Intelligent hanging basket and beam lifting machine integrated design device and method thereof

Abstract

The invention provides a device and method for integrally designing an intelligent hanging basket and a girder lifter, and relates to the technical field of bridge engineering construction. The intelligent hanging basket and beam lifting machine integrated design device comprises a poured bridge, a beam section, an integrated bearing main beam, an integrated beam lifting machine, a hanging basket system and an intelligent cooperative control system, the integrated bearing main beam serves as a framework of the whole device, the integrated beam lifting machine is directly installed on the integrated bearing main beam, and the integrated beam lifting machine is directly installed on the integrated bearing main beam. The integrated bearing main beam is installed on a poured bridge, the integrated beam lifting machine is installed on the integrated bearing main beam, and the hanging basket system is installed on the integrated beam lifting machine and used for hoisting precast beam sections or materials from a bridge floor or a transport vehicle. According to the device and the method for integrally designing the intelligent hanging basket and the beam lifter, the hanging basket and the beam lifter are integrally designed, and multiple sensors are fused, so that intelligent fine adjustment is realized, the construction period is shortened, the engineering efficiency is improved, and the safety performance is enhanced.

Description

Technical Field

[0001] This invention relates to the field of bridge engineering construction technology, specifically to a device and method for the integrated design of a smart hanging basket and a beam lifting machine. Background Technology

[0002] In the cantilever construction of long-span bridges, especially prestressed concrete continuous beam bridges or steel-concrete composite beam bridges, the hanging basket and the beam lifting machine are two core pieces of equipment. The hanging basket is a temporary load-bearing structure used to support formwork, reinforcing bars and freshly poured concrete, and can move along the completed beam segment. The beam lifting machine is responsible for hoisting the precast beam segment (or reinforcing bar cage, formwork, etc.) to the designated position.

[0003] However, in traditional construction, the hanging basket and the beam lifting machine are two independent systems, which have the following inherent drawbacks: Poor equipment coordination and low positioning accuracy: The positioning of the hanging basket is separated from the hoisting operation of the beam lifting machine. The two lack a unified coordinate reference and coordinated control. After the beam lifting machine hoists the beam segment to the front end of the hanging basket, the operator needs to make tedious fine adjustments and alignment in the swaying high-altitude environment, resulting in large beam segment docking errors, which affect the bridge alignment and structural stress. Low construction efficiency: Independent work processes result in a lot of waiting and adjustment time between procedures. The steps such as moving and positioning the hanging basket, hoisting and positioning the beam lifting machine, and preparing for concrete pouring are carried out in sequence, resulting in a long construction cycle for a single segment. High safety risks: As a cantilever structure, the overturning stability of the hanging basket is highly dependent on the rear counterweight and anchoring. Under asymmetrical loads or wind loads, there is a risk of instability. When the beam lifting machine is hoisting heavy objects at high altitudes, it may interfere with the hanging basket, resulting in high risks of collaborative operation. Personnel performing alignment operations at high altitudes also increase the risk of falling from heights and being struck by objects. Low level of automation: Traditional equipment mainly relies on human experience and manual operation, and the construction quality is greatly affected by human factors. Furthermore, it is impossible to achieve real-time digital monitoring and feedback of the construction process. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a device and method for the integrated design of a smart hanging basket and a beam lifting machine, which solves the problem of the inability to achieve precise, efficient, and safe installation of beam segments. Technical solution

[0005] To achieve the above objectives of precise, efficient, and safe installation of beam segments, this invention provides the following technical solution: a device integrating a smart hanging basket and a beam lifting machine, comprising a cast-in-place bridge, beam segments, an integrated load-bearing main beam, an integrated beam lifting machine, a hanging basket system, and an intelligent collaborative control system. The integrated load-bearing main beam serves as the skeleton of the entire device. The integrated beam lifting machine is directly installed on the integrated load-bearing main beam. The integrated load-bearing main beam is installed on the cast-in-place bridge. The hanging basket system is installed on the integrated beam lifting machine and is used to lift precast beam segments or materials from the bridge deck or transport vehicles. Preferably, the integrated load-bearing main beam includes an automatic anchoring system, which includes a connector installed on the cast-in-place bridge, a steel sleeper installed on the connector, a track anchor bar installed on the steel sleeper, and a track fixed to the steel sleeper by the track anchor bar. A front support is provided on the beam segment, a rear anchor beam is installed on the front support, a rear anchor rod is installed on the rear anchor beam, a sliding support is provided at the front end of the track, a reverse wheel is provided at the rear of the track, a traveling hanger is installed on the reverse wheel, and an anti-overturning device is also provided at the rear of the track, with a protective spreader beam installed on the anti-overturning device.

[0006] Preferably, the integrated load-bearing main beam serves as the skeleton of the entire device, spanning across the already cast bridge deck, with its front end cantilevered out and its rear end anchored to the cast bridge via an automatic anchoring system.

[0007] Preferably, the integrated beam lifting machine includes a large-stroke lifting mechanism and a fine-tuning micro-motion platform. The large-stroke lifting mechanism includes a lower chord, an upper chord, a front inclined bar, and a rear inclined bar. The lower chord, upper chord, front inclined bar, and rear inclined bar form a diamond frame. A vertical bar is installed on the lower chord, located inside the diamond frame. A middle gantry is installed on the vertical bar. A rear inclined bar connecting channel steel is provided on the rear inclined bar, which is formed by on-site welding. A lateral adjustment cylinder and a longitudinal adjustment cylinder are respectively installed on the upper chord. A cylinder slide is installed between the lateral adjustment cylinder and the longitudinal adjustment cylinder. A steel strand guide frame is installed on the cylinder slide, and a lifting cylinder of t is installed on the steel strand guide frame.

[0008] Preferably, the rhomboid hanging basket consists of five rods and four sets of node boxes.

[0009] Preferably, the hanging basket system includes a front upper crossbeam, which is mounted on a diamond-shaped hanging basket. A fixed spreader beam is mounted on the front upper crossbeam. A sling bracket is mounted in the middle of the fixed spreader beam, and jacks are mounted on both sides. Adjustable spreader beams are mounted on the jacks. A guide beam is fixed on the cast-in-place box girder. The guide beam includes an outer guide beam, an inner guide beam, and a front guide beam hanger. The outer guide beam, inner guide beam, and front guide beam hanger are mounted on the front upper crossbeam. A front sling is also mounted on the front upper crossbeam. A front support beam is installed at the bottom, and a lower hanger is installed on the front support beam. An outer rear hanger and a rear long hanger are installed on the middle gantry. A rear support beam is installed at the bottom of the outer rear hanger and the rear long hanger, and a lower hanger is also installed on the rear support beam. A rear short sling and a rear short hanger are installed in the middle part of the rear support beam. A bottom longitudinal beam is installed between the front support beam and the rear support beam. Guide beams and rear hangers for lifting the beam segment are provided on both sides. Rolling hangers and load-bearing hangers are provided on the guide beams for connecting the guide beams.

[0010] Preferably, the front end of the guide beam is suspended on the front upper crossbeam, and the rear end is fixed to the cast-in-place box girder. The formwork system of the hanging basket system is equipped with a three-dimensional laser scanner and a visual positioning target.

[0011] Preferably, a front hydraulic rod is rotatably connected to the front middle gantry via a hinge block, and a rear hydraulic rod is rotatably connected to the rear middle gantry via a hinge block. Support rods are fixed on both the front and rear middle gantry. The bottom ends of the front and rear hydraulic rods are rotatably connected to movable pivot pins. Fixed pivot pins are installed at both the upper and lower ends of the beam segment. An upper push rod rotates on the upper fixed pivot pin, and a lower push rod rotates on the lower fixed pivot pin. A lever rotates between the upper and lower push rods via a movable pivot pin. An inner pivot pin rotates between the two levers and the support rods.

[0012] Preferably, the intelligent collaborative control system is fixed outside the construction area by a bracket, and the intelligent collaborative control system includes a central processing unit, a BIM model integration module, a multi-sensor fusion positioning module, and a collaborative control algorithm module.

[0013] A method for using a device that integrates a smart hanging basket and a beam lifting machine includes the following steps: S1: Digital Twin Guidance and Automatic Positioning: Before hoisting, based on the bridge's BIM design model, the theoretical target position of the beam segment to be installed is set in the control system. After the device is started, the intelligent collaborative control system first drives the hanging basket to move to the design mileage position, and then locks the integrated load-bearing main beam through the automatic anchoring system. S2: Collaborative hoisting and initial positioning: The integrated beam lifting machine moves to the beam picking point, lifts the beam segment to be installed through the large-stroke lifting mechanism, and the control system plans an avoidance path to safely transport the beam segment to the pre-alignment area at the front end of the hanging basket. S3: Closed-loop precision alignment: Data fusion perception: A 3D laser scanner installed on the hanging basket template scans the end face of the beam segment to be installed to obtain its actual point cloud data. At the same time, the vision system identifies the positioning target on the beam segment. The data from multiple sensors and the absolute coordinates measured by the total station are fused in the central processing unit to calculate the six degrees of freedom deviation (ΔX, ΔY, ΔZ, Δθx, Δθy, Δθz) between the beam segment and the target interface in real time. Active compensation and precise docking: Based on the deviation data, the collaborative control algorithm immediately sends instructions to the fine-tuning micro-motion platform of the integrated beam lifting machine, driving it to make millimeter-level micro-motions to eliminate docking deviations. The entire process forms a real-time closed-loop control until the deviation value enters the allowable range. S4: Force-position hybrid control and safety monitoring: During docking and subsequent concrete pouring, the system activates the force-position hybrid control mode. Through pressure and displacement sensors installed on the slings and anchor points, the system monitors the stress and deformation of the structure in real time. If the load exceeds the safety threshold or the displacement is abnormal, the system will immediately alarm and automatically adjust the lifting force or locking mechanism to prevent the equipment from becoming unstable. S5: Parallel operations and cyclical construction: When the current beam segment is connected and enters the concrete pouring or tensioning stage, the integrated beam lifting machine can immediately detach to prepare for the hoisting of the next beam segment, or to hoist materials such as steel bars, realizing the parallel operation of the hanging basket and hoisting operations, and significantly shortening the construction cycle of a single segment. Beneficial effects

[0014] This invention provides a device and method for integrating a smart hanging basket and a beam lifting machine. It has the following beneficial effects: Revolutionary improvement in precision: Based on "structural integration", intelligent fine-tuning is achieved through "multi-sensor fusion + closed-loop control", which reduces the connection error of beam segments and greatly improves the bridge's alignment and structural stress state; Construction efficiency is significantly improved: the integrated design eliminates waiting and handover time between equipment, and the parallel operation mode breaks through the bottleneck of traditional serial processes, and the installation cycle of a single section is expected to be shortened. Safety performance is comprehensively enhanced: The intelligent collaborative control system realizes real-time monitoring and proactive safety intervention throughout the entire process, and the force-position hybrid control effectively prevents overload and instability risks, minimizing high-altitude manual operations and fundamentally reducing safety risks; Attached Figure Description

[0015] Figure 1This is a schematic diagram of the overall structural improvement of the present invention; Figure 2 This is a side view of the structure of the present invention; Figure 3 This is a schematic diagram of the lifting of the steel-concrete composite section of the present invention; Figure 4 This is a side view of the steel-concrete composite section of the structure of the present invention; Figure 5 This is a schematic diagram of the hanging basket system of the present invention; Figure 6 This is a schematic diagram of the front cross-section of the hanging basket system of the present invention; Figure 7 This is a schematic diagram of the rear cross-section of the hanging basket system of the present invention; Figure 8 This is a schematic diagram of the side span rhomboid frame of the present invention; Figure 9 This is a schematic diagram of the track structure of the present invention; Figure 10 This is a schematic diagram of the rear anchor structure of the present invention; Figure 11 This is a schematic diagram of the front support of the structure of the present invention; Figure 12 This is a schematic diagram of the front suspension of the structural support beam of the present invention; Figure 13 For the present invention Figure 12 Enlarged view of a portion of the structure at point A; Figure 14 For the present invention Figure 12 Enlarged schematic diagram of the structure at point B in the middle; Figure 15 For the present invention Figure 12 Enlarged view of the structure at point C; Figure 16 This is a schematic diagram of the rear suspension of the structural support beam of the present invention; Figure 17 For the present invention Figure 16 Enlarged schematic diagram of the structure at point D; Figure 18 For the present invention Figure 16 Enlarged schematic diagram of the structure at point E in the middle; Figure 19 For the present invention Figure 16 Enlarged schematic diagram of the structure at point F; Figure 20 This is a side view of the structural guide beam system of the present invention; Figure 21 This is a side view of the front upper crossbeam of the structure of the present invention; Figure 22 This is a front view of the structural guide beam system of the present invention; Figure 23 This is a schematic diagram of the structural base system of the present invention; Figure 24 This is a schematic diagram of the anti-tilting correction system of the present invention.

[0016] The components include: 1. Cast-in-place bridge; 2. Beam segment; 3. Integrated load-bearing main beam; 31. Automatic anchoring system; 32. Connector; 33. Steel sleeper; 34. Track anchoring bar; 35. Track; 36. Front support; 37. Rear anchor beam; 38. Rear anchor rod; 39. Sliding support; 310. Reverse wheel; 311. Traveling gantry; 312. Anti-overturning device; 313. Defense spreader beam; 4. Integrated beam lifting machine; 41. Large stroke lifting mechanism; 42. Lower chord; 43. Upper chord; 44. Front diagonal bar; 45. Rear diagonal bar; 46. Vertical bar; 47. Middle gantry; 48. Rear diagonal bar connecting channel steel; 49. Lateral adjustment cylinder; 410. Longitudinal adjustment cylinder; 411. Cylinder slide; 412. Steel strand guide frame; 413. Lifting cylinder; 5. Hanging basket system. 51. Front upper crossbeam; 52. Fixed spreader beam; 53. Sling holder; 54. Jack; 55. Adjustable spreader beam; 56. Guide beam; 57. Outer guide beam; 58. Inner guide beam; 59. Front suspension rod of guide beam; 510. Front sling; 511. Front support beam; 512. Lower suspension frame; 513. Outer rear suspension rod; 514. Rear long suspension rod; 515. Rear suspension rod of guide beam; 516. Rear support 517. Beam; 518. Rear short sling; 519. Rear short boom; 520. Bottom longitudinal beam; 521. Rolling hanger; 522. Load-bearing hanger; 523. Front hydraulic rod; 524. Rear hydraulic rod; 525. Support rod; 526. Moving pivot pin; 527. Static pivot pin; 528. Upper push rod; 529. Lower push rod; 530. Lever; 530. Internal pivot pin; 6. Intelligent collaborative control system. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0018] Please see Figures 1-24 This invention provides a technical solution: a device integrating a smart hanging basket and a beam lifting machine, comprising a cast-in-place bridge 1, a beam segment 2, an integrated load-bearing main beam 3, an integrated beam lifting machine 4, a hanging basket system 5, and an intelligent collaborative control system 6. The integrated load-bearing main beam 3 serves as the skeleton of the entire device, spanning across the cast-in-place bridge 1. The integrated beam lifting machine 4 is directly installed on the integrated load-bearing main beam 3 and can move longitudinally on it. The hanging basket system 5 is suspended from the cantilever end of the integrated load-bearing main beam 3. The integrated load-bearing main beam 3 is installed on the cast-in-place bridge 1, and the integrated beam lifting machine... 4 is installed on the integrated load-bearing main beam 3, and the hanging basket system 5 is installed on the integrated beam lifting machine 4. It is used to lift the precast beam segment 2 or materials from the bridge deck or transport vehicle. The intelligent collaborative control system 6 first drives the hanging basket to move to the lifting position, and the integrated load-bearing main beam 3 is locked by the automatic anchoring system 31. The integrated beam lifting machine 4 moves to the beam picking point, and lifts the beam segment 2 to be installed by the large stroke lifting mechanism 41 and performs the lifting and docking work. When the docking is completed and the concrete pouring or tensioning stage is entered, the integrated beam lifting machine 4 can immediately detach to prepare for the lifting of the next beam segment 2.

[0019] In this embodiment, the integrated load-bearing main beam 3 includes an automatic anchoring system 31. The automatic anchoring system 31 includes a connector 32 installed on the cast-in-place bridge 1. A steel sleeper 33 is installed on the connector 32. A track anchor bar 34 is installed on the steel sleeper 33. The steel sleeper 33 is fixed to the track 35 through the track anchor bar 34. A front support 36 is provided on the beam segment 2. A rear anchor beam 37 is installed on the front support 36. A rear anchor rod 38 is installed on the rear anchor beam 37. A sliding support 39 is provided at the front end of the track 35. A reverse buckle wheel 310 is provided at the rear of the track 35. A traveling hanger 311 is installed on the reverse buckle wheel 310. An anti-overturning device 312 is also provided at the rear of the track 35. An anti-overturning spreader beam 313 is installed on the anti-overturning device 312. Specifically, steel sleepers 33 are laid on the already poured bridge 1 according to the positions of rails 35. The steel sleepers 33 are denser at the front support point directly below the vertical rod 46, and the steel sleepers 33 are evenly distributed at other positions. The rails 35 must be connected in a straight line. The connection part must be installed smoothly without misalignment. The rails 35 are anchored to the beam by extending the pre-embedded rail anchor bars 34. When anchoring, ensure that the rolled steel is vertical and that the prestressed nuts are tightly connected. The connectors 32 must be products that meet the national standards.

[0020] In this embodiment, the integrated load-bearing main beam 3 serves as the skeleton of the entire device, spanning across the surface of the cast-in-place bridge 1. Its front end extends outwards, and its rear end is anchored to the cast-in-place bridge 1 through the automatic anchoring system 31. Specifically, the integrated load-bearing main beam 3 is fixed to the cast-in-place bridge 1, so that the integrated load-bearing main beam 3 serves as the skeleton of the entire device for supporting operations.

[0021] In this embodiment, the integrated beam lifting machine 4 includes a large-stroke lifting mechanism 41 and a fine-tuning micro-motion platform. The large-stroke lifting mechanism 41 includes a lower chord 42, an upper chord 43, a front inclined bar 44, and a rear inclined bar 45. The lower chord 42, upper chord 43, front inclined bar 44, and rear inclined bar 45 form a rhomboid frame. A vertical bar 46 is installed on the lower chord 42. The vertical bar 46 is located inside the rhomboid frame. A middle gantry 47 is installed on the vertical bar 46. A rear inclined bar connecting channel steel 48 is provided on the rear inclined bar 45. The rear inclined bar connecting channel steel 48 is formed by on-site welding. A transverse adjustment cylinder 49 and a longitudinal adjustment cylinder 410 are respectively installed on the upper chord 43. A cylinder slide 411 is installed between the transverse adjustment cylinder 49 and the longitudinal adjustment cylinder 410. A steel strand guide frame 412 is installed on the cylinder slide 411. A 350t lifting cylinder 413 is installed on the steel strand guide frame 412. Specifically, the steel box girder of the steel-concrete section is lifted at two lifting points, with one 350t lifting cylinder 413 at each lifting point, for a total of two lifting cylinders 413. The weight of the steel box girder being lifted is 105.4t, and its length is 6m. The travel of the transverse and longitudinal bridge adjustment structure is ±50mm. After the workers install the hanging basket in place, they need to weld some ladders, handrails, platforms and other safety protection components themselves to ensure the safety of workers during operation. When the construction party uses the hanging basket on site, standard parts must be used to avoid welding at the connection parts, so as not to affect the forward and backward operation of the hanging basket. The position and spacing of the diamond frame must be consistent with the design drawings when it is installed.

[0022] In this embodiment, the rhomboid hanging basket consists of five rods and four sets of node boxes; Specifically, the hanging basket diamond frame consists of 5 rods and 4 sets of node boxes. After the goods are transported to the construction site, they are assembled and pressure tested. Only after the test is completed and qualified can they be hoisted onto the already poured 0# block for installation, ready for construction.

[0023] In this embodiment, the hanging basket system 5 includes a front upper crossbeam 51, which is installed on a rhomboid hanging basket. A fixed spreader beam 52 is installed on the front upper crossbeam 51. A sling bracket 53 is installed in the middle of the fixed spreader beam 52, and jacks 54 are installed on both sides. An adjustable spreader beam 55 is installed on the jacks 54. A guide beam 56 is fixed on the cast-in-place box girder. The guide beam 56 includes an outer guide beam 57, an inner guide beam 58, and a front guide beam hanger 59. The outer guide beam 57, inner guide beam 58, and front guide beam hanger 59 are installed on the front upper crossbeam 51. A front sling 510 is also installed on the front upper crossbeam 51, and a front support beam 51 is installed at the bottom end of the front sling 510. 1. A lower hanger 512 is installed on the front support beam 511. An outer rear hanger 513 and a rear long hanger 514 are installed on the middle gantry 47. A rear support beam 516 is installed at the bottom of the outer rear hanger 513 and the rear long hanger 514. A lower hanger 512 is also installed on the rear support beam 516. A rear short sling 517 and a rear short hanger 518 are installed in the middle part of the rear support beam 516. A bottom longitudinal beam 519 is installed between the front support beam 511 and the rear support beam 516. Guide beams and rear hangers 515 for lifting the beam segment 2 are provided on both sides. A rolling hanger 520 and a load-bearing hanger 521 are provided on the guide beam 56 for connecting the guide beam 56. Specifically, the rear short slings 517 and rear short rods 518 can support beam segment 2 from the bottom. The hanging basket is designed in a diamond shape, and the spacing between the diamond frames is determined by the vertical prestressing tendons of the beam. The diamond frames are connected by the middle gantry 47 and the front upper crossbeam 51. After the hanging basket is assembled, workers need to weld the rear diagonal rods 45 of the diamond frames together using channel steel to ensure stable movement. When the hanging basket moves, the guide beam 56 is placed on the side formwork and moves synchronously with the main frame of the hanging basket. During the construction of the hanging basket, it is necessary to strictly control the accumulation of unnecessary loads on the bottom formwork platform to maintain the stability of the box girder during movement and casting. The tensioning platform and scaffolding of the hanging basket shall be provided by the construction unit, but the self-weight shall not exceed 3t. The distance between the front support point of the hanging basket and the edge of the cast beam shall be 50cm. The two hanging baskets on both sides must be constructed simultaneously to ensure balance. The inclined pads, shims and other leveling components used for anchoring this set of hanging baskets shall be prepared by the construction party. To ensure construction safety, a walking platform and protective netting facilities shall be added after the overall installation of the hanging basket is completed.

[0024] In this embodiment, the front end of the guide beam 56 is suspended on the front upper crossbeam 51, and the rear end is fixed to the cast box beam. A three-dimensional laser scanner and a visual positioning target are installed on the template system of the hanging basket system 5. Specifically, to ensure that the guide beam 56 moves synchronously with the main frame of the hanging basket when it moves, a 3D laser scanner installed on the hanging basket template is used to scan the end face of the beam segment 2 to be installed to obtain its actual point cloud data, and the vision system identifies the positioning target on the beam segment 2.

[0025] In this embodiment, a front hydraulic rod 522 is rotatably connected to the front middle gantry 47 via a hinge block, and a rear hydraulic rod 523 is rotatably connected to the rear middle gantry 47 via a hinge block. Support rods 524 are fixed on both the front and rear middle gantry 47. The bottom ends of the front hydraulic rod 522 and the rear hydraulic rod 523 are rotatably connected to a movable pivot pin 525. Static pivot pins 526 are installed at both the upper and lower ends of the beam segment 2. An upper push rod 527 is rotatably connected to the upper static pivot pin 526, and a lower push rod 528 is rotatably connected to the lower static pivot pin 526. A lever 529 is rotatably connected between the upper push rod 527 and the lower push rod 528 via the movable pivot pin 525. An inner pivot pin 530 is rotatably connected between the two levers 529 and the support rod 524. Specifically, such as Figure 24 As shown, the top ends of the front hydraulic rod 522 and the rear hydraulic rod 523 are rotatably connected to the front and rear middle masts 47, respectively. The bottom ends of the front hydraulic rod 522 and the rear hydraulic rod 523 are rotatably connected to the front and rear upper push rods 527 and levers 529, respectively, via movable pivot pins 525. The upper push rod 527 is rotatably connected to the upper part of the beam segment 2 via the upper fixed pivot pin 526. The bottom end of the lever 529 is rotatably connected to the lower push rod 528 via movable pivot pin 525. The lower push rod 528 is rotatably connected to the lower part of the beam segment 2 via the lower fixed pivot pin 526. Both the front and rear levers 529 are rotatably connected to the front and rear support rods 524 via inner pivot pins 530. The front support beam 511 and the rear support beam 516 are located below the front and rear levers 529. Therefore, when the beam segment 2 is rotated clockwise, i.e., tilted to the right, the front hydraulic rod 522 is activated to extend and, through the movable pivot pin 525, drives the top end of the lever 529 to the inner pivot pin. 530 is the pivot point, moving to the lower left corner. Hydraulic rod 523 retracts, and the top of lever 529, via pivot pin 525, drives upper push rod 527 to move to the lower left corner. Upper push rod 527 pushes the upper left end of beam segment 2 downwards, preventing beam segment 2 from tilting to the right and correcting any tilting. Simultaneously, the bottom of lever 529, with inner pivot pin 530 as the pivot point, drives lower push rod 528 to move to the upper right. Lower push rod 528 pushes the lower right end of beam segment 2 upwards. The movement further prevents beam segment 2 from tilting to the right and corrects the tilted beam segment 2. Similarly, when beam segment 2 is rotated counterclockwise and tilts to the left, the hydraulic rod 523 extends and the front hydraulic rod 522 retracts, which can prevent beam segment 2 from tilting to the left and correct the tilted beam segment 2. That is, the upper push rod 527, the lower push rod 528 and the lever 529 can form an anti-tilting correction system so that beam segment 2 can be placed in a horizontal state and safely lifted.

[0026] In this embodiment, the intelligent collaborative control system 6 is fixed outside the construction area by a bracket. The intelligent collaborative control system 6 includes a central processing unit, a BIM model integration module, a multi-sensor fusion positioning module, and a collaborative control algorithm module. Specifically, the intelligent collaborative control system 6 can drive the hanging basket to the designed mileage position. The intelligent collaborative control system 6 realizes real-time monitoring and active safety intervention throughout the process, and the force-position hybrid control effectively prevents overload and instability risks.

[0027] A method for using a device that integrates a smart hanging basket and a beam lifting machine includes the following steps: S1: Digital Twin Guidance and Automatic Positioning: Before hoisting, based on the bridge's BIM design model, the theoretical target position of the beam segment 2 to be installed is set in the control system. After the device is started, the intelligent collaborative control system first drives the hanging basket to move to the design mileage position, and then locks the integrated load-bearing main beam 3 through the automatic anchoring system 31. S2: Collaborative hoisting and initial positioning: The integrated beam lifting machine moves to the beam picking point and lifts the beam segment 2 to be installed through the large-stroke lifting mechanism 41. The control system plans an avoidance path and safely transports the beam segment 2 to the pre-alignment area at the front end of the hanging basket. S3: Closed-loop precision alignment: Data fusion perception: The 3D laser scanner installed on the hanging basket template scans the end face of the beam segment 2 to be installed to obtain its actual point cloud data. At the same time, the vision system identifies the positioning target on the beam segment 2. The data from multiple sensors and the absolute coordinates measured by the total station are fused in the central processing unit to calculate the six degrees of freedom deviation (ΔX, ΔY, ΔZ, Δθx, Δθy, Δθz) between the beam segment 2 and the target interface in real time. Active compensation and precise docking: Based on the deviation data, the collaborative control algorithm immediately sends instructions to the fine-tuning micro-motion platform of the integrated beam lifting machine, driving it to make millimeter-level micro-motions to eliminate docking deviations. The entire process forms a real-time closed-loop control until the deviation value enters the allowable range. S4: Force-position hybrid control and safety monitoring: During docking and subsequent concrete pouring, the system activates the force-position hybrid control mode. Through pressure and displacement sensors installed on the slings and anchor points, the system monitors the stress and deformation of the structure in real time. If the load exceeds the safety threshold or the displacement is abnormal, the system will immediately alarm and automatically adjust the lifting force or locking mechanism to prevent the equipment from becoming unstable. S5: Parallel operations and cyclical construction: When the current beam segment 2 is completed and enters the concrete pouring or tensioning stage, the integrated beam lifting machine can immediately detach to prepare for the hoisting of the next beam segment 2, or to hoist materials such as steel bars, realizing the parallel operation of the hanging basket and hoisting operations, and significantly shortening the construction cycle of a single segment.

[0028] The working principle and usage process of this invention are as follows: First, the intelligent collaborative control system 6 drives the hanging basket to move to the designed mileage position. Then, the integrated load-bearing main beam 3 is locked by the automatic anchoring system 31. The integrated beam lifting machine 4 moves to the beam picking point and lifts the beam segment 2 to be installed by the large stroke lifting mechanism 41. The intelligent collaborative control system 6 plans the path and drives the integrated beam lifting machine 4 to make micro-movements. The pressure sensor and displacement sensor installed on the sling and anchoring point monitor the stress and deformation of the structure in real time to prevent equipment instability. When the docking is completed and the concrete pouring or tensioning stage is entered, the integrated beam lifting machine 4 can immediately detach to prepare for the hoisting of the next beam segment 2.

[0029] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A device integrating a smart hanging basket and a beam lifting machine, comprising a cast-in-place bridge (1), a beam segment (2), an integrated load-bearing main beam (3), an integrated beam lifting machine (4), a hanging basket system (5), and an intelligent collaborative control system (6), wherein the integrated load-bearing main beam (3) serves as the skeleton of the entire device, spanning across the cast-in-place bridge (1), the integrated beam lifting machine (4) is directly installed on the integrated load-bearing main beam (3) and can move longitudinally on the integrated load-bearing main beam (3), and the hanging basket system (5) is suspended at the cantilever end of the integrated load-bearing main beam (3), characterized in that: The integrated load-bearing main beam (3) is installed on the already cast bridge (1), the integrated beam lifting machine (4) is installed on the integrated load-bearing main beam (3), and the hanging basket system (5) is installed on the integrated beam lifting machine (4) for lifting precast beam segments or materials from the bridge deck or transport vehicles.

2. The device for the integrated design of intelligent hanging basket and beam lifting machine according to claim 1, characterized in that: The integrated load-bearing main beam (3) includes an automatic anchoring system (31), which includes a connector (32) installed on the cast-in-place bridge (1). A steel sleeper (33) is installed on the connector (32), and a track anchor bar (34) is installed on the steel sleeper (33). The steel sleeper (33) is fixed to a track (35) by the track anchor bar (34). A front support (36) is provided on the beam segment (2). 36) is equipped with a rear anchor beam (37), and a rear anchor rod (38) is installed on the rear anchor beam (37). A sliding support (39) is provided at the front end of the track (35). A reverse wheel (310) is provided at the rear of the track (35). A traveling frame (311) is installed on the reverse wheel (310). An anti-overturning device (312) is also provided at the rear of the track (35). A defensive spreader beam (313) is installed on the anti-overturning device (312).

3. The device for the integrated design of intelligent hanging basket and beam lifting machine according to claim 2, characterized in that: The integrated load-bearing main beam (3) serves as the skeleton of the entire device, spanning across the surface of the cast-in-place bridge (1). Its front end extends outwards, and its rear end is anchored to the cast-in-place bridge (1) via an automatic anchoring system (31).

4. The device for the integrated design of intelligent hanging basket and beam lifting machine according to claim 2, characterized in that: The integrated beam lifting machine (4) includes a large-stroke lifting mechanism (41) and a fine-tuning micro-motion platform. The large-stroke lifting mechanism (41) includes a lower chord (42), an upper chord (43), a front inclined rod (44), and a rear inclined rod (45). The lower chord (42), upper chord (43), front inclined rod (44), and rear inclined rod (45) form a rhombus frame. A vertical rod (46) is installed on the lower chord (42). The vertical rod (46) is located inside the rhombus frame. A middle gantry (47) is installed on the vertical rod (46). A rear inclined bar connecting channel steel (48) is provided on the rear inclined bar (45). The rear inclined bar connecting channel steel (48) is formed by on-site welding. A transverse adjustment cylinder (49) and a longitudinal adjustment cylinder (410) are respectively installed on the upper chord (43). A cylinder slide (411) is installed between the transverse adjustment cylinder (49) and the longitudinal adjustment cylinder (410). A steel strand guide frame (412) is installed on the cylinder slide (411). A 350t lifting cylinder (413) is installed on the steel strand guide frame (412).

5. The device for the integrated design of intelligent hanging basket and beam lifting machine according to claim 4, characterized in that: The diamond-shaped hanging basket consists of five rods and four sets of node boxes.

6. The device for the integrated design of intelligent hanging basket and beam lifting machine according to claim 4, characterized in that: The hanging basket system (5) includes a front upper crossbeam (51), which is installed on a diamond-shaped hanging basket. A fixed spreader beam (52) is installed on the front upper crossbeam (51). A sling bracket (53) is installed in the middle of the fixed spreader beam (52), and jacks (54) are installed on both sides. An adjusting spreader beam (55) is installed on the jacks (54). A guide beam (56) is fixed on the cast-in-place box girder. The guide beam (56) includes an outer guide beam (57), an inner guide beam (58), and a guide beam front hanger (59). The outer guide beam (57), inner guide beam (58), and guide beam front hanger (59) are installed on the front upper crossbeam (51). A front sling (510) is also installed on the front upper crossbeam (51), and a front support beam (51) is installed at the bottom of the front sling (510). 1) A lower hanger (512) is installed on the front support beam (511), an outer rear hanger (513) and a rear long hanger (514) are installed on the middle gantry (47), a rear support beam (516) is installed at the bottom of the outer rear hanger (513) and the rear long hanger (514), and a lower hanger (512) is also installed on the rear support beam (516). A rear short sling 517 and a rear short hanger (518) are respectively installed in the middle part of the rear support beam (516). A bottom longitudinal beam (519) is installed between the front support beam (511) and the rear support beam (516). A guide beam rear hanger (515) for lifting the beam segment (2) is provided on both sides. A rolling hanger (520) and a load-bearing hanger (521) are provided on the guide beam (56) for connecting the guide beam (56).

7. The device for the integrated design of intelligent hanging basket and beam lifting machine according to claim 6, characterized in that: The front end of the guide beam (56) is suspended on the front upper crossbeam (51), and the rear end is fixed on the cast box beam. The formwork system of the hanging basket system (5) is equipped with a three-dimensional laser scanner and a visual positioning target.

8. The device for the integrated design of intelligent hanging basket and beam lifting machine according to claim 6, characterized in that: A front hydraulic rod (522) is rotatably connected to the front middle gantry (47) via a hinge block, and a rear hydraulic rod (523) is rotatably connected to the rear middle gantry (47) via a hinge block. Support rods (524) are fixed on both the front and rear middle gantry (47). The bottom ends of the front hydraulic rod (522) and the rear hydraulic rod (523) are rotatably connected to a movable pivot pin (525). Static pivot pins (526) are installed at both the upper and lower ends of the beam segment (2). An upper push rod (527) is rotatably connected to the upper static pivot pin (526), ​​and a lower push rod (528) is rotatably connected to the lower static pivot pin (526). A lever (529) is rotatably connected between the upper push rod (527) and the lower push rod (528) via a movable pivot pin (525). An inner pivot pin (530) is rotatably connected between the two levers (529) and the support rod (524).

9. The device for the integrated design of intelligent hanging basket and beam lifting machine according to claim 2, characterized in that: The intelligent collaborative control system (6) is fixed outside the construction area by a bracket. The intelligent collaborative control system (6) includes a central processing unit, a BIM model integration module, a multi-sensor fusion positioning module, and a collaborative control algorithm module.

10. The method of using the device integrating a smart hanging basket and a beam lifting machine according to any one of claims 1-9, characterized in that: Includes the following steps: S1: Digital Twin Guidance and Automatic Positioning: Before hoisting, based on the bridge's BIM design model, the theoretical target pose of the beam segment (2) to be installed is set in the control system. After the device is started, the intelligent collaborative control system (6) first drives the hanging basket to move to the design mileage position, and then locks the integrated load-bearing main beam (3) through the automatic anchoring system (31). S2: Collaborative hoisting and initial positioning: The integrated beam lifting machine (4) moves to the beam picking point and lifts the beam segment (2) to be installed through the large stroke lifting mechanism (41). The control system plans an avoidance path and safely transports the beam segment (2) to the pre-alignment area at the front end of the hanging basket. S3: Closed-loop precision alignment: Data fusion perception: The three-dimensional laser scanner installed on the hanging basket template scans the end face of the beam segment (2) to be installed to obtain its actual point cloud data. At the same time, the vision system identifies the positioning target on the beam segment (2). The multi-sensor data and the absolute coordinates measured by the total station are fused in the central processing unit to calculate the six degrees of freedom deviation (ΔX, ΔY, ΔZ, Δθx, Δθy, Δθz) between the beam segment (2) and the target interface in real time. Active compensation and precise docking: Based on the deviation data, the collaborative control algorithm immediately sends instructions to the fine-tuning micro-motion platform of the integrated beam lifting machine (4) to drive it to perform millimeter-level micro-motion, eliminate docking deviation, and form real-time closed-loop control throughout the process until the deviation value enters the allowable range. S4: Force-position hybrid control and safety monitoring: During docking and subsequent concrete pouring, the system activates the force-position hybrid control mode. Through pressure and displacement sensors installed on the slings and anchor points, the system monitors the stress and deformation of the structure in real time. If the load exceeds the safety threshold or the displacement is abnormal, the system will immediately alarm and automatically adjust the lifting force or locking mechanism to prevent the equipment from becoming unstable. S5: Parallel operations and cyclical construction: When the current beam segment (2) is completed and enters the concrete pouring or tensioning stage, the integrated beam lifting machine (4) can immediately detach to carry out the hoisting preparation work for the next beam segment, or hoist materials such as steel bars, so as to realize the parallel operation of hanging basket operation and hoisting operation, and significantly shorten the construction cycle of a single segment.

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