Control method of prefabricated system mounting trolley

Abstract

The invention discloses a control method of a prefabricated system installation trolley, and belongs to the technical field of bridge construction. S10, connecting a lifting point on the prefabricated system beam surface component to a prefabricated system mounting trolley lifting appliance; s20, the prefabricated system installation trolley extends out of a counter weight, and the prefabricated system beam face component is hoisted and suspended; s30, the prefabricated system installation trolley transfers the prefabricated system beam face component to the installation position by controlling front and rear steering wheels to steer at + 110 degrees; s40, a tilt angle sensor and two prism measurement frames are installed on the side edge of one side of the prefabricated straining beam surface component; s50, detecting and calculating deviation values in the elevation direction, the midline direction and the mileage direction by using the total station; s60, the deviation data are wirelessly issued to a controller, and the controller controls and adjusts the prefabricated straining beam surface component to the correct position; and S70, the prefabricated straining beam surface component is installed. Installation can be carried out without rich operation experience, the operation period is short, precision is high, a large amount of manpower and material resources are saved, and efficiency is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of bridge construction, and particularly relates to a control method for a precast system installation trolley. Background Art

[0002] In the traditional transportation, hoisting, and positioning process of large precast beams for high-speed railways, a beam transportation trolley is mainly used to transport the large precast beam to the pier position, and then a hoisting device is used to hoist the precast beam.

[0003] In the prior art, when finely adjusting and installing the precast system beam surface components for high-speed railways, operators often need to install them according to operation experience, resulting in a long operation cycle, poor accuracy, waste of a large amount of manpower and material resources, and low efficiency. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A control method for a precast system installation trolley, comprising the following steps;

[0006] S10. Connect the lifting points on the precast system beam surface component to the lifting tools on the module adjustment frame of the precast system installation trolley;

[0007] S20. The precast system installation trolley extends the counterweight, and then hoists the precast system beam surface component to be suspended in the air;

[0008] S30. The precast system installation trolley turns at +-110 degrees by controlling the front steering system and the rear steering system, and quickly transfers the precast system beam surface component to the installation position of the precast beam surface component;

[0009] S40. Install an inclination sensor and two prism measuring frames on one side edge of the precast system beam surface component, and the prisms of the two prism measuring frames cooperate with the inclination sensor to monitor whether the precast system beam surface component is in a horizontal state;

[0010] S50. Use a total station to detect the coordinates of the two prisms installed on the precast system beam surface component, and calculate the deviation values in the three directions of the elevation direction, the center line direction, and the mileage direction of the precast system beam surface component;

[0011] S60. Wirelessly send the deviation data to the controller, and the controller automatically controls the acceleration and deceleration according to the deviation data to adjust the precast system beam surface component to the correct position smoothly;

[0012] S70. Fix and install the precast system beam surface component. After fixing, disconnect the lifting points and install the next precast system beam surface component.

[0013] Furthermore, the prefabricated system installation trolley includes a mobile vehicle with four-wheel drive, four-wheel steering function and counterweight adjustment function, a module adjustment frame hinged to one side of the mobile vehicle, an adjustment frame is provided on the module adjustment frame, and 4 lifting cylinders capable of adjusting elevation are provided on the adjustment frame. The 4 lifting cylinders cooperate with 4 lifting points on the prefabricated beam surface member through a sling; displacement sensors are provided on the lifting cylinders to measure the adjustment values of the lifting cylinders.

[0014] Furthermore, the adjustment frame is also provided with adjustment cylinders for the relative distances of the 4 lifting cylinders in the center line direction and the mileage direction. There are 3 adjustment cylinders. Among them, 2 adjustment cylinders are provided in the center line direction and 1 adjustment cylinder is provided in the mileage direction. Displacement sensors are provided on the adjustment cylinders to measure the adjustment values of the lifting cylinders.

[0015] Furthermore, the module adjustment frame is hinged to one side of the mobile vehicle and is reversibly connected to the mobile vehicle. Among them, during operation, the module adjustment frame is flipped to one side of the mobile vehicle; when not working or during transfer, the module adjustment frame is flipped above the mobile vehicle. At the same time, the mounting frame and counterweight on the mobile vehicle are retracted to facilitate parking.

[0016] Furthermore, the vehicle chassis of the mobile vehicle is equipped with a front steering system and a rear steering system. The front steering system and the rear steering system can rotate 90 degrees with one key to realize the lateral movement function of the mobile vehicle; the walking and steering of the mobile vehicle are controlled by a remote control handle.

[0017] Furthermore, a vehicle body control panel and a remote control are provided on the mobile vehicle. Manual adjustment switches are configured on both the vehicle body control panel and the remote control to be able to independently control each action of the mobile vehicle, the lifting cylinder, and the adjustment cylinder.

[0018] Furthermore, in steps S40 to S60, when it is monitored that the prefabricated beam surface member is not in a horizontal state, the controller independently controls the lifting cylinder, so that the leveling and adjustment in place of the prefabricated beam surface member are automatically completed with one key without manual intervention.

[0019] Beneficial effects:

[0020] 1. When the prefabricated beam surface member is finely adjusted and installed in the present invention, installation can be carried out without rich operation experience. The operation cycle is short, the accuracy is high, a large amount of manpower and material resources are saved, and the efficiency is high.

[0021] 2. The present invention independently controls the lifting cylinders for elevation adjustment, so that the leveling and adjustment in place of the prefabricated beam surface member are automatically completed with one key without manual intervention.

[0022] 3. In the present invention, a hydraulic cylinder and a proportional valve equipped with high-precision displacement sensors in the mileage direction, the center line direction, and the elevation direction form a closed-loop control process, realizing the rapid and accurate fine-tuning installation of precast girder surface components. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a flowchart of the control method for the precast girder installation trolley provided by the present invention;

[0024] Figure 2 It is a schematic diagram of the lifting points on the precast girder surface component;

[0025] Figure 3 It is a schematic diagram of the adjusting frame provided with 4 lifting cylinders with adjustable elevations;

[0026] Figure 4 It is a schematic diagram of the main operation interface of the vehicle body control panel;

[0027] Figure 5 It is a schematic diagram of the parameter setting interface of the vehicle body control panel;

[0028] Figure 6 It is a schematic diagram of the remote control panel;

[0029] Figure 7 It is a schematic diagram of the vehicle body operation panel;

[0030] Among them, 1. Precast girder surface component; 2. Prism; 3. Inclinometer; 4. Lifting point; 5. Adjusting frame; 6. Lifting cylinder. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] Embodiment 1

[0032] Reference Figure 1 - Figure 7 , a control method for a precast girder installation trolley, comprising the following steps;

[0033] S10. Connect the lifting points 4 on the precast girder surface component 1 to the lifting tools of the module adjustment frame of the precast girder installation trolley;

[0034] S20. The precast girder installation trolley extends the counterweight, and then lifts the precast girder surface component 1 into the air;

[0035] S30. The precast girder installation trolley quickly transfers the precast girder surface component 1 to the installation position of the precast girder surface component 1 by controlling the front steering system and the rear steering system to turn within ±110 degrees;

[0036] Specifically, the precast girder installation trolley can control the front steering wheels of the front steering system and the rear steering wheels of the rear steering system to turn within ±110 degrees;

[0037] S40. Install the inclination sensor 3 and the prism 2 measurement frames of two prisms 2 on one side edge of the precast girder surface member 1. The prisms 2 of the prism 2 measurement frames of the two prisms 2 cooperate with the inclination sensor 3 to monitor whether the precast girder surface member 1 is in a horizontal state;

[0038] S50. Use a total station to detect the coordinates of the two prisms 2 installed on the precast girder surface member 1, and calculate the deviation values in the three directions of the elevation direction, the center line direction, and the mileage direction of the precast girder surface member 1;

[0039] S60. Wirelessly transmit the deviation data to the controller, and the controller automatically controls the acceleration and deceleration according to the deviation data to adjust the precast girder installation trolley smoothly to adjust the precast girder surface member 1 to the correct position;

[0040] S70. Fix and install the precast girder surface member 1. After fixing, disconnect the lifting points 4 and install the next precast girder surface member 1.

[0041] Specifically, the precast girder installation trolley includes a mobile vehicle with four-wheel drive, four-wheel steering functions, and a counterweight bias adjustment function, and a module adjustment frame hinged to one side of the mobile vehicle. An adjustment frame 5 is provided on the module adjustment frame, and four lifting cylinders 6 capable of adjusting the elevation are provided on the adjustment frame 5. The four lifting cylinders 6 cooperate with the four lifting points 4 on the precast girder surface member 1 through a lifting tool; a displacement sensor is provided on the lifting cylinder 6 to measure the adjustment value of the lifting cylinder 6.

[0042] Among them, the adjustment frame 5 is also provided with adjustment cylinders for the relative distance of the four lifting cylinders 6 in the center line direction and the mileage direction. There are three adjustment cylinders. Among them, two adjustment cylinders are provided in the center line direction and one adjustment cylinder is provided in the mileage direction. A displacement sensor is provided on the adjustment cylinder to measure the adjustment value of the lifting cylinder 6.

[0043] The precast girder installation trolley provided in this embodiment has one item in the mileage direction, two items in the center line direction, and the mileage direction and the center line direction are vertically arranged; there are four items for elevation adjustment, and a total of seven degrees of freedom adjustment functions. Each item is equipped with a hydraulic cylinder and a proportional valve with a high-precision displacement sensor to form a closed-loop control process, realizing the rapid and accurate fine adjustment installation of precast components.

[0044] In this embodiment, the module adjustment frame is hinged to one side of the mobile vehicle and is reversibly connected to the mobile vehicle. Among them, during work, the module adjustment frame is flipped to one side of the mobile vehicle; when not working or during transfer, the module adjustment frame is flipped above the mobile vehicle. At the same time, the mounting frame and the counterweight on the mobile vehicle are retracted to facilitate parking.

[0045] Specifically, two hinge points are provided between the module adjustment frame and the mobile vehicle in each of the upper and lower layers. Among them, the two hinge points in the upper layer are positioning rotating shafts, which serve as the rotation center shafts during flipping; the two hinge points in the lower layer are detachable hinge pins. When flipping is required, the two hinge pins in this layer are removed.

[0046] In this embodiment, the structure between the module adjustment frame and the mobile vehicle is a flip - type structure. When not working or during transfer, it can be flipped to the upper part of the equipment, avoiding the adjustment mechanism extending beyond the edge of the beam surface when the equipment is moved to the edge of the beam surface, and reducing potential safety hazards.

[0047] Among them, the mobile vehicle has a function of adjusting the counterweight bias, and can automatically adjust the position of the counterweight system according to the type of the actually installed component, so that the center of gravity of the equipment is always controlled within the safe range during the operation process, ensuring safe construction.

[0048] In this embodiment, the vehicle chassis of the mobile vehicle is equipped with a front steering system and a rear steering system. The front steering system and the rear steering system can rotate 90 degrees with one key to realize the lateral movement function of the mobile vehicle, enabling the mobile vehicle to have a flexible movement mode and be able to complete movement in a very small space; the walking and steering of the mobile vehicle are controlled by a remote control handle.

[0049] In this embodiment, a vehicle body control panel and a remote control are provided on the mobile vehicle. Manual adjustment switches are configured on both the vehicle body control panel and the remote control to be able to independently control each action of the mobile vehicle, the lifting oil cylinder 6, and the adjustment oil cylinder.

[0050] In this embodiment, in steps S40 to S60, when it is monitored that the prefabricated beam surface component 1 is not in a horizontal state, the deviation data is wirelessly sent to the controller, and the controller independently controls the lifting oil cylinder 6 to adjust the prefabricated beam surface component 1 to the correct position, realizing that the leveling and adjustment in place of the prefabricated beam surface component 1 are automatically completed with one key without manual intervention.

[0051] In this embodiment, the power source of the mobile vehicle is one of a lithium - battery pack, a diesel engine, a gasoline engine, or power electricity.

[0052] Among them, it is preferably a lithium - battery pack as the power source, which solves the problems of energy conservation, environmental protection, and green construction of the equipment.

[0053] As described above, it is only a preferred embodiment of the present invention, and does not impose any limitation on the technical scope of the present invention. Therefore, any minor modification, equivalent change, and modification made to the above - mentioned embodiments based on the technical essence of the present invention still belong to the scope of the technical solution of the present invention.

Claims

1. A control method for a prefabricated installation trolley, characterized in that: The steps include: S10, connecting the hanging points on the prefabricated tie beam surface components to the hangers of the module adjustment frame of the prefabricated tie beam installation trolley; S20, the prefabricated tie beam installation trolley extends the counterweight, and then hoists the prefabricated tie beam surface component in the air; S30, the prefabricated tie beam installation trolley controls the front steering system and the rear steering system to turn at +-110 degrees to quickly transfer the prefabricated tie beam surface component to the installation position of the prefabricated tie beam surface component; S40, installing an inclination sensor and two prism measurement frames on one side of the prefabricated tie beam surface component, and the prisms of the two prism measurement frames cooperate with the inclination sensor to monitor whether the prefabricated tie beam surface component is in a horizontal state; S50, using a total station to detect the coordinates of two prisms installed on the prefabricated tie beam surface components, and calculating the deviation values ​​of the prefabricated tie beam surface components in three directions: elevation direction, centerline direction, and mileage direction; S60, wirelessly sending the deviation data to the controller, and the controller automatically accelerates and decelerates the prefabricated system installation trolley according to the deviation data to smoothly adjust the prefabricated tie beam surface components to the correct position; S70, fix and install the prefabricated tie beam surface component, after fixation, detach the hanging point, and install the next prefabricated tie beam surface component.

2. The control method of the prefabrication system installation trolley according to claim 1, characterized in that: The prefabricated tie beam installation trolley includes a mobile vehicle with four-wheel drive, four-wheel steering and counterweight adjustment functions, and a module adjustment frame hingedly connected to one side of the mobile vehicle, an adjustment frame is provided on the module adjustment frame, and four lifting cylinders with adjustable elevation are provided on the adjustment frame. The four lifting cylinders cooperate with four lifting points on the prefabricated tie beam surface component through a sling; a displacement sensor is provided on the lifting cylinder to measure the adjustment value of the lifting cylinder.

3. The control method of the prefabrication system installation trolley according to claim 2, characterized in that: The adjustment frame is also provided with 4 adjustment cylinders for adjusting the relative distances of the lifting cylinders in the centerline direction and the mileage direction. There are 3 adjustment cylinders in total, wherein 2 adjustment cylinders are provided in the centerline direction and 1 adjustment cylinder is provided in the mileage direction. Displacement sensors are provided on the adjustment cylinders to measure the adjustment values ​​of the lifting cylinders.

4. The control method of the prefabrication system installation trolley according to claim 3 is characterized in that: The module adjustment frame is hingedly connected to one side of the mobile vehicle and is flippably connected to the mobile vehicle, wherein, when working, the module adjustment frame flips to one side of the mobile vehicle; when not working or transferring, the module adjustment frame flips to the top of the mobile vehicle, and at the same time, the mounting frame and counterweight block on the mobile vehicle are retracted for easy parking.

5. The control method of the prefabrication system installation trolley according to claim 3, characterized in that: The vehicle chassis of the mobile vehicle is equipped with a front steering system and a rear steering system, and the front steering system and the rear steering system can be rotated 90 degrees with one button to realize the lateral movement function of the mobile vehicle; the travel and steering of the mobile vehicle is controlled by a remote control handle.

6. The control method of the prefabrication system installation trolley according to claim 5, characterized in that: The mobile vehicle is provided with a body control panel and a remote controller, and both the body control panel and the remote controller are provided with manual adjustment switches so that each action of the mobile vehicle, the lifting cylinder and the adjustment cylinder can be controlled individually.

7. The control method of the prefabrication system installation trolley according to claim 6, characterized in that: In steps S40 to S60, when it is detected that the prefabricated tie beam surface component is not in a horizontal state, the controller independently controls the lifting cylinder so that the leveling and adjustment of the prefabricated tie beam surface component can be automatically completed with one button without manual intervention.

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