A positioning and installing device for steel pipe columns of a steel trestle across a sea and a construction method thereof

Abstract

This invention discloses a positioning and installation device and construction method for steel pipe columns of a cross-sea steel trestle bridge. A lateral positioning module is mounted on an installation module to support the steel pipe column and can move laterally along the installation module. The installation module is mounted on a fixed module via an elevation positioning module and can move relative to the lateral positioning module to cut the steel pipe column and connect it to the distribution beam. The elevation positioning module can drive the installation module to move vertically. The fixed module connects to the steel trestle bridge. A control module, based on the design coordinates of the steel pipe column, controls the lateral movement of the lateral positioning module to locate the lateral position of the steel pipe column and controls the vertical movement of the elevation positioning module to locate the elevation of the steel pipe column, thus matching the design coordinates and effectively improving positioning accuracy. The control module can also control the working state of the installation module, cutting the steel pipe column and connecting it to the distribution beam, ensuring rapid installation and connection of the steel pipe column and the steel trestle bridge, thereby improving construction efficiency and ensuring stable and reliable construction.

Description

Technical Field

[0001] This invention relates to the field of bridge engineering technology, specifically to the field of automatic positioning and installation of steel pipe columns for cross-sea steel trestle bridges. Background Technology

[0002] In the construction of cross-sea bridges, cross-sea steel trestle bridges provide a stable land-sea connection for the transportation of heavy equipment and materials, enabling large machinery, materials, and components to be transported directly to the offshore work surface. They can also be used to build local work platforms or trestle bridges at the permanent pier locations, providing stable footholds for pile foundation construction, abutment pouring, and pier installation, thereby improving construction safety and efficiency. The lower structure of cross-sea steel trestle bridges generally uses steel pipe piles. Currently, cranes are typically used to lift the steel pipe piles for pile foundation construction, but the positioning and installation accuracy is poor, making it difficult to guarantee construction quality.

[0003] Chinese patent CN 116356820 A discloses a rapid positioning device and construction method for steel pipe piles. It mainly relies on a Bailey beam guide frame, a guide limiting mechanism and a positioning mechanism to realize the lateral rotation adjustment of the guide frame and the verticality limit correction of the steel pipe pile. It can only ensure the vertical state of the steel pipe pile during the sinking process.

[0004] However, existing positioning and installation devices can only achieve simple positioning and verticality adjustment of steel pipe columns, resulting in low positioning efficiency and accuracy. They are difficult to ensure that the position of the steel pipe column matches the design coordinates, leading to deviations between the actual installation position of the steel pipe column and the design coordinates. At the same time, during construction, manual assistance is required for fixing and process connection, resulting in low construction efficiency and insufficient operational stability and construction reliability.

[0005] Therefore, how to effectively improve the positioning and installation accuracy and construction efficiency of steel pipe columns, and improve construction quality and reliability has become an urgent problem to be solved in this field. Summary of the Invention

[0006] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a high-precision, efficient, stable and reliable positioning and installation device for steel pipe columns of cross-sea steel trestle bridges and its construction method.

[0007] To achieve the above objectives, the present invention provides a positioning and installation device for steel pipe columns of a cross-sea steel trestle bridge, which works in conjunction with the steel trestle bridge, its distribution beams, and steel pipe columns. The device includes a lateral positioning module, an installation module, a fixing module, an elevation positioning module, and a control module. The lateral positioning module is mounted on the installation module to support the steel pipe column and can move laterally along the installation module; the installation module is mounted on the fixing module via the elevation positioning module and can move relative to the lateral positioning module to cut the steel pipe column to connect the distribution beam; the elevation positioning module can drive the installation module to move vertically; the fixing module is connected to the steel trestle. The control module can control the lateral movement of the lateral positioning module to locate the lateral position of the steel pipe column based on the design coordinates of the steel pipe column, and control the vertical movement of the elevation positioning module to locate the elevation of the steel pipe column. It can also control the working state of the installation module to cut the steel pipe column and connect it to the distribution beam.

[0008] Furthermore, the installation module includes a support frame and an operating component. The operating component includes a robotic arm and a cutting operating head and a welding operating head integrated on the robotic arm. The control module can drive the robotic arm to perform switching operations between the cutting operating head and the welding operating head.

[0009] Furthermore, the top surface of the support frame is provided with a cutting track, and the robotic arm is slidably disposed in the cutting track.

[0010] Furthermore, the cutting head can cut the steel pipe column to form an installation groove on the top of the steel pipe column that is adapted to the distribution beam.

[0011] Furthermore, the fixing module includes a horizontal fixing platform and a lateral fixing frame arranged in an L-shape. The horizontal fixing platform cooperates with the elevation positioning module, and the lateral fixing frame is connected to the steel trestle.

[0012] Furthermore, the elevation positioning module is composed of jacks and is distributed at the four corners of the installation module.

[0013] Furthermore, the lateral positioning module includes a positioning platform for cooperating with the steel pipe column, the bottom of the positioning platform is provided with movable rollers, and the top surface of the installation module is provided with a positioning track for cooperating with the movable rollers to position the steel pipe column.

[0014] To achieve the above objectives, the construction method of the cross-sea steel trestle bridge steel pipe column positioning and installation device provided by the present invention includes: The fixed module is connected to the previous span of the completed steel trestle bridge, and then the steel pipe column is supported on the transverse positioning module. The control module drives the horizontal positioning module to move laterally along the installation module based on the design coordinates of the steel pipe column, thereby positioning the horizontal position of the steel pipe column. Then, it drives the elevation positioning module to move the installation module vertically, thereby positioning the elevation of the steel pipe column and achieving the positioning of the steel pipe column. The control module then drives the installation module to move relative to the lateral positioning module, cuts the steel pipe column, forms an installation groove on the top of the steel pipe column, and then hoists the distribution beam into the installation groove, connecting the steel pipe column and the distribution beam through the installation module.

[0015] The present invention provides a positioning and installation device and construction method for steel pipe columns of a cross-sea steel trestle bridge. Based on the design coordinates of the steel pipe column, it controls the movement of the lateral positioning module and the elevation positioning module to position the steel pipe column laterally and at elevation, thereby matching it with the design coordinates and preventing deviations between the actual installation position of the steel pipe column and the design coordinates, effectively improving positioning accuracy. Simultaneously, by fixing the module to cut the steel pipe column and connecting it to the distribution beam of the steel trestle bridge, it ensures rapid installation and connection between the steel pipe column and the steel trestle bridge, thereby improving construction efficiency and ensuring stable and reliable construction. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0017] Figure 1 A schematic diagram illustrating the interaction between the steel pipe column positioning and installation device for the cross-sea steel trestle bridge provided by the present invention and the steel trestle bridge; Figure 2 A front view schematic diagram of the positioning and installation device for the steel pipe column of the cross-sea steel trestle bridge provided by the present invention; Figure 3 A side view of the positioning and installation device for the steel pipe column of the cross-sea steel trestle bridge provided by the present invention; Figure 4 A top view schematic diagram of the positioning and installation device for the steel pipe column of the cross-sea steel trestle bridge provided by the present invention; Figure 5 This is a schematic diagram of the pin structure in this invention; Figure 6 This is a schematic diagram of the mating structure between the pin and the steel trestle in this invention; Figure 7 This is a schematic diagram of the steel pipe column in this invention; Figure 8 This is a schematic diagram illustrating the connection between the steel pipe column and the distribution beam in this invention; Figure 9 This is a schematic diagram of the snap-fit ​​hole structure in this invention; Figure 10 This is a schematic diagram showing the fit between the snap-fit ​​hole and the steel pipe column in this invention.

[0018] Figure label: 1. Lateral positioning module; 11. Positioning platform; 12. Moving roller; 2. Installation module; 21. Support frame; 22. Robotic arm; 221. Rotating seat; 23. Cutting operating head; 24. Welding operating head; 25. Cutting track; 26. Steel pipe column positioning track; 3. Fixing module; 31. Horizontal fixing platform; 311. Snap-fit ​​hole; 312. Locking device; 32. Lateral fixing frame; 4. Elevation positioning module; 5. Steel trestle; 6. Distribution beam; 7. Steel pipe column; 71. Installation groove; 8. Pin; 81. Pin seat; 82. Anti-detachment elastic arm; 83. Connecting pin; 821. Snap-fit ​​groove; 822. Butt joint arm. Detailed Implementation

[0019] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below with reference to specific illustrations.

[0020] See Figures 1 to 4 The image shows an example of the positioning and installation device for steel pipe columns of a cross-sea steel trestle bridge provided by the present invention.

[0021] As shown in the figure, the positioning and installation device for the steel pipe column of the cross-sea steel trestle bridge in this example mainly includes a horizontal positioning module 1, an installation module 2, a fixing module 3, an elevation positioning module 4, and a control module, which cooperate with the steel trestle bridge 5, the distribution beam 6 of the steel trestle bridge 5, and the steel pipe column 7.

[0022] The lateral positioning module 1 is mounted on the installation module 2 to support the steel pipe column 7 and can move laterally along the installation module 2; the installation module 2 is mounted on the fixed module 3 via the elevation positioning module 4 and can move relative to the lateral positioning module 1 to cut the steel pipe column 7 and connect the distribution beam 6; the elevation positioning module 4 can drive the installation module 2 to move vertically; the fixed module 3 is connected to the steel trestle 5, thereby stably connecting the entire device to the steel trestle 5.

[0023] Furthermore, the control module can control the lateral movement of the lateral positioning module 1 based on the design coordinates of the steel pipe column 7 to locate the lateral position of the steel pipe column 7, and control the vertical movement of the elevation positioning module 4 to locate the elevation of the steel pipe column 7. It can also control the working state of the installation module 2 to cut the steel pipe column 7 and connect the distribution beam 6, preventing deviations between the actual installation position of the steel pipe column 7 and the design coordinates, effectively improving positioning accuracy, and ensuring rapid installation and connection of the steel pipe column 7 and the steel trestle bridge 5, thereby improving construction efficiency and ensuring stable and reliable construction.

[0024] Combination Figure 1 and Figure 2Among them, the fixed module 3 can support the horizontal positioning module 1, the installation module 2, the fixed module 3, and the elevation positioning module 4, ensuring that the whole device is stably connected to the previous span of steel trestle bridge 5 that has been completed, so as to quickly and stably carry out the positioning and installation of the steel pipe column 7 in the next span of steel trestle bridge.

[0025] Specifically, the fixing module 3 includes a horizontal fixing platform 31 and a lateral fixing frame 32. The horizontal fixing platform 31 and the lateral fixing frame 32 are arranged in an L-shape, so that the lateral fixing frame 32 can be stably connected to the Bailey beam of the previous span of the steel trestle bridge 5 that has been completed by means of pins 8. The horizontal fixing platform 31 can stably support the transverse positioning module 1, the installation module 2, the fixing module 3 and the elevation positioning module 4, thereby providing a stable working platform for the positioning and installation of the steel pipe column 7.

[0026] Combination Figure 5 and Figure 6 Furthermore, the pin 8 is composed of a pin seat 81, an anti-detachment elastic arm 82, and a connecting pin 83. The pin seat 81 is located at the end of the pin and forms a U-shaped distribution with the anti-detachment elastic arm 82 and the connecting pin 83. The anti-detachment elastic arm 82 extends inclined towards the connecting pin as a whole, and a locking groove 821 is formed in the middle area of ​​the anti-detachment elastic arm 82, and a mating arm 822 is formed at the end.

[0027] Based on the above structure, when the pin 8 connects to the Bailey beam of the steel trestle 5, the pin 8 moves along the Bailey beam, and the connecting nail 83 extends into the Bailey beam to fix it. During the connection process, the anti-detachment elastic arm 82 abuts against the top of the Bailey beam. As the pin 8 continues to move, the connecting arm 822 moves along the top of the Bailey beam, causing the anti-detachment elastic arm 82 to undergo elastic deformation, thus embedding the Bailey beam into the snap-fit ​​groove 821. This allows the pin seat 81, the anti-detachment elastic arm 82, and the connecting nail 83 to cooperate in limiting the Bailey beam, preventing it from falling out of the pin 8. This ensures a stable connection between the fixing module 3 and the Bailey beam of the steel trestle 5, providing a stable working platform for the positioning and installation of the steel pipe column 7.

[0028] Combination Figures 2 to 4 Furthermore, the elevation positioning module 4 is set on top of the horizontal fixed platform 31, and the installation module 2 is set on top of the elevation positioning module 4. The elevation positioning module 4 is preferably composed of jacks and distributed at the four corners of the installation module 2, so that the control module can drive the jacks to rise and fall based on the design elevation of the steel pipe column 7, thereby driving the installation module 2 and the horizontal positioning module 1 to move vertically in sync, thereby driving the steel pipe column 7 to rise and fall, positioning the elevation of the steel pipe column 7 to match the design elevation and improve the positioning accuracy.

[0029] Specifically, the control module includes a coordinate acquisition unit and a coordinate processing unit. When the fixing module 3 is connected to the steel trestle 5 and the steel pipe column 7 is stably connected and cooperated with the lateral positioning module 1, the coordinate acquisition unit can acquire the initial position of the steel pipe column 7 on this device and feed it back to the coordinate processing unit. The coordinate processing unit can convert the initial position into initial coordinates in the same coordinate system as the design coordinates, and then calculate the initial coordinates and the design coordinates to obtain the elevation difference and lateral difference between the initial coordinates and the design coordinates. This allows the control module to drive the elevation positioning module 4 to rise and fall based on the elevation difference, so as to adjust the elevation of the steel pipe column 7, realize the elevation positioning of the steel pipe column 7, and meet the design elevation.

[0030] Here, the coordinate acquisition unit is a conventional technical means in this field. As an example, the coordinate acquisition unit can be composed of a GNSS receiver or an RTK module and is set on the top of the steel pipe column 7, so that the GNSS receiver or RTK module can directly acquire the three-dimensional coordinates (including elevation and planar position) of the steel pipe column 7, thereby obtaining the initial position of the steel pipe column 7 and transmitting it to the coordinate processing unit for calculation and processing.

[0031] It should be noted that once the fixing module 3 is connected to the steel trestle 5 and the steel pipe column 7 is stably connected and coordinated with the transverse positioning module 1, the longitudinal position of the steel pipe column 7 is determined and consistent with the longitudinal position of the steel trestle 5, thus eliminating the need to adjust the longitudinal position of the steel pipe column 7.

[0032] Combination Figures 2 to 4 Correspondingly, the installation module 2 includes a support frame 21 and an operating assembly. The operating assembly includes a robotic arm 22 and a cutting operating head 23 and a welding operating head 24 integrated on the robotic arm 22. The cutting operating head 23 can cut the steel pipe column 7, forming an installation groove 71 adapted to the distribution beam 6 on the top of the steel pipe column 7. Figure 7 As shown, this allows the distribution beam 6 to be stably embedded in the mounting groove 71, and the welding operation head 24 to perform welding operations on the distribution beam 6 and the steel pipe column 7 of the steel trestle 5 within the mounting groove 71, as shown. Figure 8 As shown, the steel pipe column 7 is installed by securely connecting the distribution beam 6 and the steel pipe column 7.

[0033] Here, the placement of the coordinate acquisition unit needs to be planned in advance according to the size of the mounting groove 71 to ensure that the coordinate acquisition unit avoids mutual avoidance between the top of the steel pipe column 7 and the mounting groove 71, so as to avoid damage to the coordinate acquisition unit during the cutting operation.

[0034] Preferably, the robotic arm 22 is connected to the cutting head 23 and the welding head 24 respectively via a rotating base 221. When the rotating base 221 rotates, it can adjust the position of the cutting head 23 and the welding head 24 to switch the cutting head 23 or the welding head 24 to be aligned and engaged with the steel pipe column 7 respectively.

[0035] Furthermore, the control module is connected to the rotary seat 221, which can drive the rotary seat 221 to rotate, realize the switching operation of the cutting operation head 23 and the welding operation head 24, so that the cutting and welding processes are connected continuously, ensuring the efficient docking and installation of the steel pipe column 7 and the distribution beam 6, and improving construction efficiency.

[0036] Furthermore, the top surface of the support frame 21 is provided with a cutting track 25, which is distributed laterally along the support frame 21. The robotic arm 22 is slidably set in the cutting track 25 via a slider. The control module can drive the slider to move the robotic arm 22 laterally along the cutting track 25, thereby moving relative to the lateral positioning module 1 set on the installation module 2. This ensures that the cutting operation head 23 and the welding operation head 24 can be gradually and accurately aligned with the multiple steel pipe columns 7 on the lateral positioning module 1, thereby realizing the gradual cutting and installation connection of the multiple steel pipe columns 7.

[0037] Furthermore, the lateral positioning module 1 includes a positioning platform 11, on which a plurality of snap-fit ​​holes 311 and locking devices 312 are formed for cooperating with the steel pipe column 7, so that the fixing module 3 is connected to the steel trestle 5. After the device is stably connected to the steel trestle 5, the steel pipe column 7 can be inserted into the snap-fit ​​holes of the positioning platform 11 and cooperate with the locking device 312 for limiting, and stably supported on the positioning platform 11.

[0038] Combination Figure 9 and Figure 10 Specifically, the snap-fit ​​hole 311 is configured as a stepped structure that is wider at the top and narrower at the bottom, with the diameter of the narrower section matching the diameter of the steel pipe column 7, and the diameter of the wider section being larger than the diameter of the steel pipe column 7. After the steel pipe column 7 is stably inserted into the snap-fit ​​hole 311, the lower narrow section and the upper wide section can cooperate to limit the steel pipe column 7. The upper wide section has a reserved adjustment gap, which not only ensures that the steel pipe column 7 can be smoothly inserted into the snap-fit ​​hole 311, but also restricts the steel pipe column 7 from moving upward and falling off through the variable diameter structure.

[0039] Furthermore, the locking device 312 is located in the upper wide section of the snap-fit ​​hole 311, preferably consisting of a snap-fit ​​or a pin, so that after the steel pipe column 7 is inserted into the snap-fit ​​hole 722, the locking device 312 can be snapped into the slot or limiting step on the outer wall of the steel pipe column to achieve mechanical locking and prevent it from falling off.

[0040] Correspondingly, the middle of the support frame 21 and the horizontal fixed platform 31 is hollowed out, so that the steel pipe column 7 can be inserted into the snap-fit ​​hole of the positioning platform 11 and can pass through the support frame 21 and the horizontal fixed platform 31, ensuring the stable placement and lateral movement of the steel pipe column 7.

[0041] Furthermore, the bottom of the positioning platform 11 is provided with a movable roller 12, and the top surface of the support frame 21 is also provided with a steel pipe column positioning track 26 for cooperating with the movable roller 12. The steel pipe column positioning track 26 is distributed laterally along the support frame 21 and does not interfere with the cutting track 25.

[0042] Combination Figure 4 Preferably, the cutting track 25 is distributed on both sides of the steel pipe column positioning track 26, so that the robotic arm 22 can be distributed on both sides of the positioning platform 11, ensuring that the cutting operation head 23 and the welding operation head 24 can accurately cooperate with the steel pipe column 7 on the positioning platform 11.

[0043] Based on the above structure, the control module can drive the positioning platform 11 to move laterally along the steel pipe column positioning track 26 via the moving roller 12 based on the design lateral coordinates of the steel pipe column 7, thereby positioning the lateral position of the steel pipe column 7 to adapt to the design lateral coordinates and improve the positioning accuracy.

[0044] Similar to the elevation positioning module 4, the coordinate acquisition unit acquires the initial position of the steel pipe column 7 on this device and feeds it back to the coordinate processing unit. The coordinate processing unit can convert the initial position into initial coordinates in the same coordinate system as the design coordinates, and then calculate the initial coordinates and design coordinates to obtain the elevation difference and lateral difference between the initial coordinates and the design coordinates. This allows the control module to drive the moving roller 12 to move the positioning platform 11 laterally along the steel pipe column positioning track 26 based on the lateral difference, so as to adjust the lateral position of the steel pipe column 7, realize the lateral positioning of the steel pipe column 7, and meet the design lateral coordinates.

[0045] Based on the above structure, the control module can control the lateral movement of the lateral positioning module 1 to locate the lateral position of the steel pipe column 7 based on the design coordinates of the steel pipe column 7, and control the vertical movement of the elevation positioning module 4 to locate the elevation of the steel pipe column 7, thereby improving the positioning accuracy of the steel pipe column 7. At the same time, by controlling the working state of the installation module 2 to cut the steel pipe column 7 and connect the distribution beam 6, the installation efficiency of the steel pipe column 7 can be effectively improved, and the construction quality and reliability can be enhanced.

[0046] This constitutes the positioning and installation device for steel pipe columns of the cross-sea steel trestle bridge provided by the present invention.

[0047] This invention also provides a construction method for the positioning and installation device for the steel pipe column of the cross-sea steel trestle bridge constructed according to the above-mentioned scheme. This construction method includes: First, the design coordinates of the steel pipe column 7 are determined according to the design drawings and entered into the control module of this device.

[0048] Next, the device is hoisted by a crane, and the fixing module 3 is connected to the steel trestle bridge 5 that has been completed in the previous span, providing a stable platform for the positioning and installation of the steel pipe column 7. Then, the steel pipe column 7 is supported on the horizontal positioning module 1.

[0049] Furthermore, the control module drives the lateral positioning module 1 to move laterally along the installation module 2 based on the design coordinates of the steel pipe column 7 to locate the lateral position of the steel pipe column 7. Then, it drives the elevation positioning module 4 to move the installation module 2 vertically to locate the elevation of the steel pipe column 7. This achieves precise positioning of the steel pipe column 7, ensures that the steel pipe column 7 matches the design coordinates, prevents deviations between the actual installation position of the steel pipe column 7 and the design coordinates, and effectively improves the positioning accuracy.

[0050] Next, the control module drives the installation module 2 to move relative to the lateral positioning module 1, aligning the installation module 2 with the steel pipe column 7. The operating component is then switched to the cutting operating head 23 to cut the steel pipe column 7, forming an installation groove 71 on the top of the steel pipe column 7. The distribution beam 6 is then hoisted into the installation groove 71. The operating component is then switched to the welding operating head 24 to weld the steel pipe column 7 to the distribution beam 6, completing the positioning and installation of the steel pipe column 7 in this span of the steel trestle bridge.

[0051] The present invention provides a positioning and installation device and construction method for steel pipe columns of a cross-sea steel trestle bridge. Based on the design coordinates of the steel pipe column 7, the movement state of the lateral positioning module 1 and the elevation positioning module 4 is controlled to position the steel pipe column 7 laterally and at its elevation, thereby matching the design coordinates and preventing deviations between the actual installation position of the steel pipe column 7 and the design coordinates, effectively improving positioning accuracy. At the same time, by fixing the module 2 to cut the steel pipe column 7 and connecting it to the distribution beam 6 of the steel trestle bridge 5, the device ensures rapid installation and connection of the steel pipe column 7 and the steel trestle bridge 5, thereby improving construction efficiency and ensuring stable and reliable construction.

[0052] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A positioning and installation device for steel pipe columns of a cross-sea steel trestle bridge, comprising a steel trestle bridge, a distribution beam of the steel trestle bridge, and steel pipe columns, characterized in that, It includes a horizontal positioning module, an installation module, a fixing module, an elevation positioning module, and a control module. The lateral positioning module is mounted on the installation module to support the steel pipe column and can move laterally along the installation module; the installation module is mounted on the fixing module via the elevation positioning module and can move relative to the lateral positioning module to cut the steel pipe column and connect the distribution beam; the elevation positioning module can drive the installation module to move vertically; the fixing module is connected to the steel trestle. The control module can control the lateral movement of the lateral positioning module to locate the lateral position of the steel pipe column based on the design coordinates of the steel pipe column, and control the vertical movement of the elevation positioning module to locate the elevation of the steel pipe column. It can also control the working state of the installation module to cut the steel pipe column and connect it to the distribution beam.

2. The positioning and installation device for steel pipe columns of a cross-sea steel trestle bridge according to claim 1, characterized in that, The installation module includes a support frame and an operating component. The operating component includes a robotic arm and a cutting operating head and a welding operating head integrated on the robotic arm. The control module can drive the robotic arm to perform switching operations between the cutting operating head and the welding operating head.

3. The positioning and installation device for steel pipe columns of a cross-sea steel trestle bridge according to claim 2, characterized in that, The top surface of the support frame is provided with a cutting track, and the robotic arm is slidably mounted in the cutting track.

4. The positioning and installation device for steel pipe columns of a cross-sea steel trestle bridge according to claim 2, characterized in that, The cutting head can cut the steel pipe column and form an installation groove on the top of the steel pipe column that is adapted to the distribution beam.

5. The positioning and installation device for steel pipe columns of a cross-sea steel trestle bridge according to claim 1, characterized in that, The fixing module includes a horizontal fixing platform and a lateral fixing frame arranged in an L-shape. The horizontal fixing platform cooperates with the elevation positioning module, and the lateral fixing frame is connected to the steel trestle.

6. The positioning and installation device for steel pipe columns of a cross-sea steel trestle bridge according to claim 1, characterized in that, The elevation positioning module consists of jacks and is distributed at the four corners of the installation module.

7. The positioning and installation device for steel pipe columns of a cross-sea steel trestle bridge according to claim 1, characterized in that, The lateral positioning module includes a positioning platform for cooperating with the steel pipe column. The bottom of the positioning platform is provided with movable rollers, and the top surface of the installation module is provided with a positioning track for cooperating with the movable rollers to position the steel pipe column.

8. The construction method of the positioning and installation device for the steel pipe column of the cross-sea steel trestle bridge according to claims 1-7, characterized in that, The construction method includes: The fixed module is connected to the previous span of the completed steel trestle bridge, and then the steel pipe column is supported on the transverse positioning module. The control module drives the horizontal positioning module to move laterally along the installation module based on the design coordinates of the steel pipe column, thereby positioning the horizontal position of the steel pipe column. Then, it drives the elevation positioning module to move the installation module vertically, thereby positioning the elevation of the steel pipe column and achieving the positioning of the steel pipe column. The control module then drives the installation module to move relative to the lateral positioning module, cuts the steel pipe column, forms an installation groove on the top of the steel pipe column, and then hoists the distribution beam into the installation groove, connecting the steel pipe column and the distribution beam through the installation module.

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