Upward integrated intelligent bridge building machine and construction method

Abstract

The application provides an uplink integrated intelligent bridge building machine and a construction method, which comprises a main beam, a formwork device connected with the main beam, a front guide beam arranged at the front end of the main beam, and a rear guide beam arranged at the rear end of the main beam; the length of the rear guide beam is greater than or equal to the length of one span between bridge piers, and the length of the front guide beam is less than the length of one span between bridge piers; a reinforcing bar binding jig frame is arranged on the rear guide beam and used for binding box girder reinforcing bars; a movable crown block is arranged on the rear guide beam and the main beam, and the crown block is used for hoisting the bound box girder reinforcing bars in the formwork device. The rear guide beam simultaneously serves as the counterweight of the bridge building machine and the reinforcing bar binding and concrete curing section, and the utilization efficiency of the structure is greatly improved. The reinforcing bar binding, concrete pouring and curing can be simultaneously performed, and the efficiency of bridge construction is greatly improved. Moreover, the crown block can directly hoist the box girder reinforcing bars from the rear guide beam to the formwork device of the main beam, and no conversion is needed in the middle, so that the deformation of the box girder reinforcing bars caused by the conversion of the hoisting device is avoided.

Description

Technical Field

[0001] This invention relates to the field of bridge construction equipment and construction, and in particular to an upward-moving integrated intelligent bridge building machine and construction method. Background Technology

[0002] Currently, the main load-bearing beam of the mobile formwork bridge-building machine is supported on the top of the bridge piers and the surface of the existing beams. The formwork is fixed using a suspension system consisting of booms and jibs installed on the main load-bearing beams. Several problems currently exist during the construction of cast-in-place box girders:

[0003] 1. The construction efficiency is not high. The main beam reinforcement of the next segment can only be tied in the formwork after the current segment is poured and the hole is in place. The reinforcement of a single segment box girder is long and has many nodes, resulting in extremely low construction efficiency.

[0004] 2. The structure has low utilization efficiency. In order to pass through the hole smoothly, a guide beam structure with a length greater than one span is often required at the front end of the main load-bearing beam. This structure has no other function except for passing through the hole, resulting in a large waste of the structure.

[0005] 3. The quality of steel reinforcement construction is not high. The steel reinforcement needs to be manually tied inside the formwork, which mainly relies on manual operation, and the tying quality is difficult to meet the requirements.

[0006] 4. Currently, some bridge construction projects use movable rebar tying frames erected behind the moving formwork to improve the efficiency and quality of rebar tying. These frames move with the moving formwork. While this method improves construction efficiency, it involves a large investment in the rebar tying frames, requires changing the hoisting equipment when inserting rebar segments into the formwork (a complex process), and separates the movement of the tying frames from the crossing of the moving formwork, resulting in numerous procedures and lower efficiency. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide an upward integrated intelligent bridge building machine and construction method, which can improve the binding efficiency and construction quality of box girder reinforcement, improve the utilization rate of the structure, eliminate the need for conversion of hoisting devices, improve hoisting efficiency, reduce hoisting conversion process, and reduce the number of cross-hole operation procedures.

[0008] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an upward integrated intelligent bridge building machine, including a main beam, the main beam being connected to a template device, a front guide beam being provided at the front end of the main beam, and a rear guide beam being provided at the rear end of the main beam;

[0009] The length of the rear guide beam is greater than or equal to the length of a span between the piers, and the length of the front guide beam is less than the length of a span between the piers.

[0010] A steel bar tying frame is provided in the rear guide beam for tying the box girder steel bars;

[0011] A mobile overhead crane is installed on the rear guide beam and the main beam. The overhead crane is used to hoist the tied box girder reinforcement into the formwork device.

[0012] In a preferred embodiment, a front support leg is provided below the front end of the front guide beam, a rear support leg is provided at the bottom of the rear guide beam, and at least two middle support legs are provided between the front and rear support legs, the middle support legs being able to travel along the main beam.

[0013] In a preferred embodiment, the top of the front outrigger is hinged to the front guide beam, the side of the front outrigger is connected to the front guide beam via a hydraulic cylinder, and the front outrigger is equipped with a height-adjustable mechanism.

[0014] The top of the rear outrigger is hinged to the rear guide beam, the side of the rear outrigger is connected to the rear guide beam through a hydraulic cylinder, and the bottom of the rear outrigger is equipped with a set of walking wheels.

[0015] The middle support leg near the leading beam has an extension section that rests on the pier, while the middle support leg away from the leading beam rests on the already cast beam surface.

[0016] In a preferred embodiment, the top of the middle support leg is slidably connected to the main beam, and a traveling track is provided at the bottom of both sides of the main beam. The bottom of the traveling track is provided with evenly distributed grooves for accommodating pawls.

[0017] The middle outrigger is connected to the travel track via the middle outrigger stepping cylinder and the escapement seat. The escapement seat is equipped with a swingable pawl. A pivot pin passes through the escapement seat and connects to the pawl. A first limit pin and a second limit pin are provided on both sides of the pawl to limit the swing of the pawl.

[0018] In a preferred embodiment, two limit pin electric push rods are also provided. The two limit pin electric push rods are fixedly installed on the escapement seat and are respectively connected to the first limit pin and the second limit pin. The limit pin electric push rods are used to insert or pull out the first limit pin and the second limit pin.

[0019] In the preferred embodiment, a first visual recognition device is provided near the end of the rear guide beam. The first visual recognition device is used to identify the number of longitudinal bars on the rebar binding jig.

[0020] A second visual recognition device is installed near the end of the main beam. The second visual recognition device is used to identify the position of the longitudinal reinforcement.

[0021] In a preferred embodiment, distance sensors are provided on both the front and rear sides of the middle outrigger, and the distance sensors are used to control the distance between the middle outrigger and other outriggers.

[0022] A construction method using the aforementioned upward-moving integrated intelligent bridge-building machine includes the following steps:

[0023] S1. The free end of the rear guide beam is equipped with a feeding section for lifting materials onto the rebar binding frame. The box girder rebar and prestressed ducts are then bound onto the rebar binding frame. The inner formwork is then hoisted and temporarily connected to the box girder rebar.

[0024] S2. The overhead crane moves to the top of the box girder reinforcement. The crane's lifting device is connected to the box girder reinforcement through the lifting equipment, and the box girder reinforcement is hoisted as a whole into the formwork device of the main beam to complete the formwork erection.

[0025] S3. Pour concrete and demold after curing to the preset strength;

[0026] S4. The middle support leg drives the bridge-building machine to move until the front support leg lands on the next pier. The first middle support leg, which is closest to the front support leg, moves to the pier where the front support leg is located.

[0027] The second middle support leg, which is away from the front support leg, moves to the newly poured beam surface to support the bridge building machine;

[0028] S5. Install formwork devices on the main beam;

[0029] Repeat steps S1 to S5 to achieve the casting of box girders span by span.

[0030] Preferably, in step S1: a first visual recognition device is provided near the end of the rear guide beam. The first visual recognition device is used to identify the number of longitudinal bars on the steel bar binding frame through the end face image of the longitudinal bars.

[0031] A second visual recognition device is installed near the end of the main beam. This device is used to identify the position of the longitudinal reinforcement bars within the formwork assembly. The specific steps are as follows:

[0032] The distance and viewing angle between the second visual recognition device and the template device are fixed, and the focal length of the second visual recognition device is fixed.

[0033] The image of the end face of the box girder reinforcement is captured, and the position of the longitudinal reinforcement is identified by array prediction and circle center tracking methods. The actual spatial position of the end face of the longitudinal reinforcement is calculated based on the preset position of the pier or formwork device. The actual spatial position is compared with the preset position. If the error range is exceeded, an alarm is triggered for manual adjustment.

[0034] Alternatively, images of the end faces of the box girder reinforcement that meet the standards can be stored as preset images. The images identifying the location of the longitudinal reinforcement can be compared with the preset images. If the error exceeds the range, an alarm will be triggered for manual adjustment.

[0035] Preferably, in step S4: when driving the bridge-building machine to walk, the limit pin electric push rod corresponding to the first limit pin retracts, the limit pin electric push rod corresponding to the second limit pin extends, the middle support leg stepping cylinder retracts first, and the escapement seat moves back a certain distance.

[0036] A stroke sensor is installed inside the middle outrigger stepping cylinder, and a pressure sensor is installed in the oil circuit of the middle outrigger stepping cylinder. During the extension stroke of the middle outrigger stepping cylinder, the parameters of the pressure sensor and the stroke sensor are monitored simultaneously. The parameter of the pressure sensor needs to be greater than the preset value. If it is less than the preset value, an alarm will be triggered and manual intervention will be required. The parameters of the stroke sensors on both sides need to be consistent. If they are inconsistent, an alarm will be triggered and manual intervention will be required.

[0037] When the middle outrigger moves, the electric push rod corresponding to the first limit pin extends, and the electric push rod corresponding to the second limit pin retracts. The middle outrigger stepping cylinder extends first, driving the escapement seat forward a certain distance. Distance sensors are installed on both sides of the middle outrigger. When the middle outrigger stepping cylinder retracts, the parameters of the pressure sensor, stroke sensor, and distance sensor are monitored simultaneously. The pressure sensor parameter must be greater than the preset value. If it is less than the preset value, an alarm will be triggered for manual intervention. The parameters of the stroke sensors on both sides must be consistent. If they are inconsistent, an alarm will be triggered for manual intervention. The parameter detected by the distance sensor must not be less than the preset value. If it is close to or equal to the preset value, an alarm will be triggered for manual intervention.

[0038] This invention provides an integrated intelligent bridge-building machine and its construction method. By employing the above structure, the rear guide beam simultaneously serves as the counterweight for the bridge-building machine and the section for rebar tying and concrete curing, significantly improving the structure's utilization efficiency. Rebar tying, concrete pouring, and curing can be carried out concurrently, greatly improving bridge construction efficiency. Furthermore, the overhead crane can directly lift the box girder rebar from the rear guide beam and hoist it directly to the main girder's formwork device without intermediate transfer, further improving construction efficiency and avoiding deformation of the box girder rebar during the transfer of hoisting devices. The automated and intelligent control system significantly improves efficiency, reduces construction risks caused by human error, and also reduces manual labor. Attached Figure Description

[0039] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0040] Figure 1 This is a schematic cross-sectional view of the bridge-building machine of the present invention during the binding of the inner formwork of the box girder reinforcement.

[0041] Figure 2 This is a schematic cross-sectional view of the bridge-building machine of the present invention during the transportation of steel reinforcement in a box girder.

[0042] Figure 3 This is a schematic diagram of the bridge-building machine of the present invention, showing the reinforcing steel bars of the box girder entering the formwork device.

[0043] Figure 4 This is a front view of the bridge-building machine of the present invention during the pouring and construction process.

[0044] Figure 5 This is a schematic diagram of the bridge-building machine of the present invention before it passes through the hole.

[0045] Figure 6 This is a schematic diagram of the bridge-building machine of the present invention completing the span support structure.

[0046] Figure 7 This is a schematic diagram of the bridge-building machine of the present invention after all the holes have been passed.

[0047] Figure 8 This is a partially enlarged schematic diagram of the middle support leg of the present invention.

[0048] Figure 9 This is a cross-sectional view of the escapement seat of the present invention.

[0049] In the diagram: 1. Pier; 2. Cast-in-place box girder; 3. Rear guide beam; 4. Roofing facilities; 5. Box girder reinforcement; 6. Crane guide rail; 7. Reinforcement binding frame; 8. Crane; 9. Lifting device; 10. Main beam; 11. First visual recognition device; 12. Distance sensor; 13. Lifting device; 14. Cast-in-place beam surface; 15. Bridge deck under construction; 16. Rear outrigger; 17. Second middle outrigger; 18. First middle outrigger; 19. Front outrigger; 20. Second visual recognition device; 21. Formwork device; 22. Rear guide beam; 23. Traveling track; 24. Feeding section; 101. Reinforcement binding and concrete curing section; 102. Concrete pouring section; 103. Front guide beam; 104. Middle outrigger; 200. Middle outrigger stepping cylinder; 201. First limit pin; 202. Pawl; 203. Second limit pin; 204. Escapement seat; 205. Limit pin electric push rod; 206. Turning pin; 207. Detailed Implementation

[0050] Example 1:

[0051] like Figure 3 , 4 In this paper, an integrated intelligent bridge-building machine with an upward movement is described. The main beam 11 is connected to a formwork device 22, which is suspended below the main beam 11 via a suspension system including booms and jibs for construction. A front guide beam 104 is provided at the front end of the main beam 11, and a rear guide beam 23 is provided at the rear end. In this example, the rear guide beam 23 also serves as a counterweight for the bridge-building machine, enabling the front outriggers 20 to extend forward to the next pier 1.

[0052] The length of the rear guide beam 23 is greater than or equal to the length of one span between piers 1, while the length of the front guide beam 104 is less than the length of one span between piers 1. In this example, the term "upward type" means that the length of the rear guide beam 23 is much greater than the length of the front guide beam 104.

[0053] like Figure 1In the middle, a steel bar binding frame 7 is provided in the rear guide beam 23 for binding the box girder steel bars 5. Since the length of the rear guide beam 23 is greater than or equal to the length of one span, setting the steel bar binding frame 7 in the rear guide beam 23 can match the box girder steel bars 5 required for the pouring construction of the main beam 11. Moreover, the space of the rear guide beam 23 is fully utilized, and the construction efficiency is greatly improved.

[0054] like Figure 2 , 3 A movable overhead crane 8 is installed on the rear guide beam 23 and the main beam 11. The overhead crane 8 is used to hoist the tied box girder reinforcement 5 into the formwork device 22. Traveling devices are installed at both ends of the overhead crane 8, resting on the overhead crane guide rails 6 of the rear guide beam 23 and the main beam 11, and traveling along the overhead crane guide rails 6. A lifting device 9 is installed at the bottom of the overhead crane 8. The lifting device 9 has a traveling device that travels along the length of the overhead crane 8. The lifting device 9 uses a winch and pulley system.

[0055] Preferred solutions include Figure 4 In the middle, a front support leg 20 is provided below the front end of the front guide beam 104, a rear support leg 17 is provided at the bottom of the rear guide beam 23, and at least two middle support legs are provided between the front support leg 20 and the rear support leg 17. The middle support legs can travel along the main beam 11.

[0056] Preferred solutions include Figure 4 In the middle, the top of the front support leg 20 is hinged to the front guide beam 104, the side of the front support leg 20 is connected to the front guide beam 104 through a hydraulic cylinder, and the front support leg 20 is provided with a height adjustment mechanism that can be raised and lowered.

[0057] The top of the rear support leg 17 is hinged to the rear guide beam 23, the side of the rear support leg 17 is connected to the rear guide beam 23 through a hydraulic cylinder, and the bottom of the rear support leg 17 is equipped with a set of walking wheels.

[0058] Preferred, such as Figure 4 The middle support legs are arranged one in front of the other. The first middle support leg 19, which is closer to the front guide beam 104, has an extension section and rests on the pier 1 of the uncast bridge deck. The second middle support leg 18, which is farther away from the front guide beam 104, rests on the cast beam surface 15.

[0059] Preferred solutions include Figure 5 , 6 In the middle, the top of the middle support leg 200 is slidably connected to the main beam 11, and the bottom of both sides of the main beam 11 is provided with a traveling track 24, and the bottom of the traveling track 24 is provided with evenly distributed grooves for accommodating the pawl 203.

[0060] like Figure 8In this mechanism, the middle support leg 200 is connected to the travel rail via a middle support leg stepping cylinder 201 and an escapement seat 205. The escapement seat 205 contains a swingable pawl 203. Continuous grooves are provided on the surface of the travel rail to accommodate the pawl 203 and provide reaction force. A pivot pin 207 passes through the escapement seat 205 and connects to the pawl 203. A first limit pin 202 and a second limit pin 204 are provided on both sides of the pawl 203 to limit its swing. When the pawl 203 cannot swing, it forms a fixed connection with the travel rail. When there is only one limit pin, the pawl 203 forms a unidirectional fixed connection. That is, in the direction opposite to where the limit pin is located, the pawl 203 forms a movable connection with the travel rail, while in the direction where the limit pin is located, the pawl 203 forms a fixed connection with the travel rail.

[0061] Preferred solutions include Figure 9 The machine also includes two limit pin electric push rods 206, which are fixedly mounted on the escapement seat 205 and connected to the first limit pin 202 and the second limit pin 204 respectively. The limit pin electric push rods 206 are used to insert or remove the first limit pin 202 and the second limit pin 204. This structure enables the bridge-building machine to move automatically without human intervention.

[0062] Preferred solutions include Figure 4 In the design, a first visual recognition device 12 is installed near the end of the rear guide beam 23. This device identifies the number of longitudinal bars on the rebar tying jig 7. The first visual recognition device 12 includes an industrial camera and a built-in artificial intelligence recognition program. The program identifies the longitudinal bars from the captured images. Because the end face of the longitudinal bars reflects light differently than other locations, they can be easily identified using a brightness threshold. By counting the longitudinal bars, the program determines whether the quantity meets the requirements. The height of the first visual recognition device 12 is higher than the height of the rebar tying jig 7, allowing it to capture images of the stirrups and calculate whether the stirrup spacing meets the design requirements.

[0063] A second visual recognition device 21 is installed near the end of the main beam 11. This device is used to identify the position of the longitudinal reinforcement. Since the ends of the longitudinal reinforcement near the main beam 11 need to be connected to the longitudinal reinforcement of the already cast bridge deck, it is beneficial to correct the position of the longitudinal reinforcement in advance to reduce the workload of the connection. The method adopted is to use the preset position of the main beam 11 as a reference, collect and identify the ends of the longitudinal reinforcement, calculate the distance and direction angle between each end of the longitudinal reinforcement and the reference, or determine the coordinates of each end of the longitudinal reinforcement using the reference and compare them with preset parameters. These preset parameters can be the position parameters of the corrected ends of the cast box girder reinforcement, ensuring that the error between the two is within a preset range while conforming to the design parameters. This facilitates subsequent longitudinal reinforcement connection construction. The second visual recognition device 21 is mainly used to correct for deformation of the box girder reinforcement 5 caused by hoisting.

[0064] Preferred solutions include Figure 6 In this system, distance sensors 13 are installed on both the front and rear sides of the middle outrigger. The distance sensors 13 are used to control the distance between the middle outrigger and other outriggers. In this example, the distance sensors 13 are ultrasonic distance sensors, millimeter-wave radar, or laser distance sensors. By setting the distance sensors 13, direct collisions between the middle outrigger and other outriggers are avoided during the movement of the system, and the operators are alerted to the risks. If necessary, it can also serve as a risk prevention measure for emergency stop braking.

[0065] Example 2:

[0066] like Figures 4-7 A construction method using the aforementioned upward-moving integrated intelligent bridge-building machine includes the following steps:

[0067] S1. The free end of the rear guide beam 23 is provided with a feeding section 101, which is used to lift materials onto the steel bar binding frame 7, bind the box girder steel bars 5 and prestressed pipes on the steel bar binding frame 7, and then lift the inner formwork and temporarily connect the inner formwork to the box girder steel bars 5.

[0068] Preferably, in step S1: a first visual recognition device 12 is provided near the end of the rear guide beam 23. The first visual recognition device 12 is used to identify the number of longitudinal bars on the steel bar binding frame 7 by the end face image of the longitudinal bars.

[0069] A second visual recognition device 21 is installed near the end of the main beam 11. The second visual recognition device 21 is used to identify the position of the longitudinal reinforcement within the formwork device 22. The specific steps are as follows:

[0070] The distance and viewing angle between the second visual recognition device 21 and the template device 22 are fixed, and the focal length of the second visual recognition device 21 is fixed. This scheme can significantly reduce recognition errors and improve recognition efficiency.

[0071] Images of the end faces of the box girder reinforcement bars 5 are captured, and the positions of the longitudinal reinforcement bars are identified using array prediction and center-tracking methods. Array prediction involves pre-marking the ends of the pre-defined longitudinal reinforcement bars 5 on the image, prioritizing scanning images near the pre-marked areas to determine if they are the ends of the longitudinal reinforcement bars 5, thus improving identification efficiency and accuracy. The center-tracking method involves marking the identified longitudinal reinforcement ends, then drawing the largest line segments along multiple phase angles within the image of a single longitudinal reinforcement end. The intersection of these largest line segments, or the point closest to the intersection, is the center of a circle. The position of the longitudinal reinforcement bar is then identified using the center of the circle and the radius of the reinforcement bar as the radius.

[0072] The height of the second visual recognition device 21 is higher than the height of the box girder reinforcement 5 after it is installed. When the image is captured at this time, it can identify whether the spacing of the stirrups meets the requirements.

[0073] Using the preset position of the pier or formwork device 22 as a reference, calculate the actual spatial position of the longitudinal reinforcement end face, compare the actual spatial position with the preset position, and if it exceeds the error range, an alarm will be triggered for manual adjustment.

[0074] Alternatively, images of the five end faces of the box girder reinforcement that meet the standards can be stored as preset images. The images identifying the longitudinal reinforcement positions can be compared with the preset images. If the error exceeds the range, an alarm will be triggered for manual adjustment.

[0075] S2. The overhead crane 8 moves above the box girder reinforcement 5. The lifting device 9 of the overhead crane 8 is connected to the box girder reinforcement 5 through the lifting tool 10. After lifting, the overhead crane 8 moves above the main beam 11 and hoists the box girder reinforcement 5 and the inner formwork as a whole into the formwork device 22 of the main beam 11 to complete the formwork erection.

[0076] S3. Pour concrete and demold after curing to the preset strength; at the same time, continue to tie the next span of box girder reinforcement 5 on the reinforcement binding frame 7 of the rear guide beam 3.

[0077] S4. The middle support leg drives the bridge-building machine to move until the front support leg 20 lands on the next pier 1, and the first middle support leg 19, which is close to the front support leg 20, moves to the pier 1 where the front support leg 20 is located.

[0078] The second middle support leg 18, which is away from the front support leg 20, moves onto the newly poured beam surface 15 to achieve reliable support for the main beam 11 of the bridge building machine.

[0079] Preferably, in step S4: when driving the bridge-building machine to walk, the limit pin electric push rod 206 corresponding to the first limit pin 202 retracts, the limit pin electric push rod 206 corresponding to the second limit pin 204 extends, the middle support leg stepping cylinder 201 retracts first, and the escapement seat 205 moves back a distance along the walking track 24.

[0080] A stroke sensor is installed inside the middle outrigger stepping cylinder 201, and a pressure sensor is installed in the hydraulic circuit of the middle outrigger stepping cylinder 201. During the extension stroke of the middle outrigger stepping cylinder 201, the parameters of the pressure sensor and the stroke sensor are monitored simultaneously. The parameter of the pressure sensor must be greater than a preset value. If it is less than the preset value, it means that a fixed connection has not been formed between the pawl 203 and the traveling track 24. An alarm will be triggered and manual intervention will be required. The parameters of the stroke sensors of the middle outrigger stepping cylinders 201 on both sides must be consistent. If they are inconsistent, there is a problem of push-off offset, and an alarm will be triggered and manual intervention will be required.

[0081] When the middle outrigger moves, the electric push rod 206 corresponding to the first limit pin 202 extends, and the electric push rod 206 corresponding to the second limit pin 204 retracts. The middle outrigger stepping cylinder 201 extends first, driving the escapement seat 205 to move forward a distance along the travel track 24. Distance sensors 13 are provided on both sides of the middle outrigger. When the middle outrigger stepping cylinder 201 retracts, the parameters of the pressure sensor, stroke sensor, and distance sensor 13 are monitored simultaneously. The parameter of the pressure sensor needs to be greater than the preset value. If it is less than the preset value, an alarm will be triggered for manual handling. The parameters of the stroke sensors on both sides need to be consistent. If they are inconsistent, an alarm will be triggered for manual handling. The parameter detected by the distance sensor 13 needs to be no less than the preset value. If it is close to or equal to the preset value, it indicates that there is an obstacle nearby and a collision may occur. An alarm will be triggered for manual handling.

[0082] S5. Set formwork device 22 on main beam 11;

[0083] Repeat steps S1 to S5 to achieve the casting of box girders span by span.

[0084] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The embodiments and features described in these embodiments can be arbitrarily combined without conflict. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. An upward-moving integrated intelligent bridge-building machine, comprising a main beam (11) connected to a template device (22), characterized in that: A front guide beam (104) is provided at the front end of the main beam (11), and a rear guide beam (23) is provided at the rear end of the main beam (11). The length of the rear guide beam (23) is greater than or equal to the length of one span between the piers (1), and the length of the front guide beam (104) is less than the length of one span between the piers (1); A steel bar binding frame (7) is provided in the rear guide beam (23) for binding the box girder steel bars (5); A mobile overhead crane (8) is provided on the rear guide beam (23) and the main beam (11). The overhead crane (8) is used to hoist the tied box girder reinforcement (5) into the formwork device (22). A front support leg (20) is provided below the front end of the front guide beam (104), a rear support leg (17) is provided at the bottom of the rear guide beam (23), and at least two middle support legs are provided between the front support leg (20) and the rear support leg (17). The middle support legs can travel along the main beam (11). The top of the middle support leg (200) is slidably connected to the main beam (11). Traveling tracks are provided on both sides of the bottom of the main beam (11), and the bottom of the traveling tracks is provided with evenly distributed grooves for accommodating pawls (203). The middle support leg (200) is connected to the travel track through the middle support leg stepping cylinder (201) and the escapement seat (205). The escapement seat (205) is provided with a swingable pawl (203). The pivot pin (207) passes through the escapement seat (205) and is connected to the pawl (203). A first limit pin (202) and a second limit pin (204) are provided on both sides of the pawl (203) to limit the swing of the pawl (203). It is also provided with two limit pin electric push rods (206), which are fixedly installed on the escapement seat (205) and connected to the first limit pin (202) and the second limit pin (204) respectively. The limit pin electric push rods (206) are used to insert or pull out the first limit pin (202) and the second limit pin (204); A first visual recognition device (12) is provided near the end of the rear guide beam (23). The first visual recognition device (12) is used to identify the number of longitudinal bars on the steel bar binding frame (7). A second visual recognition device (21) is provided near the end of the main beam (11). The second visual recognition device (21) is used to identify the position of the longitudinal reinforcement. Distance sensors (13) are provided on the front and rear sides of the middle outrigger. The distance sensors (13) are used to control the distance between the middle outrigger and other outriggers.

2. The integrated intelligent bridge-building machine for upward movement according to claim 1, characterized in that: The top of the front support leg (20) is hinged to the front guide beam (104), and the side of the front support leg (20) is connected to the front guide beam (104) through a hydraulic cylinder. The front support leg (20) is equipped with a height adjustment mechanism that can be raised and lowered. The top of the rear support leg (17) is hinged to the rear guide beam (23), the side of the rear support leg (17) is connected to the rear guide beam (23) through a hydraulic cylinder, and the bottom of the rear support leg (17) is provided with a set of walking wheels. The middle leg near the front guide beam (104) has an extension section that rests on the pier (1), while the middle leg away from the front guide beam (104) rests on the cast beam surface (15).

3. A construction method using the upward-moving integrated intelligent bridge-building machine as described in claim 2, characterized in that: Includes the following steps: S1. The free end of the rear guide beam (23) is provided with a feeding section (101) for lifting materials onto the steel reinforcement binding frame (7), binding the box girder steel reinforcement (5) and prestressed pipes on the steel reinforcement binding frame (7), and then hoisting the inner formwork and temporarily connecting the inner formwork with the box girder steel reinforcement (5). S2. The overhead crane (8) moves to the top of the box girder reinforcement (5). The lifting device (9) of the overhead crane (8) is connected to the box girder reinforcement (5) through the lifting tool (10). The box girder reinforcement (5) is hoisted as a whole into the formwork device (22) of the main beam (11) to complete the formwork erection. S3. Pour concrete and demold after curing to the preset strength; S4. The middle support leg drives the bridge-building machine to move until the front support leg (20) lands on the next pier (1). The first middle support leg (19) close to the front support leg (20) moves to the pier (1) where the front support leg (20) is located. The second middle support leg (18), which is away from the front support leg (20), moves onto the newly poured beam surface (15) to support the bridge-building machine; S5. Set up a formwork device (22) on the main beam (11); Repeat steps S1 to S5 to achieve the casting of box girders span by span.

4. The construction method of an upward integrated intelligent bridge building machine according to claim 3, characterized in that in step S1: a first visual recognition device (12) is provided at the end of the rear guide beam (23), and the first visual recognition device (12) is used to identify the number of longitudinal bars on the steel bar binding frame (7) by the end face image of the longitudinal bars. A second visual recognition device (21) is installed near the end of the main beam (11). The second visual recognition device (21) is used to identify the position of the longitudinal reinforcement within the formwork device (22). The specific steps are as follows: The distance and viewing angle between the second visual recognition device (21) and the template device (22) are fixed, and the focal length of the second visual recognition device (21) is fixed. Take an image of the end face of the box girder reinforcement (5), identify the position of the longitudinal reinforcement using array prediction and center tracking methods, calculate the actual spatial position of the end face of the longitudinal reinforcement based on the preset position of the pier or formwork device (22), compare the actual spatial position with the preset position, and if the error exceeds the range, an alarm will be triggered for manual adjustment. Alternatively, the end face image of the standard box girder reinforcement (5) can be stored as a preset image. The image of the longitudinal reinforcement position can be compared with the preset image. If the error exceeds the range, an alarm will be triggered for manual adjustment.

5. The construction method of an upward integrated intelligent bridge building machine according to claim 3, characterized in that in step S4: when driving the bridge building machine to walk, the limit pin electric push rod (206) corresponding to the first limit pin (202) retracts, the limit pin electric push rod (206) corresponding to the second limit pin (204) extends, the middle support leg stepping cylinder (201) retracts first, and the escapement seat (205) moves back a certain distance; A stroke sensor is installed inside the middle outrigger stepping cylinder (201), and a pressure sensor is installed in the oil circuit of the middle outrigger stepping cylinder (201). During the extension stroke of the middle outrigger stepping cylinder (201), the parameters of the pressure sensor and the stroke sensor are monitored simultaneously. The parameter of the pressure sensor needs to be greater than the preset value. If it is less than the preset value, an alarm will be triggered and manual intervention will be required. The parameters of the stroke sensors on both sides need to be consistent. If they are inconsistent, an alarm will be triggered and manual intervention will be required. When the middle outrigger moves, the electric push rod (206) corresponding to the first limit pin (202) extends, and the electric push rod (206) corresponding to the second limit pin (204) retracts. The middle outrigger stepping cylinder (201) extends first, driving the escapement seat (205) to move forward a certain distance. Distance sensors (13) are provided on both sides of the middle outrigger. When the middle outrigger stepping cylinder (201) retracts, the parameters of the pressure sensor, stroke sensor and distance sensor (13) are monitored at the same time. The parameter of the pressure sensor needs to be greater than the preset value. If it is less than the preset value, an alarm will be triggered and manual processing will be required. The parameters of the stroke sensors on both sides need to be consistent. If they are inconsistent, an alarm will be triggered and manual processing will be required. The parameter detected by the distance sensor (13) needs to be no less than the preset value. If it is close to or equal to the preset value, an alarm will be triggered and manual processing will be required.

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