 3 As shown, the auxiliary cable hanging device 400 is provided with two, which are respectively located on both sides of the bridge crane 100, and can assist in completing the beam end cable hanging of the inclined cables 503 on both sides of the cable-stayed bridge 500. The bracket 401 is a steel structure, which is fixedly connected to the lower frame of the bridge crane 100 through a flange. The bracket 401 is used to support the third folding device 402 and the lifting device 403, so that the lifting device 403 is located at a certain height to lift the inclined cable 503. Due to the large number of construction equipment on the segment beam and the narrow working surface Therefore, a third folding device 402 is provided, and the third folding device 402 can fold the lifting device 403 outward from the bracket 401, so as to realize the lifting of the inclined cable 503 by the lifting device 403. The third folding device 402 can also fold the lifting device 403 back to the inside of the bracket 401, that is, fold it to the inside of the bridge crane 100, so as to reduce the impact on other construction machinery and avoid the hanging cable, save the on-site working space, reduce the disturbance between each operation, and help improve the working efficiency. The lifting device 403 is an electric hoist, which is provided with two electric hoists, and the electric hoist is connected to the inclined cable 503 through the sling 410.

[0107] like Fig.19 As shown, the third folding device 402 includes a driving device 409, a track beam 404 arranged along the length direction of the bridge, and two outrigger beams 405 arranged in parallel, one end of the two outrigger beams 405 are hinged to the bracket 401, and the other ends of the two outrigger beams 405 are respectively hinged to the two ends of the track beam 404, the lifting device 403 is slidably set on the track beam 404, and the driving device 409 is used to control the rotation of the outrigger beams 405.

[0108] The bracket 401, two outwardly extending beams 405 and the track beam 404 together form a four-bar mechanism. Under the action of the driving device 409, the two outwardly extending beams 405 rotate simultaneously, so that the track beam 404 and the lifting device 403 on the track beam 404 can fold out the bracket 401 and fold back the bracket 401. The lifting device 403 can move on the track beam 404. After the lifting device 403 is connected to the inclined cable 503, it can drive the inclined cable 503 to move in the height direction and along the length direction of the bridge, so as to adjust the beam end anchor angle of the inclined cable to be consistent with the angle of the cableway pipe, so as to facilitate the insertion of the beam end anchor of the inclined cable into the cableway pipe.

[0109] like Fig.18 As shown, a tension mechanism for improving the lifting capacity of the track beam 404 is arranged above the bracket 401 .

[0110] The tension mechanism can reduce the bending moment and deformation of the bracket 401, improve the lifting capacity of the track beam 404, and also improve the safety of the auxiliary cable hanging device 400. The tension mechanism includes a column 406 and a first inclined rod 407 arranged above the bracket 401, the bottom of the column 406 is fixed on the bracket 401, one end of the first inclined rod 407 is hinged to the top of the column 406, and the other end is hinged to the hinge point of the track beam 404, and the hinge point of the track beam 404 is the connection between the extended cross beam 405 and the track beam 404.

[0111] When lifting the inclined cable 503, the hinge between the two outwardly extending cross beams 405 and the track beam 404 is a weak point. The first inclined rod 407 can improve the stability of the four-bar mechanism and the lifting capacity of the track beam 404. During the rotation of the third folding device 402, the first inclined rod 407 can also rotate accordingly. A second inclined rod 408 is also provided above the bracket 401. The second inclined rod 408 is arranged opposite to the first inclined rod 407. One end of the second inclined rod 408 is hinged to the top of the column 406, and the other end is hinged to the bracket 401. The second inclined rod 408 can balance the pulling force of the first inclined rod 407 on the column 406, thereby improving the rigidity of the column 406.

[0112] The driving device 409 includes a folding cylinder, the tail of which is hinged to the bracket 401 , the piston rod end of which is hinged to the outwardly extending beam 405 , and the folding cylinder and the outwardly extending beam 405 are not parallel.

[0113] The outwardly extending cross beam 405 can be folded toward the outside of the bracket 401 to be perpendicular to the bracket 401 , and the outwardly extending cross beam 405 can be folded toward the inside of the bracket 401 to be parallel to the bracket 401 .

[0114] The outwardly extending crossbeam 405 includes a first outwardly extending crossbeam and a second outwardly extending crossbeam, and the folding cylinder includes a first folding cylinder arranged above the bracket 401 and a second folding cylinder arranged outside the bracket 401, the first folding cylinder and the second folding cylinder are respectively arranged on both sides of the bracket 401 along the length direction of the bridge, one end of the first folding cylinder is hinged to the top of the bracket 401, and the other end is hinged to the first outwardly extending crossbeam, one end of the second folding cylinder is hinged to the side of the bracket 401 through the ear plate, and the other end is hinged to the second outwardly extending crossbeam.

[0115] By arranging the first folding cylinder and the second folding cylinder on the inner side and the outer side of the four-bar mechanism respectively, the two outwardly extending beams 405 can be synchronously rotated by 90°.

[0116] A fastening device is also connected between the bracket 401 and the extending cross beam 405 to prevent the extending cross beam 405 from rotating. It can be understood that when the lifting device 403 lifts the inclined cable 503, if the lifting device 403 moves on the track beam 404 at this time, a horizontal force will be applied to the extending cross beam 405, so that the extending cross beam 405 has a tendency to rotate toward the inside of the bridge crane 100. The fastening device can prevent the rotation of the extending cross beam 405, thereby improving the stability of the extending cross beam 405 when lifting the inclined cable 503. Although the first folding cylinder and the second folding cylinder can lock the extending cross beam 405 to prevent the extending cross beam 405 from rotating, adding a fastening device is beneficial to further improve the stability of the extending cross beam 405.

[0117] The auxiliary hanging rope device 400 is also provided with an absolute value encoder, a tension sensor and a controller. The absolute value encoder is used to monitor the lifting height of the lifting point of the lifting device 403, the tension sensor is used to monitor the tension of the lifting point of the lifting device 403, and the controller is used to control the lifting and lowering of the lifting device 403. The lifting device 403 can adjust the lifting height according to the size of the tension of the lifting point, thereby achieving a closed-loop control system with consistent tension at the two lifting points, thereby improving the safety of the structure.

[0118] The bracket 401 is arranged at the tail of the bridge crane 100. Specifically, the bracket 401 is located on the rear anchor beam of the bridge crane 100, which can effectively reduce the walking counterweight of the bridge crane 100 and increase the stability of the bridge crane 100 when walking across the span.

[0119] like Figure 1 As shown, the construction method of segment beam alignment and auxiliary hanging cable includes the following steps:

[0120] S100, lifting the beam 502 to be erected, and controlling the beam 502 to be erected to move to a preliminary positioning position;

[0121] The initial positioning position of the beam 502 to be erected is the position where the guide base 201 on the erected beam 501 can actively capture the guide base 202 on the beam 502 to be erected.

[0122] Step S100 includes:

[0123] S101, the bridge crane 100 lifts the beam 502 to be erected, and the measuring device 600 moves to a preliminary positioning and measuring position;

[0124] The distance between the initial positioning measurement position of the measuring device 600 and the beam to be erected 502 and the erected beam 501 is within 20m, which is within the measurement distance of the measuring device 600. The measuring device 600 is an industrial camera.

[0125] The movement of the measuring device 600 is controlled by the carrying device 300, specifically: in the initial state, the carrying rod 303 is in the first position, that is, the position of the carrying rod 303 when the automatic plug-in pin 312 is inserted into the second fixing hole, and the two carrying rods 303 are respectively located on both sides outside the bridge crane 100, and the top of the carrying rod 303 is close to the first lifting device 305; the measuring device 600 is controlled by the second lifting device 306, that is, the electric winch, to move to a position close to the lower part of the carrying rod 303, that is, the initial positioning measurement position. By controlling the measuring device 600 through the carrying device 300, it is possible to measure the erected beams 501 and the beams to be erected 502, without manual measurement, reducing the safety risks of the operators.

[0126] S102, the beam to be erected 502 rises to within the recognition range of the measuring device 600, and the measuring device 600 measures the relative displacement coordinates and angle coordinates between the erected beam 501 and the beam to be erected 502, and calculates the positioning parameters of the beam to be erected 502;

[0127] The measuring device 600 identifies the target points pre-set on the erected beam 501 and the beam to be erected 502 , and measures the relative displacement target points and angle coordinates between the two target points using a multi-camera fusion algorithm.

[0128] S103. Based on the positioning parameters, the bridge crane 100 controls the beam 502 to be erected to move to a preliminary positioning position.

[0129] The bridge crane 100 controls the segmental beam based on the measurement results of the photogrammetry system. The photogrammetry system outputs the positioning parameters of the beam 502 to be erected in real time according to the target position to be guided, and cooperates with the lifting control system of the bridge crane 100 to guide the beam 502 to be erected to the initial positioning position. The initial positioning accuracy requires a longitudinal distance of [650mm, 800mm]. The longitudinal distance refers to the spacing between the erected beam 501 and the beam 502 to be erected along the length direction of the bridge. The left and right deviations in the transverse direction of the bridge are [-50mm, 50mm]. The left and right deviations in the transverse direction of the bridge refer to the deviations between the erected beam 501 and the beam 502 to be erected along the width direction of the bridge. The elevation deviation is [0, 50mm]. The elevation deviation means that the beam 502 to be erected is higher than the erected beam 501 by 10-50mm. The angles of the beam 502 to be erected and the erected beam 501 in the transverse and longitudinal directions of the bridge are basically consistent. The photogrammetry system is used to assist the bridge crane 100 in controlling the beam 502 to be erected, thereby improving the control accuracy of the bridge crane 100 in controlling the beam 502 to be erected.

[0130] S200 , actively capturing the beam 502 to be erected; capturing the beam 502 to be erected by the guiding device assembly 200 .

[0131] The step S200 includes: the guide base 201 on the erected beam 501 actively captures the guide base 202 on the to-be-erected beam 502 and connects with the guide base 202, such as Fig.10 As shown, at this time, the guide base 201 is connected to the guide base 202. In the step S200, the guide base 201 includes a first guide base arranged on the lower chord rod 508 and a second guide base arranged on the upper chord rod 506, and the guide base 202 includes a first guide base arranged on the lower chord rod 508 and a second guide base arranged on the upper chord rod 506, and the first guide base and the second guide base respectively capture the first guide base and the second guide base at the same time.

[0132] The process of actively capturing the beam 502 to be erected is specifically as follows: the first oil cylinder 224 extends to drive the guide shaft 234 to extend out of the guide base 201, and as the guide shaft 234 continues to extend, the guide shaft 234 will extend into the guide tube 209; if the beam 502 to be erected is misaligned with the erected beam 501 when it is in place, after the guide shaft 234 contacts the guide tube 209, as they continue to approach each other, under the pressure of the mutual force, the guide shaft 234 and the guide tube 209 rotate a certain angle around the second ball seat 230 and the first ball seat 206 respectively, and the guide shaft 234 is adaptively inserted into the guide tube 209. When the external force is removed, the guide shaft 234 and the guide tube 209 are respectively in the third Under the action of the spring assembly 232 and the first spring assembly 211, it can automatically return to the middle position; as the piston rod of the first oil cylinder 224 continues to extend, the guide shaft 234 pushes away the block 214 and continues to be inserted into the guide tube 209. When the tension piece 236 at the end of the guide shaft 234 passes over the exit hole of the shear piece 217, the shear piece 217 slides down onto the guide shaft 234 under the thrust of the electromagnet 216 spring (at this time the electromagnet 216 spring is in a power-off state), the tension piece 236 is stuck in the guide tube 209 by the shear piece 217, and the guide base 201 has completed the capture of the guide base 202, that is, the guide base 201 has been connected to the guide base 202.

[0133] The already erected beam 501 and the beam to be erected 502 are preliminarily connected by using the guide device assembly 200. The guide device assembly 200 can guide the already erected beam 501 and the beam to be erected 502 to be precisely connected and provide a pre-tightening force.

[0134] S300, actively guiding the beam to be erected 502 to be spliced ​​with the erected beam 501;

[0135] In the step S300 , the guide base 201 actively guides the splicing of the beam to be erected 502 and the erected beam 501 .

[0136] The step S300 includes:

[0137] S301, the measuring device 600 moves to the measuring range of the lower chord 508 of the beam to be erected 502 and the erected beam 501;

[0138] The measuring device 600 is controlled by the carrying device 300 installed on the bridge crane 100 to move and perform multi-point measurement. The step S301 includes: the carrying rod of the carrying device 300 moves from the first station to the second station, and the measuring device 600 installed on the carrying rod moves to the measuring range of the lower chord 508 of the beam to be erected 502 and the erected beam 501. Specifically: the automatic plug-in pin 312 is retracted to enable the carrying rod 303 to move vertically, and the first lifting device 305 controls the carrying rod 303 to move to a position where the first fixing hole 313 on the upper part of the carrying rod 303 is coaxial with the third fixing hole 315 of the fixing sleeve 311. When the proximity switch does not detect the carrying rod 303, the automatic plug-in pin 312 extends out and passes through the third fixing hole 315 and the first fixing hole 313 in sequence to fix the carrying rod 303. At this time, the carrying rod 303 is located in the second station; the second lifting device 306 controls the measuring device 600 to move to 5-8m above the lower chord 508 of the beam to be erected 502, so that the measuring device 600 can accurately measure the deviation of the lower chord 508 of the erected beam 501 and the beam to be erected 502. The measuring range of the measuring device 600 is cone-shaped, and the measuring angle of the measuring device 600 is in the range of [45°, 90°], wherein 90° corresponds to the vertical direction, i.e., the axis of the cone, and 45° corresponds to the vertical direction of 90° deviating 45° in a certain direction, i.e., the generatrix of the cone.

[0139] S302, the beam 502 to be erected moves to the guiding range of the first guide base 201, and the first guide base guides the beam 502 to be erected to be aligned and spliced ​​with the lower chord 508 of the erected beam 501; specifically: the tolerance capacity of the guiding device assembly 200 composed of the first guiding base and the first guide seat is ±75mm, and the guiding stroke is 150mm, and the tolerance capacity of the guiding device assembly 200 composed of the second guiding base and the second guide seat is ±95mm, and the guiding stroke is 200mm; through the differentiated design of the above-mentioned tolerance capacity and guiding stroke, the second guiding base and the second guide seat will not interfere with the alignment of the lower chord 508; the tolerance capacity refers to the allowable misalignment deviation of the end faces of the erected beam 501 and the beam 502 to be erected, and the guiding stroke refers to the allowable longitudinal distance between the erected beam 501 and the beam 502 to be erected, and the guiding base 201 can guide the guide base 202 if the erected beam 501 and the beam 502 to be erected are within the tolerance capacity and the guiding stroke.

[0140] Assuming that the longitudinal distance between the beam to be erected 502 and the erected beam 501 is within the range of [150mm, 800mm] (assuming the initial longitudinal distance is 800mm), the first guide seat has not entered the guiding range of the first guide base, and the guiding device can only provide longitudinal pulling force to ensure that the beam to be erected 502 smoothly approaches the erected beam 501. At this time, the photogrammetry system guides the lifting system of the bridge crane 100 for alignment.

[0141] The measuring device 600 measures the displacement and angle coordinates of the target on the lower chord 508 of the erected beam 501 and the lower chord 508 of the beam to be erected 502, and the photogrammetry system calculates the displacement and angle adjustment parameters of the beam to be erected 502 to control the bridge crane 100 to precisely align and splice the lower chord 508 of the beam to be erected 502 with the lower chord 508 of the erected beam 501. In this process, it is necessary to ensure that the longitudinal displacement cylinder of the bridge crane 100 and the first cylinder of the first guide base and the second guide base are aligned. Synchronous action (stroke sensors are set in the above-mentioned cylinders); when entering the guiding range of the first guide base, the first guide base is used as the main guide. The photogrammetry system only measures but does not control the lifting system of the bridge crane 100. The first cylinder of the second guide base floats, and the longitudinal movement cylinder of the bridge crane 100 and the first cylinder of the second guide base synchronously guide the lower chord rod 508 of the beam to be erected 502 into place. The self-weight and hoisting load have little effect on the deformation of the lower chord rod 508, and the lower chord rod 508 can complete precise alignment without the action of external coercive force, such as Fig.11 As shown, welding connection is performed after the alignment is completed. During the alignment process of the lower chord 508, the guide device assembly 200 of the upper chord 506 and the guide device assembly 200 of the lower chord 508 have a differentiated design of tolerance capacity and guide stroke, so that the guide device assembly 200 of the upper chord 506 will not interfere with the alignment of the lower chord 508.

[0142] Since the guide mother seat 201 and the guide seat 202 are respectively provided with the first guide surface 221 and the second guide surface 205, in the process of the first guide surface 221 and the second guide surface 205 gradually and completely docking, the beam 502 to be erected is gradually aligned with the erected beam 501. After the guide seat and the guide mother seat are completely docked, the beam 502 to be erected has entered the range where it can be installed and spliced ​​with the erected beam 501. The precise alignment of the beam 502 to be erected can be completed in one time, avoiding repeated adjustments, with high construction efficiency and strong applicability, and little interference from strong winds, rain, snow and other environments.

[0143] Since the guide shaft of the guide mother seat 201 and the guide tube of the guide seat 202 can rotate flexibly, and the guide tube is provided with a bell mouth, when the beam 502 to be erected is misaligned, the guide shaft can still be smoothly extended into the guide tube through the bell mouth of the guide tube to complete the splicing of the beam 502 to be erected. The guide device assembly 200 has a strong tolerance capability and low requirements for the initial positioning accuracy of the segmental beam, which reduces the difficulty of splicing the beam 502 to be erected and improves the construction efficiency.

[0144] S303, the measuring device 600 moves to the measuring range of the inclined rod 507 of the beam to be erected 502 and the erected beam 501;

[0145] Specifically: Fig.16As shown, the second lifting device 306 controls the measuring device 600 to move to 5-8 m above the diagonal rod 507 of the beam 502 to be erected, so that the measuring device 600 can accurately measure the deviation of the diagonal rod 507 of the erected beam 501 and the beam 502 to be erected.

[0146] S304, the second guide base guides the beam 502 to be erected to be aligned and spliced ​​with the diagonal rod 507 and the upper chord rod 506 of the erected beam 501 in sequence.

[0147] The step S304 includes: the second guide base guides the beam 502 to be erected to the first stage and aligns and splices it with the diagonal rod 507 of the erected beam 501; the second guide base guides the beam 502 to be erected to the second stage and aligns and splices it with the upper chord rod 506 of the erected beam 501.

[0148] Specifically, the first oil cylinder 224 of the second guide base applies a force to overcome the alignment deviation of the inclined rod 507 caused by the deformation caused by the load. At this time, the measuring device 600 only monitors the deviation of the inclined rod 507 of the erected beam 501 and the beam 502 to be erected in real time. After the inclined rod 507 of the erected beam 502 is in place, it is connected with the inclined rod 507 of the erected beam 501 using a punch and a high-strength bolt, and welded. The inclined rod 507 completes the preliminary installation and alignment. At this time, the second guide base and the second guide base have not yet been completely docked.

[0149] The measuring device 600 moves to within the measuring range of the upper chord 506 of the beam to be erected 502 and the erected beam 501; specifically: the second lifting device 306 controls the measuring device 600 to move to 5-8m above the upper chord 506 of the beam to be erected 502, so that the measuring device 600 can accurately measure the deviation of the upper chord 506 of the erected beam 501 and the beam to be erected 502.

[0150] The second guide base guides the alignment and splicing of the beam 502 to be erected and the upper chord 506 of the erected beam 501. Specifically, the first oil cylinder 224 of the second guide base applies a forced force to overcome the alignment deviation of the upper chord 506 caused by the deformation caused by the load. The alignment force of the upper chord 506 requires a tensile force and a vertical downward force. The tensile force can be applied directly through the first oil cylinder, and the vertical downward force is applied through the docking of the first guide surface and the second guide surface 205 to meet the forced alignment requirements of the upper chord 506. The measuring device 600 monitors the alignment process of the upper chord 506 in real time. After the second guide base and the second guide base are fully docked, the alignment installation of the upper chord 506 is completed and welded through the punch and high-strength bolts, such as Fig.11 shown.

[0151] Since the tolerance of the guide assembly 200 disposed on the upper chord 506 is stronger than that of the guide assembly 200 disposed on the lower chord 508, the guide assembly 200 disposed on the upper chord 506 will not affect the alignment of the lower chord 508 during the alignment of the lower chord 508. Since the deviation between the oblique rods 507 of the beam to be erected 502 and the erected beam 501 is smaller than the deviation between the upper chord rods 506, during the docking process between the second guide base and the second guide base and before they are completely docked, the oblique rods 507 of the beam to be erected 502 and the oblique rods 507 of the erected beam 501 can be aligned.

[0152] During the alignment process of the diagonal rod 507 and the upper chord rod 506, the first oil cylinder of the second guide base is forcibly retracted and a force is applied to force the first guide surface 221 and the second guide surface 205 to dock with each other, thereby achieving precise alignment of the diagonal rod 507 and the upper chord rod 506 with high alignment efficiency.

[0153] Under the control of the carrying device 300, the measuring device 600 can move vertically to measure the three points of the lower chord 508, the diagonal rod 507 and the upper chord 506, so that one set of carrying device 300 can measure multiple points of the erected beam 501 and the beam to be erected 502, with high measurement efficiency.

[0154] S400, the bridge crane 100 moves to the beam to be erected 502;

[0155] The step S400 includes:

[0156] S410, the carrying device 300 is turned toward the inner side of the bridge crane 100;

[0157] The step S410 includes:

[0158] S411, cancel the fixing of the carrying rod 303, and control the carrying rod 303 to move to the first position; specifically: the automatic plug-in pin 312 is retracted, and the first lifting device 305 controls the carrying rod 303 to move to the first position. The first position of the carrying rod 303 is the position of the carrying rod 303 when the second fixing hole 314 at the lower part of the carrying rod 303 is coaxial with the third fixing hole 315 of the fixing sleeve 311. Fig.14 As shown, at this time, the carrying rod 303 is in the second working position.

[0159] S412, fix the carrying rod 303, and the first beam 307 and the second beam 309 of the carrying device 300 are folded toward the inside of the bridge crane 100. Specifically, when the proximity switch does not detect the carrying rod 303, the automatic plug-in pin 312 extends out again to fix the carrying rod 303, such as Fig.13 , 15As shown, the first folding device 316 and the second folding device 317 control the first cross beam 307 and the second cross beam 309 to bend 90 degrees toward the inner side of the bridge crane 100 synchronously, and are folded into Figure 4 , 5 The loading device 300 is turned inside the bridge crane 100 to reduce disturbance to the on-site construction facilities.

[0160] S420, the auxiliary cable hanging device 400 is turned toward the inner side of the bridge crane 100;

[0161] Specifically, the driving device 409, i.e., the piston rod of the folding cylinder, is retracted to make the extended cross beam 405 fold forward toward the front of the bridge crane 100, i.e., fold toward the inside of the bracket 401, driving the track beam 404 and the first inclined rod 407 to fold forward 90° together, thus avoiding the already hung inclined cable 503 on the erected beam 501.

[0162] like Fig.19 As shown, the auxiliary hanging rope device 400 can be folded toward the inside of the bridge crane 100 by setting the third folding device 402 and the driving device 409, and folded into Fig. 20 , 21 In the state shown, the bridge crane 100 can effectively avoid the hung cables on the erected beams 501 when walking, especially the short cable area at the tower root, and has strong adaptability to the hanging cable operation.

[0163] S430, the bridge crane 100 moves to the beam 502 to be erected; and prepares to carry out the cable hanging construction at the beam end of the beam 502 to be erected.

[0164] S500, auxiliary hanging cable construction.

[0165] The step S500 includes:

[0166] Step S501, the auxiliary cable hanging mechanism is folded toward the outside of the bridge crane 100;

[0167] Specifically, the piston rod of the driving device 409 extends to make the outwardly extending cross beam 405 fold toward both sides of the bridge crane 100, that is, fold toward the outside of the bracket 401, driving the track beam 404 and the first inclined rod 407 to fold 90 degrees toward both sides.

[0168] Step S502, lifting the stay cable 503;

[0169] Specifically: Fig.17 As shown, the inclined cable 503 is pulled to the lower part of the auxiliary hanging cable device 400 by a steel wire continuous pulling device, the lifting device 403 of the auxiliary hanging cable device 400 is lowered, and the inclined cable 503 is lifted by a lifting belt 410.

[0170] Step S503, adjusting the beam end anchor of the inclined cable 503, inserting the beam end anchor into the cableway tube and connecting with the beam end anchor device in the cableway tube.

[0171] Specifically, two lifting devices 403 are used to longitudinally move and adjust the lifting height of the inclined cable 503 on the track beam 404, adjust the angle of the anchor device at the beam end of the inclined cable 503 to be consistent with the angle of the cableway tube, insert it into the cableway tube, and connect it with the beam end anchor device in the cableway tube to complete the beam end cable hanging construction. In the process of the lifting device 403 lifting the inclined cable 503, the tension sensor detects the tension of the lifting points of the two lifting devices 403, and the absolute value encoder monitors the lifting height of the lifting point of the lifting device 403. The tension sensor and the absolute value encoder transmit signals to the controller, and the controller controls the lifting device 403 according to the relevant algorithm. If the lifting points of the two lifting devices 403 have different tensions, the lifting points of the two lifting devices 403 are controlled to rise or fall, so that the lifting points of the two lifting devices 403 have equal tensions, thereby improving the safety of the overall structure.

[0172] The auxiliary cable hanging mechanism is an auxiliary mechanism of the bridge crane 100 and can be controlled by the bridge crane 100, so that the bridge crane 100 has an auxiliary cable hanging function. The beam erection and cable hanging operations are completed in an integrated manner, which can effectively reduce the mutual operation disturbance and also reduce the on-site cable hanging construction machinery and equipment, saving on-site operation space, making the operation surface layout more reasonable, and also saving the cost investment of lifting and hoisting construction machinery and equipment.

[0173] The above shows and describes the basic principles and main structural features of the present invention. The present invention is not limited to the above examples. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A bridge crane for intelligent erection and auxiliary cable adjustment of cable-stayed bridges. Features: The bridge crane (100) comprises an auxiliary cable hanging device (400) and a carrying device (300) arranged on the bridge crane (100); the carrying device (300) is provided with a measuring device (600) for measuring, and the measuring device (600) is slidably arranged on the carrying device (300); the auxiliary cable hanging device (400) is used for assisting cable hanging construction; The carrying device (300) comprises a first carrying mechanism (301) and a second carrying mechanism (302); the first carrying mechanism (301) is arranged above the second carrying mechanism (302); a carrying rod (303) is suspended on the first carrying mechanism (301); the first carrying mechanism (301) is used to control the lifting and lowering of the carrying rod (303); the second carrying mechanism (302) is used to fix the carrying rod (303); and the measuring device (600) is slidably arranged on the carrying rod (303); The carrying device (300) is arranged on both sides of the bridge crane (100), the first carrying mechanism (301) includes a first support seat (308), a first folding device (316), a first cross beam (307) and a first lifting device (305) for controlling the lifting of the carrying rod (303), one end of the first cross beam (307) is hinged to the first support seat (308), the first lifting device (305) is arranged on the first cross beam (307), the second carrying mechanism (302) includes a second support seat (310), a second A folding device (317) and a second crossbeam (309), one end of the second crossbeam (309) is hinged to a second support seat (310), a fixing device for fixing the carrying rod (303) is provided at one end of the second crossbeam (309) away from the bridge crane (100), the first support seat (308) and the second support seat (310) are both fixed on the bridge crane (100), and the first folding device (316) and the second folding device (317) are used to control the synchronous rotation of the first crossbeam (307) and the second crossbeam (309); The auxiliary cable hanging device (400) comprises a bracket (401) fixed on the bridge crane (100), a third folding device (402) arranged on the bracket (401), and a lifting device (403) slidably arranged on the third folding device (402), wherein the lifting device (403) is used to assist in completing the beam end cable hanging of the inclined cable (503) by lifting the inclined cable (503), and the third folding device (402) is used to lift the inclined cable (503) The device (403) folds out the bracket (401) and folds back the bracket (401), that is, the third folding device (402) is used to fold the lifting device (403) outward from the bracket (401) to realize the lifting of the inclined cable (503) by the lifting device (403), or fold the lifting device (403) back to the inside of the bracket (401), that is, fold it to the inside of the bridge crane (100), so as to reduce the impact on other construction machinery and avoid the hung cables.

2. A construction method for a bridge crane for intelligent erection and auxiliary cable adjustment of a cable-stayed bridge according to claim 1, Features: The following steps are involved: S100, lifting the beam to be erected (502), and controlling the beam to be erected (502) to move to a preliminary positioning position; S200, actively capture the beam to be erected (502); S300, actively guiding the beam to be erected (502) to be spliced ​​with the erected beam (501); S400, the bridge crane (100) moves to the beam to be erected (502); S500, auxiliary hanging cable construction.

3. The construction method according to claim 2, Features: The step S100 includes: S101, the bridge crane (100) lifts the beam to be erected (502), and the measuring device (600) moves to a preliminary positioning and measuring position; S102, the beam to be erected (502) rises to within the recognition range of the measuring device (600), and the measuring device (600) measures the relative displacement coordinates and angle coordinates between the erected beam (501) and the beam to be erected (502), and calculates the positioning parameters of the beam to be erected (502); S103. Based on the positioning parameters, the bridge crane (100) controls the beam to be erected (502) to move to a preliminary positioning position.

4. The construction method according to claim 3, Features: The initial positioning position of the beam to be erected (502) is the position where the guide base (201) can actively capture the guide base (202).

5. The construction method according to claim 2, Features: The step S200 comprises: the guide base (201) on the erected beam (501) actively captures the guide base (202) on the beam to be erected (502) and connects with the guide base (202).

6. The construction method according to claim 5, Features: In step S200, the guide base (201) includes a first guide base arranged on the lower chord (508) and a second guide base arranged on the upper chord (506), and the guide base (202) includes a first guide base arranged on the lower chord (508) and a second guide base arranged on the upper chord (506), and the first guide base and the second guide base respectively capture the first guide base and the second guide base simultaneously.

7. The construction method according to claim 6, Features: In the step S300, the guide mother seat (201) actively guides the splicing of the beam to be erected (502) and the erected beam (501).

8. The construction method according to claim 6 or 7, Features: The step S300 includes: S301, the measuring device (600) moves to within the measuring range of the lower chord (508) of the beam to be erected (502) and the erected beam (501); S302, the beam to be erected (502) is moved to the guiding range of the first guide base, and the first guide base guides the beam to be erected (502) to align and splice with the lower chord (508) of the erected beam (501); S304, the second guide base guides the beam to be erected (502) to be aligned and spliced ​​with the diagonal rod (507) and the upper chord rod (506) of the erected beam (501) in sequence.

9. The construction method according to claim 8, Features: The step S304 includes: the second guiding base seat guides the beam to be erected (502) to the first stage and aligns and spliced with the diagonal member (507) of the erected beam (501), and the second guiding base seat guides the beam to be erected (502) to the second stage and aligns and spliced with the upper chord member (506) of the erected beam (501).

10. The construction method according to claim 8, characterized in that: the measuring device (600) is controlled by the carrying device (300) provided on the deck crane (100) to move for multi-point measurement.

11. The construction method according to claim 10, characterized in that: the step S400 includes: S410, the carrying device (300) turns inward to the deck crane (100); S430, the deck crane (100) moves to the beam to be erected (502).

12. The construction method according to claim 11, characterized in that: the step S410 includes: S411, release the fixing of the carrying rod (303), and control the carrying rod (303) to move to the first working position; S412, fix the carrying rod (303), and the first cross beam (307) and the second cross beam (309) of the carrying device (300) turn inward to the deck crane (100).

13. The construction method according to claim 11 or 12, characterized in that: an auxiliary cable hanging device (400) is provided on the deck crane (100) to assist in cable hanging construction; the step S400 further includes a step S420, and the step S420 includes: the auxiliary cable hanging device (400) turns inward to the deck crane (100).

14. The construction method according to claim 13, characterized in that: the step S500 includes: Step S501, the auxiliary cable hanging mechanism turns outward to the deck crane (100); Step S502, hoist the stay cable (503); Step S503, adjust the beam end anchor of the stay cable (503), and insert the beam end anchor into the cable duct and connect it with the beam end anchoring device in the cable duct.

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