A steel beam top-pushing intelligent positioning system and positioning method

Abstract

The present invention discloses an intelligent positioning system and positioning method for steel beam jacking, comprising: a data control subsystem, a positioning control subsystem and a steel beam positioning control subsystem; the data control subsystem is used to input the theoretical linear shape of the steel beam, store the measured linear shape, analyze the measured linear shape error of the beam segment, issue the lofting coordinates of the beam segment to be assembled in the next stage, and calculate the positioning parameters of the steel beam; the positioning control subsystem is used to collect the coordinates of the measuring points after the lofting and welding of the beam segment to be assembled; the steel beam positioning control subsystem controls the jacking and positioning of the beam segment through a PLC module according to the measured linear shape error results of the beam segment in the data control subsystem, so as to realize the intelligent positioning and positioning of the beam segment to be assembled during the steel beam jacking process. The present invention improves the positioning accuracy of the steel beam during the jacking process and ensures that the bridge linear shape of the steel beam meets the design requirements.

Description

Technical Field

[0001] The present invention relates to the field of monitoring during the construction of beam bridges, and more specifically to an intelligent positioning system for pushing steel beams. Background Art

[0002] After decades of development, the top-pushing construction technology has become increasingly mature. In the case of crossing railways and highways and under conditions where the transportation of beams is restricted, the top-pushing method for steel beam construction has obvious advantages. Generally, when the top-pushing method is used for steel beam construction, the steel beam storage area, the assembled area and the area to be assembled, the beam lifting equipment, the top-pushing equipment, the temporary pier and the guide beam design are planned in advance. Then, the first section of the steel beam is welded to the guide beam in place, and the subsequent beam sections are matched, positioned, adjusted, coded, welded and top-pushed with the first section in turn. This cycle is repeated. After all beam sections are pushed and adjusted in place, the guide beam is removed and the beam is dropped.

[0003] According to the conventional steel beam jacking construction process, the following problems mainly exist: 1) The measurement workload is large, the human factors are large, resulting in low layout accuracy and hidden dangers to the safety of the measurement personnel. During the adjustment of the beam section to be assembled, every time the beam lifting equipment (such as the gantry crane) adjusts the posture and coordinates of the beam section, the tester must conduct repeated tests until the layout coordinates meet the accuracy requirements, which greatly increases the measurement workload; secondly, during the measurement process, there may be multiple measurement turning points, different ruler-holding habits of the ruler-holding personnel, and safety hazards in high-altitude operations. 2) The efficiency of steel beam adjustment is low. During the adjustment of the beam section to be assembled, the coordinate errors of the four measuring points of the beam section to be assembled are adjusted at the same time, which mostly depends on the operating experience of the on-site workers. The beam adjustment has a certain degree of blindness, and the adjustment amount at each measuring point cannot be quantitatively given.

[0004] To this end, the present invention provides an intelligent positioning system for steel beam jacking, which integrates the functions of automatic data collection, analysis and control, positioning and positioning. The system inputs the initial design data of each beam segment in the PC client, automatically collects and analyzes the 4-point coordinates of the assembled beam segment, automatically issues the layout coordinate data of the beam segment to be assembled, and automatically positions the measuring robot and automatically adjusts the steel beam. This can greatly reduce the workload of manual repeated measurement and adjustment of the beam segment to be assembled, improve the positioning accuracy of the steel beam in the jacking process, and ensure that the bridge line shape of the steel beam meets the design requirements. Summary of the invention

[0005] An object of the present invention is to provide a steel beam jacking intelligent positioning system and positioning method in view of the shortcomings of the traditional steel beam jacking positioning method.

[0006] The technical solution adopted by the present invention to solve this technical problem is: a steel beam top-pushing intelligent positioning system, including: a data control subsystem, a positioning control subsystem and a steel beam positioning control subsystem;

[0007] The data control subsystem is used to input the theoretical linear shape of the steel beam, store the measured linear shape, analyze the measured linear shape error of the beam segment, issue the lofting coordinates of the beam segment to be assembled in the next stage, and calculate the positioning parameters of the steel beam;

[0008] The positioning control subsystem is used to collect the coordinates of the measuring points after the beam sections to be assembled are laid out and welded;

[0009] The steel beam positioning control subsystem controls the lifting and positioning of the beam segment through the PLC module according to the measured linear error results of the beam segment in the data control subsystem, thereby realizing the intelligent positioning and positioning of the beam segment to be assembled during the steel beam pushing process.

[0010] As a further solution of the present invention, the positioning control subsystem includes a steel measuring nail measuring point, a measuring robot and a PLC module.

[0011] As a further solution of the present invention, the steel measuring pin measuring points are installed on each beam section of the steel beam by steel measuring pins, and the steel measuring pins have the same size and model;

[0012] A measuring robot is installed inside and outside the steel beam, and the measuring robot measures the steel measuring nails one by one;

[0013] The measuring robot is connected to the PLC module, and the PLC module is connected to the data control system.

[0014] As a further solution of the present invention, the steel beam positioning control subsystem includes a PLC module, a jack and a displacement sensor;

[0015] The jack and the displacement sensor are both connected to the PLC module, and the PLC module is connected to the data control system.

[0016] As a further solution of the present invention, supporting columns are installed on the inner and outer sides of the steel beam, and the steel beam position adjustment control subsystem is installed on the supporting columns.

[0017] The present invention also provides a positioning method using the steel beam top-pushing intelligent positioning system, comprising the following steps:

[0018] Step 1: Input the number, quantity n, beam length L, beam height h, position of the measuring point relative to the beam segment boundary line, and the overall manufacturing line of the steel beam into the data control subsystem; the four measuring points of each beam segment are welded with steel measuring pins of the same model and size according to fixed positions, and the steel measuring pin number is recorded as CD i -1. CD i -2. CD i -3 and CD i -4, (i=1, 2, 3,..., n);

[0019] Step 2: Set up 2 measuring piles on the inside and outside of the steel beam, a total of 4 measuring piles, which are numbered CZ1#, CZ2#, CZ3# and CZ4#; install and debug 4 measuring robots, the measuring robots corresponding to the CZ1#, CZ2#, CZ3# and CZ4# measuring piles are numbered JQ-01, JQ-02, JQ-03 and JQ-04 respectively, and the four measuring robots are responsible for measuring point CD separately. i -1. CD i -2. CD i -3 and CD i -4 measurement operations; respectively check and debug the data communication status of the 4 measurement robots and their corresponding PLC modules 1~4 and the data control subsystem to ensure all data communication transmission;

[0020] Step 3: Assemble 4 jacks, 4 displacement sensors and 4 PLC modules on the 4 supporting columns of the beam section to be assembled on the assembly platform to form a steel beam adjustment control subsystem; debug each jack, start the data control subsystem, and check whether the data transmission and reception communication is smooth; debug the 4 jacks, start the data control subsystem, and perform single-point lifting and lowering and multi-point lifting and lowering tests on the 4 jacks through PLC modules 5 to 8. The corresponding jacks are numbered LJ-01, LJ-02, LJ-03 and LJ-04;

[0021] Step 4: After the first beam segment is hoisted, it is placed on the assembled beam segment area of ​​the assembly platform and welded firmly to the root of the steel guide beam; the beam body posture is adjusted until the bottom plate of the steel beam is horizontal; the 4-point coordinates of the first beam segment are collected as the initial layout data, and the data is recorded as: (L1X i L1 i L1 i )、(R1X i R1 i R1 i )、(L1X j L1 j L1 j ) and (R1X j R1 j R1 j ); After the data collection is completed, the data control subsystem automatically analyzes the coordinates of the four points and issues the four theoretical lofting coordinates of the next beam segment to be assembled as follows: (L2X i L2Y i L2Z i )、(R2X i R i R i )、(L2X j L2Y j L2Z j) and (R2X j R j R j ); At this time, the first segment is used as the assembled beam segment in the next round of beam segment assembly process;

[0022] Step 5: After hoisting the second beam section and making preliminary adjustments to the beam posture, start the four measuring robots JQ-01, JQ-02, JQ-03 and JQ-04, which are responsible for measuring the coordinate data of measuring points CD2-1, CD2-2, CD2-3 and CD2-4 respectively. The measured coordinate data is recorded as (L2 ' X i L2 ' Y i L2 ' Z i )、(R2 ' X i R2 ' Y i R2 ' Z i )、(L2 ' X j L2 ' Y j L2 ' Z j ) and (R2 ' X j R2 ' Y j R2 ' Z j ), which is automatically transmitted to the data control subsystem through PLC modules 1~4. The data control subsystem automatically analyzes the measured linear error of the beam segment. Compared with the set error accuracy, if the error is within the allowable range, there is no need to adjust the steel beam position, that is, there is no need to start the steel beam adjustment control subsystem through PLC modules 5~8; if the error exceeds the allowable range, the data control subsystem automatically calculates the adjustment parameters of the steel beam to be assembled; the steel beam adjustment control subsystem is started through PLC modules 5~8, and the pump oil volume and top drop displacement of each jack are automatically calculated according to the adjustment parameters of the steel beam to be assembled, and then the coordinates of the four measuring points of the beam segment to be assembled are adjusted to the layout position;

[0023] Step 6: Weld the top, bottom and web plates of the second beam section to the first steel beam; after the weld is tested and qualified, start the four measuring robots JQ-01, JQ-02, JQ-03 and JQ-04 to measure the coordinate data of the measuring points CD2-1, CD2-2, CD2-3 and CD2-4 respectively. The measured coordinate data is recorded as (L2 '' X i L2 '' Y i L2 '' Z i)、(R2 '' X i R2 '' Y i R2 '' Z i )、(L2 '' X j L2 '' Y j L2 '' Z j ) and (R2 '' X j R2 '' Y j R2 '' Z j ), relative to the 4 theoretical lofting coordinates, (L2X i L2Y i L2Z i )、(R2X i R i R i )、(L2X j L2Y j L2Z j ) and (R2X j R j R j ), then the actual assembly error of the second beam segment 13 is:

[0024]

[0025]

[0026] Among them 2-1 ,△ 2-2 ,△ 2-3 and 2-4 are the errors of the measured coordinates after welding relative to the theoretical layout coordinates of the measuring points CD2-1, CD2-2, CD2-3 and CD2-4 respectively; the longitudinal coordinate error △ 2-1 X i ,△ 2-2 X i ,△ 2-3 X i and 2-4 X i , lateral coordinate error △ 2-1 Y i ,△ 2-2 Y i ,△ 2-3 Y i and 2-4 Y i All controlled within ±5mm, elevation error △ 2-1 Zi ,△ 2-2 Z i ,△ 2-3 Z i and 2-4 Z i Control within ±2mm; after data collection is completed, the steel beam is pushed until the beam segment to be assembled enters the area of ​​the assembled beam segment. At this time, the second beam segment becomes the assembled beam segment when the third beam segment is matched;

[0027] Step 7: Adjust the posture of the second beam segment until the bottom plate is horizontal; start the four measuring robots JQ-01, JQ-02, JQ-03 and JQ-04, which are responsible for measuring the coordinate data of the measuring points CD2-1, CD2-2, CD2-3 and CD2-4 respectively. According to the actual assembly error of the second beam segment 13 in step 6 and the information of the third beam segment 14 in step 1, the data control subsystem automatically issues the layout coordinates of the beam segment to be assembled in the next stage;

[0028] Step 8. Follow the steps in steps 5 and 6 to perform the hoisting, posture adjustment, measurement and positioning, welding and jacking processes on the 3rd to nth beam segments.

[0029] As a further solution of the present invention, the data control subsystem in step 5 automatically calculates the positioning parameters of the steel beam to be assembled, including: the lifting or dropping displacement parameters of each support point.

[0030] The present invention includes at least the following beneficial effects: the intelligent positioning system for steel beam jacking involved in the present invention integrates the functions of automatic data collection, analysis and control, positioning and positioning, that is, inputting data of each beam section, automatically collecting and analyzing the 4-point coordinates of the assembled beam section, automatically issuing the layout coordinate data of the beam section to be assembled, automatic positioning of the measuring robot and automatic positioning of the steel beam, which can greatly reduce the workload of manual repeated measurement and positioning of the beam section to be assembled, improve the positioning accuracy of the steel beam in the jacking process, and ensure that the bridge line shape of the steel beam meets the design requirements.

[0031] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the components of the steel beam pushing intelligent positioning system involved in the present invention;

[0033] Figure 2 This is a working diagram of the steel beam jacking intelligent positioning system involved in the present invention;

[0034] Figure 3 A schematic diagram of beam segment division involved in the present invention;

[0035] Figure 4 It is a schematic diagram of the arrangement of measuring points of the standard cross section of a steel beam of the present invention;

[0036] Figure 5 It is a schematic diagram of the arrangement and numbering of measuring points on the top plate of a steel beam section of the present invention;

[0037] Figure 6 It is a schematic diagram of the arrangement of the measuring piles and measuring robots and the installation of the guide beams of the present invention;

[0038] Figure 7 It is a schematic diagram of the layout of the hydraulic servo jacks in the beam section to be assembled area of ​​the present invention;

[0039] Figure 8 This is a process schematic diagram after step 4 of the present invention is completed;

[0040] Fig. 9 This is a process schematic diagram after the second beam segment positioning and adjustment is completed according to the present invention;

[0041] Fig.10 It is a process schematic diagram after the second beam segment is pushed out in step six of the present invention;

[0042] Fig.11 This is a process schematic diagram after the third beam segment positioning and adjustment is completed according to the present invention;

[0043] Fig.12 It is a process schematic diagram after the jacking of the third beam section in step eight of the present invention is completed.

[0044] Description of reference numerals:

[0045] 1. Steel beam section; 2. Steel measuring nails and measuring points; 3. Measuring piles; 4. Measuring robot; 5. Beam section area to be assembled; 6. Beam section area that has been assembled; 7. Guide beam; 8. Supporting columns; 9. Hydraulic servo jack; 10. Steel beam bottom plate; 11. Bridge piers; 12. The first beam section; 13. The second beam section; 14. The third beam section; 15. Steel beam top plate. DETAILED DESCRIPTION

[0046] The present invention is described in detail and completely below in conjunction with the accompanying drawings. A person of ordinary skill in the art will be able to implement the present invention based on these descriptions. Before describing the present invention in conjunction with the accompanying drawings, it should be particularly pointed out that the technical solutions and technical features provided in each part of the present invention, including the following description, can be combined with each other without conflict.

[0047] In addition, the embodiments of the present invention involved in the following description are generally only a part of the embodiments of the present invention, rather than all the embodiments. Therefore, based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0048] The present invention is further described in detail below in conjunction with the accompanying drawings and implementations, and its specific implementation process is as follows:

[0049] like Figure 1 , 2 As shown in , 3, 4, 5, 6, and 7, the present invention provides a steel beam top-pushing intelligent positioning system, the steel beam includes a steel beam top plate and a steel beam bottom plate, in this embodiment, the steel measuring nail measuring point is set on the steel beam top plate, including: a data control subsystem, a positioning control subsystem and a steel beam positioning control subsystem;

[0050] The data control subsystem is used to input the theoretical linear shape of the steel beam, store the measured linear shape, analyze the measured linear shape error of the beam segment, issue the lofting coordinates of the beam segment to be assembled in the next stage, and calculate the positioning parameters of the steel beam;

[0051] The positioning control subsystem is used to collect the coordinates of the measuring points after the beam sections to be assembled are laid out and welded;

[0052] The steel beam positioning control subsystem controls the lifting and positioning of the beam segment through the PLC module according to the measured linear error results of the beam segment in the data control subsystem, thereby realizing the intelligent positioning and positioning of the beam segment to be assembled during the steel beam pushing process.

[0053] This technical solution may also include the following technical details to better achieve the technical effect: the positioning control subsystem includes a steel measuring nail measuring point, a measuring robot and a PLC module.

[0054] The technical solution may also include the following technical details to better achieve the technical effect: the steel measuring pin measuring points are installed on each beam section of the steel beam by steel measuring pins, and the steel measuring pins have the same size and model;

[0055] A measuring robot is installed inside and outside the steel beam, and the measuring robot measures the steel measuring nails one by one;

[0056] The measuring robot is connected to the PLC module, and the PLC module is connected to the data control system.

[0057] This technical solution may also include the following technical details to better achieve the technical effect: the steel beam positioning control subsystem includes a PLC module, a jack and a displacement sensor;

[0058] The jack and the displacement sensor are both connected to the PLC module, and the PLC module is connected to the data control system.

[0059] The technical solution may also include the following technical details to better achieve the technical effect: supporting columns are installed on the inner and outer sides of the steel beam, and the steel beam positioning control subsystem is installed on the supporting columns.

[0060] The present invention also provides a positioning method using the steel beam top-pushing intelligent positioning system, comprising the following steps:

[0061] like Figures 6 to 12 As shown, step 1, the number, quantity n, beam length L, beam height h, the position of the measuring point relative to the beam segment boundary line and the overall manufacturing line of the steel beam are input into the data control subsystem; the four measuring points of each beam segment of the steel beam are welded with steel measuring pins of the same model and size according to fixed positions, and the steel measuring pin number is recorded as CD i -1. CD i -2. CD i -3 and CD i -4, (i=1, 2, 3, ..., n), the beam segment division and steel measuring pin number are as follows Figures 3-5 As shown;

[0062] Step 2: Figure 6 , set up 2 measuring piles on the inside and outside of the steel beam, a total of 4 measuring piles, which are numbered CZ1#, CZ2#, CZ3# and CZ4#; install and debug 4 measuring robots, the measuring robots corresponding to the CZ1#, CZ2#, CZ3# and CZ4# measuring piles are numbered JQ-01, JQ-02, JQ-03 and JQ-04 respectively, and the four measuring robots are responsible for measuring points CD i -1. CD i -2. CD i -3 and CD i -4 measurement operations; respectively check and debug the data communication status of the 4 measurement robots and their corresponding PLC modules 1~4 and the data control subsystem to ensure all data communication transmission;

[0063] Step 3: Assemble 4 hydraulic servo jacks, 4 displacement sensors, 4 PLC modules, data cables and other equipment and sensors on the 4 supporting columns of the beam section to be assembled on the assembly platform to form a steel beam adjustment control subsystem; debug each individual hydraulic servo jack, start the data control subsystem, and detect whether the data transmission and reception communication is unobstructed; debug the 4 hydraulic servo jacks, start the data control subsystem, and perform single-point lifting and lowering and multi-point lifting and lowering tests of the 4 hydraulic servo jacks through PLC modules 5 to 8. The corresponding hydraulic servo jacks are numbered LJ-01, LJ-02, LJ-03 and LJ-04, until the adjustment system can start normally and the data transmission performance is stable and reliable;

[0064] Step 4: After the first beam segment is hoisted, it is placed on the assembled beam segment area of ​​the assembly platform and welded firmly to the root of the steel guide beam; the beam body posture is adjusted until the bottom plate of the steel beam is horizontal; the 4-point coordinates of the first beam segment are collected as the initial layout data, and the data is recorded as: (L1X i L1 i L1 i )、(R1X i R1 i R1 i )、(L1X j L1 j L1 j ) and (R1X j R1 j R1 j After data collection is completed, the data control subsystem automatically analyzes the coordinates of the four points and issues the four theoretical lofting coordinates of the next beam segment to be assembled (the second beam) as follows: (L2X i L2Y i L2Z i )、(R2X i R i R i )、(L2X j L2Y j L2Z j ) and (R2X j R j R j ); At this time, the first segment is used as the assembled beam segment in the next round of beam segment assembly process;

[0065] Step 5: After hoisting the second beam section and making preliminary adjustments to the beam posture, start the four measuring robots JQ-01, JQ-02, JQ-03 and JQ-04, which are responsible for measuring the coordinate data of measuring points CD2-1, CD2-2, CD2-3 and CD2-4 respectively. The measured coordinate data is recorded as (L2 ' X i L2 ' Y i L2 ' Z i )、(R2 ' X i R2 ' Y i R2 ' Z i )、(L2 ' X j L2 ' Y j L2 ' Z j ) and (R2 ' X jR2 ' Y j R2 ' Z j ), which is automatically transmitted to the data control subsystem through PLC modules 1~4. The data control subsystem automatically analyzes the measured linear error of the beam segment. Compared with the set error accuracy, if the error is within the allowable range, there is no need to adjust the steel beam position, that is, there is no need to start the steel beam adjustment control subsystem through PLC modules 5~8; if the error exceeds the allowable range, the data control subsystem automatically calculates the adjustment parameters of the steel beam to be assembled; the steel beam adjustment control subsystem is started through PLC modules 5~8, and the pump oil volume and top drop displacement of each hydraulic servo jack are automatically calculated according to the adjustment parameters of the steel beam to be assembled, and then the coordinates of the four measuring points of the beam segment to be assembled are adjusted to the layout position;

[0066] Step 6: Weld the top, bottom and web plates of the second beam section (beam section to be assembled) to the first steel beam; after the weld is tested and qualified, start the four measuring robots JQ-01, JQ-02, JQ-03 and JQ-04 to measure the coordinate data of measuring points CD2-1, CD2-2, CD2-3 and CD2-4 respectively. The measured coordinate data is recorded as (L2 '' X i L2 '' Y i L2 '' Z i )、(R2 '' X i R2 '' Y i R2 '' Z i )、(L2 '' X j L2 '' Y j L2 '' Z j ) and (R2 '' X j R2 '' Y j R2 '' Z j ), the measured coordinate data at this time takes into account the influence of welding deformation. Relative to the 4 theoretical lofting coordinates, (L2X i L2Y i L2Z i )、(R2X i R i R i )、(L2X j L2Y j L2Z j ) and (R2X j R j Rj ), then the actual assembly error of the second beam segment 13 is:

[0067]

[0068]

[0069] Among them 2-1 ,△ 2-2 ,△ 2-3 and 2-4 are the errors of the measured coordinates after welding relative to the theoretical layout coordinates of the measuring points CD2-1, CD2-2, CD2-3 and CD2-4 respectively; the longitudinal coordinate error △ 2-1 X i ,△ 2-2 X i ,△ 2-3 X i and 2-4 X i , lateral coordinate error △ 2-1 Y i ,△ 2-2 Y i ,△ 2-3 Y i and 2-4 Y i All controlled within ±5mm, elevation error △ 2-1 Z i ,△ 2-2 Z i ,△ 2-3 Z i and 2-4 Z i Control within ±2mm; after data collection is completed, the steel beam is pushed until the beam segment to be assembled enters the area of ​​the assembled beam segment. At this time, the second beam segment becomes the assembled beam segment when the third beam segment is matched;

[0070] Step 7: Adjust the posture of the second beam segment until the bottom plate is horizontal; start the four measuring robots JQ-01, JQ-02, JQ-03 and JQ-04 to measure the coordinate data of the measuring points CD2-1, CD2-2, CD2-3 and CD2-4 respectively. According to the actual assembly error of the second beam segment 13 in step 6 and the information of the third beam segment 14 in step 1, the data control subsystem automatically issues the layout coordinates of the beam segment to be assembled in the next stage (i.e., the third beam segment 14);

[0071] Step 8. Follow the steps in steps 5 and 6 to perform the hoisting, posture adjustment, measurement and positioning, welding and jacking processes on the 3rd to nth beam segments.

[0072] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the embodiments shown and described herein.

Claims

1. A steel beam push-up intelligent positioning system, characterized in that: include: Data control subsystem, positioning control subsystem and steel beam adjustment control subsystem; The data control subsystem is used to input the theoretical linear shape of the steel beam, store the measured linear shape, analyze the measured linear shape error of the beam segment, issue the lofting coordinates of the beam segment to be assembled in the next stage, and calculate the positioning parameters of the steel beam; The positioning control subsystem is used to collect the coordinates of the measuring points after the beam sections to be assembled are laid out and welded; The steel beam positioning control subsystem controls the lifting and positioning of the beam segment through the PLC module according to the measured linear error results of the beam segment in the data control subsystem, thereby realizing the intelligent positioning and positioning of the beam segment to be assembled during the steel beam pushing process.

2. The steel beam pushing intelligent positioning system according to claim 1, characterized in that: The positioning control subsystem includes a steel measuring nail measuring point, a measuring robot and a PLC module.

3. The steel beam pushing intelligent positioning system according to claim 2, characterized in that: The steel measuring pin measuring points are installed on each beam section of the steel beam by steel measuring pins, and the steel measuring pins have the same size and model; A measuring robot is installed inside and outside the steel beam, and the measuring robot measures the steel measuring nails one by one; The measuring robot is connected to the PLC module, and the PLC module is connected to the data control system.

4. The steel beam pushing intelligent positioning system according to claim 1, characterized in that: The steel beam positioning control subsystem includes a PLC module, a jack and a displacement sensor; The jack and the displacement sensor are both connected to the PLC module, and the PLC module is connected to the data control system.

5. The steel beam pushing intelligent positioning system according to claim 4, characterized in that: Support columns are installed inside and outside the steel beam, and the steel beam position adjustment control subsystem is installed on the support columns.

6. A method for adjusting the position of a steel beam by using the intelligent positioning system for pushing the steel beam as claimed in any one of claims 1 to 5, characterized in that: The following steps are involved: Step 1: Input the number, quantity n, beam length L, beam height h, position of the measuring point relative to the beam segment boundary line, and the overall manufacturing line of the steel beam into the data control subsystem; the four measuring points of each beam segment are welded with steel measuring pins of the same model and size according to fixed positions, and the steel measuring pin number is recorded as CD i -1. CD i -2. CD i -3 and CD i -4, (i=1, 2, 3,..., n); Step 2: Set up 2 measuring piles on the inside and outside of the steel beam, a total of 4 measuring piles, which are numbered CZ1#, CZ2#, CZ3# and CZ4#; install and debug 4 measuring robots, the measuring robots corresponding to the CZ1#, CZ2#, CZ3# and CZ4# measuring piles are numbered JQ-01, JQ-02, JQ-03 and JQ-04 respectively, and the four measuring robots are responsible for measuring point CD separately. i -1. CD i -2. CD i -3 and CD i -4 measurement operations; respectively check and debug the data communication status of the 4 measurement robots and their corresponding PLC modules 1~4 and the data control subsystem to ensure all data communication transmission; Step 3: Assemble 4 jacks, 4 displacement sensors and 4 PLC modules on the 4 supporting columns of the beam section to be assembled on the assembly platform to form a steel beam adjustment control subsystem; debug each jack, start the data control subsystem, and check whether the data transmission and reception communication is smooth; debug the 4 jacks, start the data control subsystem, and perform single-point lifting and lowering and multi-point lifting and lowering tests on the 4 jacks through PLC modules 5 to 8. The corresponding jacks are numbered LJ-01, LJ-02, LJ-03 and LJ-04; Step 4: After the first beam segment is hoisted, it is placed on the assembled beam segment area of ​​the assembly platform and welded firmly to the root of the steel guide beam; the beam body posture is adjusted until the bottom plate of the steel beam is horizontal; the 4-point coordinates of the first beam segment are collected as the initial layout data, and the data is recorded as: (L1X i L1 i L1 i )、(R1X i R1 i R1 i )、(L1X j L1 j L1 j ) and (R1X j R1 j R 1Z j ); After the data collection is completed, the data control subsystem automatically analyzes the coordinates of the four points and issues the four theoretical lofting coordinates of the next beam segment to be assembled as follows: (L2X i L2Y i L2Z i )、(R2X i R i R i )、(L2X j L2Y j L2Z j ) and (R2X j R j R j ); At this time, the first segment is used as the assembled beam segment in the next round of beam segment assembly process; Step 5: After hoisting the second beam section and making preliminary adjustments to the beam posture, start the four measuring robots JQ-01, JQ-02, JQ-03 and JQ-04, which are responsible for measuring the coordinate data of measuring points CD2-1, CD2-2, CD2-3 and CD2-4 respectively. The measured coordinate data is recorded as (L2 ' X i L2 ' Y i L2 ' Z i )、(R2 ' X i R2 ' Y i R2 ' Z i )、(L2 ' X j L2 ' Y j L2 ' Z j ) and (R2 ' X j R2 ' Y j R2 ' Z j ), which is automatically transmitted to the data control subsystem through PLC modules 1~4. The data control subsystem automatically analyzes the measured linear error of the beam segment. Compared with the set error accuracy, if the error is within the allowable range, there is no need to adjust the steel beam position, that is, there is no need to start the steel beam adjustment control subsystem through PLC modules 5~8; if the error exceeds the allowable range, the data control subsystem automatically calculates the adjustment parameters of the steel beam to be assembled; the steel beam adjustment control subsystem is started through PLC modules 5~8, and the pump oil volume and top drop displacement of each jack are automatically calculated according to the adjustment parameters of the steel beam to be assembled, and then the coordinates of the four measuring points of the beam segment to be assembled are adjusted to the layout position; Step 6: Weld the top, bottom and web plates of the second beam section to the first steel beam; after the weld is tested and qualified, start the four measuring robots JQ-01, JQ-02, JQ-03 and JQ-04 to measure the coordinate data of the measuring points CD2-1, CD2-2, CD2-3 and CD2-4 respectively. The measured coordinate data is recorded as (L2 '' X i L2 '' Y i L2 '' Z i )、(R2 '' X i R2 '' Y i R2 '' Z i )、(L2 '' X j L2 '' Y j L2 '' Z j ) and (R2 '' X j R2 '' Y j R2 '' Z j ), relative to the 4 theoretical lofting coordinates, (L2X i L2Y i L2Z i )、(R2X i R i R i )、(L2X j L2Y j L2Z j ) and (R2X j R j R j ), then the actual assembly error of the second beam segment 13 is: Among them 2-1 ,△ 2-2 ,△ 2-3 and 2-4 are the errors of the measured coordinates after welding relative to the theoretical layout coordinates of the measuring points CD2-1, CD2-2, CD2-3 and CD2-4 respectively; the longitudinal coordinate error △ 2-1 X i ,△ 2-2 X i ,△ 2-3 X i and 2-4 X i , lateral coordinate error △ 2-1 Y i ,△ 2-2 Y i ,△ 2-3 Y i and 2-4 Y i All controlled within ±5mm, elevation error △ 2-1 Z i ,△ 2-2 Z i ,△ 2-3 Z i and 2-4 Z i Control within ±2mm; after data collection is completed, the steel beam is pushed until the beam segment to be assembled enters the area of ​​the assembled beam segment. At this time, the second beam segment becomes the assembled beam segment when the third beam segment is matched; Step 7: Adjust the posture of the second beam segment until the bottom plate is horizontal; start the four measuring robots JQ-01, JQ-02, JQ-03 and JQ-04, which are responsible for measuring the coordinate data of the measuring points CD2-1, CD2-2, CD2-3 and CD2-4 respectively. According to the actual assembly error of the second beam segment 13 in step 6 and the information of the third beam segment 14 in step 1, the data control subsystem automatically issues the layout coordinates of the beam segment to be assembled in the next stage; Step 8. Follow the steps in steps 5 and 6 to perform the hoisting, posture adjustment, measurement and positioning, welding and jacking processes on the 3rd to nth beam segments.

7. The steel beam pushing intelligent positioning system according to claim 6, characterized in that: In the step 5, the data control subsystem automatically calculates the positioning parameters of the steel beam to be assembled, including: the displacement parameters of the lifting or dropping beam of each support point.

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