Bridge tower concrete rotational symmetry type material distribution device integrated on tower building machine

Abstract

The invention belongs to the technical field of tower building machine equipment, and particularly relates to a bridge tower concrete rotational symmetry type material distribution device integrated on a tower building machine. Comprising a supporting device which is composed of an inner support and an outer support to ensure stable operation of the rotational symmetry mechanism. The rotational symmetry mechanism mainly comprises a ball screw and a special-shaped plate, and it is guaranteed that the material distribution device installed on the special-shaped plate covers the whole material distribution area. The material distributing device mainly comprises a material distributing pipe and a power device and is responsible for completing conveying work of concrete in the vertical direction. The 3D sensor is responsible for collecting contour point cloud data of the reinforcing mesh and providing data for recognizing the center of a hole of the reinforcing mesh. Meanwhile, an intelligent concrete distribution track planning method for the complex reinforcing mesh domain is planned. Meanwhile, an intelligent concrete distribution track planning method for the complex reinforcing mesh domain is planned. Automatic distribution of bridge tower concrete in the construction period can be achieved, the current situation that distribution is conducted manually at present is broken through, and the bridge tower concrete construction efficiency and quality are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of tower crane equipment, and particularly relates to a bridge tower concrete rotationally symmetric distributing device integrated on a tower crane. Background Art

[0002] Bridge engineering occupies an important proportion in China's highway infrastructure projects. The "Statistical Bulletin on the Development of the Transportation Industry in 2022" pointed out that there are 1.0332 million highway bridges in China, with a total length exceeding 85,764.9 kilometers, an increase of 72,000 compared with the previous year. Among them, the number of extra-large bridges and large bridges exceeded 8,816 and 159,600 respectively, making China the world's number one bridge country. Among various bridge structural forms, cable-stayed bridges have become one of the popular solutions for the design of long-span bridges due to their advantages such as light self-weight, high stiffness, and easy construction.

[0003] Bridge tower concrete distribution refers to the operation process of evenly pouring concrete into various parts of the tower body during the construction of the bridge tower. This is usually achieved by using equipment such as concrete pumps, distributors, or tower cranes to accurately transport the concrete from bottom to top or from top to bottom to different heights and positions of the bridge tower, ensuring the uniform distribution and density of the concrete.

[0004] Currently, the distribution of cable-stayed bridge tower concrete mainly relies on manual operation. This labor-intensive construction method is not only time-consuming and laborious but also inefficient. Moreover, limited by the experience and technical level of construction workers, it is difficult to accurately control the construction quality. Especially during high-altitude operations on tower cranes, manual distribution is not only unsafe but also difficult to control the uniformity of distribution. Summary of the Invention

[0005] In order to solve the deficiencies of the existing technology, the invention provides a bridge tower concrete rotationally symmetric distributing device integrated on a tower crane. The invention can realize the automatic distribution of bridge tower concrete during the construction period, break through the current situation of relying on manual distribution, and improve the construction efficiency and quality of bridge tower concrete. Through the combination of a rotationally symmetric mechanism and an intelligent distribution method, the invention not only achieves precise distribution without dead angles on the bridge tower cross-section but also has stability while adjusting the distribution position, reduces the dependence on manual labor, and solves the problems of low efficiency and uneven distribution of concrete for high-altitude complex cross-section bridge towers.

[0006] To achieve the above object, the invention adopts the following technical solutions:

[0007] A bridge tower concrete rotationally symmetric placing device integrated on a tower crane placing machine. The support platform is located above the hollow tower column, and the external circular guide rail is connected to the external support column of the tower crane placing machine. They support together inside and outside to ensure the stable operation of the entire device. The rotationally symmetric mechanism is fixed on the support platform through a rotating base. The outer end of the mechanism contacts the circular guide rail through a support device. By driving servo motor 1 and a ball screw, the covering of the placing device in the placing area can be achieved. The placing device is fixed on the special-shaped plate through a placing pipe limiter and combined with the rotationally symmetric mechanism. Servo motor 3 drives a rack through a driving gear to realize the vertical transmission of the placing pipe. A 3D sensor is installed below the rotating rod and moves circumferentially together with the rotationally symmetric mechanism to obtain the contour point cloud data of the steel bar mesh and store it in the control system. The control system transmits the data to the cloud platform through the Internet of Things. After completing the processing and analysis of the data, the corresponding instructions are transmitted back to the control system to complete the real-time regulation of the vibrating mechanism.

[0008] The support device includes a support platform located above the hollow column of the bridge tower and a circular guide rail connected to the external support column of the tower crane placing machine. The support platform is about 0.5 m above the top of the steel bar mesh and is supported by the inner support column of the tower crane placing machine. The thickest part of the circular guide rail reaches 4 cm and has an arc-shaped groove with a radius of 3 cm for cooperation with the support device. There are support rods left along the circumferential side of the external support column of the tower crane placing machine, and the circular guide rail is fixed on the tower crane placing machine through a connecting rod.

[0009] The rotationally symmetric mechanism includes a rotating base, a small gear, a large gear, a bearing, a rotating rod, servo motor 1, a ball screw, a special-shaped plate, and a support device. The rotating base is fixed on the support platform and is fitted with the rotating rod through a bearing. Servo motor 1 is installed at the hole on the rotating rod to drive the small gear to drive the large gear on the rotating base to realize the rotation of the rotating rod. The ball screw is nested inside the rotating rod; a support device is installed at the outer end of the rotating rod, and the rollers on the support device fit with the arc-shaped groove on the circular guide rail to ensure the safe rotation of the rotationally symmetric mechanism.

[0010] The ball screw is nested inside the rotating rod, the special-shaped plate is fixed on the ball screw, and servo motor 2 is installed at the outer end of the rotating rod to drive the special-shaped plate to move radially along the direction of the ball screw.

[0011] The placing device mainly includes a placing pipe limiter, a placing pipe, servo motor 3, a clamp, a funnel, and a rack. The placing pipe limiter is installed on one side of the special-shaped plate to restrict and fix the placing pipe. The placing pipe is a seamless steel pipe with a specification of to ensure the stability during concrete transportation; arc-shaped accessories are installed on both sides of the placing pipe to connect the placing pipe and the placing pipe limiter and reduce the friction between them; a funnel is installed at the upper end of the placing pipe, and a clamp is installed inside the funnel to realize the docking with the external feeding pipe; servo motor 3 installed on the special-shaped plate drives the rack on the side of the placing pipe through a driving gear to realize the vertical lifting of the placing pipe.

[0012] The 3D sensor is installed below the rotating rod, at the 2 / 3 position of the rotating rod in the radial direction, and rotates circumferentially with the rotating rod to obtain the point cloud data of the steel bar mesh contour, providing real-time data for concrete placement.

[0013] The present invention also claims to protect a method for intelligent concrete placement of a bridge tower using the above device, and the method includes the following steps:

[0014] Step 1: Start the 3D sensor, and the control system drives the first servo motor to enable the 3D sensor to collect the steel bar mesh data during this process. After the collection is completed, turn off the 3D sensor;

[0015] Step 2: Use the 3D refinement algorithm and the least squares fitting to locate the binding points, and combine with the Varignon parallelogram method to determine the position of the central hole; construct a map including obstacles and passing points, and optimize the concrete placement path through the improved A* algorithm and dynamic programming;

[0016] Step 3: Based on the static mechanical properties of concrete and the specification requirements, deduce the spacing between concrete placement points and the single-point concrete placement volume, and adjust the actual flow rate through the correction coefficient;

[0017] Step 4: After analyzing and determining the concrete placement position and flow rate, through Internet of Things remote control, drive the first servo motor and the second servo motor to make the concrete placement pipe reach the specified position;

[0018] Step 5: Control the third servo motor through the plc program to make the concrete placement pipe reach the bottom of the steel bar mesh, and carry out the concrete placement work according to the predetermined program;

[0019] Step 6: After the concrete placement of all areas is completed, raise the concrete placement pipe to the specified position.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] (1) A bridge tower concrete rotationally symmetric distribution device integrated on a tower crane erection machine provided by the present invention includes a support device arranged on the tower crane erection machine and the hollow column of the bridge tower, a rotationally symmetric mechanism placed on the support device, a distribution device and a sensing system installed on the rotationally symmetric mechanism. The support device consists of an inner support and an outer support to ensure the stable operation of the rotationally symmetric mechanism. The rotationally symmetric mechanism mainly includes a ball screw and a special-shaped plate to ensure that the distribution device installed on the special-shaped plate covers the entire distribution area. The distribution device mainly includes a distribution pipe and a power device, which are responsible for completing the transportation of concrete in the vertical direction. The 3D sensor is responsible for collecting the contour point cloud data of the steel mesh to provide data for identifying the center of the holes in the steel mesh. The control system controls the movement of each motion axis system, regulates the operation of the overall device, and uses the data provided by the 3D sensor to achieve precise distribution. The present invention can realize the automatic distribution of bridge tower concrete during the construction period, break through the current situation of relying on manual distribution, and improve the construction efficiency and quality of bridge tower concrete.

[0022] (2) By combining the rotationally symmetric mechanism with the intelligent distribution method, the present invention integrates the double-degree-of-freedom motion driven by a rotating base and a ball screw. It not only realizes the precise distribution without dead angles of the bridge tower cross-section, improves the distribution uniformity, but also relies on the internal and external collaborative support platform and the circular guide rail to have stability while adjusting the distribution position, reduces the dependence on manual labor, and solves the problems of low efficiency and uneven distribution of concrete for the bridge tower with a complex cross-section at high altitude. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a three-dimensional schematic diagram of the overall structure of the present invention;

[0024] Figure 2 is a three-dimensional structural schematic diagram of the support device of the present invention;

[0025] Figure 3 is a top view three-dimensional structural schematic diagram of the rotationally symmetric mechanism of the present invention;

[0026] Figure 4 is a front view three-dimensional structural schematic diagram of the rotationally symmetric mechanism of the present invention;

[0027] Figure 5 is a three-dimensional structural schematic diagram of the distribution device of the present invention.

[0028] The reference numerals are as follows:

[0029] 1. Support device; 2. Rotational symmetry mechanism; 3. Cloth feeding device; 4. Sensing system; 5. Control system; 1-1. Support platform; 1-2. External circular guide rail; 1-3. Connecting rod; 2-1. Rotating base; 2-2. Small gear; 2-3. Large gear; 2-4. Bearing; 2-5. Rotating rod; 2-6. Servo motor 1; 2-7. Ball screw; 2-8. Special-shaped plate; 2-9. Support; 2-7-4. Servo motor 2; 3-1. Cloth pipe limiter; 3-2. Cloth pipe; 3-3. Servo motor 3; 3-4. Clamp; 3-5. Hopper; 3-6. Rack; 4. Sensing system; 4-1. 3D sensor. Detailed implementation manners

[0030] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following further elaborates on the present invention in conjunction with embodiments. Of course, the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0031] Although the steps in the present invention are arranged with reference numerals, they are not used to limit the sequence of the steps. Unless the sequence of the steps is clearly stated or the execution of a certain step requires other steps as a basis, the relative sequence of the steps can be adjusted. It can be understood that the term "and / or" used herein relates to and encompasses any and all possible combinations of one or more of the associated listed items.

[0032] Embodiment 1

[0033] As Figures 1 to 5 shown, a bridge tower concrete rotationally symmetric cloth feeding device integrated on a tower crane includes a support device 1, a rotational symmetry mechanism 2, a cloth feeding device 3, a sensing system 4, and a control system 5;

[0034] The support device 1 is composed of an internal support platform 1-1 and an external circular guide rail 1-2. The support platform 1-1 is located above the hollow tower column, and the external circular guide rail 1-2 is connected to the external support column of the tower crane, and the two jointly support the rotational symmetry mechanism 2;

[0035] The rotational symmetry mechanism 2 includes a rotating base 2-1, a small gear 2-2, a large gear 2-3, a bearing 2-4, a rotating rod 2-5, a servo motor 1 2-6, a ball screw 2-7, a special-shaped plate 2-8, and a support 2-9; it is fixed on the support platform 1-1 through the rotating base 2-1, and the outer end of the rotational symmetry mechanism 2 contacts the circular guide rail 1-2 through the support 2-9; by driving the servo motor 1 2-6 to control the operation of the ball screw 2-7 to drive the special-shaped plate 2-8 to move, so that the cloth feeding device 3 radially covers the cloth feeding area;

[0036] The cloth-feeding device 3 includes a cloth-feeding pipe limiter 3-1, a cloth-feeding pipe 3-2, a third servo motor 3-3, and a rack 3-6. The cloth-feeding device 3 is limited on the special-shaped plate 2-8 through the cloth-feeding pipe limiter 3-1, and the cloth-feeding pipe 3-2 is fixed to the rack 3-6. The third servo motor 3-3 drives the rack 3-6 to move through a driving gear, so as to realize the lifting of the cloth-feeding pipe 3 in the vertical direction.

[0037] The sensing system 4 includes a 3D sensor 4-1, and the 3D sensor 4-1 is installed below the rotating rod 2-5 and moves circumferentially with the rotating symmetric mechanism 2.

[0038] Furthermore: The support platform 1-1 is 0.5 m away from the top end of the steel bar mesh and is supported by the inner pillar of the tower crane. The circular guide rail 1-2 is 4 cm thick and has an arc-shaped groove with a radius of 3 cm. The arc-shaped groove cooperates with the support 2-9. Along the circumferential side of the outer support column of the tower crane, a connecting rod 1-3 is left. The circular guide rail is fixed to the tower crane through the connecting rod 1-3.

[0039] Furthermore: The rotating base 2-1 is fitted with the rotating rod 2-5 through a bearing 2-4. The first servo motor 2-6 is installed at the hole on the rotating rod 2-5. The driving pinion 2-2 drives the large gear 2-3 on the rotating base 2-1 to realize the rotation of the rotating rod 2-5. The ball screw 2-7 is nested inside the rotating rod 2-5. A support 2-9 is installed at the outer end of the rotating rod 2-5, and the rollers on the support 2-9 fit with the arc-shaped groove on the circular guide rail 1-2.

[0040] Even further: The special-shaped plate 2-8 is fixed on the ball screw 2-7, and the second servo motor 2-7-4 is installed at the outer end of the rotating rod 2-5 to drive the special-shaped plate 2-8 to move radially along the direction of the ball screw.

[0041] Furthermore: The cloth-feeding pipe limiter 3-1 is installed on one side of the special-shaped plate 2-8 to restrict and fix the cloth-feeding pipe 3-2. Arc-shaped accessories are installed on both sides of the cloth-feeding pipe 3-2 to connect the cloth-feeding pipe 3-2 and the cloth-feeding pipe limiter 3-1 and reduce the friction between the two.

[0042] Furthermore: The 3D sensor 4-1 is installed below the rotating rod 2-5 and is located at 2 / 3 of the radius of the rotating rod 2-5.

[0043] Furthermore: The cloth-feeding pipe 3-2 is a seamless steel pipe with a specification of

[0044] Furthermore: A funnel 3-5 is installed at the upper end of the cloth-feeding pipe 3-2, and a clamp 3-4 is installed inside the funnel 3-5.

[0045] A rotationally symmetric concrete placing device for bridge towers integrated on a tower crane, provided by the present invention, includes a support device 1 disposed on the tower crane and the hollow column of the bridge tower, a rotationally symmetric mechanism 2 placed on the support device 1, a placing device 3 installed on the rotationally symmetric mechanism 2, and a sensing system 4. The support device 1 consists of an inner support and an outer support to ensure the stable operation of the rotationally symmetric mechanism 2. The rotationally symmetric mechanism 2 mainly includes a ball screw 7 and a special-shaped plate 2-8 to ensure that the placing device 3 installed on the special-shaped plate 2-8 covers the entire placing area. The placing device 3 mainly includes a placing pipe 3-2 and a power device, which are responsible for transporting concrete in the vertical direction. The 3D sensor 4-1 is responsible for collecting the contour point cloud data of the steel mesh to provide data for identifying the center of the holes in the steel mesh. The control system controls the movement of each motion axis system, regulates the operation of the overall device, and realizes precise placing by using the data provided by the 3D sensor 4-1. The present invention can realize the automatic placing of bridge tower concrete during construction, break through the current situation of relying on manual placing, and improve the construction efficiency and quality of bridge tower concrete.

[0046] Embodiment 2

[0047] A method for intelligent placing of bridge tower concrete using the above device, the method comprising the following steps:

[0048] Step 1: Start the 3D sensor 4-1, and the control system 5 drives the servo motor 1 2-6 to enable the 3D sensor to collect steel mesh data during this process. After the collection is completed, turn off the 3D sensor 4-1;

[0049] Step 2: Use the 3D refinement algorithm and the least squares fitting to locate the binding points, and combine the Varignon parallelogram method to determine the position of the central hole; construct a map including obstacles and passing points, and optimize the placing path through the improved A* algorithm and dynamic programming;

[0050] Step 3: Based on the static mechanical properties of concrete and the specification requirements, deduce the spacing between placing points and the placing volume per single point, and adjust the actual flow rate through a correction coefficient;

[0051] Step 4: After analyzing and determining the placing position and flow rate, through Internet of Things remote control, drive the servo motor 1 2-6 and the servo motor 2 2-7-4 to make the placing pipe 3-2 reach the specified position;

[0052] Step 5: Control the servo motor 3 3-3 through the plc program to make the placing pipe 3-2 reach the bottom of the steel mesh, and carry out the placing work according to the predetermined program;

[0053] Step 6: After all areas are placed, raise the placing pipe 3-2 to the specified position.

[0054] Through the combination of the rotation symmetry mechanism 2 and the intelligent cloth laying method, the present invention integrates the dual-degree-of-freedom movement driven by the rotating base 2-1 and the ball screw 7, not only achieving precise cloth laying without dead angles on the bridge tower cross-section, improving the uniformity of cloth laying, but also relying on the internal and external collaborative support platform 1-1 and the circular guide rail 1-2 to have stability while adjusting the cloth laying position, reducing the dependence on manual labor, and solving the problem of low efficiency and uneven cloth laying of concrete on the high-altitude complex cross-section bridge tower.

[0055] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the inventive concept of the present invention, several improvements and transformations can still be made, and these all belong to the protection scope of the present invention.

Claims

1. A bridge tower concrete rotationally symmetric distribution device integrated on a tower crane, comprising a support device (1), a rotationally symmetric mechanism (2), a distribution device (3), a sensing system (4), and a control system (5); characterized in that: The support device (1) consists of an internal support platform (1-1) and an external circular guide rail (1-2). The support platform (1-1) is located above the hollow tower column, and the external circular guide rail (1-2) is connected to the outer support column of the tower crane, and the two jointly support the rotationally symmetric mechanism (2); The rotationally symmetric mechanism (2) includes a rotating base (2-1), a small gear (2-2), a large gear (2-3), a bearing (2-4), a rotating rod (2-5), a servo motor one (2-6), a ball screw (2-7), a special-shaped plate (2-8), and a support (2-9); it is fixed on the support platform (1-1) through the rotating base (2-1), and the outer end of the rotationally symmetric mechanism (2) contacts the circular guide rail (1-2) through the support (2-9); by driving the servo motor one (2-6) to control the operation of the ball screw (2-7) to drive the special-shaped plate (2-8) to move, so that the distribution device (3) radially covers the distribution area; The distribution device (3) includes a distribution pipe limiter (3-1), a distribution pipe (3-2), a servo motor three (3-3), and a rack (3-6); the distribution device (3) is limited on the special-shaped plate (2-8) through the distribution pipe limiter (3-1), and the distribution pipe (3-2) is fixed to the rack (3-6); the servo motor three (3-3) drives the rack (3-6) to displace through a driving gear, so as to realize the lifting of the distribution pipe (3) in the vertical direction; The sensing system (4) includes: a 3D sensor (4-1), and the 3D sensor (4-1) is installed below the rotating rod (2-5) and moves circumferentially together with the rotationally symmetric mechanism (2).

2. The bridge tower concrete rotationally symmetric placing device integrated on a tower crane according to claim 1, characterized in that: The support platform (1-1) is 0.5 m away from the top of the steel mesh and is supported by the internal pillars of the tower crane. The circular guide rail (1-2) is 4 cm thick and has an arc-shaped groove with a radius of 3 cm. The arc-shaped groove cooperates with the support (2-9); a connecting rod (1-3) is left along the circumferential side of the outer support column of the tower crane, and the circular guide rail is fixed on the tower crane through the connecting rod (1-3).

3. The bridge tower concrete rotationally symmetric distributing device integrated on a tower crane according to claim 1, wherein: The rotating base (2-1) is fitted with the rotating rod (2-5) through the bearing (2-4). The servo motor one (2-6) is installed at the hole on the rotating rod (2-5) to drive the small gear (2-2) to drive the large gear (2-3) on the rotating base (2-1), so as to realize the rotation of the rotating rod (2-5); the ball screw (2-7) is nested in the rotating rod (2-5); a support (2-9) is installed at the outer end of the rotating rod (2-5), and the rollers on the support (2-9) fit with the arc-shaped groove on the circular guide rail (1-2).

4. The bridge tower concrete rotationally symmetric placing device integrated on a tower crane according to claim 3, characterized in that: The special-shaped plate (2-8) is fixed on the ball screw (2-7), and the servo motor two (2-7-4) is installed at the outer end of the rotating rod (2-5) to drive the special-shaped plate (2-8) to move radially along the direction of the ball screw.

5. An asymmetric concrete rotary distributing device integrated on a pylon tower crane according to claim 1, characterized in that: The fabric tube limiter (3-1) is installed on one side of the special-shaped plate (2-8) to restrict and fix the fabric tube (3-2); arc-shaped accessories are installed on both sides of the fabric tube (3-2) to connect the fabric tube (3-2) with the fabric tube limiter (3-1) and reduce the friction between the two.

6. The bridge tower concrete rotationally symmetric distributing device integrated on a tower crane according to claim 1, characterized in that: The 3D sensor (4-1) is installed below the rotating rod (2-5) and at the 2 / 3 radial position of the rotating rod (2-5).

7. An asymmetric concrete rotating and distributing device integrated on a pylon tower crane, characterized in that: The cloth pipe (3-2) is a seamless steel pipe with a specification of .

8. A bridge tower concrete rotationally symmetric distributing device integrated on a tower crane, characterized in that: A funnel (3-5) is installed at the upper end of the fabric tube (3-2), and a clamp (3-4) is installed inside the funnel (3-5).

9. A method for intelligent concrete placing of a bridge tower using the device according to any one of claims 1 to 8, characterized in that, The method includes the following steps: Step 1: Start the 3D sensor (4-1), and the control system (5) drives the first servo motor (2-6) to enable the 3D sensor to collect steel mesh data during this process. After the collection is completed, turn off the 3D sensor (4-1); Step 2: Use the 3D refinement algorithm and the least squares fitting to locate the binding points, and combine the Varignon parallelogram method to determine the position of the central hole; construct a map containing obstacles and waypoints, and optimize the fabric path through the improved A* algorithm and dynamic programming; Step 3: Based on the static mechanical properties of concrete and the specification requirements, deduce the spacing between fabric points and the single-point fabric quantity, and adjust the actual flow rate through the correction coefficient; Step 4: After analyzing and determining the fabric position and flow rate, through Internet of Things remote control, drive the first servo motor (2-6) and the second servo motor (2-7-4) to make the fabric tube (3-2) reach the specified position; Step 5: Control the third servo motor (3-3) through the plc program to make the fabric tube (3-2) reach the bottom of the steel mesh and carry out the fabric work according to the predetermined program; Step 6: After the fabric work in all areas is completed, raise the fabric tube (3-2) to the specified position.

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