Bottom die split type intelligent mobile pedestal system and operation method thereof

Abstract

The invention discloses a bottom die split type intelligent movable pedestal system and an operation method thereof, and belongs to the technical field of prefabricated concrete member automatic manufacturing equipment. According to the intelligent rack trolley system, the operation mode that a bottom die pedestal is separated from a rack trolley is adopted, and full-automatic circulation of precast beams among all production procedures is achieved through a modularized whole vehicle control system, a hydraulic lifting system and an electric control system. The problems that a traditional rack trolley is insufficient in durability, low in automation degree and the like in the high-temperature and high-humidity environment are solved, the precast beam production efficiency is remarkably improved, the service life of equipment is remarkably prolonged, and the system is suitable for intelligent production management of an intelligent beam factory.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automatic manufacturing equipment for precast concrete members, and relates to a bottom mold split type intelligent mobile pedestal system and a working method thereof. BACKGROUND

[0002] In the field of highway bridge engineering construction, the traditional precast beam field generally adopts the fixed formwork pedestal beam forming mode. The precast beam completes all process operations such as pouring, curing and tensioning on the fixed pedestal, and is then hoisted and transported by a gantry crane. The intelligent beam factory transforms the precast beam fixed pedestal into a mobile pedestal, which realizes the production line operation mode to a certain extent and greatly improves the production efficiency, but still has the problem of low automation. In addition, since the precast concrete beam is a large and easily folded object with small deformation tolerance, the deformation deviation of the beam body needs to be strictly controlled during the movement of the pedestal to avoid structural damage to the beam body caused by local stress concentration.

[0003] In view of the automation upgrading demand of the precast concrete small box girder transportation link, the existing patents present partial technical breakthroughs: the patent CN118701121A discloses a precast small box girder carrying trolley with a centering correction mechanism, which realizes real-time correction of the inclination deviation of the precast beam after hoisting and placing, and significantly improves the operation efficiency and transportation stability; the patent CN219467736U realizes the automatic transportation of the beam storage area through the modular combination of the precast beam carrying trolley frame, effectively reduces the occupancy rate of the gantry crane and eliminates the risk of track crossing operation; the patent CN215322203U designs a special flat car with an anti-overturning structure for transporting the un-tensioned precast small box girder, which realizes the automatic carrying of the un-tensioned precast small box girder and reduces the demand for human resources.

[0004] However, the above-mentioned inventions only focus on solving part of the technical details in the transportation process of the precast beam body, and none of them realizes the automatic production and global collaborative management of the precast beam in the whole production process. The existing bottom mold integrated mobile pedestal still has the problems of discontinuous power supply, long occupation time of the pedestal on the work station, great influence of the pedestal motor on the high temperature and high humidity curing environment, and dependence on manual scheduling of the pedestal between work stations, which seriously restricts the realization of the intelligent construction goal of automatic production of the precast beam in the whole process. SUMMARY

[0005] The application aims to solve the problems of durability damage of the pedestal motor and controller due to long-term residence in the high temperature and high humidity environment, and truly realize the full automation production management and data management mode of the intelligent beam factory.

[0006] In order to achieve the above-mentioned purpose, the application provides a bottom mold split type intelligent mobile pedestal system, which comprises: The unpowered bottom die base includes a bottom die plate, a base frame and a base support, the bottom die plate is arranged on the top of the bottom die base, and the bottom of the bottom die base is provided with a hydraulic jacking force point; The movable intelligent gantry trolley comprises a lifting oil cylinder, front driving wheels, rear driving wheels, a front hydraulic station, a rear hydraulic station, a power battery pack, a high-voltage power distribution box, a low-voltage power distribution box and a control system; the lifting oil cylinder is used for lifting the bottom die base, the front driving wheels and the rear driving wheels are used for moving the trolley, the front hydraulic station and the rear hydraulic station provide power for the lifting oil cylinder, the power battery pack supplies power for the whole trolley, the high-voltage power distribution box and the low-voltage power distribution box are responsible for power distribution, and the control system realizes wireless communication and overall control; the control system comprises a high-voltage control system and a low-voltage control system. The intelligent gantry trolley and the bottom die base are physically separated structures. The bottom die base is used for supporting the precast beam and flowing through each process with the precast beam, and does not have power and power supply; the intelligent gantry trolley can lift and transport the bottom die base, and realizes full-automatic flow of the precast beam production process.

[0007] Further, the lifting oil cylinder adopts a proportional valve precise control and a grouping collaborative lifting mode, so that the synchronous lifting error of the hydraulic cylinder is less than 2 mm.

[0008] Further, the control system comprises a high-voltage control system and a low-voltage control system, the high-voltage control system adopts a 48V-400Ah lithium battery pack for power supply, and supplies power for the driving motor and the pump station; the low-voltage control system adopts 24V power supply, and guarantees the operation of the controller and the sensor; and the control system further comprises a 380V alternating current interface and an inverter circuit.

[0009] Further, the front hydraulic station and the rear hydraulic station are arranged at the front end and the rear end of the trolley respectively, and the oil way is provided with a bidirectional balance valve.

[0010] On the other hand, the application also relates to a working method based on the above system, which comprises the following steps: (1) the intelligent gantry trolley moves to the bottom of the bottom die base, lifts the bottom die base to a certain height, and then transports the bottom die base to a distribution position, and then the gantry is lowered to make the bottom die base fall on the support base, and the trolley returns to the initial position; (2) after the template is automatically installed, the distribution is started, and after vibration, initial setting, precast beam forming and demolding, the intelligent gantry trolley drives to a specified position, lifts the bottom die base and the precast beam to a certain height, and then transports the bottom die base and the precast beam to a steam curing work station, the bottom die base falls on the support position to start steam curing, and the trolley returns to the initial position; (3) after the steam curing is completed, the intelligent gantry trolley transports the bottom die base and the precast beam to a standard curing work station for curing, and then the trolley returns to the initial position; (4) After the completion of standard curing, the intelligent gantry trolley transfers the bottom mold base and the precast beam to the tensioning station to complete the tensioning operation; (5) After the tensioning is completed, the intelligent gantry trolley and the bottom mold base are transversely moved to the return auxiliary track by the rail guided vehicle (RGV) trolley, and then are transversely moved back to the initial position through the return auxiliary track and the RGV trolley, to complete one operation.

[0011] Further, in steps (3) and (4), the transfer movement between the steam curing chamber and the standard curing chamber is triggered wirelessly by the central controller, and the lifting height is kept constant.

[0012] Further, the return auxiliary track is parallel to the production line track, and the RGV transverse trolley and the intelligent gantry trolley are coupled and transferred by the positioning pin.

[0013] Further, the intelligent gantry trolley automatically switches between the transfer state, the connection state and the station positioning state, and no manual intervention is required throughout the process.

[0014] Further, the intelligent gantry trolley includes three tooling states during the transfer process: when transferring between stations, the bottom mold base is supported on the trolley frame; when connecting and transitioning, the hydraulic cylinder loads the bottom mold base to the track support surface; and when the process operation point is in position, the hydraulic cylinder lowers the bottom mold base to rest on the support surface, and the trolley drives away.

[0015] The application also provides a smart beam factory system, comprising: The intelligent gantry trolley as described above; A plurality of production lines, each line being provided with four bottom mold bases; A transverse track and a bottom mold return track arranged in the material distribution area and the tensioning area; The central control console schedules the trolley to cross the production line for operation through a wireless network.

[0016] The application has the following advantages: (1) The split-type intelligent mobile base system of the bottom mold has the structural advantages, track gauge, running wheels and other characteristics of the existing mobile bottom mold base, adopts a split-type structure design of the bottom mold base and the gantry, realizes the adaptation of a single gantry trolley to the intensive operation of multiple bottom molds on a single or multiple production lines, and significantly reduces equipment investment and comprehensive energy consumption; (2) By adding modular system architectures such as a whole vehicle control system, a hydraulic lifting system and a battery control system, the precast beam can be automatically and accurately transferred across the whole process of the process, to improve the efficiency of equipment operation and the convenience of manual operation; (3) By optimizing the layout of the hydraulic pipeline and the configuration of the valve group, the group lifting and collaborative control of the hydraulic cylinder are realized, the unbalanced load during the collaborative lifting operation of multiple cylinders is less than 2mm, and the deviation control precision and safety reliability during the transfer process of the precast beam are improved; (4) The bottom mold split type intelligent mobile pedestal system replaces the traditional wired power supply with a lithium battery pack power supply, cooperates with an electrical control system, integrates modules such as an AC / DC dynamic conversion mechanism, high / low voltage regulation function, and realizes remote state monitoring and instruction control based on wireless communication, effectively solving the problems of low efficiency and safety hazards caused by manual cable dragging, frequent plugging and unplugging of interfaces. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 Structure composition diagram of the bottom mold split type intelligent mobile pedestal system; Figure 2 Structure diagram of the bottom mold pedestal; Figure 3 Layout diagram of the trolley track structure; Figure 4 Structure diagram of the intelligent pedestal trolley; Figure 5 State diagram of the intelligent pedestal trolley between stations; Figure 6 Transition diagram of the intelligent pedestal trolley between stations; Figure 7 State diagram of the bottom mold pedestal station; Figure 8 Principle diagram of the hydraulic lifting system; Figure 9 Logic diagram of the electrical control system; Figure 10 Work flow diagram of the intelligent pedestal trolley.

[0018] Explanation of the reference numerals: 1 intelligent pedestal trolley; 2 bottom mold pedestal; 3 trolley track; 4 bottom mold plate; 5 pedestal framework; 6 pedestal support structure; 7 trolley track bottom plate; 8 mold plate support seat; 9 bottom mold pedestal support column. DETAILED DESCRIPTION

[0019] The specific embodiments of the present application will be further described in detail below in conjunction with the drawings and examples. The following examples are used to illustrate the present application, but are not used to limit the scope of the present application.

[0020] In order to make the drawing simple, only the parts related to the present application are shown in each drawing, which does not represent the actual structure of the product. In addition, in order to make the drawing simple and easy to understand, in some drawings, only one of the components with the same structure or function is shown schematically, or only one of them is marked.

[0021] In the embodiments shown in the drawings, the indications of directions, such as up, down, left, right, etc., are used to explain the structure and movement of various components of the present application and are not absolute but relative. These descriptions are appropriate when the components are in the positions shown in the drawings. If the positions of the components change, the indications of directions also change accordingly.

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, specific implementations of the present application will be described below with reference to the drawings. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings of similar structures and other embodiments can be obtained from these drawings without creative labor.

[0023] In order to realize the automatic flow of large prefabricated concrete components between production processes in each process of the production line, the embodiment discloses a bottom mold split type intelligent mobile pedestal system, and proposes a beam factory operation process adapted to the system. As shown in Figure 1 , the intelligent gantry trolley system separates the traditional integral mobile bottom mold pedestal into a bottom mold pedestal 2 and an intelligent gantry trolley 1, and the intelligent gantry trolley is erected on a trolley track 3. As shown in Figure 2 , the bottom mold pedestal is composed of a stainless steel bottom mold plate 4 and a lower steel pedestal skeleton 5, and a plurality of pedestal support structures 6 are also provided at both ends of the pedestal skeleton 5. A bottom mold pedestal is required to be configured in each operation area, which is used to support the prefabricated beam operated thereon and to flow together between each process, and the bottom mold pedestal does not have power and power supply, and its movement is completed by the intelligent gantry trolley, and the bottom is provided with a cylinder jacking stress point, which can accept the jacking action of the cylinder on the intelligent gantry trolley. As shown in Figure 3 , the walking track of the gantry trolley is the same as the track of the traditional mobile pedestal, including a trolley track bottom plate 7, a mold plate support seat 8 and a bottom mold pedestal support column 9 distributed on both sides of the track. The schematic diagram of the intelligent gantry trolley is as shown in Figure 4As shown, it comprises lifting oil cylinder, front drive wheel, rear drive wheel, front hydraulic station, rear hydraulic station, power battery pack, high-voltage distribution box, low-voltage distribution box and control system; the lifting oil cylinder is used to realize the lifting of the bottom die base, the front drive wheel and the rear drive wheel cooperate to realize the movement of the trolley, the front hydraulic station and the rear hydraulic station provide power for the lifting oil cylinder, the power battery pack supplies power to the whole trolley, the high-voltage distribution box and the low-voltage distribution box are responsible for power distribution, and the control system realizes wireless communication and overall control; the rack trolley is powered by lithium batteries arranged at the bottom of the frame, and a plurality of hydraulic cylinder lifting devices are arranged between the trolley frame to lift the bottom die base to a certain height. The intelligent rack trolley with intelligent sensors and PLC control system can not only upload sensing data in real time, but also accept control instructions from the control platform to realize intelligent production scheduling. The biggest feature of separating the intelligent rack trolley from the bottom die base is that the rack trolley only needs to bear the transportation function and is no longer used as the load-bearing main body of the station, which can ensure that the rack trolley can freely shuttle between stations, thereby connecting all production processes of the precast beam and realizing the full automation of the precast beam production process.

[0024] In order to adapt to the intelligent rack trolley system, the existing intelligent beam factory layout and the production and manufacturing process of the precast beam are partially adjusted. The production process suitable for the intelligent split rack trolley is: four bottom die bases are provided for each production line, and the bottom die base bears the precast component when it is static, and the body is placed on the supporting legs on both sides of the track. Each subzone or each production line of the beam factory only needs to be equipped with one intelligent rack trolley. When carrying, the trolley lifts the bottom die base and moves it to the concrete pouring station, then lowers the bottom die base and leaves the current station, and then the side die and the bottom die begin to splice. The intelligent rack trolley can return to the initial position or continue to move into the overhead steam curing room. After the precast beam is cured, it is lifted with the bottom die base and transported to the standard curing room. After the curing is completed, it is transported to the precast beam tensioning station. The intelligent rack trolley can move on the production line track or on the return track. It is worth noting that since the bottom die is unidirectional in the beam manufacturing process, the bottom die needs to use the return track when it returns. The bottom die return and the intelligent rack trolley change of line can be completed simultaneously using the RGV trolley.

[0025] The intelligent rack trolley presents three tool states during lifting in each process station: when the intelligent rack trolley is transferred between stations, as shown in Figure 5 , the bottom die base is lifted on the rack trolley by the hydraulic cylinder, and the trolley advances along the preset track to transport the precast component to the next station. When the intelligent rack trolley is in the station connection transition state (preparation for entering or leaving), as shown in Figure 6 , the hydraulic cylinder lifts the bottom die base to a certain height under load conditions to ensure that it is stably positioned on the track double-sided support surface. Based on this working condition requirement, the anti-unloading capacity of the hydraulic cylinder needs to be used as a key acceptance index for the design of the hydraulic system. When the intelligent rack trolley is positioned at the process operation point, as shown inFigure 7 As shown, the hydraulic cylinder load reduction will rest the bottom die base on the track two sides support surface, the trolley can be automatically advanced along the preset track to drive off or retreat to the original position without staying in the work area.

[0026] The embodiment also provides the overall design idea of the above-mentioned system, including the following steps: 1. Mechanical structure design The three-dimensional model design of the intelligent trolley system is completed by using mechanical design tools. The system inherits the structural advantages of the existing mobile bottom die base, track gauge, walking wheels and other characteristics of the beam factory, and innovatively adopts a bottom die and mobile trolley separation architecture to complete the handling operation. The intelligent trolley system is composed of trolley tracks and track bottom plates, bottom die bases, intelligent trolley systems and bottom die base supports. Among them, the bottom die base is welded by stainless steel bottom plate and steel skeleton, the design value of the bottom die base width needs to be greater than the distance between the two sides of the support legs of the track, and the hydraulic cylinder lifting force point is preset at the bottom to accept the lifting action of the hydraulic cylinder on the intelligent trolley. The intelligent trolley system is completed by adding modular system architecture such as whole vehicle control system, hydraulic lifting system and battery power distribution system to complete the intelligent production scheduling operation across the production line. The rated load of the trolley is calculated according to the product demand of the project. At the same time, multi-scheme simulation analysis is carried out relying on three-dimensional model, the best configuration is designed and optimized according to the needs of the material selection of parts, and the steel consumption is fine controlled under the premise of ensuring the safety and reliability of the structure. Finally, the finite element analysis is carried out on the system architecture, and the key modules are topologically strengthened according to the stress distribution.

[0027] 2. Hydraulic lifting system design This system selects a double hydraulic station configuration scheme to ensure that the oil flow of the hydraulic cylinders at both ends of the trolley is balanced. Combined with proportional valve precise control, group collaborative lifting and other modes, the lifting synchronization error of the whole vehicle 7 groups of hydraulic cylinders is less than 2mm, and the lifting operation is executed at a constant rate of 5mm / s, which maximizes the lifting process. The bias stress and lifting angle of the beam body are reduced, and the lifting motion stability and structural safety of large prefabricated parts are significantly improved. The hydraulic lifting system principle diagram is shown in 8, the top is a hydraulic control unit integrated with filtering, pressure regulating and other functions, including pump, valve, filter and other elements, used to control the pressure, flow and cleanliness of hydraulic oil; the lower part is connected to multiple groups of similar execution components through pipelines, each group of components is composed of multiple hydraulic valve groups and hydraulic cylinders. These execution components can complete extension and other actions under the drive of hydraulic oil according to system settings to realize functions such as trolley lifting, and the whole presents a top-down hydraulic control and execution level to ensure the orderly distribution and execution of equipment hydraulic power. The lifting load and height of the system should be customized according to the product specifications and equipment parameters of the beam factory.

[0028] 3. Electrical control system design The electrical control system includes a high-voltage control system design and a low-voltage control system design, integrates function modules such as high-low voltage real-time regulation, and realizes remote state monitoring and instruction control of the intelligent gantry trolley based on wireless communication. Four sets of 48V-400Ah lithium battery packs are arranged in the high-voltage control system, which is used to supply power to the front and rear group driving motors and the pump station; the low-voltage control system adopts 24V power supply to ensure the stable operation of the vehicle controller, data sensors and other equipment. Since the intelligent gantry trolley uses lithium battery power supply, the control system needs to include a 380V AC special interface and an inverter circuit to ensure the safety and reliability of the charging and discharging process. The electrical control system logic diagram is shown in Figure 9 The system power supply covers 24V battery and 380V AC mains: the 24V battery is powered by the low-voltage distribution box, which supplies power to the pump station, low-voltage sensors, various lamps, and also supplies power to the vehicle controller and BMS (battery management system) through DC / DC conversion; the 380V AC mains is converted to AC / DC and connected to the high-voltage distribution box, which is connected to four battery packs. Its output is converted to DC / AC to supply power to the front and rear group driving motors and the pump station, and also participates in the distribution of high-voltage electrical energy on the vehicle side. The BMS cooperates with the vehicle controller to realize the management and control of the battery and the vehicle electrical system, and ensures the reasonable distribution and stable operation of the equipment electrical energy.

[0029] 4. Production line layout and manufacturing process flow Each production line in the intelligent beam factory is equipped with four bottom mold pedestals, which are arranged in the material distribution, steam curing, standard curing and tensioning positions, and the walking track uses the traditional 900mm track spacing of the mobile pedestal. Since the bottom mold pedestal flows in one direction during the beam manufacturing process, and the intelligent gantry trolley needs to adapt to the coordinated scheduling requirements of multiple production lines in a single work area under ideal working conditions, multiple transverse tracks and bottom mold return tracks should be arranged as needed in the production area. The bottom mold return transport and production line switching of the intelligent gantry trolley can be completed simultaneously by RGV (Rail Guided Vehicle). Taking the Wutianxi Intelligent Beam Factory as an example, two transverse tracks are arranged in front of the material distribution area and behind the tensioning area, and a bottom mold return track is planned in the gap between the production lines, so as to realize efficient circulation of the bottom mold pedestal and flexible scheduling of the production line. Based on this layout, the intelligent gantry trolley can move freely along the production line and the return track, and can also realize cross-line scheduling through the transverse track. The intelligent gantry trolley working process under a single production line is shown in Figure 10The flow chart shows the flow of the intelligent gantry trolley to complete a precast beam production operation, specifically: the flow starts from the intelligent gantry trolley moving to the bottom of the bottom die pedestal, jacking up the bottom die pedestal and transferring to the distribution position, the gantry falling to the support seat, and then the trolley returning to the initial position; then the template is automatically installed and distributed, and the precast beam is formed and demolded through the vibration process, the trolley drives to the specified position, jacks up and transfers the bottom die pedestal and the precast beam to the steam curing station, falls to the support position for curing, and then the trolley returns to the initial position; then it is transferred to the standard curing station for curing, and then the trolley returns to the initial position; then it is transferred to the tensioning station, and after tensioning, it is moved to the return auxiliary lane through the RGV trolley, and then it is moved back to the initial position through the return auxiliary lane and the RGV trolley, and finally a work is completed.

[0030] Finally, the method of the present application is only a preferred embodiment, and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A bottom mold split type intelligent mobile pedestal system, characterized by The utility model relates to a kind of prefabricated beam production line, including: Unpowered bottom die pedestal, including bottom die plate, pedestal framework and pedestal support, bottom die plate is set at the top of bottom die pedestal, and hydraulic lifting stress point is equipped at the bottom of bottom die pedestal; Movable intelligent gantry trolley, including lifting oil cylinder, front drive wheel, rear drive wheel, front hydraulic station, rear hydraulic station, power battery pack, high-voltage distribution box, low-voltage distribution box and control system;The lifting oil cylinder is used to realize the lifting of bottom die pedestal, and the front drive wheel and the rear drive wheel cooperate to realize the movement of trolley, and the front hydraulic station and the rear hydraulic station provide power for lifting oil cylinder, and the power battery pack supplies power for the whole trolley, and the high-voltage distribution box and the low-voltage distribution box are responsible for power distribution, and the control system realizes wireless communication and overall control, and the control system includes high-voltage control system and low-voltage control system; The intelligent gantry trolley and the bottom die pedestal are physically separated structures; The bottom die pedestal is used to support prefabricated beam and flow in each process with prefabricated beam, without power and power supply;The intelligent gantry trolley can lift and transport the bottom die pedestal, and realize the full-automatic flow of prefabricated beam production process.

2. The system of claim 1, wherein, The lifting oil cylinder adopts proportional valve precision control and grouping collaborative lifting mode, and realizes that the synchronous lifting error of hydraulic cylinder is less than 2mm.

3. The system of claim 1, wherein, The control system includes high-voltage control system and low-voltage control system, the high-voltage control system is powered by 48V-400Ah lithium battery pack, and the driving motor and pump station are energized;The low-voltage control system uses 24V power supply to ensure the operation of controller and sensor, and the control system also includes 380V AC interface and inverter circuit.

4. The system of claim 1, wherein, The front hydraulic station and the rear hydraulic station are arranged at the front and rear ends of the trolley respectively, and the oil way is provided with bidirectional balance valve.

5. A method of operation based on the system of any one of claims 1-4, characterized by, The following steps are included: (1) Intelligent gantry trolley moves to the bottom of bottom die pedestal, lifts the bottom die pedestal to a certain height and then transports it to the distribution position, and then the gantry is lowered to make the bottom die pedestal fall on the support seat, and the trolley returns to the initial position; (2) After the template is automatically installed, start to distribute, after vibrating, initial setting, prefabricated beam forming and demolding, the intelligent gantry trolley drives to the specified position, lifts the bottom die pedestal and prefabricated beam to a certain height and transports them to the steam curing station, the bottom die pedestal falls on the support position to start steam curing, and the trolley returns to the initial position; (3) After steam curing is completed, the intelligent gantry trolley transports the bottom die pedestal and prefabricated beam to the standard curing station for curing, and then the trolley returns to the initial position; (4) After standard curing is completed, the intelligent gantry trolley transports the bottom die pedestal and prefabricated beam to the tensioning station to complete tensioning operation; (5) After tensioning is completed, the intelligent gantry trolley and the bottom die pedestal are moved to the return auxiliary way by the track guide vehicle RGV trolley, and then moved back to the initial position through the return auxiliary way and the RGV trolley, to complete a work.

6. The method of claim 5, wherein, In steps (3) and (4), the transfer operation of the steam curing room and the standard curing room is triggered wirelessly by the central controller, and the lifting height remains constant.

7. The method of claim 5 wherein, The return auxiliary way is parallel to the production line track, and the RGV transfer trolley and the intelligent gantry trolley are coupled by positioning pins to transfer the bottom die.

8. The method of claim 5, wherein, The intelligent gantry trolley automatically switches among the ferry state, the connection state and the station landing state, without manual intervention throughout the process.

9. The method of claim 5 wherein, The intelligent gantry trolley includes three tooling states in the transfer process: when the trolley is transferred between stations, the bottom die base is lifted on the trolley by a hydraulic cylinder; when the trolley is connected to the transition state, the hydraulic cylinder loads the bottom die base to the track support surface; when the process operation point is in place, the hydraulic cylinder lowers the bottom die base to rest on the support surface, and the trolley drives away.

10. A smart beam mill system, characterized by Comprising: The intelligent gantry trolley according to any one of claims 1-4; Multiple production lines, each line is equipped with 4 bottom die bases; The cross-moving track and the bottom die return track arranged in the material area and the tensioning area; The central control console schedules the trolley to cross the production line through a wireless network.

Images