Bridge installation method and traction system

Abstract

The present invention relates to the technical field of bridge construction, and more specifically, to a bridge installation method and traction system. The bridge installation method includes obtaining driving data of a trolley based on transporting a steel box girder, wherein the driving data includes real-time traction force and the real-time driving direction of the trolley; obtaining a risk position of the trolley based on an angle between the real-time traction force and the real-time driving direction of the trolley being equal to or greater than a first set value, wherein the risk position is the maximum angle position of the angle between the real-time traction force and the real-time driving direction of the trolley, and the real-time traction force is the traction force generated by the tractor pulling the trolley; and when the trolley travels to the vicinity of the risk position under the action of the traction force, the driver provides driving force in the forward direction of the trolley. This solves the problem when there is an angle between the traction force and the driving direction of the trolley carrying the steel box girder, or when the angle is greater than a set value.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge construction, and in particular to a bridge installation method and a towing system. Background Art

[0002] Steel box girders, also known as steel plate box girders, are a common structural form for long-span bridges. They are generally used on bridges with large spans and are so-called because of their box-like appearance. During construction, steel box girders are typically hoisted in sections onto bridge supports and then welded together, or the girders are welded together before being hoisted onto the supports. With the rapid development of transportation networks, an increasing number of bridges are required to cross or underpass existing roads, railways, rivers, and other infrastructure, many of which are curved. These girders are typically constructed using either a jacking method or by pulling the steel box girders.

[0003] In the existing method of dragging and pulling steel box girders, when dragging and pulling steel box girders on curved bridges, there will be an angle between the traction force and the driving direction of the trolley carrying the steel box girder, or the angle will be greater than the set value, which will increase the difficulty of dragging the steel box girder and easily cause the trolley and steel box girder to overturn, posing a serious safety hazard to the trolley's driving. Summary of the Invention

[0004] In order to solve the problem when there is an angle between the traction force and the traveling direction of the trolley carrying the steel box girder or the angle is greater than a set value, the present invention provides a bridge installation method and a towing system.

[0005] According to a first aspect of the present invention, the present invention provides a bridge installation method comprising the following steps:

[0006] Based on the transport of the steel box girder, the driving data of the trolley is obtained, wherein the driving data includes real-time traction and real-time driving direction of the trolley;

[0007] Based on the angle between the real-time traction force and the real-time driving direction of the trolley being equal to or greater than a first set value, obtaining a risk position of the trolley, wherein the risk position is a position of a maximum angle between the real-time traction force and the real-time driving direction of the trolley, and the real-time traction force is the traction force generated by the tractor pulling the trolley;

[0008] Based on the trolley moving to the vicinity of the risk position under the action of traction, the driver provides driving force in the forward direction of the trolley.

[0009] According to one embodiment of the present invention, after the trolley moves to the vicinity of the risk position under the action of traction, the driver provides a driving force in the forward direction of the trolley, and the traction force remains unchanged or is reduced.

[0010] According to one embodiment of the present invention, the driving data also includes the driving trajectory of the vehicle. Based on the curvature of the driving trajectory being equal to or greater than a second set value, n driving sections on the driving trajectory are obtained for judging the angle between the real-time traction force and the real-time driving direction of the vehicle, where n is a natural number, n≥1, and the curvature in the n driving sections is less than the second set value.

[0011] According to one embodiment of the present invention, before the trolley moves close to the risk position under the action of the traction force, the driver provides a first driving force in the forward direction of the trolley;

[0012] Based on the trolley moving to the risk position under the action of traction, the driver provides a second driving force in the forward direction of the trolley;

[0013] After the trolley has traveled beyond the risk position under the action of the traction force and is located near the risk position, the driver provides a third driving force in the forward direction of the trolley;

[0014] Among them, the first driving force>the second driving force, and the third driving force>the second driving force.

[0015] According to one embodiment of the present invention, after the trolley travels beyond the risk position under the action of traction and the trolley is away from the vicinity of the risk position, the driver stops providing the driving force in the forward direction of the trolley.

[0016] According to one embodiment of the present invention, after the driver provides the driving force in the forward direction of the trolley, based on the angle between the real-time traction force and the real-time driving direction of the trolley being equal to or greater than a third set value, the installation data of the tractor is obtained, the installation data including m installation positions, where m is a natural number, m≥1, and the third set value is greater than the first set value;

[0017] Based on m>1, at least one tractor located near a first installation position of the trolley provides real-time traction to the trolley, and an angle between the real-time traction provided by the tractor at the first installation position and the real-time traveling direction of the trolley is smaller than the third set value or the first set value;

[0018] The tractor at the second installation position close to the first installation position provides real-time traction to the trolley based on when the trolley is close to the first installation position and when the trolley is far away from the end point.

[0019] According to one embodiment of the present invention, the installation position is located on the driving track of the trolley or outside the driving track of the trolley.

[0020] According to one embodiment of the present invention, the driver provides at least one driving force for the vehicle in the forward direction, and the driver provides the driving force for the front wheels and / or rear wheels in the forward direction of the vehicle.

[0021] According to a second aspect of the present invention, the present invention provides a towing system for use in a bridge installation method as described above, comprising:

[0022] trolleys, tractors, and tractor tracks;

[0023] The trolley is located on the traction track, the tractor is located in front of the trolley in the direction of travel, the tractor is connected to the trolley through a traction rope, and the trolley can travel relative to the traction track under the action of the tractor.

[0024] According to one embodiment of the present invention, the trolley includes a cargo platform and wheels, the wheels are located on the traction track, the wheels are connected to the cargo platform, the cargo platform is connected to the tractor via a traction rope, the tractor drags the cargo platform via the traction rope, and the cargo platform drives the wheels to travel along the traction track.

[0025] According to one embodiment of the present invention, the trolley further includes a driver, which is disposed on the cargo platform and connected to the wheels.

[0026] In order to solve the problem when there is an angle between the traction force and the traveling direction of the trolley carrying the steel box girder or the angle is greater than a set value, the present invention has the following advantages:

[0027] The present invention realizes that when the trolley is located in a risky position, it is very easy for the trolley to roll over under the action of traction. Therefore, when the trolley travels to the vicinity of the risky position under the action of traction, the driver provides driving force in the forward direction of the trolley, and drives the trolley forward by the driving force, so that the power that drives the trolley forward comes from not only the traction force but also the driving force. The driving force serves as the power to assist the trolley to move forward, making it easy for the trolley to travel, thereby reducing the possibility of the trolley rolling over, providing escort for the trolley to transport steel box girders, and improving the safety factor of bridge construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A flow chart of the method for dragging a steel box girder according to the present invention is shown;

[0029] Figure 2 The structural diagram of the steel box girder hauling system of the present invention is shown;

[0030] Figure 3It shows a structural schematic diagram of another direction steel box girder traction system of the present invention;

[0031] Figure 4 The structural diagram of the steel box girder pulling system of the present invention is shown;

[0032] Figure 5 A schematic diagram of the top view of the structure of the trolley in the steel box girder hauling system of the present invention is shown.

[0033] Figure numerals: 01 - tractor; 02 - traction track; 21 - first side track; 22 - second side track; 03 - trolley; 31 - cargo platform; 32 - wheel; 321 - front wheel; 322 - rear wheel; 33 - drive; 04 - traction rope; 05 - steel box girder. DETAILED DESCRIPTION

[0034] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the present disclosure, rather than to imply any limitation on the scope of the present disclosure.

[0035] As used herein, the term "including" and its variations are to be interpreted as open-ended terms meaning "including, but not limited to." The term "based on" is to be interpreted as "based, at least in part, on." The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment." The term "another embodiment" is to be interpreted as "at least one other embodiment." Terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "vertical," "horizontal," "transverse," and "longitudinal" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily intended to better describe the present application and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientation or positional relationships. For example, the term "on" may, in certain circumstances, be used to indicate a dependency or connection relationship. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances. Furthermore, the terms "installed," "disposed," "provided with," "connected," and "connected" are to be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements, or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise specified, "plurality" means two or more.

[0036] According to the first aspect of the present invention, Figure 1 As shown, the present invention provides a bridge installation method, comprising the following steps:

[0037] Based on the transport of the steel box girder 05, the driving data of the trolley 03 is obtained, wherein the driving data includes the real-time traction force and the real-time driving direction of the trolley 03;

[0038] Based on the angle between the real-time traction force and the real-time driving direction of the trolley 03 being equal to or greater than a first set value, obtaining a driving risk position of the trolley 03, wherein the risk position is the maximum angle position of the angle between the real-time traction force and the real-time driving direction of the trolley 03, and the real-time traction force is the traction force generated by the tractor 01 pulling the trolley 03;

[0039] Based on the fact that the trolley 03 moves to the vicinity of the risk position under the action of traction, the driver 33 provides driving force in the forward direction of the trolley 03.

[0040] When building a large-span bridge, a temporary support is usually built first as a temporary bridge. If the bridge is in a curved state, the temporary support is also in a curved state. The curvature of the temporary support is adaptively set according to the curvature of the bridge, so that the platform of the temporary support is also in a curved state, so as to facilitate the later installation of the steel box girder 05 into a bridge. The trolley 03 for transporting the steel box girder 05 travels on the platform of the temporary support, and the steel box girder 05 is transported to the destination by the trolley 03. Based on the curved structure of the temporary support platform, the route that the trolley 03 travels on the temporary support platform is also a curved route. Usually, the trolley 03 is dragged by a tractor 01, such as a winch, to realize the travel of the trolley 03, and when the travel route of the trolley 03 is a curved route When traveling along a curved route, since the winch is generally located near the end point so that the winch can pull the trolley 03 to the end point, if the trolley 03's route is curved, there may be an angle between the direction of travel of the trolley 03 and the direction of the traction force, causing the trolley 03 to move forward at a different angle from the direction of the traction force. Furthermore, when the trolley 03 is subjected to a traction force in a direction different from the direction of travel, the traction force becomes a square resistance that hinders the movement of the trolley 03, causing the trolley 03 to easily roll over. The rollover of the trolley 03 also causes the steel box girder 05 to roll over, posing a serious safety hazard to the bridge construction. Furthermore, since the steel box girder 05, as a bridge structure, has a certain weight, it is difficult for the tractor 01 to pull the trolley 03 when the direction of travel of the trolley 03 is at an angle to the direction of the traction force or when the angle is greater than the preset value, further increasing the probability of the trolley 03 rolling over. Therefore, it is necessary to provide a method to ensure the safe driving of the car 03, avoid rollover, and improve the ease of driving of the car 03.

[0041] In this embodiment, the driving data of the car 03 is first obtained, and the driving data includes the real-time traction force and the real-time driving direction of the car 03. Based on the fact that the angle between the real-time traction force and the real-time driving direction of the car 03 is equal to or greater than the first set value, that is, the angle between the real-time traction force and the real-time driving direction of the car 03 is equal to or greater than the set angle, since the tractor 01 is usually set near the end point, if the driving trajectory of the car 03 is a curved trajectory, there will be an angle between the driving direction of the car 03 and the traction force direction. Since the angle between the driving direction of the car 03 and the traction force direction will make the driving of the car 03 unsafe, the driving risk position of the car 03 is obtained, and the real-time traction force direction and the driving direction of the car 03 are compared. The first maximum angle position of the angle between the directions is taken as the risk position, that is, when the trolley 03 is in the risk position, it is very easy for the trolley 03 to roll over under the action of traction. Therefore, when the trolley 03 travels to the vicinity of the risk position under the action of real-time traction, the driver 33 provides a driving force in the forward direction of the trolley 03, and drives the trolley 03 forward through the driving force, so that the power that drives the trolley 03 forward comes not only from the traction force, but also from the driving force. The driving force serves as the power to assist the trolley 03 to move forward, making it easy for the trolley 03 to travel, thereby reducing the possibility of the trolley 03 rolling over, providing escort for the trolley 03 to transport the steel box girder 05, and improving the safety factor of the bridge construction.

[0042] If the angle between the above-mentioned real-time traction force and the real-time driving direction of the trolley 03 is smaller than the first set value, the trolley 03 can be towed by the tractor 01 only without applying driving force.

[0043] Preferably, the driving force is electric energy, and the driver 33 is a motor.

[0044] According to one embodiment of the present invention, after the vehicle 03 is driven to the vicinity of the risk location under the action of traction, the driver 33 provides a driving force in the forward direction of the vehicle 03, and then the traction force remains unchanged or is reduced. In this embodiment, after the driver 33 provides a driving force in the forward direction of the vehicle 03, by maintaining the traction force unchanged or reducing the traction force, the possibility of the vehicle 03 tipping over is reduced while the vehicle 03 is in a moving state, and the speed of the vehicle 03 is increased.

[0045] Preferably, after the driver 33 provides a driving force in the forward direction of the trolley 03, the traction force is reduced to prevent the trolley 03 from tipping over. Although the traction force is reduced, the driving speed of the trolley 03 is still guaranteed when the driving force assists the trolley 03 to move forward.

[0046] According to one embodiment of the present invention, the driving data also includes the driving trajectory of the car 03. Based on the curvature of the driving trajectory being equal to or greater than a second set value, n driving sections on the driving trajectory are obtained to judge the angle between the real-time traction force and the real-time driving direction of the car 03, where n is a natural number, n≥1, and the curvature in the n driving sections is less than the second set value.

[0047] In this embodiment, when the curvature of the driving trajectory of the vehicle 03 is large, that is, when the curvature of the driving trajectory is equal to or greater than the second set value, the driving trajectory is divided into n driving sections, wherein the n driving sections include driving sections where the angle between the real-time traction force and the real-time driving direction of the vehicle 03 is equal to or greater than the first set value and driving sections where the angle between the real-time traction force and the real-time driving direction of the vehicle 03 is less than the first set value. Only in the driving sections where the angle between the real-time traction force and the real-time driving direction of the vehicle 03 is equal to or greater than the first set value, is the angle between the real-time traction force and the real-time driving direction of the vehicle 03 obtained? If so, the angle between the real-time traction force and the real-time driving direction of the vehicle 03 is obtained. If not, the vehicle 03 drives normally. If the vehicle 03 is on a route where the angle between the real-time traction force and the real-time driving direction of the vehicle 03 is less than the first set value, the angle between the real-time traction force and the real-time driving direction of the vehicle 03 does not need to be obtained in this driving section, and the vehicle 03 drives normally.

[0048] According to one embodiment of the present invention, before the trolley 03 moves close to the risk position under the action of the traction force, the driver 33 provides a first driving force in the forward direction of the trolley 03;

[0049] Based on the trolley 03 moving to the risk position under the action of traction, the driver 33 provides a second driving force in the forward direction of the trolley 03;

[0050] After the trolley 03 has traveled beyond the risk position under the action of the traction force and the trolley 03 is located near the risk position, the driver 33 provides a third driving force in the forward direction of the trolley 03;

[0051] Among them, the first driving force>the second driving force, and the third driving force>the second driving force.

[0052] In this embodiment, before the trolley 03 travels to the risk position under the action of traction, the driver 33 provides a first driving force in the forward direction of the trolley 03, thereby improving the ability of the trolley 03 to travel easily and reducing the possibility of the trolley 03 rolling over. After the trolley 03 travels to a position beyond the risk position under the action of traction and the trolley 03 is located near the risk position, the driver 33 provides a third driving force in the forward direction of the trolley 03, thereby increasing the speed of the trolley 03. By setting the magnitude relationship between the first driving force, the second driving force and the third driving force, the safe travel of the trolley 03 is ensured while ensuring the speed of the trolley 03. If the second driving force is too high, the possibility of the trolley 03 rolling over may also be increased.

[0053] Preferably, the first driving force is greater than the third driving force, which has the effect of reducing the energy consumption of the driver 33 while ensuring the driving speed of the vehicle 03.

[0054] According to one embodiment of the present invention, after the trolley 03 travels beyond the risk position under the action of traction and the trolley 03 is away from the vicinity of the risk position, the driver 33 stops providing driving force in the forward direction of the trolley 03.

[0055] In this embodiment, after the trolley 03 travels beyond the risk position under the action of traction force and the trolley 03 is away from the vicinity of the risk position, the driver 33 stops providing driving force in the forward direction of the trolley 03, which means that the angle between the real-time traction force and the real-time driving direction of the trolley 03 is less than the first set value. In this case, no driving force is needed to assist the trolley 03 in traveling. The trolley 03 can also ensure safe driving and driving speed under the action of traction force, and the driver 33 has the effect of reducing energy consumption.

[0056] According to one embodiment of the present invention, after the driver 33 provides the driving force in the forward direction of the trolley 03, the installation data of the tractor 01 is obtained based on whether the angle between the real-time traction force and the real-time driving direction of the trolley 03 is equal to or greater than a third set value. The installation data includes m installation positions, where m is a natural number, m≥1, and the third set value is greater than the first set value.

[0057] Based on m>1, at least one of the tractors 01 located near the first installation position of the trolley 03 provides real-time traction to the trolley 03, and the angle between the real-time traction provided by the tractor 01 located at the first installation position and the real-time driving direction of the trolley 03 is smaller than the third set value or the first set value;

[0058] When the trolley 03 approaches the first installation position and the trolley 03 is away from the end point, the tractor 01 at the second installation position close to the first installation position provides real-time traction to the trolley 03 .

[0059] In this embodiment, after the driver 33 provides driving force in the forward direction of the vehicle 03, the installation position of the tractor 01 is obtained based on the angle between the real-time traction force and the real-time driving direction of the vehicle 03 being equal to or greater than a third set value. The third set value is greater than the first set value, that is, the angle between the real-time traction force and the real-time driving direction of the vehicle 03 is too large. The driving force provided by the driver 33 in the forward direction of the vehicle 03 alone is insufficient. If the driving force is increased, the driving risk of the vehicle 03 will increase and the energy consumption of the driver 33 will also increase. Therefore, the installation position in the installation data of the tractor 01 is obtained, that is, the position of the tractor 01 is determined to ensure that the angle between the real-time traction force and the real-time driving direction of the vehicle 03 is less than the third set value, or even less than the first set value, when the angle between the real-time traction force and the real-time driving direction of the vehicle 03 is equal to or greater than the third set value, so that the tractor 01 can easily tow the vehicle 03 and ensure that the vehicle 03 is safe and not prone to rollover. When there is more than one installation position, the tractor 01 at the first installation position close to the trolley 03 provides real-time traction to the trolley 03, and the angle between the real-time traction provided by the tractor 01 at the first installation position close to the trolley 03 and the real-time driving direction of the trolley 03 is smaller than the third set value or the first set value, thereby ensuring the safe driving of the trolley 03.

[0060] By providing traction based on the tractor 01 at the first installation position when the trolley 03 passes through the first installation position, after the trolley 03 moves close to the first installation position, the distance between the trolley 03 and the tractor 01 at the first installation position is shortened, but the trolley 03 has not yet reached the end point. Therefore, the tractor 01 at the second installation position close to the first installation position provides real-time traction to the trolley 03. According to this method, the tractors 01 at m installation positions cooperate with multiple trolleys 03 to tow. Among the m installation positions, the tractor 01 at one installation position can tow the trolley 03 to the end point, so that the trolley 03 moves to the end point under the action of traction.

[0061] The parameters of the first setting value and the third setting value are angles, and the parameter of the second setting value is curvature.

[0062] According to one embodiment of the present invention, the installation position is located on the driving track of the trolley 03 or outside the driving track of the trolley 03.

[0063] In this embodiment, two installation situations of the tractor 01 are provided. In the case where the installation position of the tractor 01 is located on the driving route, when the trolley 03 approaches the installation position and the trolley 03 has not reached the end point, the tractor 01 at the installation position needs to be moved to the next installation position, or the tractor 01 at the installation position needs to be moved out of the driving track. The premise for moving the tractor 01 at the installation position out of the driving track is that the tractor 01 is installed at each installation position in advance.

[0064] In the case where the installation position of the tractor 01 is outside the driving route of the trolley 03, the tractor 01 is installed at the installation position in advance. Since the tractor 01 is not located on the driving track, the tractor 01 will not affect the driving of the trolley 03, so there is no need to move the tractor 01.

[0065] Preferably, the installation position of the tractor 01 is located on the driving route, so that when the width of the temporary bridge frame is not large, while ensuring the normal driving of the trolley 03, there is no need to set an additional installation position for the tractor 01 outside the driving track, thereby reducing the construction work of the temporary bridge.

[0066] In some embodiments, in the case of moving the tractor 01 from one installation position to the next installation position, the driving track is provided with a track for the tractor 01 to move, so as to facilitate pushing the tractor 01. Furthermore, the driving track is also provided with a fixing device for fixing the tractor 01, so as to facilitate fixing the position of the tractor 01.

[0067] In some embodiments, when the installation position of the tractor 01 is outside the travel route of the trolley 03, the trolley 03 travels on the traction track 02, which is composed of a first side track 21 and a second side track 22. The second side track 22 is curved toward the direction close to the first side track 21. The installation position of the tractor 01 is outside the travel track of the trolley 03 and close to the second side track 22, ensuring that the angle between the travel direction of the trolley 03 and the direction of the traction force is less than a first set value, ensuring that the trolley 03 travels safely under the action of the traction force.

[0068] According to one embodiment of the present invention, the driver 33 provides at least one driving force for the forward direction of the vehicle 03 , and the driver 33 provides driving force for the front wheels 321 and / or rear wheels 322 of the vehicle 03 in the forward direction.

[0069] In this embodiment, the driver 33 provides at least one driving force in the forward direction of the vehicle 03, ensuring that the vehicle 03 travels safely under the traction of the driving force and maintaining the travel speed of the vehicle 03. The driver 33 provides driving force in the forward direction of the front wheels 321 and / or the rear wheels 322 of the vehicle 03, further ensuring that the vehicle 03 travels safely under the driving force. Driving the front wheels 321 provides the basic driving force.

[0070] According to a second aspect of the present invention, the present invention provides a towing system for use in a bridge installation method as described above, such as Figure 2-5 As shown, including:

[0071] Trolley 03, tractor 01 and tractor track 02;

[0072] The trolley 03 is located on the traction track 02, the tractor 01 is located in front of the trolley 03 in the direction of travel, the tractor 01 is connected to the trolley 03 through a traction rope 04, and the trolley 03 can travel relative to the traction track 02 under the action of the tractor 01.

[0073] In this embodiment, a traction system is provided for facilitating the traction of a steel box girder 05, ensuring smooth traction of the steel box girder 05 and ensuring that the trolley 03 travels along a predetermined route. The tractor 01 is located in front of the trolley 03 in its travel direction. This means that the tractor 01 pulls the trolley 03 both forward and backward, thereby enabling the trolley 03 to move forward and backward.

[0074] In some embodiments, the traction track 02 includes a first side track 21 and a second side track 22 , and the first side track 21 and the second side track 22 cooperate to allow the trolley 03 to travel.

[0075] Preferably, the tractor 01 is a winch.

[0076] According to one embodiment of the present invention, Figure 4 As shown, the trolley 03 includes a cargo platform 31 and wheels 32. The wheels 32 are located on the traction track 02. The wheels 32 are connected to the cargo platform 31. The cargo platform 31 is connected to the tractor 01 through a traction rope 04. The tractor 01 drags the cargo platform 31 through the traction rope 04. The cargo platform 31 drives the wheels 32 to travel along the traction track 02.

[0077] In this embodiment, the cargo platform 31 is used to hold the steel box beam 05. The wheels 32 are located on the traction track 02, allowing the wheels 32 to roll relative to the traction track 02, making it easier for the tractor 01 to pull the trolley 03 loaded with the steel box beam 05, making it easier for the trolley 03 to move. The wheels 32 reduce friction between the wheels 32 and the track by rolling.

[0078] Preferably, the trolley 03 includes front wheels 321 and rear wheels 322 to ensure the stability of transporting the steel box girder 05.

[0079] According to one embodiment of the present invention, Figure 5 As shown, the trolley 03 further includes a driver 33 , which is disposed on the cargo platform 31 and connected to the wheels 32 .

[0080] In this embodiment, the driver 33 is connected to the wheel 32, and the driver 33 can drive the wheel 32 to roll. The driver 33 can be installed in a suitable position. Figure 5 A schematic diagram is shown for only one of the cases.

[0081] Preferably, the driver 33 is a motor.

[0082] In some embodiments, the front wheels 321 and the rear wheels 322 of the car 03 are connected to the same driver 33 , or the front wheels 321 and the rear wheels 322 of the car 03 are each connected to one driver 33 .

[0083] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present disclosure, and that in actual applications, various changes may be made thereto in form and detail without departing from the scope of the present disclosure.

Claims

1. A bridge installation method, characterized in that: The steps include: Based on the transport of the steel box girder, the driving data of the trolley is obtained, wherein the driving data includes real-time traction and real-time driving direction of the trolley; Based on the angle between the real-time traction force and the real-time driving direction of the trolley being equal to or greater than a first set value, obtaining a risk position of the trolley, wherein the risk position is a position of a maximum angle between the real-time traction force and the real-time driving direction of the trolley, and the real-time traction force is the traction force generated by the tractor pulling the trolley; Based on the trolley moving to the vicinity of the risk location under the action of traction, the driver provides driving force in the forward direction of the trolley; Before the trolley moves close to the risk location under the action of the traction force, the driver provides a first driving force in the forward direction of the trolley; Based on the trolley moving to the risk position under the action of traction, the driver provides a second driving force in the forward direction of the trolley; After the trolley has traveled beyond the risk position under the action of the traction force and is located near the risk position, the driver provides a third driving force in the forward direction of the trolley; Among them, the first driving force>the second driving force, and the third driving force>the second driving force; After the trolley has traveled beyond the risk position under the action of traction and is away from the vicinity of the risk position, the driver stops providing the driving force in the forward direction of the trolley.

2. A bridge installation method according to claim 1, characterized in that: Based on the fact that the trolley travels to the vicinity of the risk position under the action of the traction force, after the driver provides a driving force in the forward direction of the trolley, the traction force remains unchanged or is reduced.

3. A bridge installation method according to claim 1, characterized in that: The driving data also includes the driving trajectory of the vehicle. Based on the curvature of the driving trajectory being equal to or greater than a second set value, n driving sections on the driving trajectory for judging the angle between the real-time traction force and the real-time driving direction of the vehicle are obtained, where n is a natural number, n≥1, and the curvature in the n driving sections is less than the second set value.

4. A bridge installation method according to claim 1, characterized in that: After the driver provides the driving force in the forward direction of the trolley, based on the angle between the real-time traction force and the real-time driving direction of the trolley being equal to or greater than a third set value, obtaining installation data of the tractor, the installation data including m installation positions, where m is a natural number, m≥1, and the third set value is greater than the first set value; Based on m>1, at least one tractor located near a first installation position of the trolley provides real-time traction to the trolley, and an angle between the real-time traction provided by the tractor at the first installation position and the real-time traveling direction of the trolley is smaller than the third set value or the first set value; The tractor at the second installation position close to the first installation position provides real-time traction to the trolley based on when the trolley is close to the first installation position and when the trolley is far away from the end point.

5. A bridge installation method according to claim 4, characterized in that: The installation position is located on the driving track of the trolley or outside the driving track of the trolley.

6. A bridge installation method according to claim 1, characterized in that: The driver provides driving force for at least one of the vehicle's forward directions, and the driver provides driving force for the vehicle's front wheels and / or rear wheels in the forward directions.

7. A towing system used in the bridge installation method according to any one of claims 1 to 6, characterized in that: include: trolleys, tractors, and tractor tracks; The trolley is located on the traction track, the tractor is located in front of the trolley in the direction of travel, the tractor is connected to the trolley through a traction rope, and the trolley can travel relative to the traction track under the action of the tractor.

8. The hauling system according to claim 7, characterized in that The trolley includes a cargo platform and wheels, the wheels are located on the traction track, the wheels are connected to the cargo platform, the cargo platform is connected to the tractor through a traction rope, the tractor drags the cargo platform through the traction rope, and the cargo platform drives the wheels to travel along the traction track.

9. The hauling system according to claim 8, characterized in that The trolley further comprises a driver, which is arranged on the cargo platform and connected to the wheels.

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