Synchronous regulation and control type bridge swivel construction intelligent control system and construction method

Abstract

The invention discloses a synchronous regulation and control type bridge swivel construction intelligent control system and a construction method.The system comprises a swivel construction device, a swivel monitoring module and a swivel control module, and the swivel construction device comprises an annular friction disc, a guide supporting device and an annular guide rail arranged on a bridge body support bearing platform; the annular friction disc is coaxially sleeved on the periphery of the axle body support turntable, a friction liner is arranged on the inner wall, and a gear ring is arranged on the outer wall and is driven by an electric driving device; the guide supporting device is arranged at the bottom of the annular friction disc, the lower end of the guide supporting device can slide along the annular guide rail, the rotation monitoring module monitors the rotating speed of the annular friction disc and the rotating disc in real time, and the rotation control module regulates and controls the electric driving device according to the obtained rotating speed. Uniform bearing and low-friction driving are combined through the annular friction disc, synchronous and accurate regulation and control of the rotating speed of the bridge body are achieved through PLC intelligent control, and the problems of dynamic balance keeping, posture real-time and accurate control and the like of large-tonnage bridge body rotating construction are effectively solved.

Description

Technical Field

[0001] This invention relates to the field of bridge rotation construction technology, and in particular to a synchronous control type intelligent control system and construction method for bridge rotation construction. Background Technology

[0002] Bridge rotation construction technology is of great significance for the construction of overpasses. Since its emergence in the mid-20th century, bridge rotation construction technology has undergone leapfrog development from simple balanced rotation to precise rotation of complex structures weighing tens of thousands of tons. Its core evolution is driven by three core needs: improved obstacle-crossing ability, expanded engineering adaptability, and enhanced construction controllability. However, with the increase in the weight, deck width, and maximum cantilever length of rotating bridges, the risks during the rotation process also increase. The dynamic response characteristics of the bridge during the initiation, acceleration, and braking phases of the rotation, as well as the impact of unbalanced moments on the rotating structure, are becoming increasingly significant.

[0003] The stability of bridge rotation construction technology is crucial, directly impacting structural safety and construction quality during the rotation process. Traditional spherical hinge bearing systems, the core of this technology, still suffer from limitations in structural stability and load-bearing capacity when handling large-tonnage, ultra-large rotation angles, and complex posture rotations. These limitations include susceptibility to slippage or eccentric loading of friction pairs, low degree of freedom and difficulty in ensuring accuracy in posture adjustment, and reliance on manual experience leading to sluggish hydraulic system control and poor synchronization. Furthermore, traditional hydraulic systems cause continuous pollution during large-tonnage rotation construction. These shortcomings not only restrict the expansion of rotation construction to larger scales and more complex tasks but also directly threaten the safety of bridge rotation construction and the final docking accuracy.

[0004] To address the aforementioned shortcomings, this invention proposes a synchronous control-type intelligent control system and construction method for bridge rotation. By designing a ring friction pair, it achieves a combination of uniform load-bearing and low-friction drive, and integrates a high-power motor and controller to realize closed-loop control of the bridge rotation process, effectively solving the problems of maintaining dynamic balance and real-time precise attitude control of large-tonnage bridge rotation structures. Summary of the Invention

[0005] To address the challenges of dynamic control during the initiation, acceleration, and braking phases of bridge rotation construction, this invention provides a synchronously adjustable intelligent control system and construction method for bridge rotation construction, enabling phased, real-time, and precise control of the bridge's rotation posture.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides a synchronous control type intelligent control system for bridge rotation construction, including a rotation construction device, an electric drive device, a rotation monitoring module, and a rotation control module.

[0008] The electric drive device includes a servo motor assembly fixedly installed on the bridge support platform and a drive gear installed on the output shaft of the servo motor assembly.

[0009] The rotating construction device includes an annular friction disc, an annular guide rail, and a guide support device. The annular guide rail is mounted on the bridge support platform. The annular friction disc is coaxially sleeved on the outer circumference of the bridge support turntable. The inner wall of the annular friction disc is provided with a friction pad, and the annular friction disc is also provided with several locking elements that allow the friction pad to make tight contact with the turntable. The outer wall of the annular friction disc is provided with a gear ring, which meshes with a drive gear. The guide support device is located at the bottom of the annular friction disc and several are evenly arranged along the circumference of the annular friction disc. The lower end of the guide support device is mounted on the annular guide rail and can slide along the annular guide rail.

[0010] The rotation monitoring module includes several incremental angle encoders installed on the annular friction disk to measure its rotational speed, and a triaxial accelerometer installed on the center of the ball joint on the bridge support to measure its rotational acceleration. The measured rotational speed of the turntable is obtained based on the rotational acceleration of the upper ball joint.

[0011] The rotation control module includes a PLC controller and an interactive panel. The interactive panel is connected to the PLC controller. The input end of the PLC controller is connected to an incremental angle encoder and a three-axis accelerometer, and the output end is connected to a servo motor group. The PLC controller synchronously controls the operation of the servo motor group according to the measured rotation speed of the annular friction disk and the measured rotation speed of the turntable.

[0012] Based on the above technical solution, the PLC controller controls the servo motor group to start. The servo motor group transmits the rotational torque to the annular friction disk through the meshing of the gear ring and the drive gear. The annular friction disk transmits the rotational torque to the turntable and the bridge body through its static friction with the turntable. When the rotational torque reaches the static friction torque that can overcome the rotation of the bridge body, the turntable and the bridge body begin to rotate with the annular friction disk. During the rotation of the bridge body, on the one hand, the rotational speed of the annular friction disk is measured in real time to avoid the bridge body from rotating too fast. On the other hand, the rotational speed of the turntable is monitored synchronously to avoid excessive speed deviation and sliding friction. This ensures that the turntable (including the bridge body) and the annular friction disk rotate synchronously and maintain static friction between the turntable and the annular friction disk, thus avoiding loss of control of the bridge's rotation posture and speed, thereby improving the rotation accuracy and safety.

[0013] It should be noted that the annular friction disc is composed of several arc-shaped friction units spliced ​​together, and the units are mechanically interlocked by two-way dovetail tenons.

[0014] It should be noted that the annular friction disc is made of high-strength alloy steel to ensure wear resistance, preferably 42CrMo steel; the friction lining of the inner ring of the annular friction disc is made of synthetic resin-based composite material that is wear-resistant, has a high coefficient of friction, good thermal stability, and causes little damage to the ball joint surface, preferably carbon fiber composite material; the outer gear ring of the annular friction disc is made of medium carbon alloy steel to improve hardness and wear resistance, preferably 40Cr steel.

[0015] It should be noted that the guide support device includes a guide support frame located at the bottom of the annular friction disc and a heavy-duty slider located at the bottom of the guide support frame and capable of sliding on the annular guide rail.

[0016] It should be noted that the guide support frame includes an outer cylinder, an inner cylinder is slidably inserted inside the outer cylinder, a first fixing plate is provided at the bottom of the outer cylinder, a second fixing plate is provided at the top of the inner cylinder, and several screw holes are provided on both the first and second fixing plates. A locking key is also provided at the upper end of the outer cylinder. Tightening the locking key can lock the inner cylinder to restrict its sliding relative to the outer cylinder.

[0017] It should be noted that the locking component is a locking bolt.

[0018] It should be noted that the interactive panel can be a touch screen. The interactive panel can input speed threshold Y1, speed threshold Y2, the angle between the starting position and the target position of the bridge body, etc. The interactive panel can also display the current measured speed of the annular friction disk, the measured speed of the turntable and the rotation angle of the bridge body, etc.

[0019] It should be noted that the rotation monitoring module also includes an angular displacement meter installed on the top of the bridge body. The output end of the angular displacement meter is connected to the PLC controller. The angular displacement meter measures the angular displacement of the top of the bridge body, calculates the actual rotation speed of the top of the bridge body based on the angular displacement, and adjusts the output power of the servo motor group according to the actual rotation speed of the top of the bridge body and its deviation from the actual friction disc rotation speed. When the bridge body tilts, it can promptly determine whether the rotation operation should continue, ensuring that the rotation operation is carried out under stable conditions.

[0020] It should be noted that a remote control module is also included. The remote control module includes a smart terminal that communicates with the PLC controller and a database that is connected to the smart terminal. The database can store any data during the bridge rotation process, and the smart terminal can remotely control the PLC controller, thereby controlling the bridge rotation process and improving the safety of the rotation construction.

[0021] Secondly, the present invention provides a synchronous control method for bridge rotation construction, comprising the following steps:

[0022] Install the aforementioned synchronous control type intelligent control system for bridge rotation construction;

[0023] During the bridge body rotation start-up phase, the servo motor group is started, and the output torque of the servo motor group is gradually increased, so that the speed of the annular friction disk gradually increases from 0 to Y1, and the bridge body and the annular friction disk rotate synchronously; Y1 is the speed threshold during the start-up phase.

[0024] During the bridge body rotation acceleration phase, the output torque of the servo motor group is gradually increased so that the annular friction disk and the bridge body maintain synchronous acceleration rotation until the speed of the annular friction disk reaches Y2; Y2 is the speed threshold of the acceleration phase.

[0025] During the constant speed phase of the bridge body rotation, the output torque of the servo motor group remains constant, so that the bridge body and the annular friction disk rotate synchronously at a constant speed; the constant speed is Y2.

[0026] During the bridge body rotation deceleration phase, as the bridge body approaches the target position, the output torque of the servo motor group is gradually reduced, so that the annular friction disk and the bridge body decelerate synchronously; when the speed drops to zero, the bridge body rotates to the target position.

[0027] It should be noted that, based on the measured friction disc rotation speed obtained from the incremental angle encoder, the PLC controller automatically adjusts the output torque of the servo motor assembly according to the following method:

[0028] During the bridge body rotation start-up phase, when the difference between the measured speed of the annular friction disc and the speed threshold Y1 exceeds 5%, the output torque of the servo motor group is automatically reduced.

[0029] During the constant speed rotation phase of the bridge body, when the difference between the measured rotation speed of the annular friction disc and the rotation speed threshold Y2 exceeds 5%, the output torque of the servo motor group is automatically reduced.

[0030] During the start-up phase, the rotational speed of the annular friction disc is 0~Y1; during the constant speed phase, the rotational speed of the annular friction disc is Y2; and during the acceleration phase between the start-up phase and the constant speed phase, the rotational speed of the annular friction disc is Y1~Y2.

[0031] Compared with the prior art, the beneficial effects of the present invention are:

[0032] (1) Existing technologies usually rely on external traction for rotation power, which has problems such as inaccurate speed regulation, large braking impact, and poor synchronization. However, the servo motor group used in this invention uses the huge static friction force generated between the friction pad arranged on the inner side of the annular friction disk and the surface of the turntable as the core power source to drive the rotation of the entire turntable and the upper bridge structure. The PLC controller precisely controls the gear output torque by dynamically adjusting the current of the high-power servo motor group. The driving torque is continuously applied to the gear ring of the annular friction disk to realize the rotation start, acceleration, constant speed and deceleration. The dynamic adjustment of the driving torque of the annular friction disk makes the bridge rotation process smoothly change speed, avoiding energy dissipation and rotation instability caused by sliding friction.

[0033] (2) Existing technologies rely on temporary supports or auxiliary limiting devices to prevent the rotating device from deviating. This invention uses a ring guide rail and a heavy-duty slider to rigidly constrain the ring friction disk, ensuring its vertical stability while allowing free rotation. This avoids the uneven wear problem of traditional sliding friction and enhances the anti-overturning ability, making it suitable for large-tonnage bridge rotation. At the same time, the torque of the servo motor group of this invention can be adjusted in real time, which can more flexibly adapt to the torque requirements of different rotation stages, reduce energy loss, and dynamically adjust the torque according to the actual working conditions, so that the wear of the friction pair is evenly distributed and the material utilization rate is improved.

[0034] (3) Existing technologies generally rely on hydraulic cylinders as the driving source, using traditional heavy oil for compression. This results in oil leakage and exhaust pollution during construction. This invention uses a high-power servo motor to drive the system, replacing the traditional hydraulic cylinders to achieve green construction. This solution completely eliminates the risk of hydraulic oil leakage and significantly reduces environmental pollution and energy consumption while ensuring millimeter-level rotation accuracy. It provides a green, environmentally friendly, and reliable new power solution for rotating large structures. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0036] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the annular friction disc and electric drive device involved in the present invention.

[0037] Figure 2 This is a three-dimensional structural schematic diagram of the annular friction disk and electric drive device involved in the present invention;

[0038] Figure 3 A three-dimensional schematic diagram of the ball joint structure on a bridge rotation system;

[0039] Figure 4 This is a schematic diagram of the rotating construction device and the electric drive device in this invention;

[0040] Figure 5 This is a schematic block diagram of the rotation monitoring module and the rotation control module;

[0041] Figure 6 This is a schematic diagram of the guide support frame.

[0042] In the diagram: 1. Annular friction disc, 2. Servo motor assembly, 3. Drive gear, 4. Gear ring, 5. Friction pad, 6. Annular guide rail, 7. Heavy-duty slider, 8. Guide support frame, 8a. Outer cylinder, 8b. First fixed plate, 8c. Second fixed plate, 8d. Inner cylinder, 8e. Locking key, 9. Upper ball joint, 10. Turntable, 11. Lower ball joint, 12. Support platform, 13. PLC controller, 14. Incremental angle encoder, 15. Triaxial accelerometer, 16. Angular displacement meter, 17. Touch screen, 18. Smart terminal, 19. Database. Detailed Implementation

[0043] The present invention will be further described below with reference to embodiments.

[0044] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected" 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; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0045] Example 1;

[0046] Please see Figure 3 and Figure 4 The bridge support mainly consists of an upper ball joint 9, a turntable 10, a lower ball joint 11, and a pier 12. The pier 12 is located on the pier, and the lower ball joint 11 is provided on the pier 12. The upper ball joint 9 is provided on the lower ball joint 11. The lower ball joint 11 and the upper ball joint 9 are connected by a pin. The turntable 10 is provided above the upper ball joint 9, and the upper ball joint 9 is fixedly connected to the turntable 10. The bridge structure is supported by a pier 12, which forms the foundation for the entire weight of the rotating structure. After rotation, it is fixed to the turntable 10 to form the foundation. The lower ball joint 11 of the bridge rotation system is installed on the pier 12. The lower ball joint 11 is precisely measured and welded onto the pier 12. The turntable 11 is an important structure for bridge rotation, forming a multi-directional and three-dimensional force state during rotation. The turntable 11 is both the part connected to the upper ball joint 9 and the part that directly applies force to the annular friction disc 1. The pin serves as a positioning component between the upper ball joint 9 and the lower ball joint 11, bearing the horizontal shear force during rotation and preventing lateral slippage of the ball joint. Other auxiliary facilities support the rotation of the bridge during rotation to ensure the stability of the bridge rotation, which will not be described in detail in this embodiment.

[0047] Please see Figure 1 , Figure 2 and Figure 4This embodiment provides a synchronous control type intelligent control system for bridge rotation construction, including a rotation construction device, an electric drive device, a rotation monitoring module, and a rotation control module. The electric drive device includes a servo motor group 2 fixedly installed on the bridge support platform 12 and a drive gear 3 installed on the output shaft of the servo motor group 2. The rotation construction device includes an annular friction disk 1, an annular guide rail 6, and a guide support device, wherein the annular guide rail 6 is provided on the bridge support platform 12; the annular friction disk 1 is coaxially sleeved on the outer periphery of the bridge support turntable 10, the inner wall of the annular friction disk 1 is provided with a friction pad 5, and the annular friction disk 1 is also provided with a plurality of locking parts that can make the friction pad 5 and the turntable 10 in close contact; the outer wall of the annular friction disk 1 is provided with a gear ring 4, which meshes with the drive gear 3; the guide support device is set on the annular friction disk 1. The bottom of the friction disk 1 is uniformly arranged with several guide support devices. The lower end of the guide support device is installed on the annular guide rail 6 and can slide along the annular guide rail 6. The rotation monitoring module includes several incremental angle encoders 14 installed on the annular friction disk 1 to measure its rotational speed and a triaxial accelerometer 15 installed on the center of the ball joint 9 on the bridge support to measure its rotational acceleration. The actual rotational speed of the turntable 10 is obtained based on the rotational acceleration of the upper ball joint 9. The rotation control module includes a PLC controller 13 and an interactive panel. The interactive panel is connected to the PLC controller 13. The input end of the PLC controller 13 is connected to the incremental angle encoders 14 and the triaxial accelerometer 15, and the output end is connected to the servo motor group 2. The PLC controller 13 synchronously controls the operation of the servo motor group 2 according to the actual rotational speed of the annular friction disk 1 and the actual rotational speed of the turntable 10.

[0048] Furthermore, the annular friction disc 1 is composed of several arc-shaped friction units spliced ​​together, with the units mechanically interlocked by bidirectional dovetail tenons. The annular friction disc 1 is connected to the guide support frame 8. The inner wall of the annular friction disc 1 is inlaid with segmented friction pads 5, and the outer wall is arranged with outer ring gears to form a gear ring 4. The annular friction disc 1 is made of high-strength alloy steel to ensure wear resistance, preferably 42CrMo steel; the friction pads 5 of the inner ring of the annular friction disc 1 are made of wear-resistant, high friction coefficient, good thermal stability, and low damage to the ball joint surface, preferably carbon fiber composite material; the gear ring 4 of the annular friction disc 1 is made of medium carbon alloy steel to improve hardness and wear resistance, preferably 40Cr steel.

[0049] Furthermore, the guide support device includes a guide support frame 8 located at the bottom of the annular friction disk 1 and a heavy-duty slider 7 located at the bottom of the guide support frame 8 and capable of sliding on the annular guide rail 6. Specifically, the guide support frame 8, the annular guide rail 6, and the heavy-duty slider 7 are precisely installed on the support platform 12. The annular guide rail 6 is made of high-strength alloy steel, and the track surface is hardened to ensure wear resistance. The annular guide rail 6 is strictly parallel to the rotation axis of the upper ball joint 9. Multiple guide support frames 8 are installed at the bottom of the annular friction disk 1, and a set of heavy-duty sliders 7 are installed at the bottom of each guide support frame 8, forming a low-friction linear motion. The guide support frames 8 are constrained in radial and tangential displacement, allowing only axial lifting. The guide support device slides smoothly along the annular guide rail 6, providing stable support force to the annular friction disk 1, effectively ensuring the static friction between the annular friction disk 1 and the turntable 10, and ensuring that the friction pad 5 is uniformly subjected to friction.

[0050] For details, please see Figure 6 The guide support frame 8 includes an outer cylinder 8a. A first fixing plate 8b is located at the bottom of the outer cylinder 8a, and the first fixing plate 8b has several first screw holes (not shown in the figure) for installing the heavy-duty slider 7. An inner cylinder 8d is slidably inserted inside the outer cylinder 8a. A second fixing plate 8c is located at the top of the inner cylinder 8d, and the second fixing plate 8c has several second screw holes (not shown in the figure) for connecting the annular friction disc 1. A locking key 8e is also provided on the outer cylinder 8a. Locking the locking key 8e locks the inner cylinder 8d to restrict its sliding relative to the outer cylinder 8a. The locking key 8e can be made of high-strength bolts. When the inner cylinder 8d slides relative to the outer cylinder 8a, thereby pushing the annular friction disc 1 to move, it is best to use a small hydraulic cylinder or other linear actuator, and arrange multiple cylinders circumferentially on the annular friction disc 1 to push it synchronously, improving the accuracy and efficiency of the installation of the annular friction disc 1. During the rotation process, the locking key 8e remains locked.

[0051] The heavy-duty slider 7 uses a bearing cast from high-strength alloy steel to connect with the annular guide rail 6. The guide support frame 8 is connected to the annular friction disk 1 and the heavy-duty slider 7 using high-strength bolts. During the entire rotation process, the annular guide rail 6 and the heavy-duty slider 7 provide vertical guidance, lifting, and anti-overturning support, ensuring that the annular friction disk 1 always maintains coaxial rotation with the turntable 10 and has a precise vertical movement trajectory under stress. The circumferential rotational power transmission relies entirely on friction. When the rotation starts, the servo motor group 2 drives the gear 3 to mesh with the gear ring 4 on the annular friction disk 1 to generate rotational torque. At this time, the slider slides along the annular guide rail 6.

[0052] The annular friction disc 1 is concentric with the upper ball joint 9 and is raised to a specified height by the guide support frame 8, level with the turntable 10. Pre-tightening force is gradually applied through the locking bolts (locking parts) between the annular friction disc 1 and the turntable 10. After pre-tightening, the locking bolts are tightened to make the annular friction disc 1 and the turntable 10 firmly engaged. The friction pad 5 is arranged on the side of the annular friction disc 1 facing the turntable 10 and directly contacts the outer surface of the turntable 10 to generate friction. The outer edge of the annular friction disc 1 is welded with a gear ring 4 to mesh with the drive gear 3, realizing the integrated function of gear-gear ring to transmit rotational torque.

[0053] When arranging the annular friction disc 1 and the guide support frame 8, firstly, arc-shaped friction units are spliced ​​on the outer periphery of the turntable 10 to form the annular friction disc 1. Each arc-shaped friction unit has a friction lining installed on its inner wall. Then, the guide support frame 8 is installed at the bottom of the annular friction disc 1. A heavy-duty slider 7 is matched and installed at the bottom of the guide support frame 8. The heavy-duty slider 7 is matched with a heavy-duty annular guide rail 6 installed on the support platform 12. Then, the annular friction disc 1 is pushed by the piston rod of the hydraulic cylinder to make it flush with the turntable 10. Its track surface is strictly perpendicular to the rotation axis of the upper ball joint 9. The annular friction disc 1 is locked until the friction pad 5 is tightly fitted with the turntable 10. The annular friction disc 1 is rigidly constrained in the vertical axis direction, and it is only allowed to rotate along the circumferential direction of the annular guide rail 6 under the drive of the electric drive device, thereby ensuring the parallelism and pressure uniformity of the contact surface between the inner friction pad 5 of the annular friction disc 1 and the turntable 10. Finally, a gear ring 4 is installed on the surface of the annular friction disc 1. The diameter of the gear ring 4 needs to be determined according to the module of the drive gear 3 and the diameter of the bridge pier to ensure a tight fit between the drive gear 3 and the gear ring 4. The annular friction disc 1 has sufficient height to provide sufficient static friction between the annular friction disc 1 and the turntable 10.

[0054] Furthermore, the drive motor in the electric drive device is a servo motor assembly 2, with a drive gear 3 mounted on the output shaft of the servo motor assembly 2. The drive gear 3 meshes with the gear ring 4 on the outer edge of the annular friction disk 1, and the meshing clearance needs to be adjusted to 0.05~0.1mm to avoid jamming or tooth breakage. The output shaft of the high-power servo motor assembly 2 is equipped with an alloy steel drive gear 3, which directly drives the gear 3 to rotate. This drive gear 3 meshes tightly with the gear ring 4 on the outer edge of the annular friction disk 1, converting the rotational force output by the servo motor assembly 2 into a tangential driving force that drives the annular friction disk 1 to rotate. When the measured speed deviates from the set value, the output torque of the servo motor assembly 2 is synchronously adjusted by the PLC controller 13. Through the optimized high-power motor core and efficient transmission device, electrical energy is directly converted into the required large-tonnage mechanical energy. The multi-unit collaborative control technology enables multiple servo motors to output synchronously and accurately, meeting the driving requirements of the rotating friction disk.

[0055] The electric drive unit adjusts the power of the servo motor group 2 in real time. It dynamically adjusts the output power (working current) according to the real-time detected speed signal. During the rotation start-up phase, the current is gradually increased to slowly increase the rotation torque of the drive gear 3, so as to avoid the friction pad 5 sliding relative to the turntable 10, which would cause the bridge to rotate slowly or even fail. During the uniform speed phase, the constant current output is maintained to ensure stable thrust. During the deceleration phase, the reverse output is used to achieve electric braking. Through this closed-loop control of current-torque-friction, the bridge relies solely on the coupling effect of the mechanical energy transmitted by gear meshing and the static friction force generated by the friction pair to achieve stable rotation with millimeter-level precision.

[0056] The huge static friction force generated between the friction pad 5 arranged on the inner side of the annular friction disk 1 and the surface of the turntable 10 becomes the core power source for driving the rotation of the entire ball joint and the upper bridge structure. The friction pad 5, which is closely attached to the surface of the turntable 10 on the inner side of the annular friction disk 1, generates normal pressure and forms a static friction interface. In the elastic deformation stage before reaching the critical slip, the contact surface converts the normal compressive stress into tangential shear strength. The high-power servo motor group 2 precisely controls the output torque of the drive gear 3 by dynamically adjusting the current. The drive torque continuously acts on the gear ring 4 on the friction disk to achieve rotation acceleration, constant speed and deceleration, avoiding energy dissipation and vibration instability caused by sliding friction.

[0057] Furthermore, based on the measured rotational speed of the annular friction disc 1 obtained from the incremental angle encoder, the PLC controller 13 automatically adjusts the output torque of the servo motor group 2 according to the following method:

[0058] During the bridge body rotation start-up phase, when the difference between the measured rotation speed of the annular friction disk 1 and the rotation speed threshold Y1 exceeds 5%, the output torque of the servo motor group 2 is automatically reduced.

[0059] During the constant speed rotation phase of the bridge body, when the difference between the measured rotation speed of the annular friction disk 1 and the rotation speed threshold Y2 exceeds 5%, the output torque of the servo motor group 2 is automatically reduced.

[0060] During the start-up phase, the rotational speed of the annular friction disc is 0~Y1; during the constant speed phase, the rotational speed of the annular friction disc is Y2; and during the acceleration phase between the start-up phase and the constant speed phase, the rotational speed of the annular friction disc is Y1~Y2.

[0061] During the start-up phase, the maximum static friction torque of the bridge body needs to be instantaneously exceeded, while the angular acceleration is controlled to increase slowly to avoid relative slippage. During the acceleration phase, the angular acceleration is first strictly controlled to increase slowly, and then controlled to decrease slowly to zero, so that the rotational speed of the annular friction disc reaches Y2 smoothly, and then enters the constant speed phase.

[0062] During the startup phase, by controlling the actual rotational speed of the annular friction disk 1, relative rotation between the annular friction disk 1 and the turntable 10 is avoided due to excessive frictional resistance during bridge rotation. This prevents the annular friction disk 1 from sliding relative to the turntable 10, which would otherwise cause uncontrollable rotation of the turntable 10 and even the bridge itself. Furthermore, sliding friction is typically less than static friction, and its occurrence also reduces the efficiency of the servo motor assembly.

[0063] Furthermore, the rotation monitoring module also includes an angular displacement meter 16 installed on the top of the bridge body. The output terminal of the angular displacement meter 16 is connected to the PLC controller 13. The angular displacement meter 16 measures the angular displacement of the top of the bridge body, calculates the actual rotation speed of the top of the bridge body based on the angular displacement, and adjusts the output power of the servo motor group according to the deviation between the actual rotation speed of the top of the bridge body and the actual rotation speed of the friction disc. When the bridge body tilts, it can promptly determine whether the rotation operation should continue, ensuring that the rotation operation is carried out under stable conditions.

[0064] The measured rotational speed of the annular friction disc 1 is the core control indicator. The motor output power is adjusted based on the measured rotational speed of the annular friction disc 1. The angular displacement gauge at the top of the bridge is used to compare the angular velocity at the top of the bridge with the rotational speed of the annular friction disc 1 in real time to avoid rotational deviation. The PLC controller 13 incorporates the physical calculation formula for rotational speed and data processing code. The physical calculation formula involves the interconnection of measured values ​​such as acceleration, velocity, and output power. The data processing code calculates the theoretical output power from the theoretical speed and acceleration if the rotational speed exceeds a threshold, thereby automatically adjusting the real-time output power. The interactive panel can be a touch screen 17. The touch screen 17 is equipped with a display module and a data setting module. It can input rotational speed thresholds Y1 and Y2, the angle between the starting position and the target position of the bridge, etc. It can also display the current measured rotational speed of the annular friction disc, the measured rotational speed of the disc, and the rotation angle of the bridge. It can also input the theoretical speed, acceleration, and other parameters. The operation interface of the touch screen 17 can be determined according to specific requirements.

[0065] Based on the rotational acceleration, the calculated acceleration is obtained. The PLC controller 13 can load the calculation program, obtain the measured value, and then calculate three indicators: the bridge body rotational angular velocity (obtained by the differential calculation of the rotation time by the angular displacement meter 16, ensuring that there is no deviation in the rotation speed of the bridge body and piers, and that there is no tilting or deviation of the bridge body during the rotation process), the measured rotation speed of the turntable 10 (verified in real time with the calculated theoretical speed of rotation), and the rotational acceleration (obtained by comparing the calculated rotation speed with the measured speed). Based on the calculation results, the deviation value is obtained. If the deviation value exceeds the limit, the output power is increased or decreased accordingly.

[0066] Furthermore, one electric drive device can be provided, or multiple devices can be arranged in a circular array around the annular friction disk 1. When two electric drive devices are provided, the included angle between the two electric drive devices and the axial direction of the ball joint is 180°. Providing multiple electric drive devices can make the rotation of the annular friction disk 1 more stable.

[0067] The PLC controller 13 needs to have at least three speed signal input terminals, which are respectively connected to an incremental angle encoder 14, a triaxial accelerometer 15, and an angular displacement meter 16. The PLC controller 13 is also equipped with a calculation program to convert the monitoring signals into speed data, thereby obtaining the measured speed of the annular friction disk 1, the measured speed of the turntable 10, and the measured speed of the top of the bridge. The PLC controller 13 needs to have at least one electrical signal output terminal, which is connected to the servo motor group 2 to regulate the output torque of the servo motor group 2. The PLC controller 13 can synchronously regulate the speed of the annular friction disk 1 and the bridge during the start-up, acceleration, constant speed, and deceleration stages based on the measured speed of the annular friction disk 1 and its deviation from the speed thresholds Y1 and Y2. Based on the deviation between the measured speed of the annular friction disk 1 and the measured speed of the turntable 10, it ensures that the annular friction disk 1 and the bridge rotate synchronously. The PLC controller 13 is also equipped with a calculation program to determine whether the bridge is stable based on the speed of the top of the bridge. The relevant judgment thresholds are obtained based on theoretical calculations and engineering practice.

[0068] The intelligent control system in this embodiment may further include a remote control module. The remote control module includes an intelligent terminal 18 that is communicatively connected to the PLC controller 13 and a database 19 that is connected to the intelligent terminal 18. The PLC controller 13 and the intelligent terminal 18 are preferably connected wirelessly, such as via WiFi or Bluetooth. The database 19 can store any data during the bridge rotation process. The intelligent terminal 19 can remotely control the PLC controller 13, thereby controlling the bridge rotation process and improving the safety of the rotation construction.

[0069] For different bridges and different working conditions, the speed thresholds Y1 and Y2 are different. In a section of the Guangzhou-Zhanjiang High-Speed ​​Railway, the T-shaped rotating bridge project has a total weight of 8200t and a rotation radius of 310m. Traditional hydraulic power is used to drive the bridge rotation. After construction verification, Y1 is set at 0.1° / min, and Y2 at 0.5° / min. Theoretically, Y1 can be determined based on the static friction torque that needs to be overcome when the bridge starts and the static friction torque between the friction pad and the turntable. Y2 can also be determined based on the static friction torque between the friction pad and the turntable, while also meeting the requirements for bridge rotation stability and the output torque of the servo motor. When the bridge rotation starts, the static friction torque between the bridge and the ball joint and other structures must be overcome to give the bridge an initial speed. However, the initial speed of the bridge cannot be too fast, and cannot exceed the static friction torque between the annular friction disc and the turntable to generate sliding friction; otherwise, the bridge rotation cannot start. Therefore, an intermediate value between the two is required. The static friction torque between the annular friction disc and the turntable must be greater than the static friction torque when the bridge body starts rotating from a standstill. As the bridge body gradually rotates, it possesses a design speed that meets its stability requirements. If the annular friction disc also rotates at this design speed, the static friction between the friction pad and the turntable must be sufficient to meet the requirements of this design speed without slippage. The servo motor assembly must be designed to provide sufficient output torque to meet the rotational demands of the annular friction disc and the bridge body. For a bridge body weighing nearly 10,000 tons, 8-12 motors are considered to meet the starting torque requirements, with a single motor peak torque of 85 kN•m and an overall peak output torque exceeding 28 MN•m.

[0070] Specific example: The Liuzhou Expressway bypass overpass crossing a high-speed railway has a total length of 1844m. The main bridge spanning the railway line is an 80m+80m T-shaped bridge with a width of 32.33m, featuring four lanes in both directions and a design speed of 120km / h. The main bridge was constructed using a rotation method, with a rotation weight of 27,300 tons and a rotation angle of 83.8°. Before the formal rotation operation begins, a pre-rotation test is conducted to ensure the stability of the bridge during rotation. The pre-rotation stage is designed with a rotation angle of 5°. After the pre-rotation is completed, the formal rotation operation begins: In the starting stage (rotation angle 5°~7°), the traction force is gradually increased, and the rotation speed increases from 0 to 0.5° / min (in the engineering example, this is the acceleration stage after the rotation starts); in the constant speed stage (rotation angle 7°~82°), the traction force is maintained at 300kN, and the rotation speed is maintained at 0.5° / min; in the braking stage (rotation angle 82°~83.8°), the traction force is gradually decreased, and the rotation speed decreases to 0, and the bridge rotates to the target position; thus, the rotation operation is completed.

[0071] This invention adjusts the bridge rotation parameters from the perspective of tribology and real-time data, and achieves real-time and precise control of the bridge rotation and rotation posture through staged control: in the starting stage, graded loading is used to slowly increase the static friction torque to eliminate sudden static friction; in the acceleration stage, the output power of the servo motor is adjusted in real time based on observation data to compensate for the fluctuation of rotation resistance; in the braking stage, the output is reversed in advance to control the braking speed to accurately reach the target position.

[0072] Example 2;

[0073] Please see Figure 1-6 This embodiment describes an electrically driven synchronous control method for bridge rotation construction, comprising the following steps:

[0074] Step 1: Install a synchronous control-type intelligent control system for bridge rotation construction.

[0075] Specifically: First, the annular friction disc 1, which is divided into several arc-shaped friction units, is pre-assembled into a complete ring by inserting it into the outer circumference of the turntable 10. The interfaces of adjacent arc-shaped friction units are temporarily tightened with high-strength bolts to form a complete annular friction disc 1. Friction pads 5 are installed on the inner wall of each arc-shaped friction unit. Annular guide rails 6 are arranged on the upper surface of the support platform 12. The annular guide rails 6 are coaxial with the turntable 10. A guide support frame 8 is installed at the bottom of the annular friction disc 1. A heavy-duty slider 7 is installed at the bottom of the guide support frame 8. The heavy-duty slider 7 fits into the annular guide rail 6 rigidly installed on the support platform 12, and the heavy-duty slider 7 is precisely engaged with the annular guide rail 6, so that the heavy-duty slider 7 can slide along the annular guide rail 6. The second fixing plate 8f at the top of the guide support frame 8 is connected to the annular friction disc 1 by high-strength bolts, and the first fixing plate 8b at the bottom is connected to the heavy-duty slider 7 by high-strength bolts. During installation, the locking key 8e is removed first. After all the components are assembled, the support frame or hydraulic jack is started (assuming...). In the guide support frame 8, the inner cylinder 8d and the second fixed plate 8f are driven to move up and down, and the annular friction disk 1 is lifted synchronously. The guide support frame 8 extends accordingly. After the annular friction disk 1 rises vertically to the specified height, the locking high-strength bolt and the locking key 8e are inserted to press the annular friction disk 1 against the upper turntable 11. The locking parts are tightened to make the annular friction disk 1 and the turntable 10 fit firmly together. A gear ring 4 is installed on the surface of the annular friction disk 1. An incremental encoder is installed on the edge of the annular friction disk 1 to monitor the angular displacement of the annular friction disk 1 in real time. A triaxial accelerometer 15 is arranged at the center of the upper ball joint 9 to capture the rotational acceleration. The actual rotational speed of the turntable 10 can be calculated based on the rotational acceleration at the center of the upper ball joint 9. An angular displacement meter 16 is set on the top of the bridge body. A servo motor group 2 is fixedly installed on the bearing platform 12. A drive gear 3 is installed on the output shaft of the servo motor group 2. The drive gear 3 is lifted synchronously and its height is adjusted so that it meshes with the gear ring 4 outside the annular friction disk 1.

[0076] Step 2: During the bridge body rotation start-up phase, start the servo motor group 2 and gradually increase the output torque of the servo motor group 2 so that the speed of the annular friction disk gradually increases from 0 to Y1, and the bridge body and the annular friction disk 1 rotate synchronously; Y1 is the speed threshold during the start-up phase.

[0077] Specifically: The servo motor group 2 is started. The servo motor group 2 drives the annular friction disk 1 to rotate through the meshing of the drive gear 3 and the gear ring 4. The annular friction disk 1 rotates through the static friction between the turntable 10 and the bridge body. The incremental angle encoder 14 monitors the rotational speed of the annular friction disk 1. The PLC controller 13 controls the output torque of the servo motor group 2, causing the bridge body and the annular friction disk 1 to rotate synchronously. During the start-up phase, the rotational speed of the annular friction disk 1 is 0~Y1. Specifically: Upon entering the start-up phase, the torque of the servo motor group 2 slowly increases (described in stages), then the drive gear 3 rotates. The gear ring 4 on the outer ring of the annular friction disk 1 is precisely engaged, and the gear ring 4 on the outer ring of the annular friction disk 1 is driven by the engagement, so that the entire annular friction disk 1 will have a rotational tendency. Since the annular friction disk 1 is connected to the turntable 10, the rotational torque is generated and acts on the upper ball joint 9. When the rotational torque is greater than the static friction torque between the upper ball joint 9 and the lower ball joint 11, the annular friction disk 1 drives the upper bridge body to start rotating. During this process, the output torque of the servo motor group 2 is gradually increased to provide active rotational power. However, the rotational speed of the annular friction disk 1 in the start-up stage should not be too high, otherwise it will cause relative sliding between the annular friction disk 1 and the turntable 10.

[0078] Step 3: During the bridge body rotation acceleration phase, gradually increase the output torque of the servo motor group so that the annular friction disk and the bridge body maintain synchronous acceleration rotation until the speed of the annular friction disk reaches Y2; Y2 is the speed threshold of the acceleration phase.

[0079] Specifically: while keeping the annular friction disk 1 and the bridge body rotating synchronously, the output torque of the servo motor group 2 is gradually increased so that the annular friction disk 1 and the bridge body can maintain synchronous acceleration and rotation; during the rotation process, the rotation speed of the annular friction disk 1 and the rotation speed of the turntable 10 are monitored in real time to ensure that the two do not deviate.

[0080] Step 4: During the constant speed rotation phase of the bridge body, maintain the output torque of the servo motor group 2 unchanged, so that the bridge body and the annular friction disk 1 rotate synchronously at a constant speed; the constant speed is Y2.

[0081] Specifically: As the bridge body rotation speed approaches the target rotation speed value, i.e., the rotation speed threshold Y2, the servo motor group 2 switches to the constant speed precision control stage. The PLC controller 13 continuously receives the actual rotation speed signal of the ring friction disk 1 and the bridge body, and compares it with the rotation speed threshold Y2 in real time. Based on the generated speed deviation, it dynamically coordinates the drive torque and motor power. If the actual speed is too low, the drive torque is increased first or simultaneously. If the actual speed is too high, the drive torque is maintained or reduced. The ability to smoothly transition or combine between driving and braking states through this real-time torque adjustment is the key to achieving stable speed during the rotation process.

[0082] Step 5: During the bridge body rotation deceleration phase, as the bridge body approaches the target position, the output torque of the servo motor group is gradually reduced, so that the annular friction disk 1 and the bridge body decelerate synchronously; when the speed drops to zero, the bridge body rotates to the target position.

[0083] Specifically: When the rotating bridge approaches the target position and needs to stop, it enters the deceleration phase. The servo motor group 2 gradually reduces its output torque to zero, or, if necessary, briefly applies reverse braking to assist deceleration. The powerful braking torque allows the bridge to decelerate smoothly. When the speed drops to an extremely low level and approaches a standstill, the servo motor group 2 stops completely. The drive gear 3 remains engaged with the annular friction disc 1, causing the annular friction disc 1 to abut against the upper ball joint 9, forming a stable mechanical lock that effectively resists external disturbances and prevents accidental rotation. The deceleration phase is the reverse of the acceleration and starting phases. The initial deceleration position and deceleration acceleration can be roughly determined based on the maximum acceleration position and acceleration acceleration of the acceleration and starting phases. During deceleration, the speed is gradually adjusted, ideally ensuring that the bridge rotates directly to the target position, reducing the number of adjustments and time.

[0084] After the rotation task is completed, the synchronous control bridge rotation construction intelligent control system will be dismantled.

[0085] Regardless of whether it is the start-up phase, acceleration phase, constant speed phase, or deceleration phase, the incremental angle encoder 14 can monitor the rotational attitude and speed of the annular friction disk 1 and the bridge body. The triaxial accelerometer 15 and angular displacement meter 16 can verify whether the actual speed of the bridge body matches the speed of the annular friction disk 1. If they do not match, the speed can be reduced to restore the match, so as to avoid the bridge body attitude from being out of control and thus achieve the purpose of accurately controlling the speed of the bridge body.

[0086] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A synchronous control type intelligent control system for bridge rotation construction, comprising a rotation construction device, an electric drive device, a rotation monitoring module, and a rotation control module; The electric drive device includes a servo motor assembly fixedly installed on the bridge support platform and a drive gear installed on the output shaft of the servo motor assembly. The rotating construction device includes an annular friction disc, an annular guide rail, and a guide support device. The annular guide rail is mounted on the bridge support platform. The annular friction disc is coaxially sleeved on the outer circumference of the bridge support turntable. The inner wall of the annular friction disc is provided with a friction pad, and the annular friction disc is also provided with several locking elements that allow the friction pad to make tight contact with the turntable. The outer wall of the annular friction disc is provided with a gear ring, which meshes with a drive gear. The guide support device is located at the bottom of the annular friction disc and several are evenly arranged along the circumference of the annular friction disc. The lower end of the guide support device is mounted on the annular guide rail and can slide along the annular guide rail. The rotation monitoring module includes several incremental angle encoders installed on the annular friction disk to measure its rotational speed, and a triaxial accelerometer installed on the center of the ball joint on the bridge support to measure its rotational acceleration. The actual rotational speed of the turntable is obtained based on the rotational acceleration of the upper ball joint. The rotation control module includes a PLC controller and an interactive panel. The interactive panel is connected to the PLC controller. The input end of the PLC controller is connected to an incremental angle encoder and a three-axis accelerometer, and the output end is connected to a servo motor group. The PLC controller synchronously controls the operation of the servo motor group according to the measured rotation speed of the annular friction disk and the measured rotation speed of the turntable.

2. The electrically driven synchronously controlled bridge rotation construction power device according to claim 1, characterized in that: The annular friction disc is composed of several arc-shaped friction units spliced ​​together, and the units are mechanically interlocked.

3. The electrically driven synchronously controlled bridge rotation construction power device according to claim 2, characterized in that: The annular friction disc is made of high-strength alloy steel, the friction lining is made of synthetic resin-based composite material, and the gear ring is made of medium carbon alloy steel.

4. The electrically driven synchronously controlled bridge rotation construction power device according to claim 3, characterized in that: The guide support device includes a guide support frame located at the bottom of the annular friction disc and a heavy-duty slider located at the bottom of the guide support frame and capable of sliding on the annular guide rail.

5. The electrically driven synchronously controlled bridge rotation construction power device according to claim 4, characterized in that: The guide support frame includes an outer cylinder, an inner cylinder that is slidably inserted inside the outer cylinder, a first fixing plate at the bottom of the outer cylinder, and a second fixing plate at the top of the inner cylinder. Both the first and second fixing plates are provided with several screw holes, and the upper end of the outer cylinder is also provided with a locking key that can restrict the sliding of the inner cylinder relative to the outer cylinder.

6. The electrically driven synchronously controlled bridge rotation construction power device according to claim 5, characterized in that: The locking component is a locking bolt; the interactive panel is a touch screen.

7. The electrically driven synchronously controlled bridge rotation construction power device according to any one of claims 6, characterized in that: The rotation monitoring module also includes an angular displacement meter installed on the top of the bridge body, and the output end of the angular displacement meter is connected to the PLC controller.

8. The electrically driven synchronously controlled bridge rotation construction power device according to claim 7, characterized in that: It also includes a remote control module, which includes a smart terminal that communicates with the PLC controller and a database that is connected to the smart terminal.

9. A synchronous control method for bridge rotation construction, characterized in that: Includes the following steps: Install the synchronous control type intelligent control system for bridge rotation construction as described in any one of claims 1-8; During the bridge body rotation start-up phase: Start the servo motor group, gradually increase the output torque of the servo motor group, so that the speed of the ring friction disk gradually increases from 0 to Y1, and make the bridge body and the ring friction disk rotate synchronously; Y1 is the speed threshold during the start-up phase; During the bridge body rotation acceleration phase: gradually increase the output torque of the servo motor group so that the annular friction disk and the bridge body keep rotating synchronously until the speed of the annular friction disk reaches Y2; Y2 is the speed threshold of the acceleration phase. During the constant speed rotation phase of the bridge body: the output torque of the servo motor group remains constant, so that the bridge body and the annular friction disk rotate synchronously at a constant speed; the constant speed is Y2; During the bridge body rotation deceleration phase: as the bridge body approaches the target position, the output torque of the servo motor group is gradually reduced, so that the annular friction disk and the bridge body decelerate synchronously; when the speed drops to zero, the bridge body rotates to the target position.

10. The synchronous control bridge rotation construction method according to claim 9, characterized in that: Based on the measured rotational speed of the annular friction disc obtained from the incremental angle encoder, the PLC controller automatically adjusts the output torque of the servo motor group according to the following method: During the bridge body rotation start-up phase, when the difference between the measured speed of the annular friction disc and the speed threshold Y1 exceeds 5%, the output torque of the servo motor group is automatically reduced. During the constant speed rotation phase of the bridge body, when the difference between the measured rotation speed of the annular friction disc and the rotation speed threshold Y2 exceeds 5%, the output torque of the servo motor group is automatically reduced. During the startup phase, the rotational speed of the annular friction disc is 0~Y1; during the constant speed phase, the rotational speed of the annular friction disc is Y2. During the acceleration phase, which is between the start-up phase and the constant speed phase, the rotational speed of the annular friction disc is Y1~Y2.

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